Emerson unidrive m Installation And Operating Manual Download Page 65

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SI-Safety Installation & Operating Manual

Issue Number: 1

Devi

safety

Inst
all

SI-Safety module

Mai
nte

error t

Enc
oder

Am
endment

Index

Alarm code

A 3309 / A 3310

Alarm message

Plausibility fault, defective speed

Cause

The prevailing speed is above the maximum speed setting in
the configuration

Remedial action

The drive unit moves outside the permitted and configured
speed range
Check the configuration
Analyse the speed using the SCOPE characteristics curve

Alarm code

A 3311 / A 3312

Alarm message

Configuration fault: acceleration

Cause

Prevailing acceleration is outside the configured acceleration
range

Remedial action

The drive unit has exceeded the permitted acceleration range
Check the maximum speed configuration
Analyse the speed/acceleration using the SCOPE
characteristics curve

Alarm code

A 3317 / A 3318

Fault message

Sin-Cosine/TTL Sensor Fault
This alarm only can appear, if a single SINCOS or TTL
Incremental Encoder is configured

Cause

Plausibility fault between count values of single counter and
quadrature counter

Remedial action

Check Encoder Cable
Check Encoder Configuration

Alarm code

A 3407 / A 3408

Alarm message

Difference level in RS485 driver1 fault INC_B or SSI_CLK is
defective

Cause

No sensor connection
Incorrect type of sensor connected up

Remedial action

Check the sensor connection
Check the sensor wiring

Alarm code

A 3411 / A 3412

Fault message

Sine-cosine fault, plausibility of encoder 1

Cause

Plausibility monitoring of individual tracks is defective

Remedial action

Check sensor wiring
Sine to cosine track must be linear

Summary of Contents for unidrive m

Page 1: ...Installation and Operating manual Unidrive M Part 0478 0139 01 Issue 1 www controltechniques com SI Safety Module ...

Page 2: ...ld instead be recycled by a specialist recycler of electronic equipment Recyclers will find the products easy to dismantle into their major component parts for efficient recycling Many parts snap together and can be separated without the use of tools while other parts are secured with conventional fasteners Virtually all parts of the product are suitable for recycling Product packaging is of good ...

Page 3: ...ge 13 2 Device type 14 2 1 SI Safety module 14 2 2 Configuration 15 3 Technical safety features 17 3 1 Key indicators for technical safety and circuitry for connected sensors 18 3 2 Sensors for speed and or position recording 24 3 3 Key technical safety indicators and energizing engagement of the outputs 29 4 Installation 34 4 1 General installation notes 34 4 2 Installation and mounting of the SI...

Page 4: ...e diagnostics 56 8 Technical data 57 8 1 Environmental conditions 57 8 2 Key technical safety indicators 57 9 SI Safety error types 58 9 1 SI Safety error types 58 9 2 SI Safety alarm list 59 9 3 Fault list for SI Safety 71 10 Encoder types 80 11 Validation report 81 11 1 Overview 81 11 2 Report generation 81 11 3 Report format 81 12 Encoder adaptor 82 12 1 Overview 82 12 2 Single encoder adapter ...

Page 5: ...SI Safety Installation Operating Manual 5 Issue number 1 DeclarationofConformity including 2006 Machinery Directive ...

Page 6: ...rivative the complete designation is always employed The term safe as used in this manual refers in each instance to the assignment of a safe function for applications extending up to PL e as defined in EN ISO 13849 1 2006 and or SIL 3 in accordance with EN 61508 The systems software CTSafePro is used for configuration and programming of the SI Safety module Internally the modules in the SI Safety...

Page 7: ...scription Reference Configuration of the SI Safety module for standalone applications with the CTSafePro program CTSafePro help text Validation report for implemented PLC program and parameters Safety inspection with approval record Approval TÜV certificate for product modules SI Safety module Read the relevant manuals carefully before installation and commissioning the SI Safety module Compliance...

Page 8: ...n for Standardization LED Light Emitting Diode MTTFd Mean Time To Failure in the dangerous direction OSSD Output Signal Switch Device PAA Process diagram for outputs PAE Process diagram for inputs P1 P2 Pulse outputs 1 2 PLC Programmable Logic Control SBC Safe Brake Control SCA Safe Cam SDI Safe Direction SEL Safe Emergency Limit SELV Safety Extra Low Voltage SLI Safe Limited Increment SLP Safe Li...

