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Bosch Rexroth AG

DOK-CONTRL-ILPSDO8****-AW04-EN-P

Rexroth Inline Module with Safe Digital Outputs R-IB IL 24 PSDO 8-PAC

Assembly, Removal, and Electrical Installation ...................................................... 31

5.1

Assembly and Removal......................................................................................................................... 31

5.1.1

Unpacking the Module ...................................................................................................................... 31

5.1.2

General ............................................................................................................................................. 31

5.1.3

Setting the DIP Switches ................................................................................................................... 32

5.1.4

Assembly and Removal of the Safety Module ................................................................................... 33

5.2

Electrical Installation.............................................................................................................................. 35

5.2.1

Electrical Installation of the Rexroth Inline Station ............................................................................. 35

5.2.2

Electrical Installation of the Safety Module ........................................................................................ 35

Parameterization of the Safety Module .................................................................... 37

6.1

Parameterization in a PROFIsafe System ............................................................................................. 37

6.2

Parameterization of the Safe Outputs.................................................................................................... 38

6.3

Behavior of the Outputs in the Event of Enabled Switch-Off Delay for Stop Category 1 ........................ 40

Connection Examples for Safe Outputs................................................................... 41

7.1

Explanation of the Examples ................................................................................................................. 41

7.2

Notes on the Protective Circuit for External Relays/Contactors (Free Running Circuit) ......................... 42

7.3

Measures Required to Achieve a Specific Safety Integrity Level ........................................................... 43

7.4

Single-Channel Assignment of Safe Outputs ........................................................................................ 45

7.5

Two-Channel Assignment of Safe Outputs............................................................................................ 48

Startup and Validation ............................................................................................... 51

8.1

Initial Startup ......................................................................................................................................... 51

8.2

Restart after Replacing a Safety Module ............................................................................................... 53

8.2.1

Replacing a Safety Module ............................................................................................................... 53

8.2.2

Restart ............................................................................................................................................... 53

8.3

Validation .............................................................................................................................................. 53

Errors: Messages and Removal ................................................................................ 55

9.1

Safe Digital Output Errors...................................................................................................................... 57

9.2

Supply Voltage Errors ........................................................................................................................... 58

9.3

Parameterization Errors......................................................................................................................... 59

9.4

General Errors ....................................................................................................................................... 60

9.5

PROFIsafe Errors .................................................................................................................................. 61

9.6

Acknowledging an Error ........................................................................................................................ 61

Maintenance, Repair, Decommissioning, and Disposal ......................................... 63

10.1

Maintenance ......................................................................................................................................... 63

10.2

Repair ................................................................................................................................................... 63

10.3

Decommissioning and Disposal ............................................................................................................ 63

Summary of Contents for Rexroth R-IB IL 24 PSDO 8-PAC

Page 1: ...The Drive Control Company Application Description R911326028 Edition 04 Rexroth Inline Module with safe digital outputs R IB IL 24 PSDO 8 PAC ...

Page 2: ... be reproduced or given to third parties without its consent Liability The specified data is intended for product description purposes only and shall not be deemed to be a guaranteed characteristic unless expressly stipulated in the contract All rights are reserved with respect to the content of this documentation and the availability of the product Editorial department Engineering automation syst...

Page 3: ...on 15 3 1 Brief Description of the Safety Module 15 3 2 Structure of the Safety Module 16 3 3 Housing Dimensions 17 3 4 Safe Digital Outputs 18 3 5 Connection Options for Actuators Depending on the Parameterization 20 3 6 Local Diagnostic and Status Indicators 20 3 7 Safe State 22 3 7 1 Operating State 22 3 7 2 Error Detection in I O Devices 22 3 7 3 Device Errors 23 3 7 4 Parameterization Errors ...

Page 4: ...f Enabled Switch Off Delay for Stop Category 1 40 7 Connection Examples for Safe Outputs 41 7 1 Explanation of the Examples 41 7 2 Notes on the Protective Circuit for External Relays Contactors Free Running Circuit 42 7 3 Measures Required to Achieve a Specific Safety Integrity Level 43 7 4 Single Channel Assignment of Safe Outputs 45 7 5 Two Channel Assignment of Safe Outputs 48 8 Startup and Val...

Page 5: ...ocumentation 71 12 PROFIsafe Terms Used in the Application Description 73 13 F Parameters and iParameters 75 13 1 F Parameters 75 13 2 iParameters 76 13 3 Diagnostic Messages for Parameter Errors 77 14 Checklists 79 14 1 Planning 80 14 2 Assembly and Electrical Installation 81 14 3 Startup and Parameterization 82 14 4 Validation 83 15 Conditions for Use at Altitudes greater than 2000 m above Sea L...

