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7.21.1 Parameters for SLS

Name

UPID
Type
Unit

Description

Min

Max

Typical

SLS Ramp Down
Time
(t4 in figure)

47F8h
UInt16
1 ms

The maximum time for the ramp down. After this time, the SLS
monitoring becomes active.

2 ms

60 s

0.5 s

SLS 0 Speed Limit

47F0h
UInt32
1 um/s

Defines the limit within the speed is accepted. If the speed
exceeds this limit, the defined fault reaction for SLS 0 will be
done. 

1 um/s

2 m/s

0.25 m/s

SLS 0 Fault
Reaction

47F1h
UInt8
-

Configurable fault reaction for SLS 0.

02h: STO (Default)
03h: SS1
04h: SS2
05h: SOS

-

-

STO

SLS 1 Speed Limit

47F2h
UInt32
1 um/s

Defines the limit within the speed is accepted. If the speed
exceeds this limit, the defined fault reaction for SLS 1will be
done. 

1 um/s

2 m/s

0.25 m/s

SLS 1 Fault
Reaction

47F3h
UInt8
-

Configurable fault reaction for SLS 1.

02h: STO (Default)
03h: SS1
04h: SS2
05h: SOS

-

-

STO

SLS 2 Speed Limit

47F4h
UInt32
1 um/s

Defines the limit within the speed is accepted. If the speed
exceeds this limit, the defined fault reaction for SLS 2will be
done. 

1 um/s

2 m/s

0.25 m/s

SLS 2 Fault
Reaction

47F5h
UInt8
-

Configurable fault reaction for SLS 2.

02h: STO (Default)
03h: SS1
04h: SS2
05h: SOS

-

-

STO

SLS 3 Speed Limit

47F6h
UInt32
1 um/s

Defines the limit within the speed is accepted. If the speed
exceeds this limit, the defined fault reaction for SLS 3 will be
done. 

1 um/s

2 m/s

0.25 m/s

SLS 3 Fault
Reaction

47F7h
UInt8
-

Configurable fault reaction for SLS 3. 

02h: STO (Default)
03h: SS1
04h: SS2
05h: SOS

-

-

STO

Speed Computation
Time

47A3h
UInt8
1 ms

The speed is computed over this time interval. The software will
store the position data for this time interval and compute the
difference between the selected entries. The speed is then
divided by the time selected

1 ms

10 ms

2 ms

Table 86: SLS Parameters

2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG

0185-1174_E_1V1_SM_C1251-2S / 2021-11-26 16:43 (Rev. 12500)

Page 128 of 150

Summary of Contents for 0150-2933

Page 1: ...eckerstrasse 2 8957 Spreitenbach SWITZERLAND Tel 41 0 56 419 91 91 Fax 41 0 56 419 91 92 WEB http www linmot com 0185 1174_E_1V1_SM_C1251 2S Please visit http www linmot com to check for the latest version of this document ...

Page 2: ...igned 2021 11 26 16 36 Approved 2021 11 26 16 42 Vincenzo Ciminelli Signed 2021 11 26 16 40 Daniel Rohrer Signed 2021 11 26 16 40 Template This document is based on the template SAFETY_Template_generic_V1 0 dotx created with Word Import 2021 NTI AG This work is protected by copyright Under the copyright laws this publication may not be reproduced or transmitted in any form electronic or mechanical...

Page 3: ...cific Regulations 18 4 Fundamental Safety Instructions 19 4 1 General Safety Instructions 19 4 2 Liability 19 4 3 Industrial Security 20 5 General Safety Notes LinMot Products 21 5 1 Products and Life Cycles 21 5 2 Overview Life Cycle Safety Notes and Products 22 5 3 Safety Notes 23 5 4 Fundamental Safety Instructions 29 5 5 Residual Risk 31 6 LinMot Safety Products 32 6 1 Drives 33 6 1 1 Supporte...

Page 4: ...matic Errors 52 7 2 6 Used Technologies and architecture 52 7 2 7 Regarded Safety Related Errors taken Measures 53 7 2 8 Periodic Proof Tests 55 7 2 9 Error Reaction Times 56 7 2 10 System Reaction Times 56 7 2 11 Predictable User Errors 57 7 3 Data Types 58 7 4 Access and Visibility to Parameters and Variables 58 7 5 Safety Parameters Overview 59 7 6 Configure Safety Parameters 59 7 6 1 Setting t...

Page 5: ...afety Settings 87 7 9 1 General Settings parameters 87 7 10 PROFIsafe Fieldbus 87 7 10 1 Description 87 7 10 2 Safe Fieldbus Address 88 7 10 3 Safe Fieldbus Configuration 88 7 10 4 Structure of Telegram 30 88 7 10 4 1 PROFIsafe control word S_ STW1 89 7 10 4 2 PROFIsafe Status word S_ ZSW1 90 7 11 Safe Digital Inputs 91 7 11 1 Description 91 7 11 2 Parameters 92 7 12 Acknowledge Input 93 7 12 1 De...

Page 6: ...t Time expired 108 7 17 3 4 SBT Preconditions 108 7 17 3 5 Starting SBT 109 7 17 3 6 SBT Sequence 110 7 17 4 Verification and Validation 112 7 18 Safe Stop 1 SS1 113 7 18 1 Parameters 114 7 18 2 Status Signals 115 7 18 3 Detailed Functional Description 116 7 18 3 1 Activation and timing 116 7 18 3 2 Deactivation 116 7 18 3 3 Fault Reaction 117 7 18 4 Examples for the Use 117 7 18 5 Verification an...

Page 7: ...ety functions 136 8 8 Instructions for checking the SF 136 9 Commissioning 138 9 1 HW Installation 138 9 2 FW Installation 139 9 3 Drive Configuration 139 9 3 1 Using a Configuration 139 9 3 2 Using no Configuration 140 9 4 Safety Parameter Verification and Validation 140 9 5 Acceptance Tests 140 10 Acceptance Tests and Protocols 141 10 1 Introduction 141 10 1 1 Requirements 141 10 1 2 Requirement...

Page 8: ...8 11 2 Maintenance 149 12 Appendix 150 12 1 Terms and abbreviations 150 12 1 1 Additional Abbreviations 150 12 2 Change History 150 2S Drive Systems 0185 1174_E_1V1_SM_C1251 2S NTI AG 0185 1174_E_1V1_SM_C1251 2S 2021 11 26 16 43 Rev 12500 Page 8 of 150 ...

Page 9: ...gure 15 Validate Parameters Figure 16 Status message on validation end Figure 17 Safety Module Variables Figure 18 Safety Variables and States Figure 19 Safety state diagram Figure 20 Schematics of a safe digital input one channel Figure 21 Schematics of the acknowledge input Figure 22 Schematics of the safe digital output one channel Figure 23 STO Timing Figure 24 SBC Figure 25 SBT Figure 26 SBT ...

Page 10: ...racteristics of safety functions according to ISO13849 1 Table 24 Regarded safety related errors and taken measures Table 25 Periodic proof tests Table 26 Error reaction times Table 27 System reaction times Table 28 Predictable User Errors and Measures Table 29 Data types for parameters and variables Table 30 Flash Card List Table 31 Commands called by ID switches S1 S2 Table 32 Commands called by...

Page 11: ...able 67 STO Status Signals Table 68 STO Example Table 69 SBC SBT Parameters Table 70 SBC Status Signals Table 71 SBC Error States Table 72 SBC Example Table 73 SBT Parameters Table 74 SBT STO Status Signals Table 75 SBT request list Table 76 SBT Status Signals Table 77 SS1 Parameters Table 78 SS1 Status Signals Table 79 SS1 Examples Table 80 SOS Parameters Table 81 SOS Status Signals Table 82 SOS ...

