Copley Controls Accelnet User manual

The Accelnet & Stepnet
Plus Panels
STO Manual
16-01338
Revision 00
March 23, 2015

Accelnet & Stepnet Plus Panels STO Manual 16-01338 Rev 00
Page 2 of 34 Copley Controls
Table of Contents
1.0 About This Manual....................................................................................................................................................4
1.1 Title, Number, Revision.............................................................................................................................................................4
1.2 Revision History........................................................................................................................................................................4
1.3 Declaration of Conformity .........................................................................................................................................................4
1.4 Original Instructions..................................................................................................................................................................4
2.0 Purpose and Scope of This Document...................................................................................................................5
2.1 Disclaimer.................................................................................................................................................................................5
3.0 Risk Assessment & Responsibility of the Installer ...............................................................................................6
4.0 Warnings....................................................................................................................................................................6
4.1 Operate drives within the specifications provided in the relevant hardware manual or data sheet. ..........................................6
4.2 Risk of electric shock................................................................................................................................................................6
4.3 Disclaimer.................................................................................................................................................................................6
4.4 Installation Overview.................................................................................................................................................................7
4.5 Definitions.................................................................................................................................................................................7
4.6 Related Documentation ............................................................................................................................................................8
4.7 Reference Standards................................................................................................................................................................9
4.8 Abbreviations and Acronyms ..................................................................................................................................................10
5.0 Introduction to the Accelnet & Stepnet Plus Panels...........................................................................................11
5.1 Product Description.................................................................................................................................................................11
5.2 Model Overview & Numbering ................................................................................................................................................11
5.3 Accelnet Plus Panel Models ...................................................................................................................................................12
5.4 Stepnet Plus Panel Models.....................................................................................................................................................12
6.0 Specifications Overview.........................................................................................................................................13
6.1 Control Modes.........................................................................................................................................................................13
6.2 Command Sources.................................................................................................................................................................13
6.3 Power Sources........................................................................................................................................................................13
7.0 STO Architecture and Function.............................................................................................................................14
7.1 STO Channel Operation .........................................................................................................................................................15
7.2 STO Function Specifications...................................................................................................................................................16
7.3 Environmental Specifications..................................................................................................................................................16
7.4 Safety Related Parameters.....................................................................................................................................................17
7.5 Regulatory Specifications .......................................................................................................................................................18
7.6 Limitations and Necessary Risk Reductions...........................................................................................................................19
7.6.1 Electrical Isolation...............................................................................................................................................................19
7.6.2 DC Brush Motors................................................................................................................................................................19
7.6.3 180 Degree Electrical Movement........................................................................................................................................19
7.6.4 Loads and Other Torque/Force Producing Sources...........................................................................................................19

