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Pilz PNOZ m EF 1MM, Operating Manual

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Function description

Operating Manual PNOZ m EF 1MM
1003108-EN-11

| 29

Differential with/without Z index (e.g. Heidenhain 1 Vss)

U0 = 2,5 V

4.6.2

Adapters for encoders

The adapter records the data between the encoder and the drive and makes it available to
the PNOZ m EF 1MM via the Mini-IO socket.

Pilz supplies complete adapters as well as ready-made cable with Mini-IO connector, which
can be used when making your own adapter. The range of products in this area is con-
stantly being expanded. Please contact us about the range of adapters that is currently
available.

Summary of Contents for PNOZ m EF 1MM

Page 1: ...PNOZ m EF 1MM Operating Manual 1003108 EN 11 Configurable safe small controllers PNOZmulti 2 ...

Page 2: ...enta tion will be gratefully received Source code from third party manufacturers or open source software has been used for some components The relevant licence information is available on the Internet on the Pilz homepage Pilz PIT PMI PNOZ Primo PSEN PSS PVIS SafetyBUS p SafetyEYE SafetyNET p the spirit of safety are registered and protected trademarks of Pilz GmbH Co KG in some countries SD means...

Page 3: ...ctions 13 4 3 1 Safe speed monitoring 13 4 3 2 Safe speed range monitoring 15 4 3 3 Safe direction monitoring 16 4 3 4 Safe operating stop monitoring 17 4 3 5 Safe stop 1 monitoring 18 4 3 6 Safe stop 2 monitoring 19 4 3 7 Safely limited acceleration monitoring SLA M 21 4 3 8 Safely limited acceleration range monitoring SAR M 22 4 3 9 Central motion monitoring functions 23 4 4 System reaction time...

Page 4: ...r types and output signals 51 9 1 4 2 Safety related architecture 51 9 1 4 3 Achievable safety level 52 9 1 5 Safety related characteristic data for operation with non safety related encoder with dia gnostics via the drive controller 52 9 1 5 1 Permitted sensor types and output signals 52 9 1 5 2 Requirements of the drive controller 52 9 1 5 3 Safety related architecture 53 9 1 5 4 Achievable safe...

Page 5: ...hitecture 58 9 1 9 3 Achievable safety level 59 9 1 10 Safety characteristic data for operation with 2 proximity switches with reduced diagnostics 59 9 1 10 1 Permitted sensor types and output signals 59 9 1 10 2 Safety related architecture 60 9 1 10 3 Achievable safety level 60 10 Order reference 61 10 1 Product 61 10 2 Accessories 61 ...

Page 6: ...ly important is identified as follows DANGER This warning must be heeded It warns of a hazardous situation that poses an immediate threat of serious injury and death and indicates preventive measures that can be taken WARNING This warning must be heeded It warns of a hazardous situation that could lead to serious injury and death and indicates preventive measures that can be taken CAUTION This ref...

Page 7: ...Introduction Operating Manual PNOZ m EF 1MM 1003108 EN 11 7 INFORMATION This gives advice on applications and provides information on special fea tures ...

Page 8: ...s Safe speed monitoring SSM Safe speed range monitoring SSR M Safe direction of movement monitoring SDI M Safe operating stop monitoring SOS M Safe stop 1 monitoring SS1 M Safe stop 2 monitoring SS2 M Safely limited acceleration monitoring SLA M Safely limited acceleration range monitoring SAR M Analogue voltage track S LED display for Supply voltage Diagnostics Axis status Fault Please refer to t...

Page 9: ...ating Manual PNOZ m EF 1MM 1003108 EN 11 9 2 3 Front view Legend X4 Connection for proximity switch at axis 1 X12 Mini IO socket for connecting encoder or proximity switch at axis 1 LEDs Power Run Diag Fault Axis 1 ...

Page 10: ...ls of the base units that can be connected The configurable system PNOZmulti 2 is used for the safety related interruption of safety circuits and is designed for use in Emergency stop equipment Safety circuits in accordance with VDE 0113 Part 1 and EN 60204 1 The product PNOZ m EF 1MM meets the requirements of the standards EN 81 20 EN 81 22 and EN 81 50 harmonised under the Lifts Directive 2014 3...

