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Lenze E94AYAF Manual Download Page 51

Safety engineering

Safety functions

Safe cam

51

EDS94AYAF EN 1.0

1.3.13

Safe cam

1.3.13.1

Description

S

afe

CA

m / SCA

When this function is executed, the current absolute position is compared to the
parameterised position limits. This binary state is displayed via status bits which can be
provided via the safe output or the safety bus. The function is activated by entering a
parameter value (> 0). The status is transmitted to the safety and standard application.

Up to four pairs of position values can be parameterised and monitored. The four position
areas can be activated and monitored in parallel.

In order to execute this function, a home position assessed from a safety−related point of
view must be available in the system which is approached before the function is executed.

1.3.14

Safe referencing

1.3.14.1

Description

S

afety

Ref

erencing / SREF

For an absolute position calculation and monitoring, the safety module requires an
absolute reference point. This function is required since the encoder systems described for
position evaluation do not provide any safe absolute position.

If absolute position−dependent functions are parameterised, the drive can only be moved
with a safely limited speed until homing is successfully completed. The SLS1−SLS4
assignment can be parameterised. When the home position is overtravelled, the
parameterised "Home Position" value is accepted as the current position value. A faulty
homing, e.g. by a missing signal edge or violation of the timing request triggers STO.

Parameterisation serves to set whether the switch−off of the voltage supply shall cause a
non−volatile storage of the current position. If the restart conditions after switching on the
voltage supply and a minimum motion (minimum homing) are complied with, a restart
can be made without a renewed homing.

Danger!

The components for detecting the home position must be mechanically
mounted in such a way that the home position cannot change, e.g. by external
influences.
An unnoticed local change of the home position causes faulty values of the
absolute position.

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Summary of Contents for E94AYAF

Page 1: ...EDS94AYAF UBo Ä UBoä Manual 9400 E94AYAF SM302 Safety module L force Drives Translation ...

Page 2: ... Please read these instructions and the documentation of the standard device before you start working Observe the safety instructions given therein 0Fig 0Tab 0 ...

Page 3: ... Important notes 8 1 1 6 Safety instructions 9 1 1 7 Hazard and risk analysis 11 1 1 8 Standards 11 1 1 9 Safety instructions for the installation according to UL CSA 11 1 1 10 Overview of sensors 13 1 2 Device modules 14 1 2 1 Slot 14 1 2 2 Function mode of the safety modules 16 1 2 3 SM302 safety module 17 1 2 4 Mission time 24 1 2 5 Safe inputs 29 1 2 6 Safe output 34 1 2 7 Further inputs 35 1 ...

Page 4: ...fe operation mode selector 53 1 3 17 Safe enable switch 56 1 3 18 Cascading 57 1 4 Safety address 59 1 5 Safe bus interfaces 60 1 5 1 PROFIsafe connection 60 1 5 2 FSoE connection 62 1 6 Safe parameter setting 63 1 6 1 Parameter setting 63 1 6 2 Parameter sets and axes 65 1 7 Error management 66 1 7 1 Error states 66 1 7 2 Logbook function in the controller 67 1 7 3 Logbook function in the SM302 6...

Page 5: ...use of standard safety engineering drive based safety increases machine functionality and availability 1 1 2 Drive based safety with L force 9400 The controllers of the L force 9400 range can be equipped with a safety module The functional range of the safety module types varies in order to optimally implement different applications Drive based safety stands for applied safety functions which can ...

Page 6: ...technology when it is released or responding ON state Signal status of the safety sensor technology in normal operation PM PN switched signal paths PP PP switched signal paths GSE File containing device specific data to establish PROFIBUS communication GSDML File containing device specific data to establish PROFINET communication S Bus Safety bus Abbreviation Safety function SLS Safely limited spe...

Page 7: ...ET International PI user organisation The certified safety protocol for transmitting safety oriented data via PROFINET EtherCAT Ethernet for Controller and Automation Technology is an Ethernet based fieldbus system meeting the application profile for industrial realtime systems EtherCAT is a registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany Safety over Ether...