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7.6.5 STO Input Signal Level.......................................................................................................................................................19
7.6.6 Control Modes and STO.....................................................................................................................................................19
7.6.7 +HV and AuxHV DC Power Supply....................................................................................................................................20
7.6.8 STO DC Power Supply.......................................................................................................................................................20
7.6.9 Wiring to the STO Inputs ....................................................................................................................................................20
7.6.10 Periodic Test Requirements..........................................................................................................................................20
8.0 Installation Using STO for Accelnet & Stepnet Plus Panels...............................................................................21
8.1 STO Overview.........................................................................................................................................................................21
8.1.1 STO Power Requirements..................................................................................................................................................21
8.1.2 STO Wiring Requirements..................................................................................................................................................21
8.1.3 STO (Safety) Cable Connector...........................................................................................................................................22
8.2 Example Wiring Diagram (SIL 3 and Cat. 3 PL d STO Implementation).................................................................................23
8.2.1 Emergency Stop: Stopping Category 1 ..............................................................................................................................23
8.2.2 Accelnet & Stepnet Plus Panels Configuration...................................................................................................................23
8.2.3 Example STO Timing .........................................................................................................................................................24
8.3 Start-Up Checklist...................................................................................................................................................................25
8.3.1 Preliminary checks .............................................................................................................................................................25
8.3.2 Start-Up Checklist...............................................................................................................................................................26
8.4 STO Status Indications ...........................................................................................................................................................27
8.4.1 Axis A & B LEDs.................................................................................................................................................................27
8.4.2 STO Circuit Status Data Objects........................................................................................................................................27
8.4.3 CME2 Control Panel...........................................................................................................................................................28
8.5 Troubleshooting......................................................................................................................................................................29
8.5.1 How to tell if the STO function is active ..............................................................................................................................29
8.5.2 How to tell if the STO function is inactive............................................................................................................................29
8.5.3 Why can’t the STO function be deactivated?......................................................................................................................29
8.5.4 Why can’t the STO function be activated?..........................................................................................................................29
8.5.5 The drive is hardware-enabled but the motors don’t move. ................................................................................................29
9.0 Maintenance.............................................................................................................................................................30
9.1 Ease of Accessibility and Replacement of Internal Parts........................................................................................................30
9.2 Periodic STO Testing Interval.................................................................................................................................................30
9.3 Periodic Testing Checklist.......................................................................................................................................................31
10.0 Muting & Suspension of Safety Functions...........................................................................................................32
10.1 STO Muting.............................................................................................................................................................................32
10.2 Muting Jumpers (STO Connector)..........................................................................................................................................32
11.0 Decommissioning ...................................................................................................................................................33

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1.0 About This Manual
1.1 Title, Number, Revision
Title
The Accelnet & Stepnet Plus Panels STO Manual
Document Number
16-01338
Current Revision
00
1.2 Revision History
Revision
Date
ECO #
Comments
AA
12/09/2014
ECO-056695
Preliminary release to DESIGN lifecycle.
Originated from 16-01168.
AB
12/30/2014
ECO-056909
Add hardware type designation and
systematic capability specification
00
03/23/2015
ECO-057405
Release to PILOT lifecycle, add page
numbers
1.3 Declaration of Conformity
The products covered by this manual comply with the EC Directives 2004/108/EC (EMC Directive), 2006/95/EC
(Low Voltage Directive), 2006/42/EC (Machinery Directive) and 2011/65/EU (RoHS Directive). The complete EC
Declaration of Conformity is available on the internet at www.copleycontrols.com.
Name and Address of the Manufacturer: Name and Address of the authorized representative:
Analogic Corporation d/b/a Copley Controls BK Medical ApS
20 Dan Road Mileparken 34, DK-2730
Canton, MA 02021 Herlev
USA Denmark
1.4 Original Instructions
This manual is considered to be “original instructions” as defined in EC Directive 2006/42/EC and the contents
have been verified by Copley Controls.
Table 1
Table 2

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2.0 Purpose and Scope of This Document
This document is intended to inform the reader about the Functional Safety features of the Accelnet & Stepnet
Plus Panel drives and to provide information on the steps required to install it into systems so that a target level of
Functional Safety performance can be achieved. The scope of this document is limited to those aspects of
Functional Safety that relate to the installation, operation, and maintenance of the Accelnet & Stepnet Plus Panel
drives.
2.1 Disclaimer
This manual contains information on the Safe Torque Off (STO) feature of the Accelnet & Stepnet Plus Panel
drives and how it may be incorporated into an industrial motion control system. While every effort has been made
to ensure the completeness and accuracy of this manual it must be emphasized that the responsibility for
functional safety in the overall system into which the drive is installed rests ultimately with the manufacturer of the
system into which the Accelnet & Stepnet Plus Panel drives are installed.
The equipment manufacturer must take into account all the aspects of the system in which the Accelnet & Stepnet
Plus Panel drives are components.
Copley Controls does not accept any liability for direct or indirect injury or damage caused by the use of
information in this document. The equipment manufacturer is always responsible for the safety of its product and
its suitability under applicable laws. Copley Controls hereby disclaims all liabilities that may result from this
document.