Page 11: ...rantee the functional safety of the overall plant machine In order to achieve the re quired safety level for the overall plant machine define the safety requirements for the plant machine and then define how these must be implemented from a technical and organ isational standpoint 3 3 2 Use of qualified personnel The products may only be assembled installed programmed commissioned operated maintai...

Page 12: ...ty related characteristic data When decommissioning please comply with local regulations regarding the disposal of electronic devices e g Electrical and Electronic Equipment Act 3 3 5 For your safety The unit meets all the necessary conditions for safe operation However you should always ensure that the following safety requirements are met This operating manual only describes the basic functions ...

Page 13: ...e safety device remains effective in the case of a component failure 4 2 Block diagram Proximity switch A12 B12 S12 GND Mini IO Proximity switch Encoder 4 3 Monitoring functions The motion monitoring module PNOZ m EF 1MM supports the following monitoring func tions Please note that the position monitoring functions SOS M SDI M and SS2 M cannot be used in conjunction with 2 proximity switches as no...

Page 14: ... possible that the sum of all the overshoots exceeds the tolerance time t1 within a tolerance period t2 Tolerance period t2 which takes into account the oscillation period minimum time that must elapse between one limit value overshoot and the next Tolerance amount which takes into account the amplitude of the overshoots max imum permitted percentage by which the configured limit values may be exc...

Page 15: ...d range This tolerance range modifies the set limit values As a result one off or periodic over shoots that exceed the range limits can be tolerated The following values can be configured for the tolerance range Tolerance time t1 which takes into account the length of the overshoots maximum time for which the limit value may be exceeded It must not be possible that the sum of all the overshoots ex...

Page 16: ...e start input As a result the current position can be used at any time as the start point for the monitoring function One SDI M element can be configured per axis for each direction in the PNOZmulti Config urator Please note This monitoring function cannot be used in conjunction with 2 proximity switches because position detection is not possible WARNING Potential loss of safety function with a to...

Page 17: ...Configurator 3 elements SOS M can be configured per axis with units Ver sion 2 0 only 1 element can be configured Please note This monitoring function cannot be used in conjunction with 2 proximity switches because position detection is not possible WARNING Potential loss of safety function with a tolerance value 24 900 000 in crements The following applies when using a PNOZmulti Configurator Vers...

Page 18: ...ered the Braking ramp output is switched off The drive controller s braking ramp is activated After the set delay time has elapsed or the value for the automatic STO is below the limit value the output ST switches off The safety function Safe torque off STO is activated A maximum of 1 SS1 M element can be configured per axis in the PNOZmulti Configurator Sequence without standstill limit value for...

Page 19: ...or the standstill limit value for automatic SOS is below the limit value and Whether the stop position ultimately remains within a configured tolerance window Reaction If the monitoring function SS2 M is triggered the Braking ramp output switches off The drive controller s braking ramp is activated If the set delay time has elapsed or the value for the automatic SOS is below the limit value the st...

Page 20: ...oring of stop position SOS is activated tDelay Set delay time for controlled braking of motor Sequence with standstill limit value for automatic SOS Tol t v s t Standstill limit value 1 2 t 3 t tDelay tSOS SOS s t v t Legend t1 Activation of the monitoring function SS2 M t2 Standstill limit value for automatic SOS reached monitoring of stop posi tion SOS is activated t3 Delay time elapses tDelay S...

Page 21: ...ing function Safely limited acceleration monitoring monitors the speed change per time unit Both the acceleration and the deceleration can be monitored Monitoring checks whether the acceleration or deceleration exceeds or falls below a certain limit value 4 SLA M elements can be configured per axis in the PNOZmulti Configurator The monitoring function Safely limited acceleration monitoring is acti...