Page 6: ...IV 94 Bosch Rexroth AG DOK CONTRL ILPSDO8 AW04 EN P Rexroth Inline Module with Safe Digital Outputs R IB IL 24 PSDO 8 PAC ...

Page 7: ...ol according to ANSI Z535 6 2006 The signal word is used to draw attention to the safety instruction and also provi des information on the severity of the hazard The safety alert symbol a triangle with an exclamation point which precedes the signal words danger warning and caution is used to alert the reader to personal injury hazards DANGER In case of non compliance with this safety instruction d...

Page 8: ...Safe Digital Outputs R IB IL 24 PSDO 8 PAC 1 3 Symbols used Hints are represented as follows Tips are represented as follows 1 4 Signal Graphic Explanation on the Device This is an information This is a tip for the user Prior to the installation and commissioning of the device refer to the device documentation ...

Page 9: ...iented exclusively to qualified electricians or persons instructed by them who are familiar with applicable stan dards and other regulations regarding electrical engineering and in particular the relevant safety concepts Bosch Rexroth accepts no liability for erroneous handling or damage to products from Bosch Rexroth or third party products resulting from disregard of information contained in thi...

Page 10: ...zed to carry out any required operations and who are able to recognize and avoid any possible dangers Documentation You must observe all information in this application description as well as in the documents listed in Chapter Documentation on page 12 Safety of personnel and equipment The safety of personnel and equipment can only be assured if the safety module is used correctly see Chapter Corre...

Page 11: ...he operating equipment please take into consideration the contamination and surge voltages which may occur during operation The R IB IL 24 PSDO 8 PAC module is designed for surge voltage category II according to DIN EN 60664 1 If you expect surge voltages in the system which exceed the values defined in surge voltage category II take into consideration additional measures for voltage limitation In...

Page 12: ...target safety integrity level SIL according to EN 61508 SIL CL according to EN 62061 or performance level and category according to EN ISO 13849 1 is ascertained on the basis of the risk analysis The safety integrity level ascertained determines how to connect and parameterize the safety module within the overall safety function Within a PROFIsafe system the R IB IL 24 PSDO 8 PAC safety module can...

Page 13: ...orrectly and in such a way as to avoid errors You must observe all information in this application description as well as in the documents listed in Documentation on page 12 In particular only use the module according to the technical data and ambient conditions specified in Chapter 11 Technical Data and Ordering Data on page 65 and onwards Within a PROFIsafe system the safety module can be used t...

Page 14: ...its components you must always keep this application description and other items of product documentation to hand and observe the information therein Application descriptions For the safe controller used For PROFIsafe I O modules For PROFIsafe function blocks Please also observe the relevant information about PROFIBUS PROFINET and PROFIsafe which is available on the Internet at www profisafe net R...

Page 15: ...ce level EN ISO 13849 1 PL e PL d Fig 2 1 Abbreviations used Abbrevia tion Meaning PELV Protective extra low voltage A circuit in which the voltage cannot exceed30 V AC 42 4 V peak value or 60 V DC under normal conditions and under single fault conditions except earth faults in other circuits A PELV circuit is like a SELV circuit but is connected to protective earth ground According to EN 61131 2 ...

Page 16: ...For Your Safety 14 94 Bosch Rexroth AG DOK CONTRL ILPSDO8 AW04 EN P Rexroth Inline Module with Safe Digital Outputs R IB IL 24 PSDO 8 PAC ...

Page 17: ... baud rate of the safety modules to 500 kbaud in a combined system The module has a 10 pos DIP switch which is used to set the PROFIsafe address The module has four safe positive switching digital outputs for two channel assignment or eight safe positive switching digital outputs for single channel assignment The outputs can be parameterized according to the application and enable the integration ...

Page 18: ...he transmission speed and operating mode 4 Switch for setting address For more detailed information about setting the switches please refer to Setting the DIP Switches on page 32 5 Potential jumper 6 Diagnostic and status indicators for assignment and meaning see Chapter Local Diagnostic and Status Indicators on page 20 7 Rexroth Inline connector for assignment see Chapter Terminal Point Assignmen...

Page 19: ...04 EN P Bosch Rexroth AG 17 94 Rexroth Inline Module with Safe Digital Outputs R IB IL 24 PSDO 8 PAC 3 3 Housing Dimensions Fig 3 2 Housing dimensions in mm 76192008 48 8 71 5 119 8 500KBD 2MBD Mode1 Mode2 9 8 7 6 5 4 3 2 1 0 F Address off on ...