Page 9: ...W i e accident prevention specifications and legislation Use of these devices is restricted to their intended use in accordance with the previous itemised list Due compliance with the figures and data listed in Table 3 1 on page 17 is mandatory The contents of this installation manual is restricted to the basic functions of these devices and the installation procedure for them More detailed inform...

Page 10: ...UE OFF function has been approved by TÜV Rheinland as meeting the requirements of the following standards for the prevention of unexpected starting of the drive EN 61800 5 2 2007 SIL 3 EN ISO 13849 1 2006 PL e The SAFE TORQUE OFF function may be used in a safety related application The system designer is responsible for ensuring that the complete system is safe and designed correctly according to ...

Page 11: ...emed maximum Low speeds may cause the motor to overheat because the cooling fan becomes less efficient The motor should be installed with a protection thermistor If necessary an electric forced vent fan should also be used The values of the motor parameters set in the drive affect the protection of the motor The default values in the drive should not be relied upon It is essential that the correct...

Page 12: ... functions can usefully be carried out in the drive Standard IEC 61800 5 2 EN 61800 5 2 defines specific functions for implementation within a drive The activation of these functions is carried out through safety features on the machine such as door switches and light curtains which can be connected directly to the SI Safety module Alternatively more complex functions can be carried out in a separ...

Page 13: ...not directly connected to the drive SAFE TORQUE OFF then the following basic circuit should be used Figure 1 1 Loss of zero volts protection 1 18 Operation and service Before installing and removing a module or disconnecting signal lines first isolate the module electrically i e shut it down While installing and removing a module take appropriate precautions to prevent electrostatic discharge on t...

Page 14: ... solutions e g Incremental or SSI and Incremental are supported Table 2 1 Device version 2 1 1 Module properties Logic processing up to Pl e in accordance with EN ISO 13849 1 and or SIL 3 in accordance with EN 61508 Freely programmable small controller for instructions of up to 500 statements Functional plan oriented programming Impulse outputs for cross fault detection of digital input signals Sa...

Page 15: ...2006 PL e PFH architecture PFHsys 5 44 E 9 1 h category 4 SIL in accordance with EN 61508 SIL 3 Proof test interval 20 years maximum service life General data Safe digital I grouped not grouped 4 1 Safe digital Out 3 Message outputs 2 Impulse outputs 2 Type of connection Screw terminals MINIMATE 2X9 Sensor interface front number technology 2 SSI incremental SIN COS TTL Maximum frequency incrementa...

Page 16: ...into two sections a letter followed by a number The letter indicates the year and the number indicates the week number within the year in which the Solutions Module was built The letters go in alphabetical order starting with A in 1990 B in 1991 C in 1992 etc Example A date code of X28 would correspond to week 28 of year 2014 2 2 4 The scope of supply includes The SI Safety module with connector T...

Page 17: ...cators can be found on page 18 For the technical safety evaluation of complete systems the key technical indicators identified in this chapter for the PES sub system Table 3 1 on page 17 can be applied e g PL e and PFH value in accordance with the verification table defined in EN ISO 13849 Table 3 1 Key technical safety indicators Maximum achievable safety class SIL 3 in accordance with EN 61508 P...

Page 18: ...ce with the verification table defined in EN ISO 13849 The examples shown below and their characteristic architecture are largely responsible for assignment to a category as defined in EN ISO 13849 1 2006 The resultant maximum possible Performance Levels defined in EN ISO 13849 remain dependent on the following factors for external components Structure simple or redundant Detection of faults with ...

Page 19: ...impulse through dynamic change to the input signals 90 Only effective if pulse assignment is active cross fault monitoring for single channel sensors Crosscheck of input signals with a dynamic test if no short circuits can be detected on multiple inputs outputs 90 Cyclical change in input signals required e g by the process or through regular actuation Monitoring of two channel sensors Crosscheck ...

Page 20: ...able 3 3 Classification of digital inputs 3 1 2 Single channel sensor without cross fault checking The single channel sensor is connected to the SI Safety module without clocking action pulsing cycles and or without cross fault checking This design is not advisable for safety related applications A maximum PL b in accordance with EN ISO 13849 1 2006 can be achieved Figure 3 5 Single channel sensor...