Page 8: ...ponding measures are not taken Danger Danger of personal injury through a general source of danger Reference to an imminent danger that may result in death or serious personal injury if the corresponding measures are not taken Stop Danger of property damage Reference to a possible danger that may result in property damage if the corresponding measures are not taken Application notes Pictograph and...

Page 9: ... installed and commissioned by qualified and skilled personnel ƒ All control components switches relays PLC and the control cabinetmust comply with the requirements of EN ISO 13849 1 and EN ISO 138492 Thisincludes i a Switches relays with at least IP54 enclosure Control cabinet with at least IP54 enclosure Please refer to EN ISO 13849 1 and EN ISO 138492 for all further requirements ƒ It is essent...

Page 10: ...tch or repair switch between motor and controller Emergency switching off requires an electrical isolation e g by a central mains contactor During operation After the installation is completed the operator must check the wiring of the safety function The functional test must be repeated at regular intervals The time intervals to be selected depend on the application the entire system and the corre...

Page 11: ...ƒ Existing residual hazards must be documented and the user must be informed of them Detailed information on the hazard analysis procedure is provided in the DIN EN ISO 12100 2013 08 Safety of machinery General principles for design risk assessment and risk reduction The results of the hazard analysis determine the category for safety related control systems according to EN ISO 13849 1 Safety orie...

Page 12: ...Safety engineering 1 12 EDS94AYAF EN 1 0 Original French Warnings ƒ Secondary circuit shall supplied from an external isolating source ƒ Maximum surrounding air temperature 55 C ...

Page 13: ...ssible connection capacity of the outputs is to be observed Active sensors are wired directly to the terminals of the integrated safety system Monitoring for cross or short circuits must be carried out by the active sensor P M switching sensors switch the positive and negative cable or the signal and ground wire of a sensor signal The outputs must switch simultaneously equivalently Nevertheless sa...

Page 14: ... 1 0 1 2 Device modules 1 2 1 Slot The slot for the safety modules is marked in the documentation with M4 It is the lowest slot in the controller see overview in the documentation of the controller 1 2 1 1 Mounting E94AYAX001 1 2 1 2 Dismounting E94AYCXX001H ...

Page 15: ... arise Depending on the module type it may be necessary to take further measures e g address setting safe parameter setting When the module is replaced by a different type the drive is inhibited by the controller The inhibit can only be deactivated when the parameter setting of the required safety module complies with the plugged safety module Note In case you exchange the module the address switc...

Page 16: ...P94SM320 Fig 1 1 Disconnecting paths of the safety modules SMx Safety module xx Input output terminal C Control section mC Microcontroller PWM Pulse width modulation P Power section M Motor Safety status When the controller is switched off by the safety module the controller switches to the Safe torque off device state ƒ Controller in STO state is entered into the logbook 0x00750003 ƒ Safe torque ...

Page 17: ...documentation is valid for SM302 safety module Type HW SW E94AYAF from VA As of 1 0 Identification L Type E94YCEI003C E94AYXX001 E94 A Y A x xx xx nn Product series Version Module identification Device module Module type Safety module Design A SM0 B SM100 E SM301 F SM302 Hardware version Software version SM30x only Serial number ...

Page 18: ... 2A 13 xx E94BSHExxxx PA E94AxPExxxx 2A 07 xx E94BSPExxxx PA The use of this module is permissible with the PROFINET communication module from nameplate designation Type HW SW E94AYCER VF 03 xx The use of this module is permissible with the EtherCAT communication module from the nameplate designation Type HW SW E94AYCET VF 04 xx Note A safety bus system can only be operated via the upper module sl...

Page 19: ... increment SLI ƒ Safely limited position SLP ƒ Safe cam SCA ƒ Safe referencing SREF ƒ Safe speed and position monitoring with resolver and encoder as motor encoder or optionally with additional position encoder 2 encoder concept ƒ Position dependent safe speed PDSS ƒ Safe cascading CAS via SD In4 SD Out1 ƒ Safety bus connection PROFIsafe V2 ƒ Fail Safe over EtherCAT Slave FSoE ƒ Safe operation mod...

