Lenze c250-S Operating Instructions Manual Download

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Appendix

EDBC250SIO | 2.0

105

Hex

Explanation

1799

0707

OUTPUT_USTP_TIMEOUT

Output test pulse of common high side switch
timed out

1800

0708

OUTPUT_NOPAR_USED

Output is parameterized as not used and shall be
switched on (ErrReg: 32)

2048

0800

BCOM_NOTREADY

Communication with base board not ready /
operational

2049

0801

BCOM_BUSY

Communication with base board is busy

2050

0802

BCOM_NONEWDATA

Communication with base board - no new data
received

2051

0803

BCOM_CRCERR

Communication with base board – CRC error

2052

0804

BCOM_BITERR

Communication with base board – shifted bits
detected

2304

0900

XCOM_NOTREADY

Communication with safety partner MC not ready /
operational

2305

0901

XCOM_BUSY

Communication with safety partner MC is busy

2306

0902

XCOM_NONEWDATA

Communication with safety partner MC – no new
data received

2307

0903

XCOM_CRCERR

Communication with safety partner MC – CRC error
detected

2560

0A00

I2C_TIMEOUT

I2C communication timeout detected

2561

0A01

I2C_BUSY

I2C bus is busy

2816

0B00

FSOE_RESET_IND

Test pulse error in mode selector mode (ErrReg: 16)
FailSafeOverEtherCAT – FSoE slave returns error to
FSoE master

2817

0B01

FSOE_INVALID_CMD

Test pulse error in mode selector mode (ErrReg: 16)
FailSafeOverEtherCAT – invalid command

2818

0B02

FSOE_UNKNOWN_CMD

Test pulse error in mode selector mode (ErrReg: 16)
FailSafeOverEtherCAT – unknown command

2819

0B03

FSOE_INVALID_CONNID

Test pulse error in mode selector mode (ErrReg: 16)
FailSafeOverEtherCAT – invalid connection ID

2820

0B04

FSOE_INVALID_CRC

Test pulse error in mode selector mode (ErrReg: 16)
FailSafeOverEtherCAT – checksum error

2821

0B05

FSOE_WD_EXPIRED

Test pulse error in mode selector mode (ErrReg: 16)
FailSafeOverEtherCAT – Watchdog time out

2822

0B06

FSOE_INVALID_ADDRESS

Test pulse error in mode selector mode (ErrReg: 16)
FailSafeOverEtherCAT – invalid address

2823

0B07

FSOE_INVALID_DATA

Test pulse error in mode selector mode (ErrReg: 16)
FailSafeOverEtherCAT – invalid data

2824

0B08

FSOE_INVALID_COMMPARALEN

Test pulse error in mode selector mode (ErrReg: 16)
FailSafeOverEtherCAT – invalid length of
communication parameters

2825

0B09

FSOE_INVALID_COMMPARA

Test pulse error in mode selector mode (ErrReg: 16)
FailSafeOverEtherCAT – invalid communication
parameters

2826

0B0A

FSOE_INVALID_USERPARALEN

Test pulse error in mode selector mode (ErrReg: 16)
FailSafeOverEtherCAT – invalid length of user
parameters

2827

0B0B

FSOE_INVALID_USERPARA

Test pulse error in mode selector mode (ErrReg: 16)
FailSafeOverEtherCAT – invalid user parameters

2828

0B0C

FSOE_INVALID_TP_INP_DURATION

FailSafeOverEtherCAT – invalid safety input
parameter test pulse duration (ErrReg: 16)

2829

0B0D

FSOE_INVALID_TP_INP_FREQUENCY

FailSafeOverEtherCAT – invalid safety input test
pulse frequency (ErrReg: 16)

Summary of Contents for c250-S

Page 1: ... I Ä Iä Operating Instructions Translation EN c250 S C25BAYA42 C25BAYA82 C25BAYA160 C25BAYA164 c250 S Safety I O module l ...

Page 2: ...C25BAYA42 The operating instructions begin on page 3 Information Safety I O Module C25BAYA82 C25BAYA160 C25BAYA164 The operating instructions begin on page 113 ATTENTION There are significant deviations from the Safety I O Module C25BAYA42 in some Technical Data I I ...

Page 3: ...g and Installation 11 2 2 8 Maintenance and Servicing 11 2 2 9 General Notes on Installation 12 3 System Description 14 3 1 EtherCAT Ethernet Control 14 3 2 c250 S Safety System 14 3 2 1 Safety over EtherCAT FSoE 15 3 2 2 Safety controller c250 S 15 3 2 3 Safety I O module 15 3 2 4 PLCDesigner Safety 15 3 2 5 PLCDesigner SafetyPLCopen Library 16 4 Product Description 17 4 1 General Description 17 ...

Page 4: ...e Time 29 4 9 Dimensions 31 4 10 Transport and Storage 31 5 Construction and Functionality 32 5 1 Labelling and Identification 32 5 1 1 Imprinted Texts and Symbols 32 5 1 2 Serial Number 32 5 2 Contents of Package 33 5 3 Connectors 34 5 3 1 E bus and Module Lock 34 5 3 2 Spring assisted Combi Plug X1 35 5 3 3 Wiring Example 37 5 3 4 Safety I O module Supply 38 5 4 Indicators and Controls 40 5 4 1 ...

Page 5: ... 4 Output Parameters 72 6 4 Putting into Service 74 6 5 Diagnosis 75 6 5 1 Self test 75 6 5 2 Safety I O module Module Faults 75 6 5 3 Wrong Wiring 75 6 5 4 Temperature Faults 76 6 5 5 Wrong Supply Voltage 76 6 5 6 Table of Faults 76 6 5 7 Error Codes 77 6 5 8 EtherCAT Link Lost 78 6 5 9 Wrong FSoE Address 79 6 5 10 Wrong Configuration of the Safety I O Module 79 6 6 Reset Acknowledge Error 80 6 7...

Page 6: ...8h 99 8 1 7 24V Voltage CPU 1 2001h and CPU 2 2011h 100 8 1 8 Output 0 1 Current CPU 1 2005h and CPU 2 2015h 100 8 1 9 CPU 1 External Temperature Sensor 2006h 101 8 1 10 Errorcode CPU 1 2007h and CPU 2 2017h 102 8 1 11 Errorline CPU 1 2008h and CPU 2 2018h 107 8 1 12 Errormodule CPU 1 2009h and CPU 2 2019h 107 8 1 13 Errorclass CPU 1 200Ah and CPU 2 201Ah 109 8 1 14 System Uptime s 200Ch 109 8 1 1...

Page 7: ...ates and the changes to the functionality Modul release Version Manual Date Comments modifications V1 0 1 0 01 31 2017 Applies to module release V1 0 Softwareversion V1 0x Hardwareversion V2 1 V1 0 1 1 04 05 2017 Applies to module release V1 0 Softwareversion V1 0x Hardwareversion V2 1 V1 0 1 2 08 02 2017 Applies to module release V1 0 Softwareversion V1 0x Hardwareversion V2 1 V1 0 1 3 08 29 2017...

Page 8: ...ties in a legal sense Exact properties and characteristics shall be agreed in the specific contract Claims for damages against us on whatever grounds are excluded except in instances of deliberate intent or gross negligence on our part 2 1 2 Terms of Delivery The general conditions of sales and service of Lenze Automation GmbH shall apply 2 1 3 Copyright Microsoft Windows and the Windows logo are ...

Page 9: ...nd error free application of technical descriptions instructions for use and particularly of notes of danger and warning extensive knowledge of automation technology and functional safety is compulsory 2 2 3 Reliability Reliability of Lenze products is brought to the highest possible standards by extensive and cost effective means in their design and manufacture These include selecting high qualit...

Page 10: ...bservance Preventive measures DANGER A DANGER warning makes you aware of an immediately hazardous situation which WILL cause a serious or fatal accident if not observed WARNING A WARNING makes you aware of a potentially hazardous situation which MAY cause a serious or fatal accident or damage to this or other devices if not observed CAUTION A CAUTION alert makes you aware of a potentially hazardou...

Page 11: ...with EN 60204 IEC 204 VDE 0113 They must be operative at any time Safety and precautions regulations for qualified applications have to be complied with Please pay particular attention to the notices of warning which at relevant places will make you aware of possible sources of dangerous mistakes or faults Relevant standards and VDE regulations are to be complied with in every case Control element...

Page 12: ...5011 Fitting the controller into earthed metal cabinets and installing filters in the supply lines may produce a shielding compliant to the above standard The design and immunity to interference of programmable logic controllers are internationally governed by standard IEC 61131 2 2007 which in Europe has been the basis for European Standard EN 61131 2 2007 Note Refer to IEC 61131 4 User s Guideli...

Page 13: ...compressors transfer lines presses ramming machines and vehicles Electromagnetic interference Consider electromagnetic interference from various local sources motors switching devices switching thyristors radio controlled devices welding equipment arcing switched mode power supplies converters inverters Particular sources of interference inductive actuators Switching off inductances such as from r...

Page 14: ...ansfer times that conventional fieldbus systems are burdened with 3 2 c250 S Safety System The c250 S System consists of the Safety bus coupler the Safety controller and a range of Lenze Safety I O modules The Safety bus coupler converts the physical transfer technology twisted pair to LVDS E bus and generates the system voltages required by the LVDS modules The standard 100 Base Tx lines used for...

Page 15: ... been designed as an add on to a normal PLCDesigner control unit This is a two channel system which uses the normal control unit to communicate with the PLCDesigner Development System and all non safe I Os Programming is based on a certified plug in that is fully integrated in the PLCDesigner Development System 3 2 3 Safety I O module Safety I O module provides connections for standard security ap...

Page 16: ...nisations specialising in all safety related aspects Since these are certified components they reduce the time and costs involved in developing verifying and testing a safety application for acceptance They interlink by logical operations which behave like logical wiring and therefore minimise the time and programming efforts needed to create major parts of safety applications ...

Page 17: ...The housing trough including the optical fibres for the status indicators the side faces and the front are made of plastic and contain the module The optical fibres for the signal state indicators LEDs are located next to the spring assisted combi plug They slightly protrude from the housing and allow a clear diagnosis at a glance Unlock button Status LEDs Shield to housing mount connector Module ...

Page 18: ... s Technical Data section must be read carefully and obeyed at any time The c250 S Safety System is not designed for applications causing potentially fatal risks or dangers to the life and health of many persons or disastrous ecological hazards unless exceptionally strict safety precautions are taken Such applications specifically include the monitoring of nuclear reactions in nuclear power statio...

Page 19: ...requirements set by the competent authority The manufacturer shall neither be held liable nor accept any warranty for damages caused by inappropriate use non compliance with standard and directives unauthorised modifications of devices connections or settings use of unapproved or unsuitable equipment or equipment groups non observance of the safety instructions contained in this manual ...

Page 20: ...ase an external fault occurs short circuit cross fault etc all outputs are deenergised outputs null and the inputs return null to the safe control unit FSoE communication is not stopped A fail safe state is wattless The safety PLC is able to reset this state 4 3 3 Fail Safe State Internal Fault In case of an internal module fault all outputs are deenergised output null Both FSoE communication and ...

Page 21: ... ensure the units retraceability by means of their serial number 4 4 Useful Lifetime The Safety I O module is designed for a maximum lifetime of 20 years It must therefore be taken out of service not later than one week before the end of this 20 year period calculated as of Lenze s production date The production date is printed on the module as part of its serial number see section 5 1 2 Serial Nu...

Page 22: ...068 2 6 Fc test Shock 150 m s2 15g 11 ms semi sinusoidal wave to IEC 60068 2 27 Service conditions Mounting position horizontal stackable Degree of contamination II to IEC 60664 3 Admissible operating environment operation restricted to environments complying with IP54 or better to IEC 60529 e g suitable control cabinet Operating temperature 0 C 55 C Rel humidity 5 95 non condensing Atmospheric pr...

Page 23: ...max 15mA IHmin 2mA Maximum voltage 33 V max voltage to input even in case of error Signal indication LED located next to terminal and parallel to input Duration of test impulse 300 µs 1500 µs configurable phase shifted to each channel tolerance 100 µs 50 µs Safe response time 5 ms see section Response Time Input current typ 3 3 mA Input resistance typ 7 3 kΩ Input capacitance typ 100 nF Maximum li...

Page 24: ... 8 Actuator Connectionfor switching of capacity loads for details Braking voltage while turning off inductive loads typ 40 VDC Inductive load yes see section 6 2 8 Actuator Connection switching of inductive loads for details Maximum line length 100 m between sensor module terminals Response threshold of output overload protection min 2 5 A typ 3 5 A max 5 5 A Output current modulemax 4 A comply wi...

Page 25: ...obability of failure on demand PFDavg proof test interval 10 years IEC 61508 2010 for one input up to fieldbus 5 40 10 6 0 06 of entire PFDavg of 10 2 at SIL2 2 23 10 5 0 23 of entire PFDavg of 10 2 at SIL2 Probability of failure per hour PFH proof test interval 10 years IEC 61508 2010 for one input up to fieldbus 1 24 10 10 1 h 0 02 of entire PFH of 10 6 at SIL2 5 27 10 10 1 h 0 05 of entire PFH ...