Page 21: ...y and by eliminating the possibility of a short circuit across terminals This type of connection is not advisable for safety related applications outside of the drive system enclosure Taking the fault exclusion of cross faults into account PLd can be achieved in accordance with EN ISO 13849 1 2006 Figure 3 6 Two channel sensor without cross fault checking 3 1 4 Two channel complementary sensor wit...

Page 22: ...ent and with careful wiring of the sensor PL d can be achieved in accordance with EN ISO 13849 1 2006 Figure 3 8 Single channel sensor with clocking action 3 1 6 Two channel sensor with cross fault checking Through the use of two independent clocking signals on a non complementary sensor all cross faults and connections to 24 Vdc and 0 Vdc can be detected For all safety applications only NC contac...

Page 23: ...ce with EN ISO 13849 1 2006 PL e compliance with EN ISO 13849 1 2006 can be achieved where it is possible to exclude the possibility of a short circuit between input and associated pulse output and of a short circuit between the sensor connections Under such conditions ensure that the switch has forced opening action in the event of a fault In addition the sensor needs to be activated at regular i...

Page 24: ...arate signal processing in two channels diagnosis through cross checking in the PES Figure 3 11 Sensors for speed and or position recording Figure 3 12 illustrates a sensor system with one and two channel subsystem example incremental encoder Diagnosis using separate signal processing in two channels and cross checking in the PES as well as other specific forms of diagnosis Figure 3 12 Single and ...

Page 25: ...el sensor systems two separate sensors The two channel subsystem of single channel sensors incremental encoder Diagnosis for the single and dual channel subsystem of specifically suitable sensor systems SIN COS encoder Dynamic operation no standstill monitoring Monitoring of two channel sensor systems and or the corresponding subsystem of sensors for dynamic operation Not to be used for standstill...

Page 26: ...subsystem non dynamic standstill monitoring Incremental Not connected Not connected X Fault exemption 60 99 80 90 Incremental Incremental Not connected X X Not applicable 99 95 Incremental Not connected Proximity Sensor X Not applicable 99 90 95 SIN COS Not connected Proximity Sensor X Not applicable 99 90 95 Incremental SIN COS Not connected X X Not applicable 99 99 Incremental SSI Not connected ...

Page 27: ...t off threshold describes the position variance compatible with tolerance setting between the two recording channels A and B on the measuring track unit The speed cut off threshold describes the speed variance compatible with tolerance setting between the two recording channels A and B To establish the optimum parameter values for this application diagnostic functions are available in the SCOPE di...

Page 28: ...ssment of the sensor sub system the manufacturer s data MTTFd FIT figures etc need to be incorporated If the manufacturer requires specific diagnostics to ensure the stated key technical safety indicators this must be checked with reference to the specific sensor in accordance with Table 3 6 on page 27 Specific diagnostic measures for position and speed sensors If in doubt clarification will be re...

Page 29: ...carefully selecting the resolution for the sensor system a sufficiently low tolerance can be assured in relation to the applicable disengagement thresholds for individual safety functions When using the encoder input filter due account must be taken of an extension to response time when evaluating the technical safety function 3 3 Key technical safety indicators and energizing engagement of the ou...

Page 30: ... be classified in terms of their type and their effectiveness in accordance with Table 3 9 Table 3 9 Diagnostics in the disengagement circuit Safety instructions WARNING Output Voltage Current A0 1 A0 2 24 Vdc 100 mA SBC1 SBC2 STO 24 Vdc 500 mA 30 mA Any external supply must be PELV or SELV Voltage of connected circuit must not exceed 60 V under working or fault condition Failure to observe this c...

Page 31: ...With regard to single pole activation without external testing the jamming of one or more external contacts is not detected by the SI Safety module This output is safe when tested externally Figure 3 14 Single pole switching P output without external testing 3 3 2 Single pin switching Output with Frequency Figure 3 15 Single Pin switching P Output with Unidrive M The STO output from the SI Safety ...

Page 32: ...portant to note that a single short circuit from the SAFE TORQUE OFF input to a DC supply of approximately 24 V would cause the drive to be enabled This can be excluded under EN ISO 13849 2 by the use of protected wiring The wiring can be protected by providing the wiring with a grounded shield in a positive logic grounded control circuit The shield is provided to avoid a hazard from an electrical...