Page 20: ...abled If this is not possible for the connected loads the test pulses can be disabled However in this case error detection is reduced For information about parameterization please refer to Chapter Parameterization of the Safe Outputs on page 38 Diagnostics Diagnostics are provided via both the local diagnostic indicators and the diagnostic messages which are transmitted to the safe controller PROF...

Page 21: ...ecial environmental requirements in your application when selecting the controlled devices Please note applicable C standards in your application e g EN 1010 in which for example the number of controlled devices required to achieve a particular category is specified Unintentional machine startup If the process does not tolerate this behavior actuators with sufficient inertia must be used In genera...

Page 22: ...ements of the standards with regard to the external wiring and the actuators to be used to achieve a SIL SIL CL Cat PL see Measures Required to Achieve a Specific Safety Integrity Level on page 43 Key 3 6 Local Diagnostic and Status Indicators Fig 3 3 Local diagnostic and status indicators on the R IB IL 24 PSDO 8 PACmodule Output OUT0 to OUT3 Output parameterization Single channel Two channel Tes...

Page 23: ... not accepted ON Hardware fault Communication to safe controller disabled and output driver enable reset UM Green LED Monitoring the supply voltage UM OFF Communications power is not present Flashing at 1 Hz UM below the permissible voltage range undervoltage ON UM present P Green LED Status indicator for safe communication OFF No safe communication Flashing at 0 5 Hz Safe communication running th...

Page 24: ... state Depending on the parameterization the following errors can be detected at outputs Short circuit Cross circuit Overload The relevant diagnostic message is transmitted to the safe controller see Chapter Safe Digital Output Errors on page 57 For information about which errors are detected and when please refer to Connection Examples for Safe Outputs on page 41 PROFIsafe The safe state for the ...

Page 25: ...diagnostic message is transmitted to the safe controller see Chapter Errors Messages and Removal on page 55 3 7 4 Parameterization Errors Parameterization errors are indicated As long as the module is not parameterized or In the event of faulty parameterization Parameterization errors cause the entire module to enter the safe state The FS LED on the safety module flashes In the event of faulty par...

Page 26: ...safe process Data Words PROFIBUS PROFINET The module occupies four words in the Rexroth Inline system The way in which these words are mapped in the higher level control system is specific to the con troller used and is described in the system documentation for the controller system used 3 10 Programming Data Configuration Data 3 10 1 Local Bus 3 10 2 PROFIBUS PROFINET PROFIsafe Switch address Any...

Page 27: ...4 V supply voltage in the bus coupler or power terminal It is supplied to the safety module via the Inline potential jumper UL The supply voltage UL is used to supply the communications power For the tech nical data for supply voltage UL please refer to Supply voltage UL logic on page 67 The maximum current carrying capacity for the supply voltage UL is 2 A This current carrying capacity can be re...

Page 28: ...e used For the behavior of the safety module in the event of an error at the supply voltage please refer to Chapter Supply Voltage Errors on page 58 Fig 4 1 Supply UM with connection to functional earth ground according to EN 60204 1 Loss of the safety function when using unsuit able power supplies Please observe the points in Chapter Electrical Safety on page 9 Module damage due to polarity rever...

Page 29: ...a DC power supply network which supplies a complete industrial hall with DC voltage and to which any device can be connected A typical system or machine distribution is not a DC distribution network For devices that are provided for a typical system or machine distribution the DC connections are viewed and tested as I O signals according to IEC 61326 3 1 Damage to module electronics in the event o...

Page 30: ...onnectors supplied with the module or connectors that are approved as replacement items see Ordering Data Documen tation on page 71 Terminal point Signal Channel assignment LED 1 1 OUT0_Ch1 Output 0 channel 1 0 1 2 1 OUT0_Ch2 Output 0 channel 2 0 2 1 2 Not used 2 2 Not used 1 3 0 V GND Channel 1 and channel 2 2 3 0 V GND Channel 1 and channel 2 1 4 FE 2 4 FE Fig 4 3 Terminal point assignment for c...

Page 31: ...4 FE 6 4 FE Fig 4 5 Terminal point assignment for connector 3 Terminal point Signal Channel assignment LED 7 1 OUT3_Ch1 Output 3 channel 1 3 1 8 1 OUT3_Ch2 Output 3 channel 2 3 2 7 2 Not used 8 2 Not used 7 3 0 V GND Channel 1 and channel 2 8 3 0 V GND Channel 1 and channel 2 7 4 FE 8 4 FE Fig 4 6 Terminal point assignment for connector 4 Loss of functional safety due to parasitic voltages Connect...