Page 20: ...E Declaration of Conformity remains valid ƒ Safe parameter sets of the SM302 safety module component can be loaded into an SM302 with a higher firmware version without any changes Extended functionalities of the newer firmware version cannot be selected and executed The safe parameter set of an SM302 with a newer firmware version cannot be loaded into an SM302 with an elder firmware version 1 2 3 ...

Page 21: ...owledge Stop Yellow On Request of an acknowledgement for the restart or the parameter set adoption Blinking SS1 STO active Flashing SS2 SOS active Off No stop function active BE Bus Error Red On Safety bus error l Communication is not possible l Acknowledgement is possible Blinking Safety bus error no valid configuration Off Safety bus error free operation DE Drive Error Red On Drive based safety ...

Page 22: ...A Sensor input SD In1 channel A AIS Restart acknowledgement input Acknowledge In Stop 1 channel bridged to X82 4 AIS X82 4 Labelling Description GCL GND clock output GI4 GND SD In4 I4B Sensor input SD In4 channel B I4A Sensor input SD In4 channel A GCL GND clock output GI3 GND SD In3 I3B Sensor input SD In3 channel B I3A Sensor input SD In3 channel A AIS Restart acknowledgement input Acknowledge I...

Page 23: ...ts are protected against polarity reversal Detailed features of the safe inputs and the safe output Terminal Specification Unit min typ max I1A I1B I2A I2B I3A I3B I4A I4B AIE AIS PLC input IEC 61131 2 24 V type 1 Low signal input voltage V 3 0 5 Input current at low signal mA 15 High signal input voltage V 15 24 30 Input current at high signal mA 2 15 Input capacitance nF 3 5 Repetition rate of t...

Page 24: ...st interval mission time t 20 years Proof Test Interval Mission Time Mean operating time to failure MTTF d High 250 years Mean Time To Failure dangerous Average diagnostic coverage DCav High 95 Diagnostic Coverage ƒ In order to comply with control category 4 according to EN ISO 13849 1 external wiring and cable monitoring must meet the requirements of category 4 see chapter 1 2 5 and 1 2 6 1 2 4 M...

Page 25: ...3 S1 S2 X82 1 X82 2 X82 3 X82 4 24 V ext K SM302 E94AYAF SSP94SM360b Fig 1 3 Wiring example E94AYAF SM302 safety module S1 Passive sensor with channel A and B S2 S3 higher level safety control active sensor S4 lightgrid active sensor 24 V ext 24 V voltage supply of the module SELV PELV 24 V voltage supply of the output SELV PELV safe output to higher level safety control K to AIS of the next modul...

Page 26: ...gram parts the parameters of the safety module can only be read Thus the write access of these parameters codes is marked with ƒ Settings in or at the module Safety address Safe parameter setting of the functions to be used ƒ Required settings in the basic device C00214 type of safety module Implementation of the SM302 into the drive application by evaluating the control information and status inf...

Page 27: ... Rheinland Industrie Service GmbH A FS range Test report 968 FSP 1323 00 16 Test fundamentals EN 60204 1 EN 61800 3 EN 61508 Part 1 7 EN ISO 13849 1 EN 62061 EN 61800 5 2 EN 61800 5 1 Object to be examined SM302 type E94AYAF of the Servo Drives 9400 series Test result The module meets the requirements according to l EN 61508 SIL 3 l EN ISO 13849 1 category 4 PL e Special conditions The safety inst...

Page 28: ...ical electronic programmable electronic safety related systems ƒ EN 61800 3 Adjustable speed electrical power drive systems Part 3 EMC requirements and specific test methods ƒ EN 61800 5 1 Adjustable speed electrical power drive systems Part 5 1 Safety requirements Electrical thermal and energy ƒ EN 61800 5 2 Adjustable speed electrical power drive systems Part 5 2 Safety requirements Functional ƒ...

Page 29: ...increment 2 ms Input filter time for test pulses fixed 2 ms Repetition rate of the test pulses is determined by the clock outputs CLA and CLB 50 ms Error response Sensor input is assessed as OFF state Acknowledgement via safety bus or AIE input Tab 1 2 Specification of sensor connections Explanations ƒ Discrepancy time Maximum time in which both channels of a safe input may have non equivalent sta...