Page 33: ...meters listed here must be assured at all times When using circuit reinforcement elements in safety circuits monitor their function using appropriate read back contacts see circuitry examples Suitable read back contacts are forcibly guided or mechanically limited contacts which are linked permanently to contacts in the disengagement circuit The switching capability of external circuit boosters mus...

Page 34: ...e entire system must be assured by an appropriate range of similar measures The 0V L negative pole must be connected to ground earth Failure to observe this could cause a risk of electric shock in the event of an internal fault in the drive Ensure that line power supply cables and switching lines on the inverter are routed separately Signal wires and power lines from the inverter must be routed in...

Page 35: ... connector Refer to Table 4 2 Input output interface on Page 37 The sensor power supply requires protection of 2 A maximum Table 4 1 details the monitoring of the supply voltage in accordance with the selected nominal voltage Table 4 1 Supply voltage monitoring 4 4 Connection of digital inputs SMF11 to SMF42 and E0 5 The input limitation to PELV SELV devices is DC devices 120 V AC devices 25 V The...

Page 36: ...n to ensure that the possibility of a short circuit in the external wiring between the various inputs and the power supply of the SI Safety module is eliminated by the use of appropriate cable ducting Every input on the SI Safety module can be configured individually for the following signal sources Input is assigned to Pulse P1 Input is assigned to Pulse P2 Input is assigned to 24 Vdc continuous ...

Page 37: ...face Terminal Designation Function 1 SMF11 Digital IN SMF11 2 SMF12 Digital IN SMF12 3 SMF21 Digital IN SMF21 4 SMF22 Digital IN SMF22 5 SMF31 Digital IN SMF31 6 SMF32 Digital IN SMF32 7 SMF41 Digital IN SMF41 8 SMF42 Digital IN SMF42 9 E0 5 Digital IN E0 5 10 P1 Clocking output P1 11 P2 Clocking output P2 12 STO HISIDE output STO 13 SBC1 HISIDE output SBC1 14 SBC2 HISIDE output SBC2 15 A0 1 Signa...

Page 38: ...sure that the sensor with the higher resolution level is configured as Sensor one process sensor while the sensor with the lower resolution level must be configured as Sensor two reference sensor If the appropriate measures to reduce electromagnetic interference are not correctly implemented the spurious speed difference position difference trips may occur This is more likely if the speed is below...

Page 39: ... to a scanning error of the following magnitude F sensing time of sensor from external system ms 8 ms 100 The level of the resultant scanning error F must be taken into account when defining the thresholds in the monitoring functions employed as this error cannot be compensated for Table 4 3 Encoder interface HDMI Pin Designation Encoder Function 1 A COS DATA ENC1 Incremental track A data wire DAT...

Page 40: ...in such a way that it enables output signals on both tracks to be generated independently of one another thereby eliminating the possibility of commonly caused faults Furthermore the mechanical configuration must be verified e g mounting of the code disc to the shaft Sensors with appropriate verifications and test reports are available on the market Compact encoder with 2 x SSI or SSI incremental ...

Page 41: ...coverage levels need to be evaluated in an application based context and incorporated in the overall technical safety assessment 4 8 Configuration of measuring routes The most important input parameters for the monitoring functions of the module are Safe position Speed Acceleration These are generated on a two channel basis from the connected sensor systems For PL e in accordance with EN ISO 13849...

Page 42: ...format must be configured in the CTSafePro software Figure 4 5 Configuring the SSI format Data interface Serial Synchronous Interface SSI with variable data length of 12 to 28 bits Data format binary or graycode Physical layer RS 422 compatible SSI master operation Clock speed see Table 2 2 Key technical indicators on page 15 SSI listener operation slave mode Max External clock speed Table 2 2 Key...

Page 43: ...s on page 15 Table 4 7 Diagnosis Sine cosine encoder 4 9 2 Proxi switch Signal level 24 V 0 V Maximum count impulse frequency see Table 2 2 Key technical indicators on page 15 Switch logic de bounced Table 4 8 Diagnosis Proxi switch Diagnosis Parameter s Fault threshold Monitoring of power supply Fixed values 5 V 8 V 10 V 20 V 24 V 20 measuring tolerance Monitoring of differential level at input F...