Page 12: ...2S Drive Systems 0185 1174_E_1V1_SM_C1251 2S NTI AG 0185 1174_E_1V1_SM_C1251 2S 2021 11 26 16 43 Rev 12500 Page 12 of 150 ...

Page 13: ... SMRS SMRS Safety Manual Requirement Specification 1 0 IEC61508 2 EN IEC 61508 2 Functional safety of electrical electronic programmable electronic safety related systems Part 2 Requirements for electrical electronic programmable electronic safety related systems Ed 2 0 April 2010 IEC61508 3 EN IEC 61508 3 Functional safety of electrical electronic programmable electronic safety related systems Pa...

Page 14: ...are not taken NOTICE NOTICE indicates that property damage can result if proper precautions are not taken If more than one degree of danger is present the warning notice representing the highest degree of danger will be used 2 1 2 Proper Use of LinMot Products CAUTION Use of LinMot Products LinMot products may only be used for the applications described in the catalog and in the relevant technical...

Page 15: ...the workplace be equipped with additional safety features such as protective clothing eyeglasses and gloves or that precautions be otherwise taken to protect personnel and working environment Generally all country and industry specific statutory or otherwise mandatory laws and regulations apply Safety and warning instructions given in this document only apply to the product or equipment or devices...

Page 16: ...essary corrections are included in subsequent editions 2 2 Preface 2 2 1 Technical Support Contacts NTI AG LinMot MagSpring Bodenaeckerstrasse CH 8957 Spreitenbach Switzerland Technical Support 41 56 544 71 00 Email support linmot com Support website http www linmot com support 2 2 2 Target group This documentation is intended for machine manufacturers commissioning engineers and service personnel...

Page 17: ...d companies that set up plants and systems is that the legislation and regulations in the country where the machine or plant is being operated apply For example the control system for a machine that is to be used in the US must fulfill local US requirements even if the machine manufacturer OEM is based in the European Economic Area EEA 3 2 Functional Safety Safety from the perspective of the objec...

Page 18: ...d electrical power drive systems Part 5 2 Safety requirements Functional PROFIsafe Profile 3192 V261 Aug14 PROFIsafe Amend Pdrive on Psafe 3272 V310 Feb19 3 4 Country specific Regulations Additional to the regulations listed above to comply with additional country specific regulations can be relevant It is necessary to check for the specific application and place of action which local regulations ...

Page 19: ...lity of the user to check the information and information provided by NTI AG regarding their safety relevant correctness In addition the entire responsibility for safety related product functionality lies exclusively with the user Product warranties are void if products are used with stators sliders servo drives or cables not manufactured by NTI AG unless such use was specifically approved by NTI ...

Page 20: ... security mechanisms applied used inside the drive WARNING Unsafe operating states resulting from software manipulation Software manipulations e g viruses trojans malware or worms can cause unsafe operating states in your system that may lead to death serious injury and property damage Keep the software up to date Incorporate the automation and drive components into a holistic state of the art ind...

Page 21: ...der and Stator Cables The life cycles are Storage Transport Machine Integration Commissioning Operation Maintenance Repair Modification Decommissioning Disposal The safety notes address the different danger source the relevant products and life cycles are indicated for each safety note 2S Drive Systems 0185 1174_E_1V1_SM_C1251 2S NTI AG 0185 1174_E_1V1_SM_C1251 2S 2021 11 26 16 43 Rev 12500 Page 2...

Page 22: ...rt Machine Integration Operation Maintenance Repair Modifi cation Decommis sioning Disposal Slider Stator Drive Cable Strong Magnetic Field x x x x x x x High Temperatures x x x x x x x x x x High Voltage x x x x x x Mechanical Parts and Motion x x x x x x Shock and Vibration x x x x x x x Dirt IP x x x x x x x x x x Corrosion x x x x Hazardous Materials x x x x x Lifetime Maintenance Wearing Out ...

Page 23: ...ons and residual risks in the associated hardware documentation are not observed accidents involving severe injuries or death can occur Observe the safety instructions given in the hardware documentation Consider the residual risks for the risk evaluation WARNING Strong Magnetic Field The slider consists of strong permanent magnets High forces can occur when other magnetic material is attracted Da...

Page 24: ...ting of cables If necessary install cooling stators and drives Do not isolate cables DANGER High Voltage As the drive and motors are electrical parts make sure to implement the protection from electric shock Products Drives Sliders Life Cycles Machine Integration Operation Maintenance Repair Safety measures All components must be well grounded See installation guides of drives and motors 2S Drive ...

Page 25: ...or place a protection Weight of slider the slider is quite heavy and due to the strong magnets it can generate high magnetic forces Note the minimal bending radius for cables If cables are moved use high flex cables When water cooling is used avoid leakage WARNING Shock and Vibration Electronics magnets and mechanics can be damaged by high shock or vibrations This may lead to loss of function and ...

Page 26: ...ction of at least IP54 WARNING Corrosion Corrosion can damage mechanical attachments or change other material characteristics This can cause a danger Products Sliders Stators Life Cycles Operation Maintenance Repair Safety measures Protect parts generally from corrosion Consider information given in the installation guide about environment Use only allowed cleaning chemicals see also installation ...

Page 27: ...an also be sent back to LinMot which will recycle the goods WARNING Lifetime Maintenance Wearing Out As a machine or installation is in charge and gets older some regular maintenance is necessary to exchange worn out parts and check if the safety is still guaranteed Products Stators Sliders Cables Life Cycles Machine Integration Operation Maintenance Repair Safety measures Check for correct mounti...

Page 28: ...ced instead of repaired WARNING Logic Supply The logic supply of the LinMot drive must be supplied with 24 VDC by an SELV PELV power supply unit with an output voltage limit Umax of 36 VDC Failure to observe this can result in a loss of safety Use another power supply for the motor CAUTION Hazard Analysis A hazard analysis of the application must be performed prior to the use of the safety functio...

Page 29: ...this represents danger to life as a result of the associated undesirable motor motion When individual safety functions are deactivated an automatic restart is permitted under certain circumstances depending on the risk analysis except when emergency stop is reset An automatic start is permitted when a protective door is closed for example For the cases listed above ensure that an automatic restart...

Page 30: ...ith activated safety functions there are a number of system messages that still permit the drive to be traversed In these cases you must ensure that the causes of the messages are corrected immediately These messages include among others the following Brake Test Time Ov The brake test time interval has been elapsed A brake test must be performed as soon as possible 2S Drive Systems 0185 1174_E_1V1...

Page 31: ...incipal of operation All of the faults described above must be included in the risk analysis of the machine manufacturer Additional safety measures have to be taken for drives with suspended vertical or pulling loads e g in order to exclude faults under a Use of an encoder with analog signal generation Use of a two encoder system Failsafe detection of slip on the encoder shaft or a broken encoder ...

Page 32: ...ts which belong to the safety system have the suffix 2S The following chapters give a list of the supported safety products and their compatibility The next figure shows a C1251 2S drive with the peripheral components Figure 1 LinMot System 2S Drive Systems 0185 1174_E_1V1_SM_C1251 2S NTI AG 0185 1174_E_1V1_SM_C1251 2S 2021 11 26 16 43 Rev 12500 Page 32 of 150 ...

Page 33: ... Multi Interface With the same hardware different interfaces are supported PROFIdrive safety is installed by default Other non safe interfaces can be loaded by the customer Remark With the non safe interfaces the safety functions are only controlled via safe digital I Os Power class XC 72 VDC 25 A peak Safety Functions 2S With safety module SM02 Safety Encoder 0E No encoder module assembled only L...

