Stop category definitions – Rockwell Automation 2094-EN02D-M01-S1 Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety Reference Manual User Manual
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Rockwell Automation Publication 2094-RM001C-EN-P - May 2013
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Safety Concept
Chapter 1
Stop Category Definitions
The selection of a stop category for each stop function must be determined by a
risk assessment.
• Stop Category 0 is achieved with immediate removal of power to the
actuator, resulting in an uncontrolled coast to stop. Safe Torque Off
accomplishes a Stop Category 0 stop.
• Stop Category 1 is achieved with power available to the machine actuators
to achieve the stop. Power is removed from the actuators when the stop is
achieved.
• Stop Category 2 is a controlled stop with power available to the machine
actuators. The stop is followed by a holding position under power.
Refer to
for more information.
Performance Level and Safety Integrity Level (SIL) CL3
For safety-related control systems, Performance Level (PL), according to EN ISO
13849-1, and SIL levels, according to EN 61508 and EN 62061, include a rating
of the system’s ability to perform its safety functions. All of the safety-related
components of the control system must be included in both a risk assessment and
the determination of the achieved levels.
Refer to the EN ISO 13849-1, EN 61508, and EN 62061 standards for complete
information on requirements for PL and SIL determination.
Refer to
for more information on the requirements for configuration
and verification of a safety-related system containing the Kinetix 6200 and
Kinetix 6500 drives.
IMPORTANT
When designing the machine application, timing and distance must be
considered for a coast to stop (Stop Category 0 or Safe Torque Off). For more
information regarding stop categories, refer to EN 60204-1.
TIP
You can determine the drive/motor Stop Delay characteristics by using
Motion Analyzer software, version 4.7 or later.