Page 44: ...caution is advisable when using filter functions Depending on filter length and time the response time can be extended substantially and this fact should always be taken into consideration when configuring the technical safety functions With particularly critical task profiles the time characteristics need to be validated by means of measurements During start up all inputs and outputs remain disab...

Page 45: ...cessing operations 16 In cases where a monitoring function has already been activated with ENABLE the module requires one cycle in order to calculate the prevailing speed value In the next cycle after calculating the monitoring function the PLC uses the information for further processing and output purposes i e after the logic function has been implemented this causes an output to switch engage Ac...

Page 46: ...stant for all t Retardation after disengagement aV constant for all t Scanning time for occurrence of a worst case event Tfault Module response time Tresponse For the worst case scenario it is assumed that the drive unit initially moves at a speed of v k precisely in line with the configured threshold of V0 then accelerates at a maximum possible value of a0 Figure 5 1 Characteristics of drive unit...

Page 47: ...y an amount of delta_v_filter Consideration must also be given to the new figures for response time Treact Tsmx Tfilter as well as of the resultant speed when disengaged by the module Parameter s Calculation procedure Comment Tresponse Value from response time figure retardation time in external disengagement chain Retardation time in external disengagement chain derived from details from manufact...

Page 48: ...st line power failure within the module Refer to CTSafePro help for details of how to configure the SI Safety module 6 2 1 Downloading the configuration to the SI Safety module The configuration is downloaded to the SI Safety module via a serial cable connected between the PC and the SI Safety module RJ45 port Refer to CTSafePro help for details of downloading the configuration Mode Description LE...

Page 49: ...est On completion of start up commissioning installers must ensure that the relevant safety functions have been implemented and that parameters and links have been documented This process is supported by the CTSafePro configuration software validation report see Chapter 2 Device type on page 14 The first two header pages give general details about the system and require manual data entry The last ...

Page 50: ...r supply Configure the device 7 3 Maintenance intervals Table 7 1 7 4 Diagnostic parameters The SI Safety module is designed to accept predefined data during operation A fully assigned patch cable for connecting the SI Safety module RJ45 and the Unidrive M RJ45 is required The data to be transferred are defined in CTSafePro The configuration of the signal channel data is defined as shown in Table ...

Page 51: ...tly displayed in registers in menu 20 on the drive The processed data is displayed in the row below and is limited to a total of 64 bits with the current position of axis 1 appearing in Pr 20 021 If the current speed of axis 1 is also required this value is displayed in Pr 20 022 Communication with the drive is performed automatically after the data cable is connected to the unit The peripheral de...

Page 52: ... Pr 20 014 Information data Pr 20 12 Module identification number 16 Bit Pr 20 13 Firmware version 8 Bit Pr 20 14 Identifier of application software 8 Bit Pr 20 015 Pr 20 020 Logic data Pr 20 015 Logic data 8 Bit Pr 20 016 Logic data 8 Bit Pr 20 017 Logic data 8 Bit Pr 20 018 Logic data 8 Bit Pr 20 019 Logic data 16 Bit Pr 20 020 Logic data 16 Bit Pr 20 021 Pr 20 024 Process data Pr 20 021 Process...

Page 53: ...ange 0 to 32767 Default 801 Update 19 200 Baud Format 16 Bit 20 013 Firmware version Explanation The version number of the module firmware is displayed here The display is numerical only and should show no more than three figures A total of 255 versions of a program can be created For version 2 0 2 18 20218 is displayed Operating mode OL CL Servo Range 0 to 255 Default 0 Update 19 200 Baud Format ...

Page 54: ...isplay Bit 64 to Bit 57 of logic data Here the different operating modes are displayed 1 Start up 2 SendConfig 3 Start upBus 4 Run 5 Stop 6 Error 7 Alarm Operating mode OL CL Servo Range 0 to 7 Default 0 Update 19 200 Baud Format 8 Bit 20 016 Diagnostic expansion 2 Explanation Display Bit 56 to Bit 49 of logic data Operating mode OL CL Servo Range 0 to 255 Default 0 Update 19 200 Baud Format 8 Bit...

Page 55: ...t 33 of logic data Operating mode OL CL Servo Range 0 to 255 Default 0 Update 19 200 Baud Format 8 Bit 20 019 Diagnostic 0 Explanation Display Bit 16 to Bit 1 of logic data Operating mode OL CL Servo Range 0 to 32767 Default 0 Update 19 200 Baud Format 16 Bit 20 020 Diagnostic 1 or error alarm code Explanation Display Bit 31 Bit 17 of logic data Either diagnostic data error or alarm codes are disp...