Page 34: ...ctions can be found in chapter 7 Safety Functions 6 1 2 Safety relevant Drive Installation Instructions This chapter focuses on the safety relevant topics which must be regarded when the drive is installed There is additional information in the drive s installation guide 6 1 2 1 Physical Dimensions Mounting Environment Figure 2 Drive Physical Dimension 2S Drive Systems 0185 1174_E_1V1_SM_C1251 2S ...

Page 35: ...ng Temperature C 5 to 40 Relative humidity r H 10 to 85 non condensing Pollution IEC EN 60664 1 Pollution degree 2 Shock resistance 22 ms m s2 40 tested with 50 Vibration resistance 10 150 Hz m s2 1 tested with 10 Max Case Temperature C 70 Max Power Dissipation W 30 Mounting place In the control cabinet Mounting position vertical Distance between Drives mm in 20 0 8 horizontal 50 2 vertical Table ...

Page 36: ...n SELV PELV power supply unit with an output voltage limit Umax of 36 VDC Failure to observe this can result in a loss of safety Use another power supply for the motor WARNING Do not connect or disconnect power supply while DC voltage is present Do not disconnect system components until all LinMot drive LEDs have turned off Capacitors in the power supply may not fully discharge for several minutes...

Page 37: ...ions of linear motor applications only compatible power supplies can be used See chapter 6 1 3 Drive Ordering Information CAUTION Circuit Braker for Power Supply The power supply for the motor must be protected with an external Circuit Breaker 15 A min 100 VDC C Trip 5 kA rms SCCR 6 1 2 2 3 Regeneration If the power supply rises too high when breaking connect an additional capacitor to the motor p...

Page 38: ...8 X1 Connector Motor Supply 6 1 2 3 3 X2 X3 Motor Connection X2 Motor Phases Ph 1 U Ph 1 V Ph 2 W Ph 2 X PE LinMot Motor Motor Phase 1 red Motor Phase 1 pink Motor Phase 2 blue Motor Phase 2 grey Shield 3 phase EC Motor Motor Phase U red Motor Phase V pink Motor Phase W blue Motor Phase X grey Shield Connector has to be ordered separately see chapter 6 1 3 Mating connector Art Nr 0150 3526 Use 60 ...

Page 39: ...A Peak 1 4 A will shut down if exceeded the other terminal must be wired to Brake X3 1 Locking Screws Tightening torque 0 4 Nm Caution Do NOT connect AGND X3 8 to GND or earth Temperature Sensor A resistive temperature sensor PT1000 KTY can be connected between Temp Sens X3 2 and Temp Sens X3 7 Important Notes Use Y style motor cables only for example K15 Y C A W style cable has a different shield...

Page 40: ...ngle ended analog input to GND 0 to 10 V Input Resistance 51 kΩ to GND X4 10 X4 11 Differential analog input 10 V Common mode range 5 VDC to GND Input Resistance 11 4 kΩ for each signal to GND Mating Connector Art Nr 0150 3447 Use 60 75 C copper conductors only Conductor cross section max 1 5 mm2 Stripping length 11 5 mm Important notes The 24 VDC logic supply for the control circuit X4 2 must be ...

Page 41: ...A positive SafeDigIn 2B safe digital input 2 channel B positive GND DigInAck non safe acknowledge input positive SafeDigOut B safe digital output channel B Spring cage connectors have to be ordered separately see chapter 6 1 3 Detail specification for safe digital inputs see 7 11 Safe Digital Inputs Detail specification for acknowledge input see 7 12 Acknowledge Input Detail specification for safe...

Page 42: ...rrent is equal or below 10mA Brake must be tolerant for test pulses in high state of 1ms every 900 ms Mating connector Art Nr 0150 4392 Conductor cross section 0 2 mm 1 5 mm Stripping length 6 mm Clamping screw M 2 Screwdriver blade 0 4 x 2 5 DIN 5264 Plugging cycles 25 Tightening torque wire connection 0 2 Nm 0 25 Nm Tightening torque screw flange 0 15 Nm 0 2 Nm Use 60 75 C copper conductors only...

Page 43: ...0 Power Supply 72 V 1000 W 3x340 550 VAC 0150 1872 S01 72 500 Power Supply 72 V 500 W 1x120 230 VAC 0150 1874 S01 24 500 Power Supply 24 V 500 W 1x120 230 VAC 0150 2480 S01 48 300 Power Supply 48 V 300 W 1x120 230 VAC 0150 1941 S01 48 600 Power Supply 48 V 600 W 1x120 230 VAC 0150 1946 T01 72 420 Multi Trafo Supply 72 V 420 VA 3x230 400 480 VAC 0150 1869 T01 72 900 Multi Trafo Supply 900 VA 3x230 ...

Page 44: ...0 22992 A and higher V3S5 and higher PL01 28x HP 2S PL02 28x HP 2S Stator HP IP67 with connector M23 9 m Safety PF01 48x136 0150 4072 PS01 48x240F C 2S 0150 21220 B and higher V3S5 and higher PL01 28x 2S PL02 28x 2S Stator IP67 with connector M23 9 m Safety PF01 48x226 0150 2108 PS01 48x240F HP C 2S 0150 22991 A and higher V3S5 and higher PL01 28x HP 2S PL02 28x HP 2S Stator HP IP67 with connector...

Page 45: ...Stator Nomenclature Variations of Description Base type PS01 Stator for P01 motors 72VDC Diameter YY YY Diameter of the back iron tube mm 23 23 mm diameter 37 37 mm diameter 48 48 mm diameter Active coil length xYYY x is a separator YYY active coil length mm x80 80 mm coil length x120 120 mm coil length X150 150 mm coil length x160 160 mm coil length x240 240 mm coil length Winding type Y Y Windin...

Page 46: ...ders with heavy duty coating will be manufactured on request The sliders are technically the same as the PL01 types except for the coating The operation range must be covered by the slider and the configuration must be done correctly CAUTION Slider Selection The slider must be selected with the correct size for the application to avoid a broken motor slider Do not use visible broken sliders 2S saf...

Page 47: ...ble Cable Type K05 04 05 K15 04 05 KS05 04 05 KS10 04 05 KR05 04 05 KR10 04 05 Minimum bending radius for fixed installation 25 mm 1 in 50 mm 2 in 30 mm 1 2 in 50 mm 2 in 40 mm 1 6 in 50 mm 2 in Minimum bending radius when moving Not suitable for applications with moving motor cable 60 mm 2 4 in No torsion 100 mm 4 in No torsion 80 mm 3 2 in Max Torsion 270 0 5 m 100 mm 4 in Max Torsion 270 0 5 m ...

Page 48: ...e motor connectors R and C can be rotated in both directions See illustration below Figure 5 Rotatability of Motor Connectors 2S Drive Systems 0185 1174_E_1V1_SM_C1251 2S NTI AG 0185 1174_E_1V1_SM_C1251 2S 2021 11 26 16 43 Rev 12500 Page 48 of 150 ...

Page 49: ... Stop 2 SS2 SLS Safe Limited Speed 4 levels implemented no yes 7 21 Safe Limited Speed SLS Table 21 List of safety functions and combination with safe non safe encoders Remarks If no safe encoder is used the safe IOs cannot be configured for safety functions requiring a safe encoder A configuration error will be generated If no safe encoder is used and over the safe fieldbus a safety function is a...

Page 50: ...the safety Module SM Safety related parts in the motor encoder electronics 7 2 2 Constraints of the use of the Safety Compliant System The following constraints have to be regarded Safe Encoder A safe position encoder must be used for the safety function SOS SS2 SLS and SBT The safety functions STO SS1 and SBC can also be used with a non safe position encoder Safe Brake The safe brake is not part ...