Page 30: ...fore at both channels Safe input in the OFF state ƒ A HIGH level at one channel starts the discrepancy monitoring ƒ A HIGH level must be detected at both channels within the discrepancy time otherwise a discrepancy error will be reported ƒ To be able to acknowledge the discrepancy error a HIGH level must be detected before at both channels Switch both channels to ON state Switch both channels to O...

Page 31: ...D AIE SSP94SM358_2 Fig 1 7 Contact function test faulty input signals A B Safe input channel A and channel B C Internal valuation of the safe input D Discrepancy monitoring AIE Fault acknowledgement Discrepancy monitoring active Discrepancy monitoring time out Fault acknowledgement impermissible Fault acknowledgement permissible ...

Page 32: ...sensor GCL with GIx of the sensor input ƒ The sensor inputs are tested cyclically through short LOW operation The A and B channels are tested at different times in cycles of approx 2 s with test pulses of 1 ms These errors are detected ƒ Short circuit to supply voltage ƒ Short circuit between the input signals when different clock outputs are used ƒ Non equivalent input signals after the discrepan...

Page 33: ...ing must comply with the requirements of the category 3 or category 4 Drive based safety does not provide for line monitoring These errors are detected ƒ Non equivalent input signals after the discrepancy time 1 2 5 4 Example circuits G x I IxB IxA SM S SSP94SM352 Fig 1 9 Example circuit active sensor G x I IxB IxA SM S M P SSP94SM352 Fig 1 10 Functional example of PN switching sensor S Sensor P P...

Page 34: ...lus channels are switched ƒ The safe output in ON state is cyclically tested by quick LOW switching The A and B channels are tested at different times in cycles of approx 2 s with test pulses of 1 ms When selecting the downstream control elements ensure that the test pulses will not be detected as LOW signal These errors will be detected and set the output to OFF state ƒ Short circuit to supply vo...

Page 35: ...cknowledged restart 41 after a stop function has been executed requires an acknowledgement at AIS input ƒ Positive signal pulse of 0 3 10 s terminal X82 3 or X82 4 Evaluation of the negative edge Other equivalent option ƒ PS_AIS signal via a safety bus if communication via safety bus is preferred Evaluation of the positive edge AIE input Errors require an acknowledgement at AIE input ƒ Positive si...

Page 36: ... interface Note If speed monitoring is active and the standard device detects the inverter error characteristic C00002 71 or determines the motor parameters C00002 72 the error message Safe speed invalid is displayed Both functions cannot be completed since the SM302 activates STO These two states generally occur only once during commissioning Therefore these functions should be carried out before...

Page 37: ...er Tab 1 4 Overview of dependency of the parameterisation from the mounting direction Stop Malfunctions due to slip shaft fracture etc Slip shaft fracture etc between motor and encoder system disturb the safe speed measurement Possible consequences ƒ The speed dependent and or direction of rotation dependent functions are executed incorrectly Protective measures ƒ Prevent malfunctions by construct...

Page 38: ...rvo motors Encoder Safe speed monitoring with SM30x Type Product key MCA 10 26 MQA 20 26 Sin cos incremental IG1024 5V V3 Single encoder concept PL e SIL 3 Resolver RV03 Two encoder concept Up to PL e SIL 3 Three phase asynchronous motors Encoder Safe speed monitoring with SM30x Type Product key MDxMA063 xx MDxMA225 xx Sin cos incremental IG2048 5V V3 Single encoder concept PL e SIL 3 MHxMA080 xx ...

Page 39: ...ter of fact mechanically designed as single channel systems at this point If this mechanical linkage is overdimensioned as specified in EN 61800 5 2 the standard allows for fault exclusion for the fault conditions Shaft breakage and Shaft slippage Hence there are acceleration limit values for the drive solutions with resolvers which must not be exceeded Synchronous servo motors Encoder Max permiss...

Page 40: ... a safe input with the parameterised Safe stop emergency SSE function Release by activating the SSE bit via the safety bus STO or SS1 can be set as emergency stop function to be executed In special operation the emergency stop cannot be avoided ƒ Error stop Release as response to an error In special operation the error stop cannot be avoided 1 3 1 2 Priorisation Stop functions with priority influe...