Page 56: ...e CTSafePro or via configuration of the logic data in Pr 20 016 to Pr 20 020 7 6 Software diagnostics Refer to CTSafePro help 20 021 20 023 Process data Explanation Pr 20 021 Position Pr 20 022 Speed Pr 20 023 SLP teach in position Pr 20 024 Alarm code Operating mode OL CL Servo Range 231 to 231 1 Default 0 Update 19 200 Baud Format 16 Bit ...

Page 57: ...IP 20 Ambient temperature 0 C to 50 C Climate class 3 in accordance with EN 50178 1998 Service life 90 000 hours at 50 C ambient temperature Maximum achievable safety class SIL 3 in accordance with EN 61508 Cat 4 PL e in accordance with EN ISO 13849 1 2006 System structure Two channel with diagnosis 1oo2 Configuration of operating mode high demand in accordance with EN 61508 high demand rate Proba...

Page 58: ...ical program runtime no longer possible due to technical safety reasons Display by system A System B is in Stop mode All outputs are switched off Can be reset by switching SI Safety on off Alarm Functional error caused by an external process Both systems continue running in a cyclic manner to service all requirements of the communication interfaces Scanning of the external process is also maintain...

Page 59: ...de A 3103 Alarm message Pulse1 plausibility fault at input SMF21 Cause The configured pulse1 voltage is not present at this input Remedial action Check configuration of digital input in accordance with project planning and circuit diagram Check the wiring Alarm code A 3104 Alarm message Pulse1 plausibility fault at input SMF22 Cause The configured pulse1 voltage is not present at this input Remedi...

Page 60: ...his input Remedial action Check configuration of digital input in accordance with project planning and circuit diagram Check the wiring Alarm code A 3117 Alarm message Pulse 2 plausibility fault on input SMF11 Cause The configured pulse2 voltage is not present at this input Remedial action Check configuration of digital input in accordance with project planning and circuit diagram Check the wiring...

Page 61: ...sage Pulse2 plausibility fault at input SMF32 Cause The configured pulse2 voltage is not present at this input Remedial action Check configuration of digital input in accordance with project planning and circuit diagram Check the wiring Alarm code A 3123 Alarm message Pulse2 plausibility fault at input SMF41 Cause The configured pulse2 voltage is not present at this input Remedial action Check con...

Page 62: ... 24V voltage at this input Remedial action Check voltage at the digital input Check the wiring Check for presence of Pulse1 or Pulse2 Alarm code A 3162 Alarm message Defective 24V signal at digital input SMF22 Cause There is no continuous 24V voltage at this input Remedial action Check voltage at the digital input Check the wiring Check for presence of Pulse1 or Pulse2 Alarm code A 3163 Alarm mess...

Page 63: ... the digital input Check the wiring Check for presence of Pulse1 or Pulse2 Alarm code A 3167 3168 Alarm message Defective 24V signal at digital input E0 5 Cause There is no continuous 24V voltage at this input Remedial action Check voltage at the digital input Check the wiring Check for presence of Pulse1 or Pulse2 Alarm code A 3191 3192 Alarm message Short circuit between digital inputs Cause Fau...

Page 64: ...the configured speed disengagement threshold Remedial action Check theory of route again using the data set in the sensor configuration Check the speed sensor Alarm code A 3303 A 3304 Alarm message Plausibility fault position recording Cause The difference between the two position signals is greater than the configured increment disengagement threshold Remedial action Check theory of route against...

Page 65: ...ge Remedial action The drive unit has exceeded the permitted acceleration range Check the maximum speed configuration Analyse the speed acceleration using the SCOPE characteristics curve Alarm code A 3317 A 3318 Fault message Sin Cosine TTL Sensor Fault This alarm only can appear if a single SINCOS or TTL Incremental Encoder is configured Cause Plausibility fault between count values of single cou...

Page 66: ...ivated Alarm code A 4003 A 4004 Alarm message Anticlockwise and clockwise motion monitoring of SDI 2 were enabled simultaneously Cause Multiple activation Remedial action When programming the system ensure that only one Enable at a time is activated Alarm code A 4501 A 4502 Alarm message Internal fault please contact the manufacturer Alarm code A 4601 A 4602 Alarm message Internal fault please con...