Page 26: ...e on demand PFDavg proof test interval 10 years IEC 61508 2010 for one input up to fieldbus 5 21 10 6 0 51 of entire PFDavg of 10 3 at SIL3 2 16 10 5 2 16 of entire PFDavg of 10 3 at SIL3 Probability of failure per hour PFH proof test interval 10 years IEC 61508 2010 for one input up to fieldbus 1 20 10 10 1 h 0 12 of entire PFH of 10 7 at SIL3 5 11 10 10 1 h 0 51 of entire PFH of 10 7 at SIL3 Pro...

Page 27: ...obability of failure on demand PFDavg proof test interval 10 years IEC 61508 2010 for one output up to fieldbus 5 36 10 6 0 06 of entire PFDavg of 10 2 at SIL2 2 24 10 5 0 23 of entire PFDavg of 10 2 at SIL2 Probability of failure per hour PFH proof test interval 10 years IEC 61508 2010 for one output up to fieldbus 1 24 10 10 1 h 0 02 of entire PFH of 10 6 at SIL2 5 31 10 10 1 h 0 06 of entire PF...

Page 28: ... on demand PFDavg proof test interval 10 years IEC 61508 2010 for one output up to fieldbus 5 52 10 6 0 55 of entire PFDavg of 10 3 at SIL3 2 33 10 5 2 33 of entire PFDavg of 10 3 at SIL3 Probability of failure per hour PFH proof test interval 10 years IEC 61508 2010 for one output up to fieldbus 1 28 10 10 1 h 0 13 of entire PFH of 10 7 at SIL3 5 53 10 10 1 h 0 56 of entire PFH of 10 7 at SIL3 Pr...

Page 29: ... safe PLC safe PLC program runtime time of output data transfer across the EtherCAT bus between the Safety controller c250 S and the Safety I O module signal processing by the Safety I O module signal processing by actuator CAUTION To calculate the safe response time take account of the fieldbus runtimes and the Safety PLC s cycle time Avoid personal injury and damage to property The fieldbus runt...

Page 30: ...e safe response time of digital outputs defines as the maximum time it takes until the signal of a digital output changes after the EtherCAT module has received a FSoE frame Even if a fault occurs will the module be in a safe state before the safe response time is over The following failure sources will provoke a change to the safe state fault detected at the module inputs fault detected at the mo...

Page 31: ...dled inappropriately Thus best transport practice is to place open assemblies in statically shielded transport bags with a metal coating which avoid contamination by amines amides or silicone When putting Safety I O module into service and performing any maintenance you should also take the appropriate precautions against electrostatic discharge CAUTION Electrostatic discharge Destruction of or da...

Page 32: ...minium mount on the back of the module The numerical code incorporates the production date and a serial number lenze can use the numerical code to distinctly identify the model software and hardware release date It is a means of traceability manufacturer address serial number on underside serial number operative earth mark of approval model name type part number version operating conditions wiring...

Page 33: ...erial number 00039 15 06 05 00039 The serial number is also stored in object 1018 sub index 4 and can be retrieved by SDO Transfer 8 1 6 Identification 1018h 5 2 Contents of Package The Safety I O modules package contains Safety I O module Module bus cover Connector Mounting Instruction five digit number of nth unit built on that day production date as year month day ...

Page 34: ... electronic circuitry and transfer the EtherCAT signals Verify that the end cap from the package is in place to protect the module bus connector on the last module at the right hand side of a terminal unit against dirt The integrated module lock prevents the modules from coming apart under mechanical load or vibration CAUTION Interconnecting units of different design Damage to the unit s mechanica...

Page 35: ...fe In 2 TP SI2 TP 6 Safe In 3 SI3 7 Safe In 3 TP SI3 TP 8 Do not connect GND 9 Do not connect GND 10 Safe Out 0 SO0 11 Safe Out 0 GND SO0 12 Safe Out 1 SO1 13 Safe Out 1 GND SO1 14 Do not connect GND 15 Do not connect GND 16 24 V supply to power element outputs L 17 GND L Figure 2 Single row spring assisted connector with releasing lever Note information Connection to the Safety I O module must be...

Page 36: ...per installation may cause malfunctions due to cross faults at the contacts By design and if installed correctly the spring assisted connector prevents cross faults at the contacts Ensure a correct and technically perfect installation because cross faults or shorts may jeopardise the module s safe function ...

Page 37: ...irective 2006 42 EC It therefore supports the connection of many different safety related sensors Examples Single channel and two channel contact type sensors such as EMERGENCY STOP switches Sensors with single and two channel OSSD signals such as light grids Selector switches safety mats and connecting blocks Provided that the admissible maximum installed loads are not exceeded resistive and indu...

Page 38: ...nt cross faults with the security functions of other modules You should therefore protect the signal lines and or lay them separately 5 3 4 Safety I O module Supply The Safety I O module supply of the safe outputs and the associated test pulse outputs connects to terminals L and L The supply voltage is rated at 24 VDC It is monitored The cord must have external protection against short circuit and...

Page 39: ... max 10 A CAUTION Module defect by reversing the polarity of the voltage supplied Although Safety I O module is reverse polarity proof reversing the polarity will still put considerable stress on the electronic circuitry and may cause module defects Avoid a reversal of polarity In case the supply of power is interrupted drops or increases beyond the rated limits the module will change to the safe ...

Page 40: ... 2 LED Safe Status Duo LED safe status indicates the state of the module regarding its safety function LED Safe Status LED State Explanation Green on OK Safety I O provides safe functionality Red on Error Safety I O in fail safe state 5 4 3 LED Power LED Power indicates the state of the power supply to Safety I O module LED Power LED State Explanation Off No power supplied to the module Green on O...

Page 41: ...gnal on channel 1 logical 0 Green 24 VDC supplied to channel 1 logical 1 3 SI1 diagnosis Off Normal operation Red External power supply or cross fault 4 Input SI 2 SI2 state Off No valid input signal on channel 2 logical 0 Green 24 VDC supplied to channel 2 logical 1 5 SI2 diagnosis Off Normal operation Red External power supply or cross fault 6 Input SI 3 SI3 state Off No valid input signal on ch...

Page 42: ...l at output 0 logical 1 11 Diagnosis Off Normal operation Red External power supply or cross fault 12 Output SO 1 Status Off No output signal at output 1 logical 0 Green Output signal at output 1 logical 1 13 Diagnosis Off Normal operation Red External power supply or cross fault 5 5 Operating Software The FSoE master s configuration tool is used for operation and configuration Refer to the FSoE m...

Page 43: ...in the preface of this document Before putting the unit into service verify that all safety functions work as specified 6 1 Mechanical Installation Environment of installation Protect Safety I O module against inadmissible contamination Do not allow the units to contaminate more than specified for degree II in IEC 60664 3 Whereas an enclosure providing IP 54 protection e g an appropriate control c...

Page 44: ...nd any adjacent devices or cabinet surfaces Leave at least 20 mm of lateral distance to third party units and cabinet surfaces Order of modules in multi c250 S systems NOTE Order of modules in multi c250 S systems In order to ensure that the entire c250 S system works properly arrange the c250 S modules by their specific E bus load placing the modules with the highest E bus load immediately next t...

Page 45: ... right of the first module Push the second module along the rail towards the first module until you hear the locking device snap in Correctly mounting the modules is the only way of ensuring that the system works properly To prevent inadmissible contamination mount the cover of the module bus connectors on the rightmost module of the c250 S system CAUTION Short circuit fault of module bus contacts...

Page 46: ...the module to the left of it Push both modules away from one another until they are about 1 cm apart 6 1 5 To Take Down a Single Module Push the module up and against the metal spring located on the underside of the rail guide Tip the module away from the rail as shown in the illustration Pull the module down and out of the mounting rail Figure 5 Uninstalling a module 1 2 3 Unlock button ...

Page 47: ...t conducts well and that the control cabinet is properly connected to earth In exceptional cases you may connect earth directly to the front of the module Information Earth wires should be short and have a large surface copper mesh Refer to http de wikipedia org wiki ground_ electronics for further details Note When installing production or other lines measure the earth potential of the DIN rail a...

Page 48: ...ded in the operating instructions of the upstream bus couplers or compact PLCs as well as the additional system power supply instruction in this Operating Instructions WARNING Potentially hazardous failures due to wrong voltages supplied Supplying the wrong voltages may damage or destroy the unit and may provoke potentially hazardous failures Preventive measures Only use PELV SELV ready power supp...

Page 49: ...to connect the power supply unit to earth PELV system Do not use earthing variants that connect earth to 24V Application in unearthed electrical networks e g IT Net is only allowed after consulting Lenze Remember that even in case of a fault a maximum voltage of U max 33 V may be supplied to these assemblies Do not reuse but replace units operated on voltages 33 V To ensure that there is as little...

Page 50: ...dy power supply units to EN50178 or EN60950 1 to supply 24 VDC to sensors and actuators connected to the Safety I O modules Only use the GND terminal to connect the power supply unit to earth PELV system Do not use earthing variants that connect earth to 24V Application in unearthed electrical networks e g IT Net is only allowed after consulting Lenze Remember that even in case of a fault a maximu...

Page 51: ...6 Installation and Operation EDBC250SIO 2 0 51 6 2 6 Power Supply Wiring Example ...

Page 52: ...put Use the configuration to separately enable each of the inputs 6 3 3 Input Parameters Analysis of states The module checks the states of the inputs and transfers the result to the safe control unit The process data image of a safe input transfers 0 if a 0 signal is supplied to the input or if an error has been detected 1 if a 1 signal is supplied to the input or if an error has not been detecte...

Page 53: ... contact type sensors Two channel contact type sensors allow different inputs to be connected to the test pulse output of a two channel sensor A software module of the safe control unit provides the required analysis of the input signals The software can be used to interconnect any of the safe inputs Wiring should take account of the fact that every input signal is allocated to the test pulse outp...

Page 54: ... 2 SI0 SI1 SI0 TP Safe inputs you do not use are available for other functions PLCopen module Mode Selector or a similar module of the safe control unit is used for multi channel analysis The achievable category to EN ISO 13849 depends on the switching device s error model e g mode selector and must needs be analysed in conjunction with the PLCopen module s error detection Refer to section 7 4 Mod...

Page 55: ...ng of sensors providing OSSD signals Two channel sensors delivering OSSD signals can be connected to any safe input of the Safety I O module A software module of the safe control unit provides the required allocation and analysis of the input signals Sensors with OSSD signals do not support the module s test pulses You must therefore set the input channels to Test pulse duration 0 6 3 3 Input Para...

Page 56: ...xternal Inputs to choose the bumper function 6 3 3 Input Parameters You may use up to two mat channels Allocation of safe inputs for the bumper function Parameter External Inputs Safe inputs used Safe inputs used Bit 7 Bit 6 0 0 bumper function not selected none 0 1 SI0 SI1 SI0 TP SI1 TP 1 0 SI2 SI3 SI2 TP SI3 TP 1 1 SI0 SI1 SI2 SI3 SI0 TP SI1 TP SI2 TP SI3 TP Safe inputs you do not use are availa...

Page 57: ...I O module fails to detect a short circuit between the mat contacts This is interpreted as the mat being actuated You must also verify that the safeguard is wired correctly Periodically check that the mat is working properly CAUTION Safety function pressure sensitive mat requires a response time of 50 ms Avoid personal injury and damage to property The pressure sensitive mat function achieves a re...

Page 58: ...some capacitive fractions can be connected to the digital power outputs of the Safety I O module They also support signal lamps dissipating resistive power of up to 10 W Actuators with external GND reference Provided that the configuration is taken account of actuators with external GND reference can be connected to the Safety I O module Switching of inductive loads If the internal free wheel circ...

Page 59: ...he safety assessment must take account of An external free wheel circuit will transduce the magnetic energy when turning off the inductive load Verify that the external free wheel circuit is designed to withstand the ensuing dissipation heat When connecting the inductive load to the outputs be sure to limit the negative voltage of the external free wheel element you choose to anything smaller than...

Page 60: ...oad to the digital power output you may have to modify the test pulse duration A test pulse length not adapted to the load may cause the module to change to its safe state The outputs support loads connected to SOX and SOX as well as to SOX and an external GND potential Different maximum capacitive loads apply to both configurations because they are built around a different internal composition of...

Page 61: ...mperature Refer to the diagram below for the resulting total current The output current derating shown on the graph was measured under free convection in a typical installation I O modules on the left and right 50 duty cycle identical supply voltage 0 1 2 3 4 0 5 10 15 20 25 30 35 40 45 50 55 Total current A Ambient temperature C 24V 28 8V ...

Page 62: ... 9 mm Wire diameter single wire min H05 07 V U 0 2 mm max H05 07 V U 1 5 mm Wire diameter fine wire min H05 07 V K 0 2 mm max H05 07 V K 1 5 mm Wire diameter with connector sleeve to DIN 46 228 1 min 0 2 mm max 1 5 mm Wire diameter with connector sleeve with collar to DIN 46 228 4 min 0 2 mm max 1 mm Stripped end 10 mm Nominal current 10 A CSA 10 A UL WARNING Potentially hazardous failure due to i...

Page 63: ...address is set manually by means of binary switches on the left side of the module Use the 2x 8 DIP switches to set the FSoE address Addresses range between 1 and 65535 Information After setting the FSoE address disconnect the c250 S Safety module once from the power supply to ensure that the address is accepted and a module test started automatically Information There is no access to the DIP swit...

