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v
v
t
t
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Case 1
– Stopping true to path
within the application-specific
target time t
v
:
After stopping the kinematics
the controller enable function is
deactivated via the CANopen
Drive Bus
3
(= brake applied).
At the end of t
v
the dual-channel
safety circuit
4
is activated –
deactivation of the output stage
enable and supply voltage for
the output stage drivers.
Emergency stop
When an emergency stop
1
is triggered and the signal is transferred
to the controller
2
the command to reduce speed true to path is
transmitted from the controller to the motor controller via the
CANopen Drive Bus
3
Case 2
– True to path reduction
of speed within the target time,
followed by an unregulated
stop: at the end of of t
v
the con-
troller enable function is deacti-
vated via the CANopen Drive
Bus
3
(= brake applied). The
dual-channel safety circuit
4
is activated at the same time,
see case 1, despite the residual
speed of the kinematics.
The speed is then further
reduced to a stop, but without
position control so that the
specified path position can be
abandoned in certain circum-
stances.
Enabling switch
Emergency
stop
Guard
doors
Light
curtain
Laser
scanner
Vision
system
Teach pendant
CDSA
Mode selector
switch
Operating elements
Dual-channel
“Safe Stop”
Robotic controller CMXR
t
v
t
v
t
v
– Defined time for
„true to path“ stop
Motor controller CMMP-AS
Safety@Festo
As partners for safety we realise
that quality has many aspects.
One of these is handling
machines safely.
Using safety-orientated electri-
cal engineering and control tech-
nology from Festo provides you
with the security of implement-
ing safety measures in compli-
ance with the EC machinery
directive.
Safety concept
Safe stop SS1 according to
EN 60204-1 in automatic mode
with PL „d“, category 3
Programmable
safety relay
1
2
3
3
4
3
4
1
2
3
Case 1
Case 2
1
4
4
3 2
1