Page 41: ...us ƒ An error stop requires an acknowledgement AIE before the restart can be acknowledged ƒ The Automatic restart setting requires an acknowledgement at the master control ƒ With active cascading C15035 an automatic restart after STO SS1 is not possible Danger When the request for the safety function is deactivated the drive can restart automatically The behaviour can be set via the parameter Rest...

Page 42: ...oduleInterface The control and status data of the safety module can be evaluated via the free programming and connected to further interface signals The connection to a user application serves to achieve the following 1 Activation of the safety function in the safety module e g SS1 The monitoring starts 2 The safety module transmits the information to the basic device that the function has been ac...

Page 43: ... to a Stop 1 according to EN 60204 The function monitors the reaching of the speed n 0 within an adjustable stopping time The speed is calculated from the encoder data safe speed measurement Without encoder the function evaluates the speed status n 0 from the standard device For this the monitored stopping time parameterised in the safety module must be 0 5 s longer than the stopping time in the c...

Page 44: ...nd SS1 STO occur at the same time After the SS1 STO request has been cancelled and acknowledged accordingly see restart behaviour a direct STO transition to the SS2 STO state can be achieved without cancelling the SS2 request Deceleration ramp monitoring can be parameterised Depending on the parameterised stopping time a monitoring ramp is calculated 45 Note The position of the motor is saved when...

Page 45: ...leration ramp is delayed via the S ramp time in order to consider a possible S ramp smoothing If the current speed exceeds the parameterised deceleration ramp within the stopping time or before reaching the tolerance window n 0 an error message is caused and an error stop is initiated ƒ The power supply of the motor is immediately safely interrupted STO The motor cannot create a torque and thus no...

Page 46: ... If the defined limit values are exceeded the parameterised error response is activated within a time slot of maximally one evaluation cycle With the error response SS1 or SS2 the response time of the stop function depends on the evaluation in the standard device Moreover the set stopping time must be added to the response time until the defined operating status is reached In order that the respon...

Page 47: ...O STO Response in case of an error after the max response time has elapsed Normal operation Incorrect operation Note If the STO function has been selected as the error response for SMS or SLS the internal response time is not considered because the motor is already coasting after the speed threshold is exceeded for the first time Note In case of an error the set limited speed will be exceeded To a...

Page 48: ... When operating within the limit values the SLSx monitored status is set The status can be assigned to the safe output The status can also be reported via the safety bus A feedback takes place as soon as it has been detected that the speed has fallen below the threshold When the monitored speed is exceeded a stop error is caused STO SS1 or SS2 C15332 1 4 can be adjusted If the speed is not within ...

Page 49: ... position is displayed C15344 Note If the SDI delay time C15341 is parameterised greater than zero either the SDIxxx monitored feedback must be evaluated safety bus or safe output or the risk analysis must show that the delay is not hazardous This fact must e g be considered in the calculation of the safety clearance Note If the monitoring of the direction of movement SDIxxx is combined with funct...

Page 50: ...uring normal operation and special operation The SLP function can be executed during normal operation and special operation OMS If a safe reference is available monitoring of the parameterised upper and lower position limit values is carried out at the time of request This state is shown by the SLPx monitored status bit 1 3 12 Position dependent safe speed 1 3 12 1 Description Position Dependent S...

Page 51: ... an absolute reference point This function is required since the encoder systems described for position evaluation do not provide any safe absolute position If absolute position dependent functions are parameterised the drive can only be moved with a safely limited speed until homing is successfully completed The SLS1 SLS4 assignment can be parameterised When the home position is overtravelled the...

Page 52: ...ns are solely restricted to the parameterisable stop functions STO and SS1 without ramp monitoring and the effectiveness of the enable switch Danger Uncontrolled motor rotation possible The RMS operating mode may lead to unexpected motions with unexpected speed Possible consequences ƒ The RMS operating mode may lead to a violation of the permissible motion limits of the axis Protective measures ƒ ...

