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Festo SE & Co. KG

73734 Esslingen

Ruiter Straße 82

Deutschland

Phone:

+49 711 347-0

Internet:

www.festo.com

Содержание CMMT-AS Series

Страница 1: ...CMMT AS S1 Servo drive Manual Safety sub function STO SBC SS1 8153822 2021 04d 8153824...

Страница 2: ...Translation of the original instructions ET 200SP PNOZ Pilz SIEMENS are registered trademarks of the respective trademark owners in certain countries...

Страница 3: ...Safety sub functions 8 4 1 1 Function and application 8 4 1 2 Safety sub function STO 8 4 1 3 Safety sub function SBC 12 4 1 4 Safety sub function SS1 16 4 1 5 Cross wiring of several servo drives 20...

Страница 4: ...4 Festo CMMT AS S1 2021 04d 9 3 Technical data electrical 38 9 3 1 Motor auxiliary connection X6B 38 9 3 2 Inputs outputs ready contact at X1A 39 9 3 3 Inputs and outputs for the axis X1C 42...

Страница 5: ...n the documentation Operating instructions Assembly Installa tion Safety sub function All available documents for the product www festo com sp 1 3 Product version This documentation refers to the foll...

Страница 6: ...f the connected motor thereby preventing an unexpected restart of the motor The safety sub function SBC is intended to safely hold the motor and axis in position at standstill The safety sub function...

Страница 7: ...such as use of a mechanical brake in combination with the safety sub function SBC Disconnection of the motor from the power supply The safety sub function STO does not disconnect the drive from the p...

Страница 8: ...er supply for the power semiconductor thus pre venting the power output stage from supplying the energy required by the motor The power supply to the drive is safely disconnected when the safety sub f...

Страница 9: ...l principle of STO 1 2 3 Fig 3 Power stage with power transistors 1 High side power stage 2 Low side power stage 3 DC link voltage STO request The safety sub function STO is requested on 2 channels by...

Страница 10: ...as been reached for the safety sub func tion STO The STA diagnostic output switches to high level only when STO is active on 2 channels via the control inputs STO A and STO B STO A STO B STA Low level...

Страница 11: ...ion Explanation STO A STO B 2 channel input for STO request STO HS STO LS Internal triggering pulse width modulation driver high side low side tSTO TP Length low test pulses1 at STO A B tSTO In Max de...

Страница 12: ...he following outputs Safe output BR BR X6B for the holding brake of the motor Safe output BR EXT GND X1C for the external brake clamping unit The holding brake and or clamping unit engage and slow the...

Страница 13: ...t Z axes with a suspended load can be restarted without the load dropping SBC feedback via SBA diagnostic contact The 2 channel switching of the brake is indicated via the SBA output SBA is used to re...

Страница 14: ...of 24 h Test SBA feedback based on the SBC A and SBC B level according to the following table SBC A BR SBC B BR Ext SBA Low level Low level High level Low level High level Low level High level Low le...

Страница 15: ...m abbreviation Explanation tBrake Mechanical delay of the brake SBC A SBC B 2 channel input for SBC request tSBC TP Length of low test pulses1 at SBC A B tSBC In Max delay until the related brake outp...

Страница 16: ...factored in when selecting the motor plus holding brake e g operation at no more than 2 3 of the nominal torque The holding brakes in the motors are usually designed so that the motor shaft will come...

Страница 17: ...application of SS1 The procedure for triggering SS1 t comprises the following steps 1 Functional emergency stop requested e g set input CTRL EN to low level This causes the servo drive to trigger a b...

Страница 18: ...04d Product overview Fig 9 Logic in the safety relay unit for SS1 The delay times are directly included in the reaction time of the system SS1 feedback The STA signal can be used as feedback for the...

Страница 19: ...l tDelay Delay time until STO and SBC are requested drive has safely come to a standstill and brake is closed STO A B 2 channel input for STO request SBC A B 2 channel input for SBC request STA Feedba...

Страница 20: ...vo drives can be wired in parallel Cross wiring example STA Fig 11 Cross wiring example STA For cross wired diagnostic outputs the condensed state results from a logical AND link An output of a CMMT A...