Page 51: ...20 years Mission time for all safety functions except the brake Proof Test Interval 20 years Proof test interval for all safety functions except the brake Table 22 Characteristics of safety functions according to IEC 61508 Remark These numbers are valid for all safety functions except the brake The brake test is the proof test for the brake and the proof test interval has to be configured accordin...

Page 52: ...itoring of the two channels realized in HW and SW fault exclusion for single channel parts The safety related block diagram of the implementation is Figure 6 Safety related block diagram Where a dual channel architecture is implemented the hardware fault tolerance HFT is 1 Brake Control STO Switch off Safe Dig In MCU incl Power Supply and FW STO Switch off Safe Dig Out Where a single channel archi...

Page 53: ...s cycle time is watched Bus cycle time is watched Bus is realized as black channel until the safety module Data are CRC protected Safety Parameter Configuration Parameter out of range Inconsistency Wrong encoder type configured All parameters are range checked Inconsistent parameter combinations are reported as failure E g non safe encoder selected in combination with SLS selection over safe digit...

Page 54: ... safe state For the input supply voltages PELV supplies must be used Slider Wrong slider length mounted Non safety slider mounted Not detected The slider length and type have to be checked with the acceptance tests Short Circuit between PWR and signal Signals on PCB Fault exclusion The isolation between the PWR and signal circuits are HV tested The cables are double isolated Each PCB is electrical...

Page 55: ...g Out yes Test pulses in high state every 1100 ms discrepancy time 50 ms Input must be capable for test pulses See also 7 13 Safe Digital Output Fieldbus CRC no yes every bus cycle Brake Test no no the drive signalizes if SBT Request Interval has expired The SBT Request Interval UPID 47DAh must be configured according to the applicational requirements When the SBT Request Interval has expired Safe...

Page 56: ...fety Function Reaction Time over Bus The reaction time from the safe bus control word request to the feedback on the safe bus status word Note for some safety functions there may be additional delay times to be regarded 20 ms Safety Function Reaction Time Bus IO combined The reaction time from request to feedback when one signal is via safe digital I O and the other via safe bus Note for some safe...

Page 57: ...munication to the motor is permanently running The motor temperature is cyclically read and the checksum and life signal are checked Slider mission The orbit monitoring will generate an error due to wrong encoder signals Slider mounted in wrong direction LinMot Talk provides a motor wizard for the motor configuration It guides the user graphically step by step through the configuration No safety s...

Page 58: ... zero byte Table 29 Data types for parameters and variables 7 4 Access and Visibility to Parameters and Variables The parameters on the drive are configured via the LinMot Talk configuration software With this tool also variables can be monitored Dependent on the login ID different access levels can be reached User With the login user the basic functionality and the most common variables are acces...

Page 59: ...nput one channel 7 6 Configure Safety Parameters To configure the safety parameters there are the following steps necessary Setting the parameters Validate the parameters is done in the following steps Login Verify Groups Read ASCII Report Print ASCII Report Validate Parameters All the steps above are described in the next chapters 2S Drive Systems 0185 1174_E_1V1_SM_C1251 2S NTI AG 0185 1174_E_1V...

Page 60: ...arameters Select the parameter and type in the new value then press Enter or click on the check And the value is changed Figure 10 Changed safety parameter Note The value is not yet stored on the drive until the validation is completely run 2S Drive Systems 0185 1174_E_1V1_SM_C1251 2S NTI AG 0185 1174_E_1V1_SM_C1251 2S 2021 11 26 16 43 Rev 12500 Page 60 of 150 ...

Page 61: ...password is DoChange The default password is active when the firmware is freshly installed or the parameters have been defaulted from LinMot Talk or over the ID switches S1 S2 The password can be changed by clicking the Icon A timeout of 5 minutes is active when logged in In case of inactivity for more than 5 minutes an automatic logout will be performed The validation process can be stopped any t...

Page 62: ...will be shown and marked yellow Figure 13 Verify safety parameter groups 7 6 2 3 Read ASCII Report When all groups are verified the ASCII report must be generated The ASCII report is generated by the safety module and is a text file It shows all safety parameter settings in clear text To generate the ASCII report press Figure 14 ASCII Report 2S Drive Systems 0185 1174_E_1V1_SM_C1251 2S NTI AG 0185...

Page 63: ... the ASCII report The following window will finish the validation with the feedback if it was done correctly or not Figure 16 Status message on validation end 7 6 2 6 Safety Parameter Checksum The safety parameter checksum shown at the end of the validation corresponds with the content of the variable Parameter CRC UPID 0305h This value must be used for validating a configuration loaded from the f...

Page 64: ...Bit 1 is the LSB bit 4 the MSB FFh Default all parameters Sequence FFh Reboot 00h Default all parameters safe and non safe Reboot user action FEh Set IP configuration mode to DHCP Not used for C1251 2S drives FDh Saves the complete configuration to the FC There are written two files one for the non safety configuration the other for the safety configuration The file name for the non safety configu...

Page 65: ... safety configuration Table 32 Commands called by the safe address switches S11 S12 7 7 1 Default all parameters All parameters safe and non safe parameters can be set to their default values by the following sequence Steps Description 1 Set ID switches S1 S2 to FFh 2 Power cycle the drive 3 Error and warn LEDs will blink alternating ca 4 Hz 4 Set ID switches S1 S2 to 00h 5 Wait until Warn and EN ...

Page 66: ...The drive must be powered up or rebooted with the inserted M1 Saving the parameters is started with the command Drive Safe Config to SD Card Then follow the instructions In case of a missing or invalid flash card the appropriate message will be displayed 2S Drive Systems 0185 1174_E_1V1_SM_C1251 2S NTI AG 0185 1174_E_1V1_SM_C1251 2S 2021 11 26 16 43 Rev 12500 Page 66 of 150 ...

Page 67: ...drive starts up normally no flash card is detected 4 Set ID switches S1 S2 to 11h 5a No Error The blinking stops The drive safes the configuration and boots automatically Wait until the drive has booted completely 5b Error In case of an error the L3 and Error LEDs are alternating blinking at ca 2 Hz Possible errors The flash card is not compatible no LinMot Card wrong type The flash card is not wr...

Page 68: ...detected 4 Set ID switches S1 S2 to 22h 5a No error The blinking stops The drive safes the configuration and boots automatically Wait until the drive has booted completely 5b Error In case of an error the L3 and Error LEDs are alternating blinking at ca 2 Hz Possible errors The flash card is not compatible no LinMot Card wrong type The flash card is not writable The flash Card is removed during op...

Page 69: ...show this state Continue with step 6 5b Error In case of an error L3 L4 LEDs are blinking red together at ca 2 Hz Possible errors Flash Card not present Flash Card is not compatible no LinMot Card wrong type wrong formatting Configuration file is corrupt Configuration is not compatible HW and FW version Configuration is not consistent corrupt data Required action Reboot or power cycle the drive Ch...

Page 70: ...te 14 Set S11 to 4 after setting S12 Set S12 to 5thCRC nibble e g 1A981C26h 15 Wait until the L3 L4 LEDs show this state 16 Set S11 to 5 after setting S12 Set S12 to 6thCRC nibble e g 1A981C26h 17 Wait until the L3 L4 LEDs show this state 18 Set S11 to 6 after setting S12 Set S12 to 7thCRC nibble e g 1A981C26h 19 Wait until the L3 L4 LEDs show this state 20 Set S11 to 7 after setting S12 Set S12 t...