Page 64: ...y function not available Startup disallowed by wrongly set address Do a function test to verify that the address coding switches have been set correctly DIP switch Address 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF 1 OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF ON 2 OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF O...

Page 65: ...ealing with safety matters are allowed to add replace and put Safety I O Modules into operation Before installing servicing or putting c250 S Safety into service please also read the safety information in the preface of this document Before putting the unit into service verify that all safety functions work as specified The module will not work if parameter settings are out of the specified valid ...

Page 66: ... Inputs 1 2 0 1 1 1 7 Inputs 0 1 2 1 0 0 0 8 Input 3 1 0 0 1 9 Inputs 0 3 1 0 1 0 10 Inputs 1 3 1 0 1 1 11 Inputs 0 1 3 1 1 0 0 12 Inputs 2 3 1 1 0 1 13 Inputs 0 2 3 1 1 1 0 14 Inputs 1 2 3 1 1 1 1 15 Inputs 0 1 2 3 External Inputs Dec Bits 0 3 00002 11112 00002 Disables the generation of the module s test pulses if the sensors connected generate their own test pulses OSSD at the outputs or option...

Page 67: ...two channels inputs 0 1 0 0 1 0 0 0 0 0 32 Mode selector three channels inputs 0 2 0 0 1 1 0 0 0 0 48 Mode selector four channels inputs 0 3 0 1 0 0 0 0 0 0 64 Pressure sensitive mat inputs 0 1 1 0 0 0 0 0 0 0 128 Pressure sensitive mat inputs 2 3 1 1 0 0 0 0 0 0 192 Pressure sensitive mat inputs 0 1 and 2 3 Red cells In mode selector or pressure sensitive mat modes disabling a test pulse output w...

Page 68: ... input 0 µs 300 1500 500 Test pulse length of input 0 Input filter of input 0 The digital test pulse output is interrupted for the set duration of every test pulse The Safety I O module checks whether the digital inputs may turn Null and whether there are any short circuits to noise voltages on the signal line Adapt the test pulse duration to the peripherals you use Test pulse duration input 1 µs ...

Page 69: ...d whether there are any short circuits to noise voltages on the signal line Adapt the test pulse duration to the peripherals you use Test pulse duration output 0 µs 500 1500 800 Test pulse length of input 0 The digital power output is interrupted for the set duration of every test pulse The Safety I O module checks whether the power outputs may be turned off and whether there are any short circuit...

Page 70: ...thout Test pulse Test frequency input 3 Hz 0 25 1 Test pulse frequency of input 3 Value 0 means without Test pulse Test frequency output 0 min 1 0 25 1 Test pulse frequency of output 0 Value 0 means without Test pulse1 Test frequency output 1 min 1 0 25 1 Test pulse frequency of output 1 Value 0 means without Test pulse2 1 The test pulses of both outputs must be deactivated so that no more test pu...

Page 71: ...he test pulse outputs you do not need Refer to manual section 7 4 Mode Selector for a wiring example Inputs you do not use and the associated test pulse outputs can be used for other functions Pressure sensitive Mat Bumper mode uses pairs of 2 inputs and the associated test pulse outputs Parameter External Input allows you to separately choose the function of inputs 0 1 and 2 3 Inputs you do not u...

Page 72: ...is not connected to module terminal SO X but uses an external ground connection Pick from a drop down list provided by the configurator software Linking the sensor to an external ground connection instead of terminal SO X disallows you to control an external 24 VDC power supply Also set this parameter if output SO X supplies an electronic load such as a digital input of an Safety I O module Parame...

Page 73: ...orrect external wiring while test pulses are disabled Unsafe machine state safety hazard Use the output test pulses to detect cross faults at the outputs and other faults Note Consider protecting the cables and or laying them separately to ensure a sufficient degree of safety CAUTION Minimum length of test pulses Owing to the construction of the outputs different test pulse length settings of the ...

Page 74: ...blished by the EtherCAT Technology Group Topology of PLCDesigner devices Like in all other PLCDesigner projects the project environment of safety projects must identically reflect the hardware topology You can either set up the topology manually or provided that all device descriptions have been installed start a search for devices in PLCDesigner Right click on the EtherCAT master and pick Geräte ...

Page 75: ...tem test is repeated cyclically as a background process To repeat the initial system test just turn the power supply off and back on again 6 5 2 Safety I O module Module Faults The cyclic system test will duly detect all faults in the module within the minimum safe failover time specified in section Technical Data in conformity with the requirements of the standards listed in the certificate The m...

Page 76: ...etected are indicated by the diagnosis LEDs of the Safety I O module and made available as a diagnostic message in error register object 1001h Diagnostic messages help you identify the fault and to take the required corrective actions The tables below list and describe the faults their causes effects and corrective actions Whenever a fault occurs you should first of all remove its cause and acknow...

Page 77: ... 5 7 Error Codes Error codes object dictionary 2007h or 2017h Errorcode Error Code hex Cause Comment Effect Corrective Action 0x0001 Internal software error Internal module monitoring has detected an error Inputs and outputs change to the safe state FSoE communication stops Module in safe state Module RESET by turning the system power off and back on again self test repeats Replace module if error...

Page 78: ...rcuit in the output wiring or wrong output load red diagnosis LED of affected channel lights up Module in safe state Check actuator Check connector and wiring Check free wheel wiring at contactor 0x0280 Cross fault at or external power supplied to output Cross fault to another output or another signal red diagnosis LED of affected channel lights up Module in safe state Check actuator Check connect...

Page 79: ...after one power cycle 6 5 10 Wrong Configuration of the Safety I O Module By design safety control units prevent configuration errors from provoking dangerous states Therefore after downloading a safety project with a bad configuration all safety module are in a safe state The master shows the incorrect configuration To restart the safety modules first remove the incorrect configuration then downl...

Page 80: ...et the Safety I O module by a power cycle PowerCycle turn off and back on provided that the automatic self test is passed Error Acknowledge Input or output errors can be reset by the Safety controller c250 S WARNING Reset acknowledge may cause a dangerous state Apart from the exceptions specified acknowledging an error will immediately restore the safe output to its normal state of operation Befor...

Page 81: ...urce etc Check that none of the ventilation slots is covered 6 7 2 Servicing c250 S Safety requires neither servicing for the specified service life nor any action if it is kept and operated at the admissible ambient conditions specified in section Technical Data 6 7 3 Preventive Maintenance Prevent inadmissible contamination while operating and storing c250 S Safety Do not use or continue to use ...

Page 82: ... a wrong terminal NOTE You must set up your entire project again if you replace a Safety I O module with a module of another type If so refer to the Operating Instructions of the new module Procedure Verify that the new module meets the following requirements o Same type of device o Same or higher version see section 5 1 Labelling and Identification Enable the safe system or machine state Turn off...

Page 83: ... a module 6 9 Durability Safety I O modules have a design life of max 20 years after the date of manufacture 5 1 2 Serial Number by lenze Take the module out of service at the end of its useful life 6 9 3 Taking out of Service 6 9 1 Repairs Customer Service You are not allowed to open or try to repair a Safety I O module Doing so will void the warranty Note information In case of a potentially haz...

Page 84: ...cedure Make sure that the modules of the c250 S Safety system you are taking out of service are provided for further use as intended Refer to section Technical Data for detailed transport and storage requirements 6 9 4 Disposal Dispose of the c250 S Safety system in conformity with the applicable environmental regulations and make sure that it is not returned into circulation Treat the packaging a...

Page 85: ...ule with reference to the actual environment The safety ratings listed for the examples below solely apply to the part of the safety function covered by the safe I O module Please note that the safety ratings below only apply if the test pulses are enabled WARNING Non detection of a corrupt external wiring when test pulse outputs are disabled Unsafe machine state safety hazard Always use the corre...

Page 86: ...ugh to initiate a restart signal Safety ratings of single channel sensors The safety ratings listed in the table below reflect the maximum values a single channel safety function may achieve when using a single input of the safe I O module They solely apply to the part of the safety function covered by the safe I O module All components involved in the safety function must be taken into account in...

Page 87: ... a fault if at the end of the discrepancy time both inputs are in different states Safety ratings of two channel sensors The safety ratings listed in the table below reflect the maximum values a two channel safety function may achieve when using two inputs of the safe I O module They solely apply to the part of the safety function covered by the safe I O module All components involved in the safet...

Page 88: ...l also become TRUE The component also checks that both buttons have been released before setting output S_TwoHandOut to TRUE again Note Category 3 does not support more than one two hand circuit of type III B Safety ratings of two channel sensors The safety ratings listed in the table below reflect the maximum values a two channel safety function may achieve when using four inputs of the safe I O ...

Page 89: ...rformance level to EN ISO 13849 1 2015 Cat 3 PL e Hardware fault tolerance HFT of two channel application IEC 61508 2010 EN 1 a fault of the application need not cause the safeguard to fail CAUTION Safety hazard due to wrong handling of the two hand circuit Comply with EN 574 2008 and other requirements and standards published on two hand circuits Switches sensors wiring and application must compl...

Page 90: ...ector applications in conjunction with switches sensors approved to EN 13849 2 Table D 3 Highest safety integrity level to EN 62061 2010 SIL2 Highest safety integrity level to IEC 61508 2010 SIL2 Category and highest performance level to EN ISO 13849 1 2015 Cat 1 PL c Hardware fault tolerance HFT of two channel application IEC 61508 2010 EN 0 a fault of the application may cause the safeguard to f...

Page 91: ...et to 0 However this will not affect the test pulse as such since in mode selector mode the test pulse always runs at maximum frequency NOTE Time discrepancy in mode selector rotary table mode A set time discrepancy of 100 ms has been implemented for signals missing at the inputs when changing to mode selector mode ...

Page 92: ...ection 6 3 3 Input Parameters for further details This mode only supports pressure sensitive mats working according to the open circuit principle i e the test pulses required to maintain a safe function are supplied by the safe I O module The function uses either inputs SI0 and SI1 and or inputs SI2 and SI3 The pressure sensitive mat function achieves a response time of 50 ms between a change in m...

Page 93: ...is not detected The Safety I O module fails to detect a short circuit between the mat contacts This is interpreted as the mat being actuated You must also verify that the safeguard is wired correctly Periodically check that the mat is working properly CAUTION Safety function pressure sensitive mat requires a response time of 50 ms Avoid personal injury and damage to property The pressure sensitive...

Page 94: ...ratings listed in the table below reflect the maximum values a two channel safety function may achieve when using two outputs of the safe I O module They solely apply to the part of the safety function covered by the safe I O module All components involved in the safety function must be taken into account in order to assess whether the desired safety ratings are achieved The quality of the safe ac...

Page 95: ...E Parameters The wiring example illustrates how one output of the Safety I O module is used to actuate a safety function Use a two channel actuator to achieve the safety integrity levels of the table below Before connecting it to the I O module verify that short circuits and cross faults on the connecting lead are excluded Note information Picture a Fault prevention required Take the actions requi...

Page 96: ...ly drive n c contacts of K1 and K2 to safe digital inputs Set the safe PLC to analyse the values returned and thus the states of the switching devices Best safety ratings of applications using one output for a safety function Highest safety integrity level to EN 62061 2010 SIL3 Highest safety integrity level to IEC 61508 2010 SIL3 Category and highest performance level to EN ISO 13849 1 2015 Cat 3...

Page 97: ...O Mapping No TX PDO Default Value 00h In case of an error the associated error bit is set If the error is not active the bit will automatically deleted 7 6 5 4 3 2 1 0 RES RES PROF COM TEMP VOL CUR GEN GEN Generic fault non acknowledgeable power cycle required CUR Current non acknowledgeable power cycle required VOL Voltage acknowledgeable via EtherCAT or by power cycle TEMP Temperature non acknow...

Page 98: ...ns each of the characters The character string has no terminating zero 8 1 4 Hardware Version 1009h Designation Value Name Hardware Version Index 1009h Object Code VARIABLE No of Elements 0 Data Type VISIBLE_STRING 4 BitSize 32 Access read only PDO Mapping no Value Range set Default Value 2 10 8 1 5 Software Version 100Ah Designation Value Name Software Version Index 100Ah Object Code VARIABLE No ...

Page 99: ...SIGNED8 Access read only PDO Mapping no Default Value 4 Designation Value Name Vendor ID Subindex 01h Data Type UNSIGNED32 Access read only PDO Mapping no Default Value 0000003Bh Designation Value Name Product Code Subindex 02h Data Type UNSIGNED32 Access read only PDO Mapping no Default Value 43000402h 1124074498 Designation Value Name Revision Subindex 03h Data Type UNSIGNED32 Access read only P...

Page 100: ...duct code and the revision and serial number 8 1 7 24V Voltage CPU 1 2001h and CPU 2 2011h Designation Value Name 24V Voltage Index 2001h 2011h Object Code VARIABLE No of Elements 0 Data Type UNSIGNED16 Access Read PDO Mapping no Units mV Value Range 0 65535 Default Value No default value 8 1 8 Output 0 1 Current CPU 1 2005h and CPU 2 2015h Designation Value Name Output 0 1 Current Index 2005h Obj...

