3/9/22, 12:43 PM Safe Drive Control including Safe Torque Off (STO)

uncontrolled stop
stopping of machine motion by removing electrical power to the machine actuators
NOTE This definition does not imply any other state of other (for example, non-electrical) stopping devices, for example,
mechanical or hydraulic brakes that are outside the scope of this standard.
The definition above is important. Uncontrolled stops are the most common form of stopping used in machines of all types and is required as a basic function for all machines.
There are various ways of achieving STO, including the use of a disconnecting device, emergency stop systems, and gate interlocking systems that remove power from
machine actuators.

The embodiment of the uncontrolled stop concept is Stop Category 0 [4, 9.2.2]:

stop category 0 — stopping by immediate removal of power to the machine actuators (i.e., and uncontrolled stop, see 3.56)
Stop category 0 is only appropriate where the machinery has little inertia, or where mechanical friction is high enough that the stopping time is short. It may also be used in
cases where the machinery has very high inertia, but only for normal stopping when coasting time is not a factor, not for safety stopping functions where the time to a no-
motion state is critical.

There are a few other stopping modes that are often confused with STO:

Safe Stop 1
Safe Stop 2
Safe Operating Stop
Safe Standstill

Let’s explore the differences.

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