Page 22: ...arget speed is passed Example Monitoring for too fast acceleration Ramp monitoring active Enable limit value Start VTolerance Set V VActual Tol t s v kHz 0 1 0 1 0 1 V1 4 3 8 Safely limited acceleration range monitoring SAR M The monitoring function Safely limited acceleration monitoring monitors the speed change per time unit In contrast to the monitoring function SLA M safely limited acceleratio...

Page 23: ...ns This prevents the out puts from bouncing if there are fluctuations around the response value The hysteresis takes effect when the output is switched on Validation cut off frequency As implausible sensor signals may arise due to jitter on the sensors around the stop posi tion a central validation cut off frequency must be configured for sensor types with proxim ity switches in the PNOZmulti Conf...

Page 24: ...ls The tolerance time can be deactivated for individual tracks by setting 0 ms CAUTION Delayed reaction to invalid signal levels Setting a tolerance time increases the reaction time of the feasibility check of the signal levels The detection time can increase to a maximum of four times the set tolerance time as a result This must be taken into account when the system is designed 4 4 System reactio...

Page 25: ...ng A DC voltage in the range of 0 30 V can be monitored via track S It should be used to monitor the supply voltage of the proximity switches CAUTION Please note Connection of the proximity switches may only be performed in three wire technology and not in two wire technology Proximity switch assembly Ini 1 Ini 2 Signal characteristics Proximity switch combinations Signal image in an energised sta...

Page 26: ... not the foreign body could cause invalid signals Please note the values stated in the sensor s technical details For a full configuration the maximum frequency of the sensors you are using must be entered in the PNOZmulti Configurator see sensor s data sheet Special features for proximity switches with reduced diagnostics A pnp B pnp It is permitted that both proximity switches are energised simu...

Page 27: ...ting feasibility errors when fAB fZ Ratio 1 0 7 5 Z pulses or 7 5 x fAB fZ AB pulses when fAB fZ Ratio 1 0 4 5 AB pulses or 4 5 x fAB fZ Z pulses NOTICE If interference can be anticipated on the signal cables or if the sensor cables are long we recommend you use encoders with differential signals De pending on the sensor terminating resistors should be used to improve the quality of the signal see...

Page 28: ... 4 6 1 Output signals Output signals TTL HTL Single ended Differential U 0 A U 0 B U 0 Z U 0 A U 0 B U 0 Z Output signals Sin Cos 1 Vss Single ended with reference track e g Hiperface REFSIN 0 5 V SIN 2 5 V COS REFSIN REFCOS REFSIN 0 5 V REFCOS 0 5 V REFCOS 0 5 V 2 5 V ...

Page 29: ...s the data between the encoder and the drive and makes it available to the PNOZ m EF 1MM via the Mini IO socket Pilz supplies complete adapters as well as ready made cable with Mini IO connector which can be used when making your own adapter The range of products in this area is con stantly being expanded Please contact us about the range of adapters that is currently available ...

Page 30: ...e mounting rail must have a low impedance con nection to the control cabinet housing The ambient temperature in the control cabinet must not exceed the figure stated in the technical details otherwise air conditioning may be required The unit may be exposed to various types of acceleration during operation Please note the values stated in the technical details for vibration and shock stress The ac...

Page 31: ... to the expansion module Install the expansion module in the position in which it is configured in the PNOZmulti Configurator The position of the expansion modules is defined in the PNOZmulti Configurator The ex pansion modules are connected to the left or right of the base unit depending on the type Please refer to the document PNOZmulti System Expansion for details of the number of modules that ...

Page 32: ...he cable used to connect the encoders and proximity switches must be shielded see connection diagrams in the chapter entitled EMC compliant wiring The shield may only be connected to earth at a single point Earth loops should be avoided If possible the connections for the various earth potentials GND A2 should not be con nected on the PNOZ m EF 1MM but should be connected directly to the GNDs on t...

Page 33: ... 24 VDC of the power supply When connecting the proximity switches please refer to the chapter entitled EMC com pliant wiring Invalid signals may occur with long cable lengths In this case we recommend that you connect a resistor between the signal lines as shown in the diagrams Connection of the proximity switches may only be performed in three wire technology and not in two wire technology Speci...