Page 67: ...n error Cause Teach in position out of configured range Remedial action Check position tolerance input Check switching sequence Alarm code A 4613 A 4614 Alarm message SLP1 Teach in SOS error Cause During teach in motor moved Remedial action During teach in motor has to be stopped Alarm code A 4615 A 4616 Alarm message SLP2x Teach in SOS error Cause During teach in motor moved Remedial action Durin...

Page 68: ... code A 5007 A 5008 Alarm message Fault at grouped input SMF3 Cause Plausibility check for the grouped input has malfunctioned Remedial action Check configuration of digital input in accordance with project planning and circuit diagram Check the wiring Alarm code A 5009 A 5010 Alarm message Fault at grouped input SMF4 Cause Plausibility check for the grouped input has malfunctioned Remedial action...

Page 69: ...age Plausibility fault at individual input SMF22 Cause Plausibility check for the individual input has malfunctioned Remedial action Check configuration of digital input in accordance with project planning and circuit diagram Check the wiring Alarm code A 5017 Alarm message Plausibility fault at individual input SMF31 Cause Plausibility check for the individual input has malfunctioned Remedial act...

Page 70: ...lity check for the individual input has malfunctioned Remedial action Check configuration of digital input in accordance with project planning and circuit diagram Check the wiring Alarm code A 6701 A 6702 Alarm message Internal fault please contact the manufacturer Alarm code A 6703 A 6704 Alarm message Internal fault please contact the manufacturer ...

Page 71: ...rsion of the programming user interface then switch the module on off Fault code F 1007 Fault message Device was not programmed with the correct programming user interface Cause Program or configuration data were loaded onto the device with the wrong programming user interface Remedial action Check module version and reconfigure using a valid programming user interface Then switch the device on of...

Page 72: ...ontact the manufacturer Fault code F 1601 F 1602 Fault message Range test of device description defective Fault code F 1603 F 1604 Fault message Range test of Access Data defective Fault code F 1605 F 1606 Fault message Range test of EMU defective Fault code F 1607 F 1608 Fault message Range test of PSC defective Fault code F 1609 F 1610 Fault message Range test of SS1 SS2 defective Fault code F 1...

Page 73: ...ective Fault code F 1627 F 1628 Fault message Range test of outputs defective Fault code F 1629 F 1630 Fault message Range test of digital inputs defective Fault code F 1633 F 1634 Fault message Range test of sensor type defective Fault code F 1635 F 1636 Fault message Range test of sensor processing defective Fault code F 1637 F 1638 Fault message Range test of sensor position defective Fault cod...

Page 74: ...e contact the manufacturer Fault code F 2013 F 2014 Fault message Internal fault please contact the manufacturer Fault code F 3001 F 3002 Fault message Internal fault please contact the manufacturer Fault code F 3201 Fault message Voltage of 15 0 V is outside the defined range Cause Power supply to the module is not correct Component defect on the module Remedial action Check the device power supp...

Page 75: ...he device on off Fault code F 3217 F 3218 Fault message Internal 5 V power supply is defective Cause Power supply to the module is not correct Component defect on the module Remedial action Check the device power supply Switch the device on of Fault code F 3219 Fault message Internal fault please contact the manufacturer Cause Power supply to the module is not correct Component defect on the modul...

Page 76: ...ing of output STO 1 static test Cause Output switch status defective Remedial action Switch the device on off Fault code F 3605 Fault message Defective testing of MainSwitch dynamic test Cause Output switch status defective Remedial action Switch the device on off Fault code F 3609 Fault message Defective switching of output SBC1 dynamic test Cause Output switch status defective Remedial action Sw...

Page 77: ... Defective testing of lower limit of power supply dynamic test Cause Power supply defective Remedial action Check the power supply Fault code F 3617 Fault message Defective testing of STO output static test Cause Output switch status defective Remedial action Switch the device on off Fault code F 3618 Fault message Defective switching of output SBC1 static test Cause Output switch status defective...

Page 78: ... Fault code F 6807 F 6808 Fault message Internal fault please contact the manufacturer Fault code F 6809 F 6810 Fault message Internal fault please contact the manufacturer Fault code F 6811 F 6812 Fault message Internal fault please contact the manufacturer Fault code F 6813 F 6814 Fault message Internal fault please contact the manufacturer Fault code F 8205 F 8206 Fault message Internal fault p...