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3.0 Risk Assessment & Responsibility of the Installer
The STO feature of the Accelnet & Stepnet Plus Panel drives is capable of the safety integrity level (SIL) and
category/performance level (PL) stated in this manual and operates in accordance with the characteristics and
limitations described herein. But it must be noted that the drive STO function is intended to be used only as one
element of an overall safety chain and is not a complete safety function unto itself. Therefore the suitability for use
of the Accelnet & Stepnet Plus Panel drives in a given application must be determined in part by one or more risk
assessments of the overall safety of the end machine conducted in accordance with the applicable standards.
Such risk assessments normally consist of a thorough review of overall machine operation to identify potential
hazards. For each identified hazard, typical risk assessments take into account the severity of any potential injury
resulting from the hazard, the frequency of exposure of persons to the hazard and the probability that persons are
able to avoid the hazard if it were to occur. The machine designer is solely responsible for conducting any
necessary risk assessments and for the ultimate determination as to the suitability of the Accelnet & Stepnet Plus
Panel drives and the STO function for use in realizing a given overall safety function.
The installer should be experienced in motion control and functional safety.
4.0 Warnings
FAILURE TO CONSIDER THESE WARNINGS CAN RESULT
IN EQUIPMENT DAMAGE, INJURY, OR DEATH
The user must take into consideration the necessary risk reductions, installation requirements,
and other information contained in this manual in order to achieve the stated functional safety
capabilities. Failure to do so could result in equipment damage, injury, or death.
4.1 Operate drives within the specifications provided in the relevant
hardware manual or data sheet.
The information in this manual is specific to the functional safety features of the Accelnet & Stepnet Plus Panel
drives. The user must use this manual along with the Accelnet & Stepnet Plus Panels User Guide and the
datasheets for the Accelnet & Stepnet Plus Panel models for proper and safe installation and overall
commissioning of the drives.
4.2 Risk of electric shock
The Accelnet & Stepnet Plus Panel drives are made for operation from transformer-isolated, DC power supplies
that provide galvanic isolation from AC mains and meet the requirements of overvoltage category II (OVC II).
Hazardous voltages are connected to and exist within these drives under normal operating conditions. Persons
responsible for installing and commissioning these drives must be experienced in all aspects of electrical
equipment installations.
4.3 Disclaimer
There are no user serviceable parts in the Accelnet & Stepnet Plus Panel drives.
Removal of the cover or tampering with internal components will void the warranty.

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4.4 Installation Overview
This graphic shows the elements of a complete Accelnet & Stepnet Plus Panel drive installation.
The STO feature and interface to the machine-level functional safety equipment are highlighted in red to
emphasize the aspects of the installation that are addressed in this manual.
4.5 Definitions
There are certain terms used throughout this document that serve an important role in describing the operation
and behavior of the Accelnet & Stepnet Plus Panels STO feature. These terms are discussed and defined as
follows:
Activate –This term is used to refer to action taken that results in the safe state being entered. In the case of the
STO feature, the STO function is activated (made active) by making the voltage at one or both STO inputs less
than or equal to the maximum rated de-energize threshold voltage.
De-Activate –This term is used to refer to action taken that results in the safe state being exited. In the case of
the STO feature, the STO function is de-activated (made inactive) by making the voltage at both STO inputs
greater than or equal to the minimum rated energize threshold voltage.
Energize –This term refers to the application of voltage greater than or equal to the minimum rated energize
threshold voltage to an individual STO input. Note that simultaneously energizing both STO inputs results in the
STO function being de-activated.
De-Energize –This term refers to the application of voltage less than or equal to the maximum rated de-energize
threshold voltage to an individual STO input. Note that de-energizing an STO input results in the STO function
being activated.
Fig. 1

