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2 Description of the safety function STO
18 Festo – GDCP-CMMS-AS-G2-S1-EN – 1306NH – English
Note
If external forces (e.g. suspended loads) affect the drive, additional measures
(e.g. mechanical holding brakes) are necessary to avoid hazards.
Note
The stop function SS1, “Safe Stop 1”, in which the drive is brought to rest, is funda-
mentally preferable.
The holding brake of the EMMS-AS-… B is not appropriate for braking the motor. It only
serves for functional holding of the motor shaft. Additional measures are required for use
in safety-oriented applications.
2.3.2 STO request
The following steps describe the process when activating the STO status ( timing diagram Sec-
tion 2.3.4):
1. After actuation of the emergency stop switch (S1), immediately open the N/O contacts (13, 14 and
23, 24) from T1. As a result, control of the driver supply relay Rel [X3.2] and output stage enable
DIN4 [X1.21] are switched off simultaneously – “Safe Torque Off ” is activated.
2. With removal of the control signal for the relay to switch off the driver supply, the capacitors are
discharged in this voltage branch. After no more than 5 ms (t1), the output stage is no longer active.
The motor coasts to a stop.
3. A maximum of 2.5 ms (t2) later, the output for control of the holding brake is switched off.
4. Not later than 12 ms (t
STO
) after removal of the control of the driver supply relay and output stage
enable, the output stage is reliably switched off and the STO status is active.
5. For mechanical reasons, the holding brake requires some time until it is closed; that would typically
be after approx. 50 ... 500 ms (t3).
6. Not later than 30 ms (t4) after removal of control of the driver supply Rel [X3.2], the acknowledg-
ment contact NC1/CC2, [X3.5/6] is closed.
7. Not later than 720 ms (t5) after 2-channel calling (DIN4 [X1.21] and Rel [X3.2] ), “H” is displayed on
the 7-segments display of the motor controller.