Page 101: ...me External Temperature Sensor Index 2006h Object Code VARIABLE No of Elements 0 Data Type UNSIGNED16 Access Read PDO Mapping no Units 0 01 C Value Range 0 8000 Default Value No default Value Note Information In order to display the temperature only the least significant 16 bits may be evaluated I ...

Page 102: ...ck underflow 201 00C9h HWT_STACK_OVERFLOW_ERROR Hardware test stack underflow 300 012Ch HWT_CPU_ERROR Hardware test CPU error 400 0190h WT_FW_ERROR Hardware test firmware error 500 01F4h HWT_FWINTERFACE_ERROR Hardware test firmware error 504 01F8h HWT_ADC_ERROR Test handler error in ADC value range checks 505 01F9h HWT_DMA_ERROR Test handler DMA checksum error 506 01FAh HWT_CRC_ERROR Test handler ...

Page 103: ...re a new test pulse occurred 657 0291h TP_INP_CROSSTALK Input test pulse cross talk detected ErrReg 32 658 0292h TP_INP_NOT_RECOGNIZED Input test pulse not detected ErrReg 32 659 0293h TP_INTINP_NOT_RECOGNIZED Internal input test pulse not detected ErrReg 32 660 0294h TP_INP_LOST Internal input test pulse lost ErrReg 32 661 0295h TP_INVALID_COUNT_FOR_SELECTOR Test pulse error in mode selector mode...

Page 104: ...D_ADDRESS Invalid FSoE address selected address 0 ErrReg 32 1312 0520h CLK_ERROR Partner clock frequency out of valid range 1313 0521h CLK_PARTNER_LOW Partner clock frequency too low 1314 0522h CLK_PARTNER_HIGH Partner clock frequency too high 1328 0530h HW_REVISION_ERROR Invalid PCB HW revision detected the SW currently running not designed for this HW revision 1536 0600h INPUTXCHGERROR CPU to CP...

Page 105: ...NOWN_CMD Test pulse error in mode selector mode ErrReg 16 FailSafeOverEtherCAT unknown command 2819 0B03h FSOE_INVALID_CONNID Test pulse error in mode selector mode ErrReg 16 FailSafeOverEtherCAT invalid connection ID 2820 0B04h FSOE_INVALID_CRC Test pulse error in mode selector mode ErrReg 16 FailSafeOverEtherCAT checksum error 2821 0B05h FSOE_WD_EXPIRED Test pulse error in mode selector mode Err...

Page 106: ...ailSafeOverEtherCAT invalid safety parameter for outputs in use ErrReg 16 2837 0B15h FSOE_INVALID_OUT_USED_EXT_MISMATCH FailSafeOverEtherCAT mismatch of safety parameters for outputs in use and externally earthed outputs ErrReg 16 2944 0B80h FSOE_EXTENDED_ERROR FailSafeOverEtherCAT test pulse error in mode selector mode extended error ErrReg 16 2992 0BB0h FSOE_ERROR FailSafeOverEtherCAT invalid in...

Page 107: ...Access Read PDO Mapping no Default Value 00000000h The table below explains the entries in object 2009h or 2019h Errormodule Id Explanation 0 OBJ_UNKNOWN_ID Unknown module 4 OBJ_FSOETASK_ID Error occurred in CFSoETask cpp 8 OBJ_INPUT_ID Error occurred in CInput cpp 12 OBJ_MAINTASK_ID Error occurred in CMainTask cpp 16 OBJ_PRGCONTRLTASK_ID Error occurred in CProgramControlTask cpp 20 OBJ_SYNCSAFETY...

Page 108: ..._RCC_ID Error occurred in CRcc cpp 101 OBJ_GPIO_ID Error occurred in OBJ_GPIO_ID 102 OBJ_DMASTREAM_ID Error occurred in CDmaStream cpp 103 OBJ_ADC_ID Error occurred in CAdc cpp 104 OBJ_WD_ID Error occurred in CWatchdog cpp 105 OBJ_FLASH_ID Error occurred in CFlash cpp 106 OBJ_I2C_ID Error occurred in CI2c cpp 128 OBJ_INPUTHANDLER_ID Error occurred in CInputHandler cpp Safe In 1 129 OBJ_INPUTHANDLE...

Page 109: ...onization error 2 Internal communication error 3 I O error 4 Error in ErrorHandler or at the outputs 5 Fatal error 8 1 14 System Uptime s 200Ch Designation Value Name System uptime s Index 200Ch Object Code VARIABLE No of Elements 0 Data Type UNSIGNED32 Access Read PDO Mapping no Units sec Default Value No default Value 8 1 15 Temperature Warning 2016h Designation Value Name Temperature warning In...

Page 110: ...02h Supply 5 Voltage to µC1 2012h Supply 5 Voltage to µC2 2003h Supply 3 3 Voltage to µC1 2013h Supply 3 3 Voltage to µC2 2004h IC Temperature Uncalibrated for µC1 2014h IC Temperature Uncalibrated for µC2 200Bh Number of CORA Test Cycles of µC1 201Bh Number of CORA Test Cycles of µC2 2020h MaxAsicDataUnequalCounter 2220h MC1 Main Loop Cycle Time 2221h MC2 Main Loop Cycle Time 5001h Id MC1 5002h I...

Page 111: ...etic compatibility EMC Part 6 2 Generic standards Immunity for industrial environments Product standard DIN EN 61131 2 2007 Programmable logic controllers Part 2 Equipment requirements and tests Elevated immunity levels of safety related applications DIN EN 61326 3 1 2008 Electrical equipment for measurement control and laboratory use EMC requirements Part 3 1 Immunity requirements for safety rela...

Page 112: ... I O module C25BAYA42 Safe input output module Safety protocol FSoE Safety standard IEC 61508 SIL3 and DIN EN ISO 13849 1 Cat 3 PL e Number of inputs 4 safe inputs configurable properties Number of outputs 2 safe outputs Imax 2 0 A Test pulse outputs OSSD 4 Extended diagnostic information via CoE 8 5 2 Accessories Technical Data Safety controller c250 S C25BAYSQ Safety control unit Safety protocol...

Page 113: ...t Planning and Installation 123 2 2 8 Maintenance and Servicing 123 3 System Description 124 3 1 EtherCAT Ethernet Control 124 3 2 c250 S Safety System 124 3 2 1 Safety over EtherCAT FSoE 125 3 2 2 Safety controller c250 S 125 3 2 3 Safety I O module 126 3 2 4 PLCDesigner Safety 126 3 2 5 PLCDesigner SafetyPLCopen Library 127 4 Product Description 128 4 1 General Description 128 4 2 Application 12...

Page 114: ...Contents of Package 144 5 3 Connectors 144 5 3 1 E bus and Module Lock 144 5 3 2 Combi Plug X1 145 5 3 3 Safety I O module SDI16 SDO4 145 5 3 4 Safety I O module SDI16 147 5 3 5 Safety I O module SDI8 SDO2 149 5 3 6 Wiring Example 150 5 4 Indicators and Controls 152 5 4 1 LED EtherCAT Run 152 5 4 2 LED Safe Status 152 5 4 3 LED Power 152 5 4 4 LEDs Channel 153 5 5 Operating Software 159 6 Installa...

Page 115: ...figuration 197 6 4 1 Address Setup 197 6 4 2 FSoE Parameters 199 6 4 3 Input Parameters 205 6 4 4 Output Parameters 207 6 5 Putting into Service 209 6 6 Diagnosis 211 6 6 1 Self test 211 6 6 2 Safety I O module Module Faults 212 6 6 3 Wrong Wiring 212 6 6 4 Temperature Faults 212 6 6 5 Wrong Supply Voltage 213 6 6 6 Table of Faults 213 6 6 7 Error Codes 214 6 6 8 EtherCAT Link Lost 215 6 6 9 Wrong...

Page 116: ...236 8 1 5 Hardware Version 1009h 237 8 1 6 Software Version 100Ah 237 8 1 7 Identity Object 1018h 237 8 1 8 Supply 24V Voltage 2001h for CPU1 and 2011h for CPU2 239 8 1 9 Supply 5 V voltage 2002h for CPU1 and 2012h for CPU2 239 8 1 10 Supply 3 3 V voltage 2003h for CPU1 and 2013h for CPU2 240 8 1 11 Temperature 2004h for CPU1 240 8 1 12 Ext Temperature 2006h for CPU1 and 2016h for CPU1 240 8 1 13 ...

Page 117: ... Product Standard Applied 259 8 2 2 Safety Standards and Directives 259 8 2 3 EMC Standards 259 8 3 Regulations and Declarations 260 8 3 1 Mark of Conformity 260 8 4 Approvals 261 8 5 Order Specifications 261 8 5 1 Basic Units 261 8 5 2 Accessories 262 8 5 3 Spare Parts 262 ...

Page 118: ...difications 1 0 09 27 2019 Original Version 1 0 1 1 2 Safety I O module The table below summarises the module releases manual versions production dates and the changes to the functionality Module Release Version Manual Date Comments Modifications V1 0 1 0 09 27 2019 Applies to module release V1 00 Software Version 1 03 Hardware Version V1 10 ...

Page 119: ...erties in a legal sense Exact properties and characteristics shall be agreed in the specific contract Claims for damages against us on whatever grounds are excluded except in in stances of deliberate intent or gross negligence on our part 2 1 2 Terms of Delivery The general conditions of sales and service of Lenze Automation GmbH shall apply 2 1 3 Copyright Microsoft Windows and the Windows logo a...

Page 120: ...ng extensive knowledge of automation technol ogy and functional safety is compulsory 2 2 3 Reliability Reliability of Lenze products is brought to the highest possible standards by extensive and cost effective means in their design and manufacture These include selecting high quality components quality agreements with our suppliers vendors actions to avoid static charges when handling MOS circuits...

Page 121: ...WILL cause a serious or fatal accident if not observed WARNING A WARNING makes you aware of a potentially hazardous situation which MAY cause a serious or fatal accident or damage to this or other devices if not ob served CAUTION A CAUTION alert makes you aware of a potentially hazardous situation which MAY cause an accident or damage to this or other devices if not observed ATTENTION An ATTENTION...

Page 122: ...icular heed of the hazard warnings ATTENTION The safety related products may be used by the following persons only Qualified persons who know the applicable concepts of functional safety as well as the relevant standards and regulations Qualified persons who plan design install and put machine and system safety equipment into operation Note information To achieve a high degree of conceptual safety...

Page 123: ...such a way as to exclude unintended operation Lay control cables such that interference inductive or capacitive is excluded if this interfer ence could influence controller operation or its functionality 2 2 8 Maintenance and Servicing Accident prevention regulations in Germany BGV A3 VBG 4 0 to be observed when measuring or checking a controller after power up This applies to section 8 Admissible...

Page 124: ...us systems are burdened with The Safety bus coupler converts the physical transfer technology twisted pair to LVDS E bus and generates the system voltages required by the LVDS modules The standard 100 Base Tx lines used for office network communications connect to the one side the Safety I O modules for the process signals connect to the other This is how the Ethernet EtherCAT protocol is re taine...

Page 125: ...ransport me dium is considered a black channel which is left out of the safety assessment 3 2 2 Safety controller c250 S Safety controller c250 S links up the inputs and outputs of c250 S Safety System and other FSoE system devices At the basic level certified function blocks are graphically wired up to establish the system s safety programme In case a project demands more than the technology of t...

Page 126: ...fied plug in that is fully integrated in the PLCDesigner Development System Safety controller c250 S is a sub node of the standard control unit and provides an application task lists of global variables POEs and logical I Os The integrated function diagram FD safety editor to IEC 61131 3 certi fied for use with IEC 61508 SIL3 applications is used for basic or extended level programming by means of...

Page 127: ...nisations specialising in all safety related aspects Since these are certified components they reduce the time and costs involved in developing verifying and testing a safety application for acceptance They interlink by logical operations which behave like logical wiring and therefore minimise the time and programming efforts needed to create major parts of safety applications ...

Page 128: ...tegrated clamping fixture used to attach the module to a 35 mm DIN rail The housing trough including the optical fibres for the status indicators the side faces and the front are made of plastic and contain the module The optical fibres for the signal state indicators LEDs are located next to the spring assisted combi plug They slightly protrude from the housing and allow a clear diagnosis at a gl...

Page 129: ...s to connected equipment such as drives or light grids Before installing and putting the system into operation the safety instructions connection specifications nameplate and documenta tion and the limiting values listed in this user guide s Technical Data section must be read carefully and obeyed at any time The c250 S Safety System is not designed for applications causing potentially fatal risks...

Page 130: ...s who know the applicable concepts of functional safety as well as the relevant standards and regulations Qualified persons who plan design install and put machine and system safety equipment into operation 4 2 3 Disclaimer of Liability The operator is responsible for self reliantly running the safety related control components in conformity with the requirements set by the competent authority The...

Page 131: ... stopped A fail safe state is wattless The safety PLC is able to reset this state 4 3 3 Fail Safe State Internal Fault In case of an internal module fault all outputs are deenergised output null Both FSoE com munication and the transfer of input information stops A fail safe state is wattless Recovering from this state requires a reset by turning the supply voltage off This involves a complete sel...

