3/9/22, 12:44 PM Safe Drive Control including Safe Torque Off (STO)

Depending on the ISO 13849-1 PLr, or the IEC 62061 SILr needed for the application, the drive may not have high enough reliability on its own. In this case, a second channel
may be required to ensure that safe standstill monitoring is adequately reliable. This can be achieved by adding another means of standstill detection, like a second encoder, or
a standstill monitoring device. An example circuit diagram showing this type of monitoring can be found in Fig. 4 [10, Fig. 8.37], showing a safety PLC and drive used to provide
an “inching” or “jog” function.

Figure 4 — Safely limited speed for inching mode – PLd, Cat. 3 [10]

In Fig. 4, the encoders are labelled G1 and G2. Both encoders are connected to the safety PLC to provide two-channel feedback required for Category 3 architecture. G1 is
also connected to the motor drive for position and velocity feedback as needed for the application. Note that this particular drive also has a contactor upstream, Q1, to provide
one channel of the two required for Category 3. The second channel would be provided by the Pulse Blocking input on the drive. For more on how this circuit functions and
how the functional safety analysis is completed, see [10] and the 2019 version of the report [13].

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