Page 71: ...when an error occurs when loading the non safety parameters Possible errors The flash card is not compatible no LinMot Card wrong type The flash card is not writable The flash Card is removed during operation Configuration file is not readable Configuration is not compatible HW and FW version Required action Reboot or power cycle the drive Check the error cause Table 36 Load complete parameters fr...

Page 72: ...software version installed on the safety module The software version consists of two bytes which stand for the major and minor version High Byte major version Low Byte minor version Software CRC MCU1 0303h UInt32 MCU 1 CRC This value shows the CRC over the MCU1 firmware Software CRC MCU2 0304h UInt32 MCU 2 CRC This value shows the CRC over the MCU2 firmware Parameter CRC 0305h UInt32 Parameter CRC...

Page 73: ...ternal 12 V supply is ok TRUE It is mapped to the STO control word bit The 12 V is generated out of the motor supply voltage HW STO Feedback 1 1A0Eh Bool STO 1 feedback active Set if the feedback of the STO 1 enable is active The power stage is only active when both enables are active Cleared if the power stage enable 1 is inactive HW STO Feedback 2 1A0Fh Bool STO 2 feedback active Set if the feed...

Page 74: ...he test will be triggered by the drive processor 06h Loading FS Par from FLASH Card The safety module loads the parameter set from the flash card 07h FFh Invalid Unused combinations Table 39 Safety System States 7 8 2 3 Safety Error State Name UPID Type Value Bit Significance Comments Safety Error State 1A02h Enum8 00h No Failure No failure is detected 01h IO Failure The safety module has detected...

Page 75: ... generated an error The signals are checked for consistency Recommended actions Check wiring check configuration contact support 07h Power Supply Fault An internal check referring the power supply has detected an error Recommended actions Report error to provider send drive back for repair or exchange it 08h Safe Fieldbus Fault An error on the safe fieldbus has been detected Possible faults Commun...

Page 76: ...ended actions check configuration check cabling check brake contact support 13h Temperature Error The internal drive temperature has raised too high Recommended actions Check cooling cabinet fan check application 14h Timing Fault An internal timing problem has been detected Recommended actions Report error to provider 15h Internal Discrepancy An internal discrepancy between the two monitoring chan...

Page 77: ...his status bit can also be accessed over UPID 1A53h Bit 4 7 For internal use Safe Input 1 1A50h Bool State of Safe Input 1 Set if channel a and b of the safe input 1 on X49a b are active Otherwise cleared This status bit can also be accessed with UPID 1A05h bit 0 Safe Input 2 1A51h Bool State of Safe Input 2 Set if channel a and b of the safe input 2 on X49a b are active Otherwise cleared This sta...

Page 78: ...equired Same as UPID 1A1Eh Bit 15 Acknowledge Error Same as UPID 1A1Fh Bit 16 Brake Released Same as UPID 1A20h Bit 17 Brake Test Time elapsed Same as UPID 1A21h Bit 18 SBT runs Same as UPID 1A22h Bit 19 Brake Test failed Same as UPID 1A23h Bit 20 Drive Temperature Warning Same as UPID 1A24h Bits 21 31 not used Safety Fn State STO 1A10h Bool STO active Set if the STO safety function is active and ...

Page 79: ...Fn State SLS 1 1A15h Bool SLS 1 active Set if the SLS 1 safety function is active The activation may be a result from a demand of the Safety Application Process or a demand from the PROFIdrive on PROFIsafe Safety Function State Machines Cleared if the SLS 1 safety function is inactive This bit can also be accessed via UPID 1A06h bit 5 Safety Fn State SLS 2 1A16h Bool SLS 2 active Set if the SLS 2 ...

Page 80: ...0h Bool Brake is released Set if the brake is actively driven and should be released not braking Cleared if the brake is not driven and should be braking This bit can also be accessed via UPID 1A06h bit 16 Safety Fn State Brake Tst time Ov 1A21h Bool Brake Test Time elapsed Set if the time specified in parameter 47DAh SBT Request Interval is elapsed A brake test must be performed to clear this fla...

Page 81: ...y the safety board Safe Position 1A29h SInt32 0 1um This variable contains the actual motor position evaluated by the safety board Safe Speed Limit 1A2Ah SInt32 1um s This variable contains the actual speed limit with which the safety module compares the actual safety velocity UPID 1A28h Table 44 Safe Velocity and Position 2S Drive Systems 0185 1174_E_1V1_SM_C1251 2S NTI AG 0185 1174_E_1V1_SM_C125...

Page 82: ...motor current can be driven 02h Set Positive Current The current is setting up to the defined brake test force or torque The force is defined with UPID 47D6h The torque is defined with UPID 47D7h 03h Positive Current Applied The current has reached the defined test force or torque The force is defined with UPID 47D6h The torque is defined with UPID 47D7h 04h Set Negative Current The current is set...

Page 83: ...state because STO has the highest priority The STO outputs are de energized The safe digital outputs are de energized The brakes are applied The software uses the activation sequence for the safety function STO when entering the safe state If requested via safe fieldbus the brake is allowed to be released during STO If no safety parameters are present the software assumes the brakes to be present ...

Page 84: ...n is awaited When the configuration is loaded a restart is necessary 7 8 3 4 Load FS Parameter From Flashcard This state is called from configuration needed when the safe address switches S11 S12 are set to FFh at power up The configuration is automatically loaded from the flash card For details see 7 7 5 Load and validate all Parameters from the FC When a valid configuration is loaded the normal ...

Page 85: ...SS1 An error on the safe inputs is detected Possible faults wiring discrepancy between the two channels disturbances Recommended action check wiring check configuration contact support Safe Digital Output Fault Internal failure Fatal 02A6h yes no STO Safe State An error on the safe digital output is detected The internal diagnosis produces test pulses and checks the levels Possible faults Test pul...

Page 86: ...s Check cooling cabinet fan check application CrossCom Timing fault Internal failure Fatal 14A6h no no STO Safe State An internal timing problem has been detected Recommended action Report error to provider Internal Discrepancy Internal failure Fatal 15A6h yes no STO Safe State An internal discrepancy between the two monitoring channels has been detected Recommended action Report error to provider...

Page 87: ...fety Speed Computation Time 47A3h UInt8 ms The speed is computed over this time interval The software will store the position data for this time interval and compute the difference between the selected entries The speed is then divided by the time selected 1ms 10ms 2ms Table 47 General settings parameters 7 10 PROFIsafe Fieldbus 7 10 1 Description The drive supports the PROFIsafe interface for saf...

Page 88: ... is shown with variable Safe Address UPID 0306h The upper byte is set fixed to CDh which is taken from the Vendor ID 7 10 3 Safe Fieldbus Configuration The parameters for setting up the safe fieldbus are located under Parameters Safety General Settings Name UPID Type Description Safe Fieldbus Activation 47A4h UInt8 Specified if the safe fieldbus is enabled The following selections can be done The ...

Page 89: ...ere is no other constraint for SOS Fault entry in Safety Fault Buffer with error response SOS or other safety function active with sub state SOS 0 Select SOS The ramp down supervision time out or ramp monitor is activated After successful deceleration the SOS safety function is activated SS2 can only be used with safe position sensors 4 SLS 1 Deselect SLS The SLS safety function is deactivated imm...

Page 90: ...rom the PROFIdrive on PROFIsafe Safety Function State Machines 0 SOS inactive The SOS safety function is inactive 4 SLS 1 SLS active The SLS safety function is active The activation may be a result from a demand of the Safety Application Process S_STW or a demand from the PROFIdrive on PROFIsafe Safety Function State Machines 0 Select SLS The SLS safety function is inactive 5 6 reserved Function i...

