Basic Function; Safe Torque Off - Siemens SINAMICS S120 Function Manual

9.3.1 Basic Functions
9.3.1.1

Safe Torque Off

"Safe Torque Off" (STO) function
Table 9- 8 "Safe Torque Off" function
No.
Note:
The acceptance test must be individually conducted for each configured control.
The control can be realized via terminals or via PROFIsafe.
1. Initial state
Drive in "Ready" state (p0010 = 0)
•
STO function enabled (onboard terminals, Control Unit and Motor Module/Power
•
Module/PROFIsafe)
No Safety faults and alarms (r0945, r2122, r2132)
•
r9772.17 = r9872.17 = 0 (STO deselection via terminal - Control Unit/Motor Module, via
•
terminal)
r9772.20 = r9872.20 = 0 (STO deselection via PROFIsafe - Control Unit/Motor Module,
•
via PROFIsafe)
r9772.0 = r9772.1 = 0 (STO deselected and inactive – Control Unit, via terminals)
•
r9872.0 = r9872.1 = 0 (STO deselected and inactive – Motor Module, via terminals)
•
r9773.0 = r9773.1 = 0 (STO deselected and inactive – drive, via terminals)
•
r9720.0 = 0 (STO selected)
•
r9722.0 = 0 (STO selected)
•
r9772.20 = r9872.20 = (STO cause selection, via PROFIsafe)
2. •
When terminals are grouped for "Safe Torque Off":
3. •
r9774.0 = r9774.1 = 0 (STO deselected and inactive - group)
Run the drive
Check whether the correct drive is operational
Select STO when issuing the traversing command
Check the following:
The drive coasts to a standstill or is braked and stopped by the mechanical brake (if
•
available and configured (p1215, p9602, p9802)).
No Safety faults and alarms (r0945, r2122, r2132)
•
r9772.17 = r9872.17 = 1 (STO selection via terminal - Control Unit/Motor Module, via
•
terminals)
r9772.20 = r9872.20 = 1 (STO selection via PROFIsafe - Control Unit/Motor Module, via
•
PROFIsafe)
r9772.0 = r9772.1 = 1 (STO selected and active – Control Unit, via terminals)
•
Safety Integrated
Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0
Description
Acceptance tests and acceptance reports
9.3 Acceptance tests
Status
191