Page 34: ... the chapter entitled EMC compliant wiring Always connect GND on the encoder to GND on the Mini IO connector If the encoder signals are not terminated with 120 Ohm in the frequency converter the encoder signals must be terminated with Z0 120 Ohm between A and A B and B Z and Z Please refer to the information provided by the encoder manufacturer with regard to the recommended max cable length when ...

Page 35: ...n errors may occur if the adapter cable is too long or there are any external sources of interference Use an adapter cable that s less than 5 m in length Lay the adapter cable separately from any potential sources of interference such as drive cables leading to the motor for ex ample ...

Page 36: ...e Tracks A B Z and Z must remain free Encoder Mini IO PNOZ m EF 1MM Encoder types TTL Differential HTL differential sin cos 1 Vss Hiperface Encoder Mini IO PNOZ m EF 1MM 6 4 2 Connect encoder with Z index Encoder types TTL single ended Z Index HTL single ended Z Index Please note Tracks A B and Z must remain free Encoder PNOZ m EF 1MM Mini IO ...

Page 37: ...e The output on the adapter is connected to the Mini IO socket on the PNOZ m EF 1MM Encoder 1 8 PNOZ m EF 1MM Mini IO 6 5 Connection of proximity switch and encoder When connecting the encoders and proximity switches please refer to the chapter entitled EMC compliant wiring INFORMATION The following diagrams are principle connection diagrams For better clarity the shielding and supply voltage are ...

Page 38: ...erential A A B B Ini pnp Z TTL differential A A B B HTL differential A as Z TTL differential A A B B HTL single ended A as Z Configuration HTL differential Z Freq Ini pnp HTL differential A A B B Ini pnp Z HTL differential A A B B HTL differential A as Z HTL differential A A B B HTL single ended A as Z Configuration sin cos 1 Vss Z Freq Ini pnp sin cos 1 Vss A A B B Ini pnp Z sin cos 1 Vss A A B B...

Page 39: ...Mini IO 6 6 EMC compliant wiring EMC compliant wiring for connecting an encoder A B C E Encoder Base Module PNOZmulti 2 Shielded Connection Box and Adapter cable Power Supply PNOZmulti 2 L1 N PE Cabinet DIN Rail A1 A2 X12 Power Supply Encoder X22 L1 N PE S GND Motion Monitoring Module ...

Page 40: ...x is not used the shield must run continuously from the sensor to the evaluation device EMC compliant wiring for connecting an encoder with drive A C E Drive Encoder Base Module PNOZmulti 2 Shielded Connection Box and Adapter cable Power Supply PNOZmulti 2 L1 N PE Cabinet Din Rail Power Supply from Drive A1 A2 X12 GND Motion Monitoring Module To avoid EMC interference we recommend that the shield ...

Page 41: ...r cable Power Supply PNOZmulti 2 L1 N PE Cabinet DIN Rail A1 A2 X12 Power Supply Proximity Switch INI L1 N PE S GND INI_B Motion Monitoring Module To avoid EMC interference we recommend that the shield on the sensor cable is connected to earth at C or E However depending on the application it may be helpful to establish the connection to functional earth at another point in this case A or B Conduc...

Page 42: ...ply Proximity Switch INI L1 N PE S GND Encoder Motion Monitorong Module To avoid EMC interference we recommend that the shield on the sensor cable is connected to earth at C or E However depending on the application it may be helpful to establish the connection to functional earth at another point in this case A or B Conductor loops outside the shield must be avoided If a shielded junction box is ...

Page 43: ...expansion module has been connected to the system the project must be amended in the PNOZmulti Configurator and downloaded back into the base unit Proceed as described in the operating manual for the base unit NOTICE For the commissioning and after every user program change you must check whether the safety devices are functioning correctly ...

Page 44: ...is in a safe condition External error on the expansion module PNOZ m EF 1MM or on the overall system Expansion module is in a safe condition Implausible sensor signal Implausible sensor signal or internal error 7 2 Behaviour with implausible sensor signals Implausible sensor signals e g frequency difference between Track A and B or the ratio of AB to Z is not correct do not lead to an FS stop of t...