Page 91: ...nnel B positive SafeDigIn 2A safe digital input 2 channel A positive SafeDigIn 2B safe digital input 2 channel B positive GND DigInAck non safe Acknowledge positive SafeDigOut B safe digital output channel B Use 60 75 C copper conductors only Conductor cross section max 1 5 mm2 Stripping length 10mm Table 53 X49 Connector Safe digital inputs Both safe digital inputs are realized with two different...

Page 92: ...tion which is provided at the safe digital output The following selection can be done 00h Unused Default 01h STO 02h SS1 03h SOS 04h SS2 05h SLS 0 06h SLS 1 07h SLS 2 08h SLS 3 Safe Input 2 47A7h UInt8 Table 56 Safe digital input parameters Note The safe digital IOs can be used in parallel with the safe fieldbus 2S Drive Systems 0185 1174_E_1V1_SM_C1251 2S NTI AG 0185 1174_E_1V1_SM_C1251 2S 2021 1...

Page 93: ...Ack non safe Acknowledge positive SafeDigOut B safe digital output channel B Use 60 75 C copper conductors only Conductor cross section max 1 5 mm2 Stripping length 10 mm Table 57 X49 Connector Acknowledge The acknowledge input is realized with one differential input with a positive and negative signal input State Current consumption Value Low 1 mA 5 V High 2 to 10 mA typically 4 mA 24 V V15 to 27...

Page 94: ...tal input 1 channel A positive SafeDigIn 1B safe digital input 1 channel B positive SafeDigIn 2A safe digital input 2 channel A positive SafeDigIn 2B safe digital input 2 channel B positive GND DigInAck non safe Acknowledge positive SafeDigOut B safe digital output channel B Use 60 75 C copper conductors only Conductor cross section max 1 5 mm2 Stripping length 10mm Table 60 X49 Connector Safe Dig...

Page 95: ...ital input module Table 62 Characteristics of the safe output Figure 22 Schematics of the safe digital output one channel 7 13 2 Parameters The safe digital output has the following parameter for configuration Name UPID Type Description Safe Output 47A8h UInt8 Selects the state of a safety function which is provided at the safe digital output 00h Unused Default 01h STO outputs the value of the Saf...

Page 96: ...Direction 47B3h UInt8 This parameter defines the direction the safety module evaluates the safe position encoder signals If the direction is inverse to the non safe direction it can be inverted with this parameter The following selections can be done 00h Normal Default 01h Inverse Table 64 STO Parameters 7 14 2 1 Supported Safety Motors Stator Type Stator Article Number Description Encoder Type Se...

Page 97: ... torque 7 15 1 Parameters STO can be configured with the following parameter Name UPID Type Unit Description Min Max Typical SBC STO_Delay t1 in timing diagram 47D5h UInt16 1 ms Defines the delay between brake activation and STO 0 s 60 s 20 ms Table 66 STO Parameters If STO shall be requested by a safe digital input the configuration must be set accordingly see 7 11 2 Parameters If the STO state s...

Page 98: ...dule has detected a request for STO this can also be an internal event This bit can also be accessed via UPID 1A06h bit 10 STO active S_ZSW1 Bool STO active In case of PROFIsafe S_ZSW1 bit 0 signalizes if STO is active Safety Fn State Error 1A1Dh Bool Error active This flag is set if an error on the safety module is active Cleared if no error is active This bit can also be accessed via UPID 1A06h ...

Page 99: ...ion there is no fault reaction The system stays with STO active 7 15 4 Example for the use of STO Example Possible Solution A protective door can only be opened if the torque or force of the motors is turned off Activate the STO in the drive The pulses are suppressed the motor has no torque or force and it coasts to a standstill Table 68 STO Example 7 15 5 Verification and Validation For the verif...

Page 100: ...BT 7 16 1 Parameters The parameters are located under Parameters Safety STO SBC SBT Name UPID Type Unit Description Min Max Typical Brake attached 47D4h UInt8 Defines if a brake is attached or not 00h Not Attached Default 01h Attached Not Attached SBC STO_Delay 47D5h UInt16 1ms Defines the delay between brake and STO this value is only used if a brake is configured 0 s 60 s 20 ms Table 69 SBC SBT ...

Page 101: ...ety Function State Machines Cleared if the STO safety function is inactive and torque force may be generated from the drive This bit can also be accessed via UPID 1A06h bit 0 STO Selected 1A1Ah Bool STO selected The safety module has detected a request for STO this can also be an internal event This bit can also be accessed via UPID 1A06h bit 10 Safety Fn State Error 1A1Dh Bool Error active This f...

Page 102: ...l or below 10mA Brake must be tolerant for test pulses of 1 ms in high state every 900 ms The type of brake must fulfill the required safety level for the application 7 16 3 1 3 SBC Configuration The SBC is automatically performed as soon as the brake on X50 is configured The following parameters are used see also 7 16 1 Parameters Brake attached UPID 47D4h Set to attached SBC STO_Delay UPID 47D5h...

Page 103: ...ake contact support Table 71 SBC Error States 7 16 4 Example for the Use Example Possible Solution The safe control of a motor holding brake must guarantee the motor is at a standstill SBC is if configured initiated together with STO The drive then activates the brake and safely controls the outputs Table 72 SBC Example 7 16 5 Verification and Validation The verification for the SBC function follo...

Page 104: ...2 the safety FW commands the drive appl controller to ramp up the positive force torque T3 the drive appl controller informs the safety FW that the positive force torque is reached T4 after the configurable SBT apply time the safety FW commands to ramp to the negative force torque T5 the drive appl controller informs the safety FW that the negative force torque is reached T6 after the configurable...

Page 105: ... 01 s 30 s 0 25 s SBT Motion Limit 47D9h UInt32 0 1 um The maximum allowed motion during the brake test The fault reaction is to enter the brake failure state 0 1 um 100 mm 1 mm SBT Request Interval 47DAh UInt32 1 s After this time the warn flag Brake Test Time elapsed UPID 1A21h is set which recommends performing the brake test 60 s 366 d 8 h SBT Request 1A61h Bool Request via Bus This variable c...

Page 106: ... no acknowledge is required This bit can also be accessed via UPID 1A06h bit 14 Safety Fn State Brake Released 1A20h Bool Brake is released Set if the brake is actively driven and should be released not braking Cleared if the brake is not driven and should be braking This bit can also be accessed via UPID 1A06h bit 16 Safety Fn State Brake Tst time Ov 1A21h Bool Brake Test Time elapsed Set if the ...

Page 107: ...e defined test force or torque The force is defined with UPID 47D6h The torque is defined with UPID 47D7h 04h Set Negative Current The current is setting up to the defined negative brake test force or torque The force is defined with UPID 47D6h The torque is defined with UPID 47D7h 05h Negative Current Applied The negative current has reached the defined test force or torque The force is defined w...

Page 108: ...ated 7 17 3 3 SBT Test Time expired With the variable Safety Fn State Brake Tst time Ov UPID 1A21h the drive indicates that a safe brake test should be performed After a power up or reboot this flag is set After a successful brake test this flag is cleared and will become active after the SBT Request Interval UPID 47DAh 7 17 3 4 SBT Preconditions For starting the SBT the following preconditions mu...

Page 109: ... to Req SBT otherwise the behavior may not be defined X4 7 SBT IO Request UPID 1A60h The SBT is requested by setting the input X4 7 high Parameter Dig In X4 7 Function UPID 1062h must be set to Req SBT 0007h Make sure only one digital input is set to Req SBT otherwise the behavior may not be defined X4 8 SBT IO Request UPID 1A60h The SBT is requested by setting the input X4 8 high Parameter Dig In...