Page 32: ...Inline Potential and Data Routing and Inline Connectors 30 94 Bosch Rexroth AG DOK CONTRL ILPSDO8 AW04 EN P Rexroth Inline Module with Safe Digital Outputs R IB IL 24 PSDO 8 PAC ...

Page 33: ...ousing control cabinet control box against being opened by unauthorized persons Mount all Inline terminals on 35 mm DIN rails Only connect the cables using the supplied Rexroth Inline connectors or Inline connectors listed in the ordering data Electrostatic discharge The safety module contains components that can be damaged or destroyed by electrostatic discharge When handling the safety module ob...

Page 34: ...permitted The DIP switch 3FFhex is not valid The DIP switch is set to 200hex by default DIP 9 switch to on Overview of the switch positions Procedure If the DIP switch settings have to be modified proceed as follows Use the switch to set the transmission speed to 500 kbaud or 2 Mbaud Set the address A Switch for setting the transmission speed and the operating mode B Switch for setting the address...

Page 35: ...he safety module perpendicular and snap it onto the DIN rail 7 5 mm in height Fig 5 3 Snapping on the safety module base Check that all the snap on mechanisms are securely snapped into place For general information about mounting and removing Rexroth Inline terminals please refer to the DOK CONTRL ILSYS INS AW EN P application description Set the DIP switches prior to assembly see Chapter Setting ...

Page 36: ...from the safety module and the adjacent connector from the neighboring Inline terminal on the left Remove connectors Remove the connector by pressing the back shaft latching A and levering off the connector B Fig 5 5 Removing the connector Remove base Release the base by pressing on the front and back snap on mechanisms A and pull it out perpendicular to the DIN rail B Fig 5 6 Removing the safety ...

Page 37: ...tors are connected via Inline connectors Wire the connectors according to your application For the terminal point assignment please refer to Chapter Terminal Point Assignment on page 28 For wiring proceed as follows Strip 8 mm off the cable Push a screwdriver into the slot of the appropriate terminal point Fig 5 7 detail 1 so that you can insert the wire into the spring opening Bosch Rexroth recom...

Page 38: ...l Outputs R IB IL 24 PSDO 8 PAC Fig 5 7 Connecting unshielded cables Insert the assembled connectors in the corresponding module slot see Chapter Ter minal Point Assignment on page 28 Label all connections to prevent connections to the Inline connectors being mixed up see DOK CONTRL ILSYSINS AW EN P application description 2 1 6452C032 ...

Page 39: ...ted in the parameterization tool is automatically written to the module on every power up or reset The following conditions must be met The supply voltage is present The communication connection has been established between the controller and safety module The module cannot be operated if it is not parameterized In this case the FS LED flashes The module is ready to operate if the parameters for a...

Page 40: ...Single channel Two channel In two channel operation the assignment of the outputs to one another is specified and cannot be parameterized Switch off delay for stop category 1 Disabled Enabled Disabled default No switch off delay Enabled The outputs are switched off once the parameterized switch off delay has elapsed Please observe the notes below this table Switch off delay for stop category 1 1 t...

Page 41: ... two channel parameterization Ensure that the values for the switch off delay for stop category 1 are the same for both channels This means that the time must have the same value and the same value range Note on test pulses If the test pulses are disabled cross circuits and short circuits cannot be detected Regardless of the parameterization selected under Test impulses output switched off the out...

Page 42: ...ization is modified Please note that when the parameterization is modified this can result in delayed startup due to the switch off delay time Disconnection of outputs Influence of parameterized switch off delay Disconnection of outputs By the safe controller Yes After the parameterized switch off delay has elapsed After a bus error Yes After the parameterized switch off delay has elapsed After a ...

Page 43: ...dies and information about whether acknowledgment is required please refer to Chapter Errors Messages and Removal on page 55 Typical parameterization The table illustrates an example of all the parameters for the specified assignment Key for all tables in this section Errors cross circuits short circuits which can be prevented by correct installation e g protected cable installation isolated cable...

Page 44: ...operation of the module or even destroy the module and thus result in the loss of the safety function Therefore these errors must be prevented Install the connecting cables for connecting the actuators so that they are protected against cross circuits Please observe the load capacity of the outputs according to the technical data in Safe Digital Outputs on page 18 WARNING Limit the voltage induced...