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4.6 Related Documentation
These documents have additional information on the Accelnet & Stepnet Plus Panels models and are required for
proper installation and commissioning of the drives.
All are available from the Downloads page of the Copley Controls web site:
http://www.copleycontrols.com/Motion/Downloads/index.html
Downloads > Documents > Accelnet Plus Panel:
Data Sheet
Accelnet Plus EtherCAT 1-Axis BEL
Accelnet Plus EtherCAT 2-Axis BE2
Accelnet Plus CANopen 1-Axis BPL
Accelnet Plus CANopen 2-Axis BP2
Manual
Accelnet & Stepnet Plus Panels User Guide
Absolute & Serial Encoder Guide
Using CME2
CME2 Indexer User Guide
ASCII Programmers Guide
CMO Programmers Guide
Downloads > Documents > Stepnet Plus Panel:
Data Sheet
Stepnet Plus EtherCAT 1-Axis TEL
Stepnet Plus EtherCAT 2-Axis TE2
Stepnet Plus CANopen 2-Axis TP2
Manual
Accelnet & Stepnet Plus Panels User Guide
Absolute & Serial Encoder Guide
Using CME2
CME2 Indexer User Guide
ASCII Programmers Guide
CMO Programmers Guide

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4.7 Reference Standards
ISO 13849-1: 2nd ed, 2006
Safety of machinery Safety-related parts of control systems
Part 1: General Principles for Design
ISO 13849-2: 2003
Safety of machinery
Safety-related parts of control systems —Part 2: Validation
IEC 61508-1: Ed. 2.0 2010
Functional safety of electrical/electronic/programmable electronic safety-related systems
Part 1: General requirements
IEC 61508-2: 2010, 2nd Ed.
Functional safety of electrical/electronic/programmable electronic safety-related systems
Part 2: Requirements for electrical/electronic/programmable electronic safety related systems
IEC 61800-5-1: 2007, 2nd Ed.
Adjustable speed electrical power drive systems
Part 5-1: Safety requirements –Electrical, thermal and energy
IEC 61800-5-2:2007
Adjustable speed electrical power drive systems
Part 5-2: Safety requirements –Functional

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4.8 Abbreviations and Acronyms
Acronym
Description
Safety-Related
a,b,c,d,e
Denotation of performance level (PL)
Cat
Category
CCF
Common Cause Failure
DC
Diagnostic Coverage
EMC
Electro Magnetic Compatibility
HFT
Hardware Fault Tolerance
MTTF
Mean Time to Failure
MTTFd
Mean Time to Dangerous Failure
PDS(SR)
Power Drive Systems (Safety Related)
PELV
Protected Extra Low Voltage (power supply)
PFD
Probability of Dangerous Failure upon Demand
PFH
Probability of Failure per Hour
PL
Performance Level
PWM
Pulse Width Modulation
S, S1, S2
Severity of Injury
SELV
Safety Extra Low Voltage (power supply)
SFF
Safety Failure Fraction
SIL
Safety Integrity Level
STO
Safe Torque Off
Vdc
Volts DC (Direct Current)
Copley Controls Related
BEL
Accelnet Plus Panel EtherCAT 1-Axis
BPL
Accelnet Plus Panel CANopen 1-Axis
BE2
Accelnet Plus Panel EtherCAT 2-Axis
BP2
Accelnet Plus Panel CANopen 2-Axis
TEL
Stepnet Plus Panel EtherCAT 1-Axis
TE2
Stepnet Plus Panel EtherCAT 2-Axis
TP2
Stepnet Plus Panel CANopen 2-Axis
Table 3

