AKD2G-S Installation, Safety 1 | 10 Functional Safety
10.6.3.3 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
AXIS#.SAFE.STO.REPORTFAULT
. If
this keyword 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.
10.6.4 Verification, Commissioning
10.6.4.1 Verification
Check and verify the STO wiring (examples (
# 129)). The installation must be verified by
trained personnel after any changes to the installation. The level of experience of the per-
sonnel must be appropriate to the complexity and safety integrity level of the drive system.
10.6.4.2 Proof test
You must test the STO function after initial start of the axis, after each intervention into the
wiring of the system, or after exchange of one or several components of the system.
Precondition: AXIS#.SAFE.STO.REPORTFAULT = 1
Method 1, axis remain enabled
Method 2, axis disabled
1. Stop the axis with setpoint 0V.
2. Caution: Block vertical load.
3. Keep the axis enabled.
DANGER: Do not enter hazardous area!
4. Activate the STO function for example by
opening the protective screen.
5. The axis displays fault F9000.
1. Stop the axis with setpoint 0V.
2. Caution: Block vertical load.
3. Disable the axis (Enable=0V).
4. Activate the STO function, for
example, by opening the protective
screen
5. The axis displays fault W9000.
132
Kollmorgen | kdn.kollmorgen.com | S101, December 2018