Page 110: ...Brake Tst time Ov 1A21h Bool Brake Test Time elapsed Set if the time specified in parameter 47DAh SBT Request Interval is elapsed A brake test must be performed to clear this flag Then the interval time restarts counting Cleared if the brake test interval specified in parameter 47DAh has not elapsed or after the SBT has been performed successfully This bit can also be accessed via UPID 1A06h bit 1...

Page 111: ...UPID 47D6h The torque is defined with UPID 47D7h 05h Negative Current Applied The negative current has reached the defined test force or torque The force is defined with UPID 47D6h The torque is defined with UPID 47D7h 06h Reset Current The current will be set to zero Table 76 SBT Status Signals The actual test steps are displayed with SBT State UPID 1A42h The sequence is finished when state Idle ...

Page 112: ...ake is locking Setup the oscilloscope in LinMot Talk trigger on Safety Fn State SBT runs UPID 1A22h monitor Actual Position UPID 1B8Ah monitor Demand Current UPID 1B93h Request the brake test Check if brake test is passed The oscilloscope shot should look like the following figure Figure 26 SBT Oscilloscope shot 2S Drive Systems 0185 1174_E_1V1_SM_C1251 2S NTI AG 0185 1174_E_1V1_SM_C1251 2S 2021 1...

Page 113: ...ne This is because of the active braking of the motor compared to STO only Expensive and wearing mechanical brakes can be omitted very often The SS1 can also be used with non safe position encoders Figure 27 SS1 Timing SS1 can be activated from safe digital inputs or from the safe fieldbus On the SS1 request the motor ramps down after the configurable Stop Ramp Down Time t2 in figure the STO becom...

Page 114: ... ms The stop ramp down time starts when SS1 is activated Ramp down is active The ramp down is not supervised After this time STO is active 2 ms 60 s 0 5 s Table 77 SS1 Parameters If SS1 shall be requested by a safe digital input the configuration must be set accordingly see 7 11 2 Parameters If the SS1 state shall be displayed with the safe digital output the configuration must be set accordingly ...

Page 115: ...n State Machines Cleared if the SS1 safety function is inactive This bit can also be accessed via UPID 1A06h bit 1 Safety Fn State Error 1A1Dh Bool Error active This flag is set if an error on the safety module is active Cleared if no error is active This bit can also be accessed via UPID 1A06h bit 13 Safety Fn State Int Event 1A1Eh Bool Acknowledge is required Set if an explicit acknowledge is re...

Page 116: ... the motor after the Apply Delay Time UPID 2710h for the brake Parallel to the actions done in the non safe firmware the safety module does the following steps Set Safety SS1active flag Wait the Stop Ramp Down Time UPID 47E7h Activate the brake if configured Wait the SBC STO_Delay time if brake is configured Set Safety STO active flag state STO is active SS1 Stop Source External Stop The stop has ...

Page 117: ...ine is wired with PROFIsafe The drives are configured to react on a SS1 request from the PROFIsafe On pressing the emergency button the PLC will distribute the SS1 request over the PROFIsafe network to all connected drives Table 79 SS1 Examples 7 18 5 Verification and Validation The verification for the SS1 function follows these steps Configure complete drive inclusive the SS1 source and SS1 Stop...

Page 118: ...is implemented The SOS can only be realized with safe position encoders Figure 28 SOS Timing In the Safe Operation Stop state the speed of the device is zero and the drive holds the motor at this position in a limited range With the activation of SOS a timer is started After the time t3 the SOS becomes active and the offset supervision is activated If configured the safety module shall monitor the...

Page 119: ...fault reaction 02h STO Default 03h SS1 STO Table 80 SOS Parameters If SOS shall be requested by a safe digital input the configuration must be set accordingly see 7 11 2 Parameters If the SOS state shall be displayed with the safe digital output the configuration must be set accordingly see 7 13 2 Parameters If SOS shall be requested via safe fieldbus the safe fieldbus must be activated see 7 10 3...

Page 120: ...um8 In case of an error the error code is shown here The error codes are described in detail in 7 7 2 4 Safety Error Codes SOS Selected 1A1Bh Bool SOS selected The safety module has detected a request for SOS this can also be an internal event This bit can also be accessed via UPID 1A06h bit 11 Safety Fn State Error 1A1Dh Bool Error active This flag is set if an error on the safety module is activ...

Page 121: ...the configured fault reaction will be initiated configuration parameter SOS Fault Reaction UPID 47E3h 7 19 3 2 Deactivation SOS is only deactivated when no possible request sources is active 7 19 3 3 Fault Reaction If the supervision detects a failure it will activate STO or SS1 depending on the parameter SOS Fault Reaction UPID 47E3h 7 19 4 Example for the Use Example Possible Solution Opening a ...

Page 122: ... the drive Startup the drive Enable the motor Activate SOS Test reaction time and feedback signals Check if the motor is still powered and position controlled Move the motor within the SOS Position Tolerance No error must be produced Move the motor out of the position tolerance check both sides The configured error behavior must be performed 2S Drive Systems 0185 1174_E_1V1_SM_C1251 2S NTI AG 0185...

Page 123: ... The SS2 can only be realized with safe position encoders One instance of SS2 is implemented Figure 29 SS2 Timing 7 20 1 Parameters Name UPID Type Unit Description Min Max Typical SS2 Stop Source 47E4h UInt8 Specifies if the stop is generated in the drive or by the external setpoint generator 01h Internal Abort default With this selection the drive itself initiates the stop function Quick Stop 02h...

Page 124: ...ication Process of a fault reaction from a fault in the safety fault buffer or a demand from the PROFIdrive on PROFIsafe Safety Function State Machines Cleared if the SS2 safety function is inactive This bit can also be accessed via UPID 1A06h bit 3 Safety Fn State Error 1A1Dh Bool Error active This flag is set if an error on the safety module is active Cleared if no error is active This bit can a...

Page 125: ... firmware the safety module does the following steps Set Safety SS2 active flag Wait the Stop Ramp Down Time UPID 47E7h Set Safety SOS active flag state SOS is active The behavior for monitoring and failure reaction is according to the configuration for the SOS SS1 Stop Source External Stop The stop has to be done by an external setpoint generator The safety module does the following steps Set Saf...

Page 126: ... Stop Source UPID 47E4h Stop Ramp Down Time UPID 47E7h Also configure the parameters for SOS Validate the parameters on the drive Startup the drive Enable the motor Start a motor command Activate SS2 while motor is moving Dependent on the SS2 Stop source the drive ramps down the motor of in case of internal quick stop is selected Otherwise the PLC must command the stop function Test reaction time ...

Page 127: ... necessary anymore The activation can be done by configuration via safe digital IO s or a safe field bus There is one instance with four speed levels SLS 0 to SLS 3 which are configurable independently Figure 30 SLS Timing After the activation of SLS the speed is reduced to be within a limit When the time t4 has elapsed the drive activates the SLS state In the SLS state the speed is monitored to b...

Page 128: ... STO SLS 2 Speed Limit 47F4h UInt32 1 um s Defines the limit within the speed is accepted If the speed exceeds this limit the defined fault reaction for SLS 2will be done 1 um s 2 m s 0 25 m s SLS 2 Fault Reaction 47F5h UInt8 Configurable fault reaction for SLS 2 02h STO Default 03h SS1 04h SS2 05h SOS STO SLS 3 Speed Limit 47F6h UInt32 1 um s Defines the limit within the speed is accepted If the ...

Page 129: ...rom a demand of the Safety Application Process or a demand from the PROFIdrive on PROFIsafe Safety Function State Machines Cleared if the SLS 0 safety function is inactive This bit can also be accessed via UPID 1A06h bit 4 Safety Fn State SLS 1 1A15h Bool SLS 1 active Set if the SLS 1 safety function is active The activation may be a result from a demand of the Safety Application Process or a dema...