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5.0 Introduction to the Accelnet & Stepnet Plus Panels
5.1 Product Description
The Accelnet & Stepnet Plus Panels are 1-axis and 2-axis drives contained in a single mechanical package.
These drives are intended to be operated from transformer-isolated, fused, DC power supplies and can drive
motor currents up to 20 Adc per axis. The 2-axis drives have a single Safe Torque Off (STO) function that is
common to both axes. When the STO function is activated, the ability to drive motor current is cut-off in both axes.
In the case of rotary motors, the torque produced by the motor is zero when the current is cut-off. In the case of
linear motors, the force produced by the motor is zero when the current is cut-off. The Safe Torque Off (STO)
function has been developed in accordance with IEC 61508, ISO 13849-1 and IEC 61800-5-2. All models in the
Accelnet & Stepnet Plus Panels family are certified* by TÜV SÜD as meeting the stated SIL Capability, Category
and Performance Levels and other requirements of the given standards. The Safe Torque Off (STO) function is
realized in “hardware only” such that no software, firmware, or programmable device is involved in the execution
or reliability of the STO function.
* This certification is pending at the time that this document was prepared.*
5.2 Model Overview & Numbering
Family
Axes
EtherCAT
CANopen
Motor
Accelnet Plus
1
BEL
BPL
Servo
2
BE2
BP2
Stepnet Plus
1
TEL
Stepper
2
TE2
TP2
This table shows the Accelnet & Stepnet Plus Panel models organized by family, number of axes,
communications, and motor types. Models within a prefix (i.e. TE2) family vary by the supply voltage, output
current, and options that are available.
All of these models have the same Safe Torque Off (STO) feature.
Table 4

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5.3 Accelnet Plus Panel Models
Network
Axes
Models
Ic
Ip
Vdc
EtherCAT
1-Axis
BEL-090-06
3
6
14~90
BEL-090-14
7
14
BEL-090-30
15
30
2-Axis
BE2-090-06
3
6
BE2-090-14
7
14
BE2-090-20
10
20
CANopen
1-Axis
BPL-090-06
3
6
BPL-090-14
7
14
BPL-090-30
15
30
2-Axis
BP2-090-06
3
6
BP2-090-14
7
14
BP2-090-20
10
20
Ic = Continuous Output Current, Adc (peak of sine)
Ip = Peak Output Current, Adc (peak of sine)
Vdc = HV power supply voltage (DC, line-isolated)
The models listed above are available with the following options added to the part number:
-R: Resolver feedback (Example BEL-090-14-R)
-H: Factory-installed heatsink (Example: BEL-090-14-H)
-R-H: Resolver option with factory-installed heatsink (Example: BEL-090-14-R-H)
5.4 Stepnet Plus Panel Models
Network
Axes
Models
Ic
Ip
Vdc
EtherCAT
1-Axis
TEL-090-06
3
6
14~90
TEL-090-14
7
14
2-Axis
TE2-090-07
5
7
TE2-090-10
5
10
CANopen
2-Axis
TP2-090-07
5
7
TP2-090-10
5
10
Ic = Continuous Current, Adc (peak of sine)
Ip = Peak Current, Adc (peak of sine)
Vdc = HV power supply voltage (DC, line-isolated)
The models listed above are available with the following option added to the part number:
-H: Factory-installed heatsink (Example: TEL-090-14-H)
Table 5
Table 6

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6.0 Specifications Overview
6.1 Control Modes
Cyclic Synchronous Position-Velocity-Torque (CSP, CSV, CST in EtherCAT drives only)
Cyclic Synchronous Torque Mode with Commutation Angle (CSTCA in EtherCAT drives only)
Profile Position-Velocity-Torque, Interpolated Position, Homing (CANopen & EtherCAT drives)
Camming, Gearing
Indexer (Internal program execution)
6.2 Command Sources
BPL, BP2, TP2 models: CANopen
BEL, BE2, TEL, TE2 models: CANopen application protocol over EtherCAT (CoE)
ASCII and discrete I/O
Stepper position commands
±10V position/velocity/torque
PWM velocity/torque command
Master encoder (Gearing/Camming)
6.3 Power Sources
DC voltage: +14~90 Vdc
Aux DC voltage +14~90 Vdc
The Aux power is optional and powers the control core and communications in the drive
when +HV power has been removed so that the drive can continue to communicate and report status via the
communication link.
Complete specification and wiring details are provided in the Accelnet & Stepnet Plus Panels User Guide (16-01339)