Page 132: ...r 4 4 Useful Life The Lenze Safety I O module is designed for a maximum life of 20 years It must therefore be taken out of service not later than one week before the end of this 20 year period calculated as of Lenze s production date The production date is printed on the module as part of its serial number see section 5 1 2 Serial Number 4 5 Technical Data 4 5 1 General Specifications General Spec...

Page 133: ...ckable Degree of contamination II to IEC 60664 3 Admissible operating environment operation restricted to environments complying with IP54 or better to IEC 60529 e g suitable control cabinet Operating temperature 0 C 55 C Rel humidity 5 95 non condensing Atmospheric pressure 80 kPa to 108 kPa 0 to 2000 m above msl Vibration 5 Hz to 8 4 Hz 3 5 mm amplitude 8 4 Hz to150 Hz 10 m s2 1g to IEC 60068 2 ...

Page 134: ...ntact type sensors Electrical insulation channel channel no channel E bus 500 Veff Signal level EN 61131 2 Type 3 Off 3 5 V ILmin not specified ILmax 15 mA On 11 V 30 V IHmax 15 mA IHmin 2 mA Maximum voltage 33 V max voltage to input even in case of error Signal indication green LED located next to the terminal Safe response time 5 ms see section Response Time Input current typ 3 3 mA 24 V and 24 ...

Page 135: ...d yes see section 6 3 9 Actuator Connection for details Switching of capacity loads Braking voltage while turning off inductive loads typ 40 VDC Inductive load yes see section 6 3 9 Actuator Connection for details Switching of inductive loads up to 2 5 Hz Maximum line length 100 m between sensor module terminals Response threshold of output overload protection typ 1 6 A Output current modulemax Sa...

Page 136: ...ars IEC 61508 25 C 7 5 10 7 4 01 10 6 1 27 10 8 55 C 2 92 10 6 9 00 10 6 4 09 10 8 Probability of failure per hour PFH proof test interval 20 years IEC 61508 25 C 8 56 10 11 1 h 4 58 10 10 1 h 1 45 10 12 1 h 55 C 3 33 10 10 1 h 1 03 10 9 1 h 4 66 10 12 1 h DC diagnostic coverage to EN ISO 13849 1 25 C 99 98 14 99 55 C 99 97 38 99 Safe failure fraction SFF 25 C 99 83 99 04 99 68 55 C 99 79 98 95 99...

Page 137: ... 51 10 9 4 01 10 6 1 27 10 8 55 C 2 94 10 8 9 00 10 6 4 09 10 8 Probability of failure per hour PFH proof test interval 20 years IEC 61508 25 C 8 57 10 13 1 h 4 58 10 10 1 h 1 45 10 12 1 h 55 C 3 35 10 12 1 h 1 03 10 9 1 h 4 66 10 12 1 h DC diagnostic coverage to EN ISO 13849 1 25 C 99 00 98 14 99 00 55 C 99 00 97 38 99 00 Safe failure fraction SFF 25 C 99 83 99 04 99 68 55 C 99 79 98 95 99 68 MTT...

Page 138: ...ssing by sensor signal processing by the Safety I O module time of input data transfer across the EtherCAT bus between the Safety I O module and the safe PLC safe PLC program runtime time of output data transfer across the EtherCAT bus between the Safety controller c250 S PLC and the Safety I O module signal processing by the Safety I O module signal processing by actuator ...

Page 139: ...r time of 1 ms is set for the inputs This is supplemented by a configurable input filter for external sensors adjustable between 0 5 ms and 1 5 ms A 1 5 ms filter time is preset for using the module s own test pulse outputs Examples Using external sensors Configurable input filter set to 1 2 ms Inalterable internal filter time 1 ms Total filter time 2 2 ms Using the module s own test pulse Preset ...

Page 140: ...Faults detected at the module inputs Faults detected at the module outputs Internal module faults self diagnosis CAUTION Safety function pressure sensitive mat requires a response time of 25 ms Avoid personal injury and damage to property The pressure sensitive mat function achieves a set response time of 25 ms be tween a change in mat state and providing the information on the EtherCAT bus 4 9 Di...

Page 141: ...appropriately Thus best transport practice is to place open assemblies in statically shielded transport bags with a metal coating which avoid contamination by amines amides or silicone When putting Safety I O module into service and performing any maintenance you should also take the appropriate precautions against electrostatic discharge CAUTION Electrostatic discharge Destruction of or damage to...

Page 142: ...ction and Functionality 5 1 Labelling and Identification 5 1 1 Imprinted Texts and Symbols manufacturer address serial number on underside operative earth mark of approval model name type part number version operating conditions wiring diagram certification mark ...

Page 143: ...e to distinctly identify the model software and hardware release date It is a means of traceability Make up of serial number YY MM DD NNNNN Example The unit shown above was manufactured on 15th June 2015 and has the serial number 00039 15 06 05 00039 The serial number is also stored in object 1018 sub index 4 and can be retrieved by SDO Trans fer 8 1 7 Identity Object 1018h Serial number five digi...

Page 144: ...ns interconnect the modules They supply power to the module s electronic circuitry and transfer the EtherCAT signals Verify that the end cap from the package is in place to protect the module bus connector on the last module at the right hand side of a terminal unit against dirt The integrated module lock prevents the modules from coming apart under mechanical load or vibration CAUTION Interconnec...

Page 145: ...ON Safe function jeopardised by cross faults Improper installation may cause malfunctions due to cross faults at the contacts By design and if installed correctly the connector prevents cross faults at the contacts Ensure a correct and technically perfect installation because cross faults or shorts may jeopardise the module s safe function 5 3 3 Safety I O module SDI16 SDO4 The combi plug is locat...

Page 146: ...afe output Safe Out 0 SO0 14 Safe output Safe Out 1 SO1 15 Safe output Safe Out 1 SO1 16 24 V supply to the outputs L 17 GND L 18 Test pulse output Safe In 8 12 TP SI 8 12 TP 19 Test pulse output Safe In 9 13 TP SI 9 13 TP 20 Test pulse output Safe In 10 14 TP SI 10 14 TP 21 Test pulse output Safe In 11 15 TP SI 11 15 TP 22 Safe input Safe In 8 SI 8 23 Safe input Safe In 9 SI 9 24 Safe input Safe ...

Page 147: ...on and Functionality EDBC250SIO 2 0 147 5 3 4 Safety I O module SDI16 The combi plug is located at the front of Safety I O module The sensors and actuators and the module s power supply all attach to this connector ...

Page 148: ...7 12 Do not connect nc 13 Do not connect nc 14 Do not connect nc 15 Do not connect nc 16 24 V supply to the outputs L 17 GND L 18 Test pulse output Safe In 8 12 TP SI 8 12 TP 19 Test pulse output Safe In 9 13 TP SI 9 13 TP 20 Test pulse output Safe In 10 14 TP SI 10 14 TP 21 Test pulse output Safe In 11 15 TP SI 11 15 TP 22 Safe input Safe In 8 SI 8 23 Safe input Safe In 9 SI 9 24 Safe input Safe ...

Page 149: ...TP 1 Test pulse output Safe In 1 5 TP SI 1 5 TP 2 Test pulse output Safe In 2 6 TP SI 2 6 TP 3 Test pulse output Safe In 3 7 TP SI 3 7 TP 4 Safe input Safe In 0 SI 0 5 Safe input Safe In 1 SI 1 6 Safe input Safe In 2 SI 2 7 Safe input Safe In 3 SI 3 8 Safe input Safe In 4 SI 4 9 Safe input Safe In 5 SI 5 10 Safe input Safe In 6 SI 6 11 Safe input Safe In 7 SI 7 12 Safe output Safe Out 0 SO0 13 Saf...

Page 150: ...channel and two channel contact type sensors such as EMERGENCY STOP button Sensors with single and two channel OSSD signals such as light grids Selector switches safety mats and connecting blocks Provided that the admissible maximum installed loads are not exceeded resistive and induc tive loads can be operated at the outputs see section 4 5 4 Safe Digital Outputs Note information Refer to section...

Page 151: ...ions due to cross faults at the contacts When test pulses are enabled the Safety I O module will detect cross faults be tween the inputs outputs and other signal lines of the same module Note that you must prevent cross faults with the security functions of other modules You should therefore protect the signal lines and or lay them separately ...

Page 152: ...f the module regarding its safety function LED Safe Status LED State Explanation Green on OK Safety I O provides safe functionality Red on Error Safety I O in fail safe state 5 4 3 LED Power LED Power indicates the state of the power supply to Lenze s Safety I O module module LED Power State Explanation Off No power supplied to the module Red on Error Wrong power supplied to the module 18 5 V or 2...

Page 153: ... SI 6 SI 2 SI 6 di agnosis Off Normal operation Red External power supply or cross fault at SI 2 or SI 6 3 Inputs SI 3 SI 7 SI 3 SI 7 di agnosis Off Normal operation Red External power supply or cross fault at SI 3 or SI 7 4 Input SI 0 SI 0 state Off No valid input signal on channel 0 logical 0 Green 24 VDC supplied to channel 0 logical 1 5 Input SI 1 SI 1 state Off No valid input signal on channe...

Page 154: ...n channel 8 logical 0 Green 24 VDC supplied to channel 8 logical 1 23 Input SI 9 SI 9 state Off No valid input signal on channel 9 logical 0 Green 24 VDC supplied to channel 9 logical 1 24 Input SI 10 SI 10 state Off No valid input signal on channel 10 logical 0 Green 24 VDC supplied to channel 10 logical 1 25 Input SI 11 SI 11 state Off No valid input signal on channel 11 logical 0 Green 24 VDC s...

Page 155: ...t SO 1 Status Off No output signal at output 1 logical 0 Green Output signal at output 1 logical 1 15 Diagnosis Off Normal operation Red External power supply or cross fault 30 Output SO 2 Status Off No output signal at output 2 logical 0 Green Output signal at output 2 logical 1 31 Diagnosis Off Normal operation Red External power supply or cross fault 32 Output SO 3 Status Off No output signal a...

Page 156: ...SI 7 4 Input SI 0 SI 0 state Off No valid input signal on channel 0 logical 0 Green 24 VDC supplied to channel 0 logical 1 5 Input SI 1 SI 1 state Off No valid input signal on channel 1 logical 0 Green 24 VDC supplied to channel 1 logical 1 6 Input SI 2 SI 2 state Off No valid input signal on channel 2 logical 0 Green 24 VDC supplied to channel 2 logical 1 7 Input SI 3 SI 3 state Off No valid inpu...

Page 157: ...n channel 9 logical 0 Green 24 VDC supplied to channel 9 logical 1 24 Input SI 10 SI 10 state Off No valid input signal on channel 10 logical 0 Green 24 VDC supplied to channel 10 logical 1 25 Input SI 11 SI 11 state Off No valid input signal on channel 11 logical 0 Green 24 VDC supplied to channel 11 logical 1 26 Input SI 12 SI 12 state Off No valid input signal on channel 12 logical 0 Green 24 V...

Page 158: ... or SI 6 3 Inputs SI 3 SI 7 SI 3 SI 7 diagnosis Off Normal operation Red Cross fault or external power to SI 3 or SI 7 4 Input SI 0 SI 0 state Off No valid input signal on channel 0 logical 0 Green 24 VDC supplied to channel 0 logical 1 5 Input SI 1 SI 1 state Off No valid input signal on channel 1 logical 0 Green 24 VDC supplied to channel 1 logical 1 6 Input SI 2 SI 2 state Off No valid input si...

Page 159: ...ital test pulse outputs The green status LEDs of the inputs will indicate the presence of a 24 VDC signal at an input even if that input has not been set up in the configuration LEDs Channel Safe digital outputs SO 0 and SO 1 LED position Channel Function LED Explanation 12 Output SO 0 Status Off No output signal at output 0 logical 0 Green Output signal at output 0 logical 1 13 Diagnosis Off Norm...

Page 160: ...tems electronic control systems must com ply with valid rules and regulations depending on their field of application General requirements concerning the electrical equipment of machines and aiming at the safety of these machines are contained in Part 1 of European Standard EN 60204 same as VDE 0113 Note information In order to safely install Lenze s c250 S Safety System please read section 2 2 7 ...

Page 161: ...shielded digital I O lines unshielded DC voltages 60 V unshielded AC voltages 25 V CAUTION The safe wiring method depends on the application The safety function may be lost Safely wire up the signal lines if the application requires it Take heed of the in formation in section 6 Location of installation Ensure that temperatures contaminations impact vibration or electromagnetic interference are no ...

Page 162: ... specifications provided by the manufacturer or supplier of the actuators 6 2 Mechanical Installation Environment of installation Protect Lenze Safety I O module against inadmissible contamination Do not allow the units to contaminate more than specified for degree II in IEC 60664 3 Whereas an enclosure providing IP 54 protection e g an appropriate control cabinet ensures that degree of contaminat...

Page 163: ...ntilation slots leave at least 20 mm to the top and 35 mm to the bottom of a module and any adjacent devices or cabinet surfaces Leave at least 20 mm of lateral distance to third party units and cabinet surfaces CAUTION Do not operate the Safety I O module module out of the specified range Faults by component overload caused by excessive temperature Operate the module under the ambient conditions ...

Page 164: ... c250 S systems In order to ensure that the entire c250 S system works properly arrange the c250 S modules by their specific E bus load placing the modules with the high est E bus load immediately next to the head module bus coupler or controller Take account of the head module s maximum bus load If possible place the Safety I O module immediately next to the head module Note information Stick to ...