Page 45: ...nputs 2 Input signal level Signal level at 1 11 30 V Signal level at 0 0 0 3 0 V Input resistance 22 kOhm Input s frequency range 0 5 kHz Configurable monitoring frequency Without hysteresis 0 1 Hz 5 kHz Incremental encoder input Number of inputs 1 Connection type Mini IO female connector 8 pin Input signal level 0 5 30 Vss Phase position for the differential signals A A and B B 90 30 Overload pro...

Page 46: ...8 2 6 Frequency 5 150 Hz Acceleration 1g Shock stress In accordance with the standard EN 60068 2 27 Acceleration 15g Duration 11 ms Airgap creepage In accordance with the standard EN 61131 2 Overvoltage category II Pollution degree 2 Protection type In accordance with the standard EN 60529 Housing IP20 Terminals IP20 Mounting area e g control cabinet IP54 Potential isolation Potential isolation be...

Page 47: ... are undated the 2018 09 latest editions shall apply 8 1 Safety characteristic data Operating mode EN ISO 13849 1 2015 PL EN ISO 13849 1 2015 Category EN IEC 62061 SIL CL EN IEC 62061 PFHD 1 h IEC 61511 SIL IEC 61511 PFD EN ISO 13849 1 2015 TM year Monitoring 1 encoder PL d Cat 2 SIL CL 2 1 80E 08 SIL 2 1 58E 03 20 Monitoring 2 encoder PL e Cat 3 SIL CL 3 1 01E 09 SIL 3 8 41E 05 20 Monitoring safe...

Page 48: ...ent Information on the safety related characteristic data for the subsystems Sensor and PNOZ m EF 1MM Example Sensor subsystem Subsystem PNOZ m EF 1MM Category MTTFd DC Operating mode PFH 1 h 2 Manufac turer spe cific 90 Monitoring 1 sensor 1 83E 08 The values for Category and DC can be set for the sensor subsystem bearing in mind the restrictions stated in the respective chapter The MTTFd value m...

Page 49: ... function must be defined and implemented by the machine plant developer and does not form part of the PNOZ m EF 1MM The monitoring function of the PNOZ m EF 1MM can be used to implement safety functions defined in the standard EN 61800 5 2 for Adjustable speed electrical power drive systems Safety functions in accordance with EN 61800 5 2 Implemented with monitoring function of the PNOZ m EF 1MM ...

Page 50: ...ferential Sin Cos output signals 1Vss reference voltage Sin Cos output signals 1Vss differential 9 1 3 2 Safety related architecture To calculate the safety function you will need the following data for the sensor subsystem and the subsystem PNOZ m EF 1MM Sensor Subsystem PNOZ m EF 1MM Category MTTFd DC Operating mode PFH 1 h 1 Manufacturer specific 0 Monitoring 1 sensor 1 83E 08 The values for DC...

Page 51: ...ial NOTICE The signal tracks Cos and Sin must be generated independently This means that the sine and cosine signals in the encoder must be conducted in independent channels from the optics to the interface The two signal tracks must not be generated by a common processor One signal may not be derived from the other signal via an electronic circuit 9 1 4 2 Safety related architecture SRP CS Sensor...

Page 52: ...al Square output signals HTL single ended Square output signals HTL differential Sin Cos output signals 1Vss reference voltage Sin Cos output signals 1Vss differential 9 1 5 2 Requirements of the drive controller Parameters for the control loops and motor control must be set in such a way as to guar antee stable operation Drag error detection see below must be capable of operating in accordance wi...

Page 53: ...1 5 3 Safety related architecture SRP CS Sensor Sensor non safe encoder Logic Diagnostic Actuator PNOZ m EF 1MM SRP CS Logic SRP CS Logic Diagnostic Drive Control To calculate the safety function you will need the following data for the sensor subsystem and the subsystem PNOZ m EF 1MM Sensor Subsystem PNOZ m EF 1MM Category MTTFd DC Operating mode PFH 1 h 2 Manufacturer specific 90 Monitoring 1 se...