Page 53: ...ed in the monitoring functions also in special operation leads to the parameterised error stop function Depending on the priority the parameterised stop function of the monitoring function or the stop function of the special operation is executed without approval An active emergency stop function is also executed in special operation The special operation can also be selected via the safety bus by...

Page 54: ...tivated The special operation can only be selected again when the error has been eliminated and acknowledged The switching level at the digital input which determines special or normal operation can be set via the safe parameterisation Note When the OMS bit is received via the safety bus the value 0 normal operation is assumed in case of passivation In special applications e g safety door request ...

Page 55: ... safe input Request ES confirmation via safe input No function State l Free movement l SLS as of V1 3 combinable with SDI possible as restriction l SLI as of V1 4 via safety bus same response only possible as an alternative to the safe input Stop request State parameterised function l STO l SS1 l SS2 is executed is not executed Emergency stop State parameterised function l STO l SS1 is executed Mo...

Page 56: ...check rejects ambiguous settings until they are parameterised correctly Note The free traversing setting for the special operation C15201 motion function must be suitable for the application Danger Dangerous situations may occur during automatic or special operation Depending on the application automatic or special operation may bring about hazardous situations Possible consequences ƒ Injury to pe...

Page 57: ...cascading input and cannot be used as universal input anymore The SD Out1 safe output is used as cascading output and cannot be parameterised as universal feedback output anymore A stop function emergency stop SSE released by cascading cannot be overruled in special operation through the enable switch ƒ The cascade trips with every STO irrespective of which safety module adopts the STO status and ...

Page 58: ... of the output SELV PELV 1 3 18 2 Conditions ƒ The SD In4 input must be parameterised as active input for the emergency stop function and the input delay for SD In4 must be 10 ms ƒ The emergency stop function to be executed must be parameterised as STO via the SSE emergency stop function parameter ƒ The restart behaviour of the drive after the STO SS1 stop function has been executed must be parame...

Page 59: ... can also be set with the Safety address parameter C15111 of the safety module For this the address setting via the DIP switch must be set with the 0 setting Via parameter addresses can be set in a range of 0 65534 Effective safety address The effective safety address is the result from the address switch or address parameter The effective safety address must comply with the module ID assigned in ...

Page 60: ...Isafe information to the safety module for safe evaluation Note A safety bus system can only be operated via the upper module slot MXI1 of the Servo Drive 9400 Note The operation with PROFIsafe via PROFINET is only permissible according to the PROFIsafe Profile for Safety Technology specification version 2 x 1 5 1 2 Description Addressing In order that a data telegram reaches the correct node an u...

Page 61: ...N 1 0 GSDML file The GSDML file contains all information on the configuration of the PROFINET system This makes the integration easy and user friendly Tip You will find the current GSDML file for this Lenze product on the Internet in the Downloads area under http www Lenze com ...

Page 62: ...equired If FSoE has been selected as safety bus the safety address is at the same time accepted as the FSoE target address This address must match the corresponding configuration of the safety PLC FSoE frame The FSoE data are sent in the first slot of an EtherCAT data frame This must be observed for the hardware configuration of the safety PLC Range Values Values Process data 1 32 process data wor...

Page 63: ...ch must comply with the effective safety address in the safety module A safe parameter setting requires the service status The service status means the following ƒ The standard stop is active and the drive is safely switched to torqueless operation STO ƒ The communication via the safety bus is active but passivated About the service status ƒ It can be activated by the Lenze Engineer PC software ƒ ...

Page 64: ...e safety module ƒ The MS LED is flashing safety module is in service status ƒ AS LED is lit ƒ Press module switch S82 and keep it pressed ƒ AS LED starts blinking ƒ When the AS LED goes off release the S82 module switch immediately ƒ The AS LED is lit again after a short time ƒ Press again the S82 module switch and keep it pressed ƒ AS LED starts blinking ƒ When the AS LED goes off release the S82...

Page 65: ...pliance of the safety address will be checked If no compliance exists an initialisation error is reported Note ƒ Clearly define the safety address in a drive system or plant ƒ Document the address in circuit diagrams and labels ƒ Ensure identical settings when replacing the module In drive systems with activated safety bus the safety address is also used as safety bus target address The clear assi...