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7.0 STO Architecture and Function
The STO function in Accelnet & Stepnet Plus Panels is suitable for use in safety loops up to SIL 3 and/or
Cat. 3 PL d performance. Because Cat. 3 PL d performance requires that the safety function continues to operate
even in the event of two failures, the STO circuit concept uses a quasi three-channel architecture. This
architecture is shown in the system block diagram for a BE2 2-axis servo drive below.
In the Safe State, the drive will not produce torque or force in the motor. The STO function achieves and
maintains a safe state by disabling the ability of the attached motor(s) to produce torque/force. This halts any
drive induced acceleration already in process and prevents initiation of motion. The expectation is that an inability
of the motor to produce torque/force translates into a reduction of risk of hazardous motion for the larger system.
The STO circuit concept involves disabling the ability of the motor drive output stages to produce current. The
output stage consists of one subset of high side output MOSFETs that switch motor terminals to the positive rail
of the DC bus (+HV), and a second subset of low side output devices that switch motor terminals to negative rail
of the DC bus (HVCOM). The basic STO circuit architecture is derived from the fact that current flow in the motor,
and therefore torque/force production, requires both subsets to function. STO Channel 1 disables the drive (both
axes) by removing power from the high side MOSFET gate drives and STO Channel 2 disables the drive (both
axes) by removing power from the low side MOSFET gate drives.
Fig. 2

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STO Channel 3 disables the drive (both axes) by disabling both the high and low side MOSFET gate drivers. Any
of the three channels by itself is therefore sufficient to prevent the initiation of motion or halt drive induced
acceleration when the STO function is activated.
Each STO channel receives an input in the form of a voltage (typically +24 Vdc to energize and 0V or open to
deenergize) applied to STO_IN1 (+,-) and STO_IN2 (+,-). Note in figure 2 that STO_IN1 (+,-) drives two parallel
connected opto-coupler stages (Channel 1 and Channel 3). STO_IN2 (+.-) drives the opto-coupler stage for
Channel 2 only. Both STO inputs must be simultaneously energized in order for torque/force to be produced. To
achieve the rated SIL and PL capability, both STO inputs must be held simultaneously de-energized by the larger
system when the STO function is activated. In a typical machine application, each STO input is driven by a
+24 Vdc supply voltage switched through a safety relay. Note that the STO inputs are designed to withstand input
voltages to +60 Vdc to provide a measure of overvoltage protection. By definition, the output of an SELV rated
power supply is a maximum of +60 Vdc in a fault condition. Therefore a constraint on the larger system is that the
power supply used to energize the STO inputs must be an SELV type.
7.1 STO Channel Operation
STO Function Active = No force/torque production is possible in motor
STO Function Inactive = Force/torque production in motor is under control of the drive
STO
IN1
STO
IN2
STO Function State
0
0
STO function is active , both inputs de-energized
1
0
STO function is active, one input de-energized
0
1
1
1
STO function is inactive, both inputs energized
The table above shows the operation of the STO channels.
0 = Voltage applied to the STO input is less than or equal to the rated maximum de-energize level.
1 = Voltage applied to the STO input is greater than or equal to the rated minimum energize level.
A motion control system design for Cat. 3 PL d, and/or SIL 3 rating must use 2 channels for the STO function.
Table 7