Page 165: ...ult of module bus contacts A short of the module bus contacts may cause the communication with the safe module to fail Verify that the cover of the module bus connector is mounted on the rightmost module of the c250 S system 6 2 5 Disconnecting Two Modules Push down the unlock button see Figure 4 of the module that you wish to disconnect from the module to the left of it With the button still pres...

Page 166: ...hese assemblies Do not reuse but replace units operated on voltages 33 V because such voltages may irreversibly damage the unit To ensure that there is as little interference as possible install a central power supply point and establish a star topology of as short wires as possi ble between the central point and the block of c250 S modules CAUTION Danger caused by improper installation under volt...

Page 167: ...s measure the earth potential of the DIN rail as specified in the applicable guidelines earth test to VDE 0100 Meas uring the earth potntial must show that every protective earthing and opera tional earthing is within the boundaries set by the applicable standards Also consider the repeat testing frequency resulting from the hazard assessment 6 3 2 Ground connection When connecting the ground pote...

Page 168: ... the bus coupler limits the number of c250 S modules you may connect to a single block 6 3 4 System Power Supply A system connector supplies the Safety I O module system with system power from an up stream bus coupler or a compact controller This system power supply is used only for the analysis circuitry and for bus communication Note information Please take note of the system power supply detail...

Page 169: ...e a severity of up to level PS1 1 ms You can reset the module if the supply voltage fails completely see section 6 6 5 Wrong Supply Voltage In case the supply of power is interrupted the module will change to the safe state and output the appropriate error code to the service block 6 6 7 Error Codes Refer to section 6 6 Diagnosis for further details on how the module responds to a non con forming ...

Page 170: ...rameters You may also set the parameters to completely disabling the inputs If so they will always re turn logical null to the safe PLC i e irrespective of the voltage supplied to the input Note information Note on configuring the inputs Specifically configured inputs e g inputs set up for external sensors External In puts parameter or mode selector on are expected to be actually used by the appli...

Page 171: ...ls on the supply lines may provoke malfunctions of the inputs Without test pulses cross faults between the inputs cannot be detected In general use of the safe inputs is only permitted with the module s own test pulse outputs with OSSD outputs from external sensors or with digital outputs from controllers CAUTION Safe function jeopardised by cross faults with other modules Improper installation in...

Page 172: ...Example 2 A cross fault between safe input Safe In 0 and another safe input Safe In 4 supplied by the same associated test pulse signal will also be consid ered a steadily running piece of safety switchgear and thus as an active safe in put The application must prevent both cases because they will both lead to the safe module not being detected Prevent cross faults by safely wiring up the lines An...

Page 173: ...t be detected The inputs used for a safety function must not be supplied power from the same test pulse output Correct example Use SI0 with SI 0 4 TP and SI1 with SI 1 5 TP for the same safety function Incorrect example Use SI0 with SI 0 4 TP and SI4 with SI 0 4 TP for a safety function Impermissible Allocation of safe inputs to the test pulse outputs Safety I O module SDI16 and Safety I O module ...

Page 174: ...afe input Safe In 6 Test pulse output Safe In 2 6 TP Pin2 11 Safe input Safe In 7 Test pulse output Safe In 3 7 TP Pin3 18 Test pulse output Safe In 8 12 TP Safe input Safe In 8 pin 22 Safe input Safe In 12 pin 26 19 Test pulse output Safe In 9 13 TP Safe input Safe In 9 pin 23 Safe input Safe In 13 pin 27 20 Test pulse output Safe In 10 14 TP Safe input Safe In 10 pin 24 Safe input Safe In 14 pin...

Page 175: ...pin 6 Safe input Safe In 6 pin 10 3 Test pulse output Safe In 3 7 TP Safe input Safe In 3 pin 7 Safe input Safe In 7 pin 11 4 Safe input Safe In 0 Test pulse output Safe In 0 4 TP Pin0 5 Safe input Safe In 1 Test pulse output Safe In 1 5 TP Pin1 6 Safe input Safe In 2 Test pulse output Safe In 2 6 TP Pin2 7 Safe input Safe In 3 Test pulse output Safe In 3 7 TP Pin3 8 Safe input Safe In 4 Test puls...

Page 176: ...of single channel contact type sensors work entirely separate from one another Wiring should take account of the fact that every input signal is allocated to a single test pulse output This allocation allows the system to detect cross faults at the connector Use the configuration to separately enable each of the inputs 6 4 3 Input Parameters Analysis of states The module checks the states of the i...

Page 177: ... used to interconnect any of the safe inputs Wiring should take account of the fact that every input signal is allocated to the test pulse output You must use the configu ration to enable the safe inputs you use 6 4 3 Input Parameters The process data image of a safe input transfers 0 if a 0 signal is supplied to the input or if an error has been detected 1 if a 1 signal is supplied to the input o...

Page 178: ...otary Table Switches with 2 to 8 channels can be analysed Allocation of safe inputs for the mode selector function No of channels Safe inputs to use Clock signal 2 SI 0 SI 1 SI 0 4 TP SI 8 SI 9 SI 8 12 TP 3 SI 0 SI 1 SI 2 SI 0 4 TP SI 8 SI 9 SI 10 SI 8 12 TP 4 SI 0 SI 1 SI 2 SI 3 SI 0 4 TP SI 8 SI 9 SI 10 SI 11 SI 8 12 TP 5 SI 0 SI 1 SI 2 SI 3 SI 4 SI 0 4 TP SI 8 SI 9 SI 10 SI 11 SI 12 SI 8 12 TP ...

Page 179: ...del e g mode selector and must needs be analysed in conjunction with the PLCopen module s error detection Refer to section 7 4 Mode Selector Rotary Table for connection examples Note information Time discrepancy in mode selector rotary table mode A set time discrepancy of 100 ms has been implemented for signals missing at the inputs when changing to mode selector mode Electronic sensors OSSD senso...

Page 180: ...e to modify the test pulse duration if the sig nals are affected by capacitive properties of the input circuit for example CAUTION Avoid the carrying over of voltages Malfunction and module defects are likely To prevent that voltages are carried over provide a low impedance interconnec tion between GND and the chassis ground of the unit supplying power to the sensors and actuators and the unit sup...

Page 181: ...tion achieves a response time of 25 ms between a change in mat state and providing the information on the EtherCAT bus Pressure sensitive mats and bumpers are used to safeguard the floor around a machine The mats are placed in the danger zone and make the control unit change to its safe functional state whenever pressure is exerted on them If so the I O module sends a null signal to the control un...

Page 182: ...on 4 not selected none Safety Mats 3 1 SI 10 and SI 11 SI 10 14 TP and SI 11 15 TP Safe inputs not needed for the pressure sensitive mat may be used for external sensors Note information Use of safe inputs along with the pressure sensitive mats bumper Two safe inputs are allocated to every test pulse output If a pressure sensitive mat bumper is used the inputs not involved in providing the functio...

Page 183: ...l outputs External power or cross faults at the outputs will cause current to flow into the module If external power is supplied downstream the actuator at the SOX connector this may generate a current flow through the actuator and into the module which may then activate an actuator Take the following precautions if a reverse flow of 200 mA typ may activate the load Use a two channel actuation of ...

Page 184: ... every actuator and connect it to a common GND potential busbar instead of connecting two or more actuators to the same GND line along which a single fault may turn into a critical fault Output modules and their actuators not relevant to safety must link to the GND potential busbar through separate GND lines They must not share the same GND line with functions relevant to safety Make sure that the...

Page 185: ...6 Installation and Operation EDBC250SIO 2 0 185 Figure 8 A GND potential busbar controls single faults and prevent current from flowing back into the module ...

Page 186: ...of external power from any source Take particular care to safeguard the module against an external supply of higher mains voltages by implementing appropriate means in the application One such effective means could be to safely lay the output line CAUTION Safe function jeopardised by cross faults with other modules Improper installation in conjunction with other modules may cause malfunctions due ...

Page 187: ...in the same way to external power fed to and cross faults at the outputs In case the outputs are badly adapted to the loads e g if a capacity is too high test pulse may not be detected and cause the module to change to its fail safe state Actuators with active GND reference As long as the parameter settings are taken into account you are free to connect actuators to both output connectors SOX and ...

Page 188: ...use of the module outputs Incorrect start of the safety function Do not use the module s SOX connectors to actuate the loads of a safety function The module will prevent sustained operation Figure 11 Do not use the SOX connectors to actuators any of the actuators ...

Page 189: ...the Safety I O module CAUTION Avoid the carrying over of voltages Malfunction and module defects are likely To prevent that voltages are carried over provide a low impedance interconnec tion between GND and the chassis ground of the unit supplying power to the sensors and actuators and the unit supplying 24 VDC to the I Os of the Safety I O module Figure 12 Actuators with external GND reference ...

Page 190: ...gital power output Destroying the digital power output may cause the safety function to fail Use an external free wheel circuit if the external load exceeds the specified inductance limits Note information Take heed of the fast clearing by the internal free wheel circuit The internal free wheel circuit impacts the way the actuators e g relays re lease The power dissipated in the module when turnin...

Page 191: ...formation Note the heat dissipated by the external free wheel element If you choose the correct external free wheel element this element instead of the safe I O module will transduce the magnetic energy when turning off the in ductive load Verify that the external free wheel circuit is designed to withstand the ensuing dissipation heat Switching of digital inputs Digital inputs of I O modules can ...

Page 192: ...to its safe state The outputs support loads connected to SOX and SOX as well as to SOX and an external GND potential Different maximum capacitive loads apply to both configurations because they are built around a different internal composition of the outputs Every output supports a maxi mum capacitive load of 470 µF Output capacity of actuators with external GND reference or digital inputs to SOX ...

Page 193: ...of available I O module inputs depend on the ambient temperature of the safe I O module A derating is not required if the 24 V are supplied If the maximum voltage of 28 8 V is supplied refer to the diagram for the resulting total current and number of inputs to also be limited with reference to the tempera ture The output current derating shown on the graph was measured under free convection in a ...

Page 194: ...een the inputs outputs and other signal lines of the same module Note that you must prevent cross faults with the security functions of other modules You should therefore protect the signal lines and or lay them separately Note information To avoid excessive force being exerted on the board or problems with the con tacts do not expose the connectors to inadmissibly high tension pressure One reason...

Page 195: ...insulation max 2 9 mm Wire diameter single wire min H05 07 V U 0 2 mm max H05 07 V U 1 5 mm Wire diameter fine wire min H05 07 V K 0 2 mm max H05 07 V K 1 5 mm Wire diameter w connector sleeve DIN 46 228 1 min 0 2 mm max 1 5 mm Wire diameter w connector sleeve w collar DIN 46 228 4 min 0 2 mm max 1 mm Stripped end 10 mm Rated current 10 A CSA 10 A UL Thermal stability of cable min 75 C UL Single r...

Page 196: ... B2C S2C 3 50 two row Clamping range rated connection min 0 2 mm max 1 5 mm Wire diameter AWG min AWG 25 max AWG 16 Outside diameter of insulation max 2 9 mm Wire diameter single wire min H05 07 V U 0 2 mm max H05 07 V U 1 5 mm Wire diameter fine wire min H05 07 V K 0 2 mm max H05 07 V K 1 5 mm Wire diameter w connector sleeve DIN 46 228 1 min 0 2 mm max 1 5 mm Wire diameter w connector sleeve w c...

Page 197: ... safe communication network The address is set manually by means of binary switches on the left side of the module Use the 8 DIP switches to set the FSoE address Addresses range between 1 and 255 CAUTION Destruction by wrong tool or operation Damage to Lenze s Safety I O module module Use suitable tools for setting the address only Use a non metal and suitable object e g a plastic screwdriver to s...

Page 198: ... if any components inside are damaged Replace the module instead ATTENTION Safety function not available Startup disallowed by wrongly set address Do a function test to verify that the address coding switches have been set cor rectly DIP switch Address 7 6 5 4 3 2 1 0 0 inadmissible OFF OFF OFF OFF OFF OFF OFF OFF 1 OFF OFF OFF OFF OFF OFF OFF ON 2 OFF OFF OFF OFF OFF OFF ON OFF 3 OFF OFF OFF OFF ...

Page 199: ...nal Note information There is no access to the DIP switches once several modules have been lined up To set the FSoE slave address at the DIP switch first remove the module from the row of modules 6 4 2 FSoE Parameters CAUTION Improper operation of parameter setup Malfunction of Lenze s Safety I O module module due to bad parameter setup Only persons qualified for dealing with safety matters are al...

Page 200: ...ress 1 255 1 FSoE slave address set at DIP switch Connection ID 1 65535 1 Unique ID of the connection to a FSoE slave WatchdogTime ms 20 65534 0xFFFE 500 Watchdog time of FSoE frame Used Inputs Dec SDI16 SDO4 and SDI16 Input0 Input15 SDI8 SDO2 Input0 Input7 Enables the inputs used Selection from a drop down list depends on the configurator ...

Page 201: ... test pulses OSSD or optionally for op eration without test pulses OSSD Selection from a drop down list depends on the configurator usedOutputs Dec SDI16 SDO4 Output0 Output3 SDI8 SDO2 Output0 Output1 Enables the outputs used Selection from a drop down list depends on the con figurator extGroundOutputs Dec SDI16 SDO4 Output0ExtGround Output3Ex tGround SDI8 SDO2 Output0ExtGround Output1Ex tGround E...