Page 54: ... coder The encoder and evaluation device must be compatible 9 1 6 1 Permitted sensor types and output signals Permitted encoder types Rotary safety related encoders Linear safety related encoders Permitted output signals Sin Cos output signals 1Vss reference voltage Sin Cos output signals 1Vss differential 9 1 6 2 Safety related architecture SRP CS Sensor Sensor safe encoder Logic Diagnostic Actua...

Page 55: ...re ments of the evaluation device can be found in the user documentation for the safe en coder The encoder and evaluation device must be compatible 9 1 7 1 Permitted sensor types and output signals Permitted encoder types Rotary safety related encoders Linear safety related encoders Permitted output signals Square output signals TTL differential with Z index Square output signals HTL differential ...

Page 56: ... for operation with non safety related encoder and proximity switch The speed monitoring of the non safety related encoder can be verified via an additional reference sensor 9 1 8 1 Permitted sensor types and output signals Non safety related encoder Permitted encoder types Rotary non safety related encoders Linear non safety related encoders Permitted output signals Square output signals TTL sing...

Page 57: ...system and the subsystem PNOZ m EF 1MM Sensor Subsystem PNOZ m EF 1MM Category MTTFd DC Operating mode PFH 1 h 4 Manufacturer specific 90 Monitoring 2 sensors 1 35E 09 In a worst case scenario the sensor subsystem s characteristic value MTTFd is calculated from the inferior lower value of the two sensors The values for DC refer to the standard EN 61508 9 1 8 3 Achievable safety level Monitoring fu...

Page 58: ...e level depends on the ratio of the frequency at tracks AB fAB to the frequency at track Z fZ in your configuration fAB fZ Ratio setting in the menu and is calculated as follows when fAB fZ Ratio 1 0 7 5 Z pulses or 7 5 x fAB fZ AB pulses when fAB fZ Ratio 1 0 4 5 AB pulses or 4 5 fAB fZ Z pulses 9 1 9 Safety related characteristic data for operation with 2 proximity switches 9 1 9 1 Permitted sen...

Page 59: ...ble safety level Monitoring function PL of EN ISO 13849 1 2015 SIL CL in accordance with EN IEC 62061 SOS M SDI M SS2 M SSR M SSM SS1 M SLA M SAR M PL e Cat 4 3 Please note Common cause failures CCF are possible for the sensor subsystem An appropriate ana lysis must be carried out To use proximity switches 1 and 2 we recommend that you Use different technologies design or physical principles e g d...

Page 60: ...ting mode PFH 1 h 3 Manufacturer specific 90 Monitoring 2 sensors with re duced diagnostics 1 35E 09 In a worst case scenario the sensor subsystem s characteristic value MTTFd is calculated from the inferior lower value of the two sensors The value for DC refers to the standard EN13849 see EN 13849 1 table E 1 Cross monitoring of input signals with dynamic test if short circuits are not detectable...

Page 61: ...p 1 pc Spring loaded terminals 1 piece 783 542 Screw terminals PNOZ mmcxp 1 pc Screw terminals 1 piece 793 542 Terminator jumper Product type Features Order no PNOZ mm0 xp connector left Jumper yellow black to connect the modules 10 pieces 779 260 Adapter cable Product type Features Order no MM A MINI IO CAB99 1 50 m 772 200 MM A MINI IO CAB99 2 50 m 772 201 MM A MINI IO CAB99 5 0 m 772 202 Produc...

Page 62: ...g energy efficient products and environmentally friendly solutions We are represented internationally Please refer to our homepage www pilz com for further details or contact our headquarters Headquarters Pilz GmbH Co KG Felix Wankel Straße 2 73760 Ostfildern Germany Telephone 49 711 3409 0 Telefax 49 711 3409 133 E Mail info pilz com Internet www pilz com CECE CHRE CMSE InduraNET p Leansafe Maste...

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