Page 45: ...ice can result in the loss of the safety function Prevent the welding of contacts on the connected contactors or safety relays with appropriate protection against overcurrent and surge voltage Please note that a single error can result in the loss of the safety function between tests Ensure that the external wiring is tested by the machine control system on machine startup and at suitable interval...

Page 46: ... the safety function Once the test pulses have been disabled test the shutdown capability of the actuators at regular intervals Cat 4 Use proven safety principles Use appropriately qualified actuators see Chapter Requirements for controlled devices actuators on page 19 Please note that mechanical failure of the switching device can result in the loss of the safety function Prevent the welding of c...

Page 47: ...n the event of an error If the application responds to these pulses use the two channel assignment of the outputs Loss of safety function Connect the actuator ground directly to terminal point GND of the safety module An external ground may not be used 73422005 K2 R K1 R K1 K2 OUT1_Ch1 GND M WARNING Actuator Single channel Two channel Achievable SIL SIL CL Cat PL SIL 2 SIL CL 2 Cat 2 PL c SIL 2 SI...

Page 48: ...or the actuator used Ensure that this error does not result in delayed system startup Other errors depending on the actuator Please take into consideration all possible errors that can occur in the actuator Error in the wiring Interrupt Cable interrupt between output and actuator or between actuator and ground No None No Detect errors using external monitoring Please take into consideration all th...

Page 49: ...f delay for stop category 1 parameters in this example the switch off delay is 30 x 1 s 30 s Parameterization Parameterized as Remark Assignment Used Output Single channel Switch off delay for stop category 1 Enabled Or disabled Switch off delay for stop category 1 30 Application specific Value range of switch off delay for stop category 1 Value in s Application specific Test pulses output disable...

Page 50: ...the event of an error The two chan nel assignment means that this does not result in a hazardous state 73421006 K2 R K1 R K1 K2 OUT1_Ch1 GND M OUT1_Ch2 GND WARNING Actuator Two channel Achievable SIL SIL CL Cat PL SIL 3 SIL CL 3 Cat 4 PL e Loss of electrical and functional safety To achieve the specified safety integrity level please refer to Chapter Measures Required to Achieve a Specific Safety ...

Page 51: ...tartup Other errors depending on the actuator Please take into consideration all possible errors that can occur in the actuator Error in the wiring Interrupt Cable interrupt between output and actuator or between actuator and ground No None No Detect errors using external monitoring Please take into consideration all the possible errors for the actuator used Ensure that this error does not result ...

Page 52: ...1 parameters in this example the switch off delay is 30 x 1 s 30 s Parameterization Parameterized as Remark Channel 1 Channel 2 Assignment Used Used Output Two channel Two channel Switch off delay for stop category 1 Enabled Enabled Or disabled Switch off delay for stop category 1 30 30 Application specific Value range of switch off delay for stop category 1 Value in s Value in s Application speci...

Page 53: ... operating voltage Ensure that there are no wiring errors e g cross circuit or short circuit or grounding errors by testing with a multimeter Check whether the ground connection is safe Connect the required voltages to the Inline station DOK CONTRL ILSYSINS AW EN P application description or documentation for the bus coupler Connect the required voltages UM to the safety module Chapter Supply Volt...

Page 54: ...ogram the safety function Application descriptions for the function blocks used Documentation for the controller used For PROFIsafe When verifying the safety function check whether the F_iPar_CRC parameter is greater than 0 for all devices If not modify the settings Checklist Validation on page 83 Quick start guide for configuring Inline modules with safe inputs or outputs under PROFIsafe on your ...

Page 55: ...ctions Perform a function test after replacing the module 8 3 Validation Carry out a safety validation every time you make a safety related modification to the PROFIsafe system When validating your individual EUC check the assignment of the actuator connections Determine whether The correct safe actuators are connected to the safety module The safety module has been parameterized correctly The var...

Page 56: ...Startup and Validation 54 94 Bosch Rexroth AG DOK CONTRL ILPSDO8 AW04 EN P Rexroth Inline Module with Safe Digital Outputs R IB IL 24 PSDO 8 PAC ...

Page 57: ...e acknowledged are indicated in the Acknowledgment column in the tables below Error removal To remove the cause of an error please proceed as described in the Remedy column in the tables below Acknowledge error Instructions on how to acknowledge an error can be found in Chapter Acknowl edging an Error on page 61 Module replacement following an error If in the event of failure the safety module is ...

Page 58: ...or outputs parameterized for two channel operation Here the channel pair is specified as the error location e g OUT0_Ch1 2 Example Safe output errors Fig 9 1 LED The LED column specifies which local diagnostic LEDs indicate the error Acknowledgment Errors that must be acknowledged are indicated with Yes in the Acknowledgment column Special conditions for re enabling an output or the module are spe...