Page 202: ...0 1500 1500 SDI8 SDO2 Input 0 filter time µs Input 7 fil ter time µs 500 1500 1500 Test pulse length of input x Input filter of input x The digital test pulse output is interrupted for the set duration of every test pulse The Safety I O module checks whether the digital inputs may turn Null and whether there are any short circuits to noise voltages on the signal line Adapt the test pulse duration ...

Page 203: ...ulse The Safety I O module checks whether the digital outputs may turn Null and whether there are any short circuits to noise voltages on the signal line Adapt the test pulse duration to the peripherals you use Test frequency input x Hz SDI16 SDO4 and SDI16 Test frequency input 0 4 Test fre quency input 11 15 0 25 25 SDI8 SDO2 Test frequency input 0 4 Test fre quency input 3 7 0 25 25 Test pulse f...

Page 204: ...SoE_Input 0 SI1 FSoE_Input 1 and test pulse out puts SI0 4 TP and SI1 5 TP are used for the modes Inputs SI4 FSoE_Input 4 and SI5 FSoE_Input 5 must then be set to and used as External i e for sensors with their own or without OSSD signals Rotary Switch x Dec SDI16 SDO4 and SDI16 Rotary Switch 0 Rotary Switch 1 0 8 0 SDI8 SDO2 Rotary Switch 0 0 8 0 Rotary Switch Modes mode selector Rotary Switch mo...

Page 205: ...rotecting the cables and or laying them separately to en sure a sufficient degree of safety In mode selector mode Mode Selector you may connect 2to 8 inputs of test pulse output SI0 4 TP to a mode selector test pulse output SI8 12 TP for Rotary Switch 1 Disable the test pulse outputs you do not need Refer to manual section 7 4 Mode Selector Rotary Table for a wiring example Inputs you do not use a...

Page 206: ...s Pa rameter Test pulse duration input sets the switching frequency and thus the frequency of test pulses allocated to a digital test pulse output WARNING Non detection of a corrupt external wiring when test pulse outputs are disabled Unsafe machine state safety hazard Always use the correct and enabled test pulse output to supply power to contact type sensors Note Consider protecting the cables a...

Page 207: ...so set this parameter if output SO X supplies an electronic load such as a digital input of an I O module Parameter Used Outputs Enables the outputs used Pick from a drop down list Parameter Test pulse duration output Test pulses cyclically check the digital outputs of the Safety I O module for faults such as short circuits or internal defects Parameter Test pulse duration output sets the time of ...

Page 208: ...witched by a function of the application or by completely shutting the device down and re starting it CAUTION Shut off of test pulses to the output Owing to the construction of the outputs shutting off the test pulses to an out put channel will not stop test pulses from being generated at that output if test pulses are still set for the other output channel Frequency and length of these test pulse...

Page 209: ...all and put machine and system safety equipment into operation Note information Usage note Lenze s Safety I O module module may be used ETG compliant configurations with conforming products Such products include slave services master and de velopment systems and functional safety products Check the products for the EtherCAT Conformance Tested logo to see if they have passed an official test for co...

Page 210: ...y reflect the hardware topology You can either set up the topology manually or provided that all device descriptions have been installed start a search for devices in PLCDesigner Right click on the EtherCAT master and pick Geräte suchen Find devices from the context menu In the next dialog you just need to confirm to Alle Geräte ins Projekt kopieren Copy all devices to project ...

Page 211: ...e will retain the fail safe state until all internal tests have been passed valid data has been received from the control unit and faults are not detected in any of the external hardware sensors actuators and their wiring A safe functional state is indicated by LED Safe Status lighting up green The module will retain its fail safe state if it fails to qualify for the safe state e g because of erro...

Page 212: ...en the outputs wrong allocation of SOX to the associated SOX connector of the outputs a short at the outputs will change the Safety I O module to its safe state The red Diagnosis LED of the affected chan nel lights up Error messages may also be provoked by badly adjusted loads Please refer to sections 4 5 4 Safe Digital Outputs and 6 3 9 Actuator Connection 6 6 4 Temperature Faults CAUTION Do not ...

Page 213: ...ress set at the binary switch Check address setting at the module Check address selected in the safety PLC Check module for mechanical damage and replace as necessary Inputs still enabled although outputs are in safe state Inputs still enabled FSoE slave address changed in service System power supply interrupted System power supply too low Check error code in the service block Do not change the ad...

Page 214: ...unication stops Module in safe state Check actual system power supplied Check length and stress on the feed line e g 0x0F50 Parameter error Module fails to change to its functional state Module in safe state Check module parameter setup Use parameter settings in the admissible range only e g 0x0630 Cross fault at or external power supplied to input Cross fault to another input or test pulse output...

Page 215: ...or code Description 0xC200 Local reset or acknowledgement of a RESET command 0xC201 Unexpected command INVALID_CMD 0xC202 Unknown command UNNKOWN_CMD 0xC203 Invalid connection ID INVALID_CONNID 0xC204 CRC error INVALID_CRC 0xC205 Watchdog has expired WD_EXPIRED 0xC206 Invalid FSoE Slave Address INVALID_ADDRESS 0xC207 Invalid safety data INVALID_DATA 0xC208 Invalid communication parameter length IN...

Page 216: ...en download the project again and finally Acknowledge the error 6 7 Reset Acknowledge Error The error class decides whether and how an error can be acknowledged see section 8 1 16 Errorclass 200Ah for CPU1 and 201Ah for CPU2 Error Class Explanation Acknowledged Reset by 0 No error Not required 1 Internal communication synchronisation parameter TP FB error PowerCycle 2 Error in Test Handler BIST Po...

Page 217: ...ill immediately restore the safe output to its normal state of operation Before acknowledging an error verify that its cause has been removed pro fessionally Before acknowledging an error verify that acknowledging it will not cause a dangerous machine state At the machine or system planning stage make sure that acknowledging an error must not be possible unless you have full view of the danger zon...

Page 218: ...ection Technical Data 6 8 3 Preventive Maintenance Prevent inadmissible contamination while operating and storing Safety I O modules Do not use or continue to use the Safety I O module in case it has been exposed to inadmissible con tamination CAUTION Unsafe and undefined machine state Risk of injury You are not allowed to operate an inadmissibly contaminated module Neither is cleaning the unit al...

Page 219: ...dentification Enable the safe system or machine state Turn off the power supply of the control unit and the Safety I O modules To remove the old module see section 6 2 6 Disconnecting Two Modules and 6 2 6 Taking Down a Single Module Dissolve the line of Safety I O modules by pressing the unlock button of the module to be separated from the module to its left and sliding both modules about 1 cm ap...

Page 220: ...se of a potentially hazardous failure In case a module failure is potentially hazardous return the module to the man ufacturer where the fault will be identified The manufacturer s address is printed on the Safety I O module 6 10 2 Warranty The statutory period and conditions of warranty apply Warranty expires if unauthorised at tempts are made to repair the unit product or any other intervention ...

Page 221: ...ns to obtain the safety function when us ing the system together with safe devices sensor and actuators e g reading the relay contact signals Refer to the user guide of your safe devices for further details Configure your Safety I O module with reference to the actual environment The safety ratings listed for the examples below solely apply to the part of the safety function covered by the safe I ...

Page 222: ... Hz 120 ms Refer to section 6 4 2 FSoE Parameters You may connect contact type sensors such as emergency stop buttons straight to a safe digital input Every test pulse output is allocated to two safe inputs see section 6 3 8 Sensor Connection This test pulse output supplies a specific signal you may use to detect wiring prob lems such as a short circuit to 24 VDC GND or other signal channels The s...

Page 223: ...tance with particular regard to the safety function of analysing a single channel sensor Use approved sensors only e g to EN 60947 5 1 5 and take account of your switching device s B10d value The safety assess ment of the safety function must also consider the safety ratings of the safe PLC used in the application Safety ratings when applying the module s test pulses to single channel contact type...

Page 224: ...t a fault if at the end of the discrepancy time both inputs are in different states Safety ratings of two channel sensors The safety ratings listed in the table below reflect the maximum values a two channel safety function may achieve when using two inputs of the safe I O module They solely apply to the part of the safety function covered by the safe I O module All components involved in the safe...

Page 225: ...rd EN 574 If S1 and S2 are set to TRUE in the correct order bTwoHandOut will also become TRUE The com ponent also checks that both buttons have been released before setting output bTwoHandOut to TRUE again Two hand circuit type 3 Software component FB_TWOHAND_TYP3 supports function two hand circuit type 3 in conformity with the European Standard If S1 and S2 are set to TRUE in the correct order an...

Page 226: ...pproved sensors only e g to EN 60947 5 1 5 and take account of your switching device s B10d value The safety assess ment of the safety function must also consider the safety ratings of the safe PLC used in the application Safety ratings for function two hand operation Highest safety integrity level to EN 62061 2010 SIL3 Highest safety integrity level to IEC 61508 2010 SIL3 Category and highest per...

Page 227: ...uts remain in a safe state If no or more than one input is set all logical outputs re tain their safe state Function Rotary Switch can be configured Refer to manual section 6 4 3 Input Parameters for further details Safety ratings of mode selector applications in conjunction with trusted switches sensors to EN 13849 2 Table D 3 Highest safety integrity level to EN 62061 2010 SIL2 Highest safety in...

Page 228: ...two channel application IEC 61508 2010 EN 1 a fault of the application need not cause the safe guard to fail Note information Test pulse frequency In mode selector mode you can set up parameter test frequency input for the input you are using This will not affect the test pulse frequency because in test selector mode that frequency is automatically set to a frequency of 50 Hz Note information Time...

Page 229: ... by the safe I O module If the safety mat function is used be sure to set all parameter inputs to InputxExternal Function Safety Mat 0 uses inputs SI0 SI1 and test pulse outputs SI0 4 TP and SI1 5 TP for the modes If so set up and use inputs SI4 and SI5 as External i e for sensors with their own or without OSSD signals The pressure sensitive mat function achieves a response time of 25 ms between a...

Page 230: ...afe I O module fails to detect a short circuit between the mat contacts This is interpreted as the mat being actuated You must also verify that the safe guard is wired correctly Periodically check that the mat is working properly CAUTION Safety function pressure sensitive mat requires a response time of 25 ms Avoid personal injury and damage to property The pressure sensitive mat function achieves...

Page 231: ...atings listed in the table below reflect the maximum values a two channel safety function may achieve when using two outputs of the safe I O module They solely apply to the part of the safety function covered by the safe I O module All components involved in the safety function must be taken into account in order to assess whether the desired safety rat ings are achieved The quality of the safe ac...

Page 232: ...d outputs It will respond by enabling the safe state and turning off all outputs External power or cross faults at the outputs will cause current to flow into the module If external power is supplied downstream the actuator at the SOX connector this may generate a current flow through the actuator and into the module which may then activate an actuator Take the following precautions if a reverse f...

Page 233: ... time schematic a Consider a fault detection time of 0 5 ms which may produce high impulses of this width in case of a fault Use a two channel connection of the outputs for a safety function in case your application responds to these impulses Consider an input filter time of 1 ms for the loads you connect This will mainly affect safe digital inputs If an input filter is not used the higher impedan...

Page 234: ...tates of the switching devices Best safety ratings of applications using one output for a safety function Highest safety integrity level to EN 62061 2010 SIL3 Highest safety integrity level to IEC 61508 2010 SIL3 Category and highest performance level to EN ISO 13849 1 2015 Cat 4 PL e Hardware fault tolerance HFT in single channel application IEC 61508 2010 EN 1 a fault of the application does not...

Page 235: ... Name Error Register Index 1001h Object Code VARIABLE No of Elements 0 Data Type UNSIGNED8 Access Read only PDO Mapping TX PDO Default Value 00h In case of an error the associated error bit is set The EtherCAT I O map also shows the error register Bit Name 0 Generic Error 1 Current Error 2 Voltage Error 3 Temperature Error 4 Communication Error 5 Profile specific Error 6 Empty 7 Manufacturer speci...

Page 236: ...ndex Data Type Name 0 UNSIGNED8 Number of Elements 1 UNSIGNED32 Latest Error 2 UNSIGNED32 2nd Error 3 UNSIGNED32 3rd Error 4 UNSIGNED32 4th Error 5 UNSIGNED32 5th Error 6 UNSIGNED32 6th Error 7 UNSIGNED32 7th Error 8 UNSIGNED32 8th Error 8 1 4 Device Name 1008h Designation Value Name Device Name Index 1008h Object Code VARIABLE No of Elements 0 Data Type STRING 27 STRING 29 BitSize 216 232 Access ...

Page 237: ...are Version 100Ah Designation Value Name Software Version Index 100Ah Object Code VARIABLE No of Elements 0 Data Type VISIBLE_STRING 4 BitSize 32 Access Read only PDO Mapping No Value Range Fix Default Value 312E3033 1 03 8 1 7 Identity Object 1018h The object contains details of the manufacturer the product code and the revision and serial numbers Designation Value Name Identity Object Index 1018...

