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Safety issue on drive level

Safety issue on drive level

Safety issue on drive level

(OP)
I've just reviewed Yaskawa Sigma-5 brochure and noted that they claim compliance with the following safety standards:

EN954-1: Safety Category 3
EN60204-1: Stop Category 0
IEC61800-5-2: Safe Torque Off (STO)

Can somebody give more details / idea about this standards (is EN61800-2, -3, -5 standard similar to IEC61800-2, ... ?). Or, maybe, we can take this opportunity to hold a general drive safety discussion:

1.  what are today's standards and reasonable servo amplifier / drive / motion controller safety requirements (drive level, not machine one)?

2. what Yaskawa competition Rockwell, Siemens, Baumueller, and other claim / offer in this connection?

3. for drive manufacturers, what is the meaning of safety standard compliance on HW, SW / FW , communication levels etc?   

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