Page 59: ...or and cabling Check free running circuit at the contactor Yes 2 x 0 3 OUT0_Ch1 OUT3_Ch1 x 7 A OUT0_Ch2 OUT3_Ch2 Error at the output or short circuit during the test 005x All OUT Red ON Pulse test brief activation at the output failed All module outputs are in the safe state Power up with error free selftest Replacement Yes 1 x 0 3 OUT0_Ch1 OUT3_Ch1 x 7 A OUT0_Ch2 OUT3_Ch2 Error at the output or s...

Page 60: ...ssage deletes the message and activates the outputs Undervoltage at UM Supply voltage UM is measured If UM 17 V a diagnostic message is generated Error cause Error code hex LED Remark Effect Remedy Acknow ledgment Undervoltage UM 01F0 UM flashing UM below the permissible voltage range All module outputs are in the safe state Check and supply voltage level Check supply line length and load Yes 1 Fi...

Page 61: ...0 OUT0_Ch1 2 563 OUT3_Ch1 2 The parameterization of two related outputs does not correspond to the two channel setting Correct value and resend parameter data to the module 028x x 0 3 OUT0_Ch1 OUT3_Ch1 x 7 A OUT0_Ch2 OUT3_Ch2 640 OUT0_Ch1 643 OUT3_Ch1 647 OUT0_Ch2 650 OUT3_Ch2 The parameterized switch off delay time for the output is outside the permissible value range Correct value and resend par...

Page 62: ...ging a diagnostic message The device firmware handles this diagnostic message with the highest priority Only when this message has been acknowledged correctly are other errors indicated if present The acknowledgment process during which an unexpected message was received is aborted The corresponding error remains in the error memory Diagnosticmessage 01F3 is indicated Check and adapt the assignmen...

Page 63: ...e must be acknowl edged If in the event of failure the safety module is replaced please proceed as described in Section 5 Assembly Removal and Electrical Installation and Chapter Restart after Replacing a Safety Module on page 53 For instructions on error acknowledgment please refer to the docu mentation for the system used Acknowledgment may result in a hazardous system state With the exception o...

Page 64: ...Errors Messages and Removal 62 94 Bosch Rexroth AG DOK CONTRL ILPSDO8 AW04 EN P Rexroth Inline Module with Safe Digital Outputs R IB IL 24 PSDO 8 PAC ...

Page 65: ...ifications 10 2 Repair It is prohibited for the user to carry out repair work or make modifications to the module The housing must not be opened If the housing is opened correct opera tion can no longer be ensured In the event of an error send the module to Bosch Rexroth or contact Bosch Rexroth immediately and engage a service engineer 10 3 Decommissioning and Disposal The machine or system manuf...

Page 66: ...Maintenance Repair Decommissioning and Disposal 64 94 Bosch Rexroth AG DOK CONTRL ILPSDO8 AW04 EN P Rexroth Inline Module with Safe Digital Outputs R IB IL 24 PSDO 8 PAC ...

Page 67: ...s data mode with 4 words and 1 word PCP internal use Transmission speed local bus 500 kbaud or 2 Mbaud Ambient temperature Operation 25 C to 55 C Storage transport 25 C to 70 C Humidity Operation 75 on average 85 occasionally no condensation In the range from 25 C to 55 C appropriate measures against increased humidity must be taken Storage transport 75 on average 85 occasionally no condensation F...

Page 68: ...rion A Safety characteristic data according to IEC 61508 EN 61508 Achievable SIL SIL 2 single channel SIL 3 two channel Depends on the parameterization and wiring see Chapter Connection Options for Actuators Depending on the Param eterization on page 20 and Chapter Connection Examples for Safe Outputs on page 41 Probability of a dangerous failure on demand by the safety function PFD SIL 2 1 of 10 ...

Page 69: ... routing For the technical data please refer to the data sheet for the bus coupler or power terminal used Current consumption 230 mA maximum Supply voltage UM actuators The safety terminal is supplied with main voltage UM via the bus coupler or a power terminal in the station The main voltage is led in the Inline station via potential routing For the technical data please refer to the data sheet f...

Page 70: ...rent for each group Maximum output current for each group total current Group 1 OUT0_K1 OUT1_K1 OUT2_K1 OUT3_K1 3 A Group 2 OUT0_K2 OUT1_K2 OUT2_K2 OUT3_K2 3 A Maximum output voltage in the low state 5 V Maximum leakage current in the low state 2 mA Minimum withstand voltage of the connected loads 5 V Maximum inductive load 1 H Maximum capacitive load depending on the current C 1 s R x 1400 Where ...