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7.2 STO Function Specifications
Specification
Requirement
Operation
When STO is active, motor current that can cause rotation (or motion in
the case of a linear motor) is not applied by either Axis A or Axis B. The
PWM outputs of both axes are disabled and cannot source or sink current.
This STO function is defined in IEC-61800-5-2, clause 4.2.2.2
Standards Conformance
IEC-61508-1, IEC-61508-2, IEC-61800-5-2, ISO 13489-1
Safety Integrity Level
SIL 3
Category & Performance Level
Category 3, Performance Level PL d
Implementation
Hardware only –Type A components
Systematic Capability
SC 3
Certifications
TÜV SÜD Functional Safety Mark (Pending)
Signals (Functional Safety Related)
STO-IN1(+), STO-IN1(-), STO-IN2(+), STO-IN2(-), Frame ground (shield)
Signals (for muting)
STO-Bypass, STO-Gnd
STO DC Power
+24 Vdc, typical, maximum withstand voltage +60 Vdc
STO DC Power Source
SELV power supply required
STO Input Energize Voltage
Vin-HI ≥ +15.0 Vdc between STO-IN(+) and STO-IN(-)
STO Input De-energize Voltage
Vin-LO ≤ +6.0 Vdc or open between STO-IN(+) and STO-IN(-)
Input current (typical)
STO-IN1: 11.2 mA, STO-IN2: 11.2 mA
Current flow is into STO-IN1(+) and STO-IN2(+) and out of STO-IN1(-) and
STO-IN2(-). STO inputs must be connected in parallel.
Response Time
From Vin ≤ 6.0 Vdc or open to PWM outputs disabled (off): 2 ms
Type
Opto-isolators, +24 VDC compatible
Maximum cable length
30 m (98.4 ft)
7.3 Environmental Specifications
Specification
Requirement
Operating Temperature
0 °C to 45 °C per IEC 60068-2-1:2007 and IEC 60068-2:2007
Operating Humidity
0 to 95 %RH, non-condensing per IEC 60068-2-78:2001
Storage Temperature
-40 °C to 85 °C per IEC 60068-2-1:2007 and IEC 60068-2-2:2007
Altitude
≤ 2000 m per IEC 60068-2-13:1983
Contaminants
Pollution Degree 2 per IEC 60664-1:2007
Mechanical Shock
10g, 10 ms, 1/2 Sine Pulse per IEC 60068-2-27:2008
Vibration
2g, peak, 10~500 Hz (Sine) per IEC 60068-2-6:2007
Table 8
Table 9

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7.4 Safety Related Parameters
Servo, 1-Axis: BEL, BPL
IEC 61508: 2010
ISO 13849-1: 2006
SIL
3
HFT
2
PL
d
Category
3
PFH
3.3 x 10-9
SFF
<60%
CCF
80
MTTFD
100 yrs
PFD
2.9 x 10-4
PTI
20 yrs
DC
69%
Servo, 2-Axis: BE2, BP2
IEC 61508: 2010
ISO 13849-1: 2006
SIL
3
HFT
2
PL
d
Category
3
PFH
3.3 x 10-9
SFF
<60%
CCF
80
MTTFD
100 yrs
PFD
2.9 x 10-4
PTI
20 yrs
DC
73%
Stepper, 1-Axis: TEL
IEC 61508: 2010
ISO 13849-1: 2006
SIL
3
HFT
2
PL
d
Category
3
PFH
3.3 x 10-9
SFF
<60%
CCF
80
MTTFD
100 yrs
PFD
2.9 x 10-4
PTI
20 yrs
DC
71%
Stepper, 2-Axis: TE2, TP2
IEC 61508: 2010
ISO 13849-1: 2006
SIL
3
HFT
2
PL
d
Category
3
PFH
3.3 x 10-9
SFF
<60%
CCF
80
MTTFD
100 yrs
PFD
2.9 x 10-4
PTI
20 yrs
DC
73%
Table 10
Table 11
Table 12
Table 13

Accelnet & Stepnet Plus Panels STO Manual 16-01338 Rev 00
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7.5 Regulatory Specifications
Specification
Requirement
Approvals
UL recognized component to UL 61800-5-1
TÜV SÜD Functional Safety to IEC 61508 and ISO 13849-1
Functional Safety
IEC 61508-1:2010, IEC 61508-2:2010, ISO 13849-1:2006, ISO 13849-2:2003,
IEC 61800-5-2:2007
Electrical Safety
Directive 2006/95/EC –Low Voltage, IEC/UL/CSA 61800-5-1:2007
EMC
Emissions: IEC 61800-3:2004 + A1: 2011, Category C3
Immunity: IEC 61800-3:2004 + A1:2011, Category C3
Functional Safety Immunity: IEC 61800-5:2004 + A1:2011
IFA “EMC and Functional Safety of PDS”, (Feb 2012)
Markings
• UL recognized component (Canada and US)
• CE
• TÜV SÜD Functional Safety <pending>
• HV warning symbol per IEC 60417-5036 (2002-10)
Hazardous
Substances
Lead free and RoHS compliant
Table 14