Page 238: ...e Product Code Subindex 02h Data Type UNSIGNED32 Access Read only PDO Mapping No Default Value 0x43001004 1124077572 Safety I O module SDI16 SDO4 0x43000802 1124075522 Safety I O module SDI8 SDO2 0x43001000 1124077568 Safety I O module SDI16 Designation Value Name Revision Number Subindex 03h Data Type UNSIGNED32 Access Read only PDO Mapping No Default Value 0000000Ah 191661 Safety I O module SDI1...

Page 239: ... 1 8 Supply 24V Voltage 2001h for CPU1 and 2011h for CPU2 Designation Value Name Supply 24V Voltage Index 2001h 2011h Object Code VARIABLE No of Elements 0 Data Type UNSIGNED16 Access Read only PDO Mapping No Units mV Value Range 0 65535 Default Value No default value 8 1 9 Supply 5 V voltage 2002h for CPU1 and 2012h for CPU2 Designation Value Name Supply 5V Voltage Index 2002h 2012h Object Code V...

Page 240: ...tion Value Name CPU1 Temperature Index 2004h Object Code VARIABLE No of Elements 0 Data Type UNSIGNED16 Access Read only PDO Mapping No Units 0 1 C Value Range 0 1500 Default Value No default value 8 1 12 Ext Temperature 2006h for CPU1 and 2016h for CPU1 Designation Value Name External Temperature Index 2006h 2016h Object Code VARIABLE No of Elements 0 Data Type UNSIGNED32 Access Read only PDO Map...

Page 241: ...CK_UNDERFLOW_ERROR Test library Underflow Error 201 0x00C9 HWT_STACK_OVERFLOW_ERROR Test library Overflow Error 300 0x012C HWT_CPU_ERROR Test library CPU Test Error 400 0x0190 HWT_FW_ERROR Test library FW Error 500 0x01F4 HWT_FWINTERFACE_ERROR Test library FW Interface Error 504 0x01F8 HWT_ADC_ERROR Test handler Error in ADC value range checks 505 0x01F9 HWT_DMA_ERROR Test handler Error in DMA che...

Page 242: ...cted error Input 0 1473 0x05C1 RSW_CNTRL_ERR Rotary switch control detected error Input 1 1474 0x05C2 RSW_CNTRL_ERR Rotary switch control detected error Input 2 1475 0x05C3 RSW_CNTRL_ERR Rotary switch control detected error Input 3 1476 0x05C4 RSW_CNTRL_ERR Rotary switch control detected error Input 4 1477 0x05C5 RSW_CNTRL_ERR Rotary switch control detected error Input 5 1478 0x05C6 RSW_CNTRL_ERR ...

Page 243: ..._TP_BUSY Input 8 test pulse operation is busy 1577 0x0629 INP_TP_BUSY Input 9 test pulse operation is busy 1578 0x062A INP_TP_BUSY Input 10 test pulse operation is busy 1579 0x062B INP_TP_BUSY Input 11 test pulse operation is busy 1580 0x062C INP_TP_BUSY Input 12 test pulse operation is busy 1581 0x062D INP_TP_BUSY Input 13 test pulse operation is busy 1582 0x062E INP_TP_BUSY Input 14 test pulse o...

Page 244: ...t 1 1618 0x0652 INP_TP_INV_CNT_FOR_SEL Invalid number of test pulses detected for safety se lector switch Input 2 1619 0x0653 INP_TP_INV_CNT_FOR_SEL Invalid number of test pulses detected for safety se lector switch Input 3 1620 0x0654 INP_TP_INV_CNT_FOR_SEL Invalid number of test pulses detected for safety se lector switch Input 4 1621 0x0655 INP_TP_INV_CNT_FOR_SEL Invalid number of test pulses d...

Page 245: ...INP_INTTP_NOT_RECOGNIZED Internal input 11 test pulse not detected 1644 0x066C INP_INTTP_NOT_RECOGNIZED Internal input 12 test pulse not detected 1645 0x066D INP_INTTP_NOT_RECOGNIZED Internal input 13 test pulse not detected 1646 0x066E INP_INTTP_NOT_RECOGNIZED Internal input 14 test pulse not detected 1647 0x066F INP_INTTP_NOT_RECOGNIZED Internal input 15 test pulse not detected 1648 0x0670 INP_I...

Page 246: ...t 1703 0x06A7 SWINP_TP_NOT_RECOGNIZED Rotary switch 1 Internal input test pulse lost 1704 0x06A8 SWINP_TP_NOT_RECOGNIZED Rotary switch 2 Internal input test pulse lost 1705 0x06A9 SWINP_TP_NOT_RECOGNIZED Rotary switch 2 Internal input test pulse lost 1706 0x06AA SWINP_TP_NOT_RECOGNIZED Rotary switch 2 Internal input test pulse lost 1707 0x06AB SWINP_TP_NOT_RECOGNIZED Rotary switch 2 Internal input...

Page 247: ..._ERR Output 2 init test not OK 1939 0x0793 OUT_OUTP_INIT_ERR Output 3 init test not OK 1944 0x0798 OUT_OUTP_US_INIT_ERR Output 0 Test not OK during test of supiror switch 1945 0x0799 OUT_OUTP_US_INIT_ERR Output 1 Test not OK during test of supiror switch 1946 0x0800 OUT_OUTP_US_INIT_ERR Output 2 Test not OK during test of supiror switch 1947 0x0801 OUT_OUTP_US_INIT_ERR Output 3 Test not OK during ...

Page 248: ...SERT_LE_ERR Assertion for comparision failed 2645 0x0A55 ASSERT_LT_ERR Assertion for comparision failed 2646 0x0A56 ASSERT_NE_ERR Assertion for comparision failed 2647 0x0A57 ASSERT_EQ_ERR Assertion for comparision failed 2648 0x0A58 ASSERT_FALSE_ERR Assertion for expression yields false failed 2768 0x0AD0 ADC_REF_LOW Reference voltage too low 2769 0x0AD1 ADC_REF_HIGH Reference voltage too high 27...

Page 249: ...37 0x0CA5 XCOM_TRANSACT_ERR Transaction numbers not equal error detected in communi cation to partner CPU 3298 0x0CE2 ECAT_NONEWDATA No new data received from safety partner CPU 3329 0x0D01 OUT_OF_RANGE_ERR Parameter or value out of allowed range 3330 0x0D02 OVERWRITE_ERR Register buffer data overwrite occured 3344 0x0D10 DIPSW_READERR DIP switch could not be read 3345 0x0D11 DIPSW_IDINV XCom id n...

Page 250: ...DURATION Safety parameter input test pulse duration invalid ErrReg 16 4049 0x0FD1 FSOE_INVALID_TP_INP_FREQUENCY Safety parameter input test pulse frequency invalid ErrReg 16 4050 0x0FD2 FSOE_INVALID_TP_OUT_DURATION Safety parameter output test pulse duration invalid ErrReg 16 4051 0x0FD3 FSOE_INVALID_TP_OUT_FREQUENCY Safety parameter output test pulse frequency invalid ErrReg 16 4056 0x0FD8 FSOE_I...

Page 251: ...rr module Id Explanation 0 OBJ_UNKNOWN_ID Error in Module Unknown module 4 OBJ_FSOETASK_ID Error in Module CFSoETask cpp 8 OBJ_INPUT_ID Error in Module CInput cpp 12 OBJ_MAINTASK_ID Error in Module CMainTask cpp 16 OBJ_LOGGER_ID Error in Module CLogger cpp 20 OBJ_SYNCSAFETYPARTNER_ID Error in Module CSyncSafetyPartner cpp 24 OBJ_XCOM_ID Error in Module CXCom cpp 26 OBJ_SAFEDATAXCHG_ID Error in Mod...

Page 252: ...WR_ID Error in Module CPwr cpp 100 OBJ_RCC_ID Error in Module CRcc cpp 101 OBJ_GPIO_ID Error in Module OBJ_GPIO_ID 102 OBJ_DMA_ID Error in Module CDma cpp 103 OBJ_ADC_ID Error in Module CAdc cpp 104 OBJ_WD_ID Error in Module CWatchdog cpp 105 OBJ_FLASH_ID Error in Module CFlash cpp 106 OBJ_I2C_ID Error in Module CI2c cpp 107 OBJ_MRAM_ID Error in Module CMRam cpp 109 OBJ_EXTI_ID Error in Module CEx...

Page 253: ...TMNGR_ID Error in Module CInputMngr cpp Safe In 12 141 OBJ_INPUTMNGR_ID Error in Module CInputMngr cpp Safe In 13 142 OBJ_INPUTMNGR_ID Error in Module CInputMngr cpp Safe In 14 143 OBJ_INPUTMNGR_ID Error in Module CInputMngr cpp Safe In 15 144 OBJ_INPUTMNGR_ID Error in Module CInputMngr cpp Safe In 16 160 OBJ_OUTPUTMNGR_ID Error in Module COutputMngr cpp 164 OBJ_OUTPUT_USLS_ID Error in Module COut...

Page 254: ...lt Value 00h The table below explains the entries in object 200Ah or 201Ah Err class Id Explanation 0 No error 1 Internal communication synchronisation parameter TP FB error 2 Test handler error BIST 3 External I O error resettable 8 1 17 System Uptime s 200Ch Designation Value Name System Uptime Index 200Ch Object Code VARIABLE No of Elements 0 Data Type UNSIGNED32 Access Read only PDO Mapping No...

Page 255: ...ead Errors 0x2020h Designation Value Name EtherCAT Read Errors Index 2020h Object Code VARIABLE No of Elements 0 Data Type UNSIGNED8 Access Read only PDO Mapping No Value Number of times EtherCAT ASIC read out errors were detected Default Value 00 8 1 20 Temperature Warning 0x2026h Designation Value Name Temperature Warning Index 2026h Object Code VARIABLE No of Elements 0 Data Type UNSIGNED8 Acce...

Page 256: ... Command 0x250Eh Designation Value Name Fail Safe Command Index 250Eh Object Code VARIABLE No of Elements 3 Data Type IDENTITY BitSize 32 Designation Value Name Number of Entries Subindex 00h Data Type UNSIGNED8 Access Read only PDO Mapping No Default Value 2 Designation Value Name Rx FSoE Command Subindex 01h Data Type UNSIGNED8 Access Read only PDO Mapping Tx PDO Value 0 Undefined 8 Fail Safe Da...

Page 257: ... Designation Value Name Tx FSoE Command Subindex 02h Data Type UNSIGNED8 Access Read only PDO Mapping Tx PDO Value 0 Undefined 8 Fail Safe Data 42 Reset 54 Data 78 Session 82 Parameter 100 Connection Default Value No default value ...

Page 258: ...sign 0x1C13h Tx PDO assign 0x1C3xh SyncManager x parameter 0x1C32h SyncManager 2 parameter 0x1C33h SyncManager 3 parameter 0x2000h Ref Voltage für CPU1 0x210Ah SW Build number 0x2110h Read number of MC1 s CORA test cycles 0x2111h Read maximum runtime at MC1 of CORA test cycles s 0x2120h Read number of MC2 s CORA test cycles 0x2200h Access log entries 0x2212h POST error flags of MC1 sub1 and MC2 su...

Page 259: ...ctronic programmable electronic safety related systems EN ISO 13849 1 2016 06 Safety of machinery Safety related parts of control systems Part 1 General principles for design EN 62061 2016 05 Safety of machinery Functional safety of electrical electronic and programmable elec tronic safety related control systems 8 2 3 EMC Standards EMC immunity to Generic standard DIN EN 61000 6 2 2006 03 Electro...

Page 260: ...ctions functional safety General industrial applications Generic Standard DIN EN 61000 6 7 2015 12 Electromagnetic compatibility EMC Part 6 7 Generic standards Immunity requirements for equipment intended to perform functions in a safety related system functional safety in industrial locations EMC noise emission to Generic standard DIN EN 61000 6 4 2011 09 Electromagnetic compatibility EMC Part 6 ...

Page 261: ...roperability tests passed at an EtherCAT Test Center ETC Conforms to RoHS Directive 2011 65 EU limiting the use of certain hazardous sub stances in electrical and electronic equipment 8 5 Order Specifications 8 5 1 Basic Units Technical Data Safety I O module SDI4 SDO2 C25BAYA42 Safe input output module Safety protocol FSoE Safety standard IEC 61508 SIL3 and DIN EN ISO 13849 1 Cat 3 PL e Number of...

Page 262: ...module SDI16 SDO4 C25BAYA164 Safe input output module Safety protocol FSoE Safety standard IEC 61508 SIL3 and DIN EN ISO 13849 1 Cat 4 PL e Number of inputs 16 safe inputs configurable properties Number of outputs 4 safe outputs Imax 0 5 A Test pulse outputs OSSD 8 Extended diagnostic information Via CoE 8 5 2 Accessories Technical Data Safety controller c250 S C25BAYSQ Safety control unit Safety ...

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Page 264: ...Hans Lenze Str 1 31855 Aerzen GERMANY HR Hannover B 205381 Ü 49 5154 82 0 Ø 49 5154 82 2800 Ù sales de lenze com Ú www lenze com Û Lenze Service GmbH Breslauer Straße 3 32699 Extertal GERMANY Ü 008000 2446877 24 h helpline Ø 49 5154 82 1112 Ù service de lenze com 10 9 8 7 6 5 4 3 2 1 l ...

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