Page 71: ... Indicators on page 20 Diagnostic indicators One red LED two color LED green red per output see Local Diagnostic and Status Indicators on page 20 Safe digital outputs OUT0 to OUT3 Loss of safety function Connect the ground of the actuator directly to the ground terminal point of the corresponding output on the Inline con nector An external ground may not be used The connected load must not respond...

Page 72: ...tact discharge 8 kV air discharge Electromagnetic fields EN 61000 4 3 IEC 61000 4 3 Criterion A field strength 10 V m Fast transients burst EN 61000 4 4 IEC 61000 4 4 Criterion B test voltage 2 kV Surge voltage EN 61000 4 5 IEC 61000 4 5 Test intensity 2 Criterion B DC supply lines 0 5 kV 0 5 kV symmetrical asymmetrical Signal lines 1 0 kV 2 0 kV symmetrical asymmetrical Conducted interference EN ...

Page 73: ...lease refer to the product catalog at www boschrexroth com electrics Description Order code MNR Pcs Pkt Inline Automation terminals of the Rexroth Inline product range application description DOK CONTRL ILSYSINS AW EN P R911317021 1 PROFIsafe PROFIsafe Profile for Safety Technology on PROFI BUS DP and PROFINET IO Version 2 4 February 2007 specification See http www profisafe net Make sure you alwa...

Page 74: ...Technical Data and Ordering Data 72 94 Bosch Rexroth AG DOK CONTRL ILPSDO8 AW04 EN P Rexroth Inline Module with Safe Digital Outputs R IB IL 24 PSDO 8 PAC ...

Page 75: ...ctions which are approved for safety related operation F Parameter According to PROFIsafe system description Version 09 November 2007 F Parameters contain information for adapting the PROFIsafe layer to specific customer specifications and for checking the parameterization by means of a separate method diverse The main F Parameters are F Slave Failsafe slave F_Source_Address F Parameter PROFIsafe ...

Page 76: ... of the process values present at the safe inputs substitute values 0 are provided for the safety program For a safe output module when the F System is passivated instead of the output values provided by the safety program substitute values 0 are transferred to the safe outputs PROFIsafe Safety related bus profile based on PROFIBUS DP or PROFINET It defines the communication between a safety progr...

Page 77: ...legram delays to be tolerated by the communication but still ensure a sufficiently fast error response in the event of an error e g interruption in communication Value range 1 65534 in 1 ms increments Unit ms F_SIL SIL 3 Safety integrity SIL according to IEC 61508 of the safety module F_CRC_Length 3 byte CRC This parameter transmits the length of the CRC2 code to be expected in the safety tele gra...

Page 78: ...lude Device parameters from see Chapter Parameterization of the Safe Outputs on page 38 PST_Device_ID 20hex for R IB IL 24 PSDO 8 PAC F_Destination_Address not included in the checksum calculation iPar_CRC The device parameters are verified with a checksum iPar_CRC F_Destination_Address This address is the PROFIsafe address of the module Make sure that it matches the switch position of the 10 pos ...

Page 79: ...tch the required length Check device description 70 46 Invalid F Parameter record version The safety module F Module version does not match the required version Check device description Only V2 mode permitted 71 47 The checksum determined by the safety module F Module via the PROFIsafe parameters CRC1 does not match the CRC1 transmitted in the parameter tele gram Check F Parameters repeat calculat...

Page 80: ...Diagnostic Messages for Parameter Errors 78 94 Bosch Rexroth AG DOK CONTRL ILPSDO8 AW04 EN P Rexroth Inline Module with Safe Digital Outputs R IB IL 24 PSDO 8 PAC ...

Page 81: ...ent identification R IB IL 24 PSDO 8 PAC BK20NA10 Version HW FW FW 00 201 100 Date March 1 2013 Editor John Smith Test engineer Jane Brown Remark System XXX has been checked for engine hood production No Requirement mandatory Yes Remark X No Requirement optional Yes No Remark Y Key Equipment identification Enter the device type and or the equipment identification for the relevant device Version HW...

Page 82: ...planned to prevent connectors being mixed up 8 Are requirements for the actuators and cable installation observed according to the SIL SIL CL Cat PL to be achieved and is the corresponding implementation planned 9 Are the specifications for the parameterization for each channel specified 10 Are test intervals specified for testing the shutdown capability of the actuators if this is required to ach...

