AKD2G-S Installation Manual, Safety 1 | 10 Safety Manual
10.3.3.6 Fault Reaction / Failure Messages
With the dual-channel control of the STO (SIL2/PLd Cat.3) safety function, the switch-off
paths STO-A-A# and STO-B-A# are switched separately by two outputs of a safety con-
troller.
W9000 and F9000 are conditioned by the value of
. If
this parameter is set to 1 (default value) then the W9000 and F9000 will be triggered as
described.
STO-A-A#
STO-B-A#
ENABLE
Drive
Message
Motor
Torque
Safe State
0 V
0 V
0 V
W9000
no
yes
0 V
0 V
+24 V
F9000
no
yes
+24 V
+24 V
0 V
-
no
no
+24 V
+24 V
+24 V
-
yes
no
+24 V
0 V
0 V
F9005*
no
yes
+24 V
0 V
+24 V
F9005*
no
yes
0 V
+24 V
0 V
F9005*
no
yes
0 V
+24 V
+24 V
F9005*
no
yes
* different status of STO-A/B for more than 100 ms
A#: A1 for axis 1 or A2 for axis 2.
142
Kollmorgen | kdn.kollmorgen.com | S102, April 2020