Page 130: ...gital output can be configured to show the SLS active signal When one of the SLS 0 to 3 becomes active the output is driven The configuration is done with the parameter Safe Output UPID 47A8h set to 05h SLS 7 21 3 Detailed Functional Description 7 21 3 1 Activation and Timing SLS is activated if one of following request sources is active SLS request on safe fieldbus SLS request on safe digital inp...

Page 131: ...e drive via safety inputs or PROFIsafe The drive monitors safely the speed of the motor Table 88 SLS Example 7 21 5 Verification and Validation The verification for the SLS function follows these steps Configure complete drive inclusive the SLS source and al parameters for SLS 7 21 1 Parameters for SLS Validate the parameters on the drive Startup the drive Enable the motor For each configured spee...

Page 132: ...47A3h worse if shorter position sensor specific non idealities The margin between the monitored safe velocity and the safe speed limit should be at least 30 Otherwise the SLS monitoring will stop too early Move motor faster than SLS speed limit Error must occur Check error behavior according to the configuration 2S Drive Systems 0185 1174_E_1V1_SM_C1251 2S NTI AG 0185 1174_E_1V1_SM_C1251 2S 2021 1...

Page 133: ...ng cage connectors have to be ordered separately see chapter 6 1 3 Use 60 75 C copper conductors only Conductor cross section max 1 5 mm2 Stripping length 10 mm Use brake which is engaged when not powered Use 24 V brake or valve capable for 100 duty cycle Maximal current 0 8 A At 24 V a minimal current of 10 mA must flow The brake must be active braking when the current is equal or below 10mA Brak...

Page 134: ...al protective measures can be taken to minimize the risk In the last step user information about the residual risk can be provided In the first step the risks and hazards and thus the safety functions must be identified machine manufacturers require precise knowledge of the operation of their machine in order to identify risks and hazards Referring to Annex B of EN ISO 12100 2010 is helpful for th...

Page 135: ...e in the event of energy loss and more More detailed information on this can be found in chapter 5 2 of EN 62061 and chapter 5 of ISO13849 1 The machine manufacturer must specify and document the description of the safety related program for the PLC when using a safety PLC In addition the function blocks to be used and the sensors and actuators the parameterization of the components must also be s...

Page 136: ...unctions SF have to be checked for correctness This includes both normal operation and the function in the event of a fault Some of the test cases can be read from the defined safety function with its described measures for risk minimization For each function the possible fault scenarios must be defined and checked accordingly This information must be recorded in a test specification or acceptance...

Page 137: ...ring normal operation Check of the safety functions in the event of an error Check of the safe drive functions during normal operation Check of the safe drive functions outside the defined safety limits Check of the safe drive functions in the event of a power failure 2S Drive Systems 0185 1174_E_1V1_SM_C1251 2S NTI AG 0185 1174_E_1V1_SM_C1251 2S 2021 11 26 16 43 Rev 12500 Page 137 of 150 ...

Page 138: ...tion make sure the following guidelines and information is considered Safety notes of this safety manual Chapter 5 General Safety Notes LinMot Products Chapter 6 1 2 Safety relevant Drive Installation Instructions Wiring make sure the wiring done such that The cross sections are well dimensioned The isolation is sufficient Minimal bending radius are considered Moving cables are realized with trail...

Page 139: ... 581AF05Bh FEA01533h Table 91 Release firmware versions Under Variables OS Safety Module the values can be checked Figure 32 Safety Module Values 9 3 Drive Configuration 9 3 1 Using a Configuration If a configuration is already available for the application the following steps have to be done Load the configuration with LinMot Talk under File Import Set the correct safe bus address on safe address...

Page 140: ...bus address on the ID switches S1 S2 9 4 Safety Parameter Verification and Validation Before the safety parameters become active they have to be verified and validated It is not relevant if the configuration has imported from or it has created Follow the instructions in chapter 7 6 2 Validate the Safety Parameters The LinMot system can now be started and the functional tests can be done If modific...

Page 141: ...s They represent the behavior of the machine at the time of measurement These measurements cannot be used to derive real values e g maximum values for over travel distances 10 1 1 Requirements The acceptance test requirements configuration check for electrical drive safety functions base on DIN EN 61800 5 2 Section 7 1 Point f The acceptance test configuration check is cited in this standard Descr...

Page 142: ...Checking whether the safety relevant functions in the plant or machine function correctly This part of the acceptance test goes beyond the drive acceptance test Is all safety equipment such as protective door monitoring devices light barriers or emergency off switches connected and ready for operation Does the higher level control correctly respond to the safety relevant feedback signals of the dr...

Page 143: ...rect parameter changes to safety functions after an acceptance test can result in unwanted motion resulting in severe injury or death To prevent access to your plants and systems by unauthorized persons implement access restrictions and take precautions To avoid incorrect changes to the configuration and parameters of the safety functions take the precautions described in this manual If any change...

Page 144: ...a listed function is not used no test has to be performed Encoder parameterization test 1 Check the configuration of the encoder such as Type pole pitch a Test the safety function Safe Torque Off STO 2 Test of the SI function Safe Stop 1 SS1 3 Test of the SI function Safe Brake Control SBC 4 Test of the SI function Safe Stop 2 SS2 5 Test of the SI function Safe Operating Stop SOS 6 Test of the SI ...

Page 145: ...ID switches safe address switches 7 10 4 2 Functional and diagnostic safety tests Detailed function test and evaluation of SI functions used For some functions trace recordings of individual parameters can be used If a listed function is not used no test has to be performed Encoder parameterization test 1 Check the configuration of the encoder such as Type pole pitch a Test the safety function Saf...

Page 146: ...eration in both directions a Test of failsafe actual value acquisition 2 Only if a safe encoder is activated a Briefly operate the drive in both directions b Encoder parameterization test 3 Only if a safe encoder is activated a Only required on an encoder replacement b 10 4 4 Conclusion of the Report Report of the commissioning status tested and countersignatures Extension of checksums for each dr...

Page 147: ...sting of actual value acquisition Chapter 10 4 4 Conclusion of the Report Replacement of the slider No No Yes Yes Replacement of the motor No No Yes Yes Replacement of the drive Yes Points 1 and 2 No Yes Yes Replacement of the cable No No No Yes Replacement of Power supply No No No Yes Safety Parameter Change Yes Points 4 to 6 Yes Test the appropriate functions Yes Yes Transfer of project data int...

Page 148: ...1h becomes active a brake test must be performed as soon as it is possible e g next finished production cycle within the next hour If the brake test is failed a soon maintenance must be planned Errors reported Cyclically read by PLC If the drive reports an error it will stop and enter a safe state The error has to be checked and adequate measures have to be done Warnings reported Cyclically read b...

Page 149: ...stator bearing is worn out Replace stator if worn out Corrosion Check if parts have traces of corrosion Find and eliminate cause Replace corroded parts Mechanical links Check if mechanical links are still stable Check for loose screws Tighten loose screws Warnings Errors Read out the message and error log of the drive For checking the error log at least the signal supply must be turned on Check me...

Page 150: ...rd Responsible for monitoring the safety functions UPID Unique Parameter ID is an unambiguous identification of a parameter or variable The number for the UPID is displayed as a 16 bit hex value e g 1A43h Table 95 Additional abbreviations 12 2 Change History Version Description of Changes Date Signature 1 0 Initial version 2021 10 22 Ro 1 1 Updates for Build 6 10 20211122 FS Version and MCU CRCs u...

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