Page 79: ...se contact the manufacturer Fault code F 8227 Fault message Internal fault please contact the manufacturer Fault code F 8228 Fault message Internal fault please contact the manufacturer Fault code F 9001 F 9002 Fault message Internal fault please contact the manufacturer Fault code F 9007 F 9008 Fault message Internal fault please contact the manufacturer Fault code F 9009 F 9010 Fault message Int...

Page 80: ...OS 4 Yes Not connected 4 No SS1 SS2 SLS SOS SDI SLI SCA Fault exclusion mech shaft failure positive sensor shaft connection essential 2 3 Incremental 4 Yes Incremental 4 Yes SS1 SS2 SLS SOS SDI SLI SCA 3 4 SINCOS 4 Yes Incremental 4 Yes SS1 SS2 SLS SOS SDI SLI SCA 3 5 SINCOS 4 Yes SINCOS 4 Yes SS1 SS2 SLS SOS SDI SLI SCA 3 6 Incremental 4 Yes SSI Synchronous Serial Interface 1 Yes SS1 SS2 SLS SOS ...

Page 81: ... entry of general details about the system The last page of the header provides check boxes for individual verification of the technical safety test 11 3 2 Sensor configuration The configuration of the working section and each encoder is provided There are individual verification check boxes for each configurable parameter to confirm that it meets the requirements of the safety design 11 3 3 PLC p...

Page 82: ...er adapter connections Table 12 1 Single encoder cable requirements Power down the drive before connecting disconnecting any cables to the encoder adapter Failure to do so may result in a serious accident WARNING 10 15 5 1 6 11 1 6 11 10 15 5 ENC_1_OUT HDMI SK1 ENC_1_IN 1 2 3 Ref Adapter connection Cable destination Cable Connector 1 HDMI SK1 SI Safety Module Standard commercially available HDMI c...

Page 83: ...Plus Encoder 1 Encoder 2 SW1 SW2 SinCos Ab A A Ab Ab A A SinCos SinCos A A Ab SSI A B SinCos SSI A B SSI SSI B B 10 15 5 1 6 11 10 15 5 1 6 11 1 6 11 1 6 11 10 15 5 10 15 5 ENC_1_OUT ENC_2_OUT HDMI SK1 SW1 SW2 ENC_1_IN ENC_2_IN A B A B 1 2 4 3 5 Ref Adapter connection Cable Destination Cable Connector 1 HDMI SK1 SI Safety Module Standard commercially available HDMI cable with gold connectors maxim...

Page 84: ...tic Compatibility EMC In order to guarantee maximum noise immunity the encoder cabling must follow the EMC guidelines in the relevant Drive User Guide and the encoder and HDMI cable shields must be clamped to the drive grounding bracket Term Encoder Ab AB Servo SinCos SC Hiper SC Endat SC SSI 1 A A Cos Cos Cos Cos 2 A A Cosref Cosref Cosref Cosref 3 B B Sin Sin Sin Sin 4 B B Sinref Sinref Sinref S...

Page 85: ...le response times Start up Maintenance Technical data SI Safety error types Encoder types Validation report Encoder adaptor Amendments Index 13 Amendments 13 1 Amendments Index The English version of the Installation and Operating manual part number 0478 0139 01 is the original and master version Index Page Date Author Modification amendment ...

Page 86: ...iagnostic parameters 50 Diagnostics Absolute encoder 42 Digital input signals 19 Dual scanning and signal processing in two channels 36 E Electrical safety 10 Encoder interface 37 Encoder interface HDMI 39 Encoder types 80 81 82 Environmental conditions 57 F Failure curve velocity measuring 28 Fault list for SI Safety 71 Function test 49 G General diagnostic measures for encoder interface 25 Gener...

Page 87: ...Sine cosine sensor standard mode 43 Single channel sensor 20 Single channel sensor with pulse crossfault checking 22 Single pin switching P output with external test 31 Single pin switching P output without frequency inverter 31 SI Safety alarm list 59 SI Safety module 14 SI Safety module response times 44 Software diagnostics 56 Specific diagnostic measures relating to the type of encoder used 27...

Page 88: ...0478 0139 01 ...

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