Accelnet & Stepnet Plus Panels STO Manual 16-01338 Rev 00
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7.6 Limitations and Necessary Risk Reductions
7.6.1 Electrical Isolation
The STO function does not provide electrical isolation between the drive and the motor.
Hazardous voltages may be present on the motor output terminals J3 and J4 even with the STO function
activated.
7.6.2 DC Brush Motors
Failure of a MOSFET in the outputs of the drive that renders the MOSFET a virtual short-circuit might result
in continuous torque/force production in a DC motor. Unlike brushless motors that limit rotation to one half of
an electrical cycle, a DC motor can rotate uncontrollably under a failed MOSFET scenario. As result, the
STO function cannot be used with DC brush motors.
7.6.3 180 Degree Electrical Movement
In the event of MOSFET failures in the PWM outputs, unexpected motor movement of up to 180 electrical
degrees can occur. It is the responsibility of the designer of the larger system to assess and address any
hazards that this unexpected movement could create.
7.6.4 Loads and Other Torque/Force Producing Sources
The STO function produces an uncontrolled stop of category 0 as described in IEC 60204-1.
Any motor that is moving when the STO function is activated will coast to a stop unless there are other forces
operating on the same load. The STO function only removes torque/force produced by current flow from the
drive to the associated motor(s). Torque/force created by gravity-influenced loads or other torque/force
producing components mechanically connected to the motor shaft cannot and will not be affected by the
drive STO function. It is the responsibility of the designer of the larger system to assess and address any
hazards arising from torque/force producing sources.
7.6.5 STO Input Signal Level
The STO inputs (STO-IN1, STO-IN2) can withstand input voltages to +60 Vdc in case of an overvoltage fault
condition. Therefore a constraint on the larger system is that the power supply used to drive the STO inputs
must be an SELV type with a +24 Vdc output.
7.6.6 Control Modes and STO
The drive can control the position, velocity, and torque of motors while operating from a number of control
sources. But it can only do this when the STO function is inactive. And, while the digital control core and
firmware of the drive can observe the state of the STO function, it cannot interact with, or exercise any
control over the STO function.

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The STO function operates completely independently of the control core of the drive and is
implemented entirely in hardware. It does not depend on the control core for its operation and the
control core of the drive has no control over the STO function.
7.6.7 +HV and AuxHV DC Power Supply
The power supply used to provide the +HV and AuxHV drive power must have protections to limit the output
voltage to 100Vdc or less even in a single fault condition. Furthermore the power supply output must have
galvanic isolation from AC mains that meets the requirements for reinforced or double insulation..
7.6.8 STO DC Power Supply
DC power for STO circuits should be +24 Vdc and must be supplied by power supplies with an SELV rating.
This ensures that the maximum voltage output will be limited to +60 Vdc.
7.6.9 Wiring to the STO Inputs
Electrical connections to the STO inputs must meet the requirements for fault exclusions for short circuits
between conductors and short circuits between conductors and other conductive parts or earth or the
protective bonding conductor. Fault exclusion requirements are given in ISO 13849-2 and IEC 61800-5-2.
Toward this end, the STO cable connector is a crimp and poke type in order to meet the relevant fault
exclusions. The contacts and connector provide spacing that is greater than the minimum creepage and
clearance of 1.24 mm. that is required for fault exclusion when considering the FMEDA (Failure Modes,
Effects, and Diagnostic Analysis) of the system..
7.6.10 Periodic Test Requirements
In order to meet the diagnostic coverage requirements for Cat. 3, PL d, the STO function must be checked at
least once per year. See section 9 for specific details.