Page 66: ...or is stopped via l STO or l SS1 Acknowledgement after deactivated event l Connection and disconnection of the 24 V supply at the safety module l Fault acknowledgement AIE via terminal X82 2 positive signal pulse with a signal time of 0 3 10 s l Fault acknowledgement AIE via the safety bus Bit PS_AIE l Connection and disconnection of the 24 V supply at the safety module Tab 1 6 Overview of error s...

Page 67: ...function in the SM302 For purposes of diagnostics a simple logbook with ten entries is implemented in the SM302 Changes with regard to the request of safety functions in the SM302 are logged The bit coded log status created in a 2 ms cycle serves as a basis for the logbook A logbook entry is generated when the log status has changed ƒ The logbook function can be controlled via the Log function C15...

Page 68: ...e safety inputs ƒ Internal processing time ƒ When a safety bus is used Monitoring time for cyclic services Monitoring time in the safety PLC Processing time in the safety PLC ƒ Delay times due to further components μC μC S SF t 0 t1 t2 0 1 tps t4 2 3 t3 t5 ti lcu12x_352 Fig 1 13 Response times to the request of a safety function Standard device Safety module Safety PLC Safety bus mC Microcontrolle...

Page 69: ...tput 1 8 3 Response times of the safety bus Response time to an event in the sensors input data Time interval Fig 1 13 ms t1 Response time of the sensors according to manufacturer information t2 Input delay of the safe inputs C15034 0 100 Input error 2 t3 Processing time in drive based safety 24 Input data ready for transmission after S tPs Cycle time according to manufacturer information Input da...

Page 70: ...y activates a safety function ƒ Hence the maximum response time to the event is calculated as follows tmax response t1 t2 t3 max tWD tPS t4 tPs t5 When calculating the maximum response time include the times of the safety functions e g in case of SS1 the stopping time C15305 until STO is active 1 8 4 Response time of encoder monitoring Response time of encoder monitoring ms Time required to detect...

Page 71: ...ctions used Inspector The machine manufacturer must authorise a person with expertise and knowledge of the safety functions to carry out the test Test report The test result of every safety function must be documented and signed by the inspector Note If parameters of the safety functions are changed the inspector must repeat the test and record the results in the test report ...

Page 72: ...peed function SLS Safe stop emergency function SSE Safe direction function SDI Safely limited increment function SLI Safely limited absolute position function SLP Position dependent safe speed PDSS Safe cam function SCA Safe referencing function SREF Repair mode select RMS ƒ Preparing the test report Documenting the functional test Checking the parameters Signing the test report ƒ Preparing the ap...

Page 73: ... 1 73 EDS94AYAF EN 1 0 1 10 Appendix 1 10 1 Module error messages The Parameterisation Configuration Software Manual provides information on diagnostics fault analysis and describes the structure of the operating system s error messages in the logbook ...

Page 74: ...1 I Identification 17 Inputs safe 29 L Legal regulations 9 limited position safely 50 Logbook function in the controller 67 in the SM302 67 M Mission time 24 Mission time 24 Module ID 59 Motor encoder combinations 38 N Nameplate data 17 O Output safe 34 P Parameter setting safe 63 Password length reset 64 Performance Level 5 Position detection 36 Position dependent safe speed position dependent 50...

Page 75: ...ress 59 Safety engineering 3 safety functions 40 with L force 9400 5 Safety functions 5 40 safety instructions during operation 10 Safety instructions during operation 10 Safety related characteristics 24 Sensors Overview 13 Speed Safe maximum 46 safely limited 48 speed position dependent 50 Speed measurement Safe 36 Stop 1 ramp monitoring 45 safe 43 Stop 2 ramp monitoring 45 safe 44 Stop function...

Page 76: ...1855 Aerzen GERMANY HR Hannover B 205381 Service Lenze Service GmbH Breslauer Straße 3 32699 Extertal GERMANY 49 5154 82 0 008000 2446877 24 h helpline Ê 49 5154 82 2800 Ê 49 5154 82 1112 lenze lenze com service lenze com ü www lenze com EDS94AYAF UBo EN 1 0 TD29 10 9 8 7 6 5 4 3 2 1 ...

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