Table of contents
4
4.1
Safe Torque Off (STO)................................................................................................................ 53
4.2
4.3
Safe Brake Control (SBC) ........................................................................................................... 59
4.4
Safety faults ................................................................................................................................ 62
4.5
5
5.1
Parking note ................................................................................................................................ 65
5.2
Safe Torque Off (STO)................................................................................................................ 65
5.2.1
5.2.2
5.3
Safe Stop 1 (SS1) ....................................................................................................................... 66
5.3.1
5.3.2
5.3.3
Integration ................................................................................................................................... 70
5.4
Safe Stop 2 (SS2) ....................................................................................................................... 71
5.5
Safe Operating Stop (SOS)......................................................................................................... 73
5.6
Safely-Limited Speed (SLS)........................................................................................................ 75
5.6.1
5.6.2
5.6.3
5.7
Safe Speed Monitor (SSM) ......................................................................................................... 81
5.8
5.9
Safe Brake Ramp (SBR) ............................................................................................................. 86
5.10
Safety faults ................................................................................................................................ 88
5.11
Message buffer ........................................................................................................................... 92
5.12
5.13
6
6.1
6.2
6.3
Control via TM54F..................................................................................................................... 110
6.3.1
TM54F design ........................................................................................................................... 110
6.3.2
F-DI function.............................................................................................................................. 111
6.3.3
Function of the F-DO................................................................................................................. 113
6.4
Activation via PROFIsafe .......................................................................................................... 115
6.4.1
6.4.2
Structure of telegram 30............................................................................................................ 116
6.4.2.1
6.4.2.2
14
Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0
Safety Integrated