Rockwell Automation Allen-Bradley Kinetix 6000, User Manual

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Publication 2094-UM001A-EN-P — September 2006
Integrating Resistive Brake Modules with Kinetix 6000 Drives 241
Background on Safety Design
There are numerous safety standards regarding machine design
including OSHA, NFPA, AMT, CENELEC and ISO. In Europe, CENELEC
and ISO coordinate the development of standards to which products
can satisfy the laws of the Machinery Directive. In the United States,
Standard Development Organizations (SDO) like the NFPA and AMT
sponsor the development of standards to help companies meet OSHA
requirements.
Stop Categories
One of the most basic safety functions is stopping the machine. The
stopping function of a machine must fall into one of three categories
(EN60204-1 and NFPA79). The categories are as follows:
•
Stop Category 0 : Stopping by immediate removal of power to the
machine actuators.
•
Stop Category 1 : A controlled stop with power to the machine
actuators to achieve the stop and then removal of power when the
stop is achieved.
•
Stop Category 2 : A controlled stop with power left available to
the machine actuators.
E-Stops are a special case of stops, and have additional requirements
to those stated above. This appendix is intended to show how a light
curtain or gate interlock might interface with one axis of motion
control to achieve a machine stop and this stop may not be the same
as the E-stop function of a machine.