Page 83: ... Yes Remark 1 Was assembly completed according to the specifications specifications from the planning phase or according to the application description 2 Was the safety module installed in the control cabinet IP54 3 Do the cable cross sections correspond to the specifications No Requirement optional Yes No Remark 4 Is the transmission speed set correctly according to the specifications 5 Is the da...

Page 84: ...g startup is it ensured that any person starting hazardous movements intentionally can only do so with a direct view of the danger zone 3 Are all parameters parameterized for the outputs 4 For outputs that are parameterized for two channel operation are both channels parameterized correctly for each other 5 Are the output test pulses parameterized according to the actuator to be connected 6 Has th...

Page 85: ...e measures been taken to achieve a specific Cat 8 Do all cables correspond to the specifications 9 Does the voltage supply correspond to the specifications for the protective extra low voltage in accordance with PELV 10 Has the power supply of UM and US in the Inline system from a power supply unit been implemented 11 Is external fuse protection of the module implemented according to the specifica...

Page 86: ...Validation 84 94 Bosch Rexroth AG DOK CONTRL ILPSDO8 AW04 EN P Rexroth Inline Module with Safe Digital Outputs R IB IL 24 PSDO 8 PAC ...

Page 87: ...ith the corresponding fac tor in accordance with the table below 2 If derating is specified offset all the derating points by the corresponding factor in accor dance with the table below For relay outputs 3 Limit the maximum switching voltage for relay outputs in accordance with the table below Observe the technical data for the module Observe the relevant data technical data derating etc that is ...

Page 88: ...50 C Reduced derating The following calculation is an example for using a safe Inline I O module at an altitude of 3000 m above sea level Perform the actual calculation for the module used according to the technical data from the user documentation for the module Derating Up to 50 C total current of all outputs 6 A maximum Up to 55 C total current of all outputs 4 A maximum Derating at 3 000 m abo...

Page 89: ...material can be recycled anywhere For ecological reasons please do not return empty packages 16 4 Batteries and Accumulators Batteries and accumulators can be labelled with this symbol The symbol indicating separate collection for all batteries and accumulators is the crossed out wheeled bin The end user within the EU is legally obligated to return used batteries Outside the validity of the EU Dir...

Page 90: ...Disposal 88 94 Bosch Rexroth AG DOK CONTRL ILPSDO8 AW04 EN P Rexroth Inline Module with Safe Digital Outputs R IB IL 24 PSDO 8 PAC ...

Page 91: ...e Helpdesk under Additional information on service repair e g delivery addresses and training can be found on our internet sites Service worldwide Outside Germany please contact your local service office first For hotline num bers refer to the sales office addresses on the internet Preparing information To be able to help you more quickly and efficiently please have the following infor mation read...

Page 92: ...Service and Support 90 94 Bosch Rexroth AG DOK CONTRL ILPSDO8 AW04 EN P Rexroth Inline Module with Safe Digital Outputs R IB IL 24 PSDO 8 PAC ...

Page 93: ...rors Acknowledgment 55 61 General 60 Module replacement 55 Outputs 57 Parameterization 59 Removal 55 Supply voltage 58 F F CPU 73 F_Destination_Address 73 F I O device 73 F Parameters 37 73 75 Free running circuit 42 F Slave 73 F_Source_Address 73 F System 74 H Hotline 13 Housing dimensions 17 I ID code 24 Indicators diagnostic and status 20 Initial startup 51 Input address area 24 Installation In...

Page 94: ...9 PROFIsafe 74 Address 37 74 Monitoring time 74 Protective circuit 42 Q Qualified personnel 8 R Register length 24 Removal 33 Repair 63 Replacement module 53 Restart 53 S Safe state 22 Error detection in I O devices 22 Operating state 22 Outputs 22 23 Safety notes 7 Security seal 8 Sicherheitshinweise für elektrische Antriebe und Steuerungen 5 Standards 11 Startup 51 Status indicators 20 Stop cate...

Page 95: ...Notes DOK CONTRL ILPSDO8 AW04 EN P Bosch Rexroth AG 93 94 Rexroth Inline Module with Safe Digital Outputs R IB IL 24 PSDO 8 PAC ...

Page 96: ...Drives and Controls P O Box 13 57 97803 Lohr Germany Bgm Dr Nebel Str 2 97816 Lohr Germany Tel 49 9352 18 0 Fax 49 9352 18 8400 www boschrexroth com electrics 94 The Drive Control Company DOK CONTRL ILPSDO8 AW04 EN P R911326028 ...

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Bosch Rexroth R-IB IL 24 PSDO 8-PAC, Manual

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