Страница 21: ...can be used with the following restrictions Test impulses up to 1 ms in length Test impulses are not simultaneous overlapping on STO A B and SBC A B The resulting safety related classification depend...

Страница 22: ...ust not exceed 60 V DC The safety relay unit must switch off its outputs in the event of a fault Install wiring between the safety relay unit and the I O interface of the servo drive in such a way as...

Страница 23: ...s the safety sub functions on the servo drive via 2 channels and evaluates the related feedback signals Connecting sensors e g emergency stop switches directly to the servo drive is not permitted beca...

Страница 24: ...n the sample circuit The safety request is passed on to the servo drive on 2 channels via the inputs STO A and STO B at the connection X1A This safety request results in the 2 channel switch off of th...

Страница 25: ...tion X1C Connection Pin Type Identifier Function X1A X1A 9 DIN SBC B Safe brake control channel B X1A 10 SBC A Safe brake control channel A X1A 21 DOUT SBA Safe brake control acknowledge X1C X1C 1 DOU...

Страница 26: ...s via the inputs SBC A and SBC B at the connection X1A The request via the input SBC A switches off power to the signals BR and BR at the connection X6B This de energises and closes the holding brake...

Страница 27: ...onal input CTRL EN so that the braking ramp can be activated by the safety relay unit SS1 connection example 1 2 3 Fig 15 SS1 sample circuit 1 Input device for safety request 2 Safety relay unit 3 Ser...

Страница 28: ...y of the operator to determine and verify the required safety classification safety integrity level performance level and category of the system 2 Put the servo drive into operation and validate its b...

Страница 29: ...oration in the working conditions of the operating personnel Yes o No o o 7 Are the implemented protective measures mutually compatible Yes o No o o 8 Has adequate consideration been given to the pote...

Страница 30: ...the assigned inputs STO A or STO B is activated Is the safety sub func tion STO executed immediately Does the STA output remain at the low level Is the error Discrepancy time violation logged in the...

Страница 31: ...BA evaluation recommended whenever the sub function SBC is requested to ensure maximum diagnostic coverage and the highest safety related classification 8 Malfunctions 8 1 Diagnostics via LEDs Safety...

Страница 32: ...tact person to clarify the conditions for the return shipment 9 Technical data 9 1 Technical data safety engineering Approval information safety engineering Type test The functional safety engineering...

Страница 33: ...torque off STO Safety integrity level in accordance with EN 61508 SIL 3 SIL 3 SIL 2 SIL claim limit for a subsystem in accord ance with EN 62061 SIL CL 3 SIL CL 3 SIL CL 2 Category in accordance with...

Страница 34: ...in accordance with EN 61508 Type A 1 Safety sub function STO tested and STA diagnostic output monitored by the safety controller at least 1 x every 24 h Tab 16 Safety reference data for the safety su...

Страница 35: ...fe failure fraction SFF in accordance with EN 61508 99 87 Hardware fault toler ance in accordance with EN 61508 HFT 1 0 Common cause factor for dangerous unde tected failures in accordance with EN 615...

Страница 36: ...n the reaction time It is essential that time monitoring be provided in the safety controller The technical data for the safety sub function SS1 must be calculated individually according to the applic...

Страница 37: ...C 50 C C 0 50 Temperature moni toring Monitoring of Cooling element power module Air in the device Switch off if temperature is too high or too low Relative humidity 5 90 non condensing no corrosive m...

Страница 38: ...ion under constant load Tab 23 Service life 9 3 Technical data electrical 9 3 1 Motor auxiliary connection X6B Output of holding brake X6B Design High side switch1 Electrical data Manual Assembly Inst...

Страница 39: ...urrent Control inputs STO A and STO B at X1A Specification Based on type 3 to EN 61131 2 deviating current consumption Nominal voltage V DC 24 Permissible voltage range1 V DC 3 30 Max input voltage hi...

Страница 40: ...Tolerated high test pulses tSTO TP up to max ms 1 Min time between high test pulses at USTO A B UL max ms 200 1 Each channel has a separate overvoltage monitor for the power supply at the input If th...

Страница 41: ...est pulses tSBC TP up to max ms 1 Min time between low test pulses at UH min USBC A B 20 V ms 200 Min time between low test pulses ms atUSBC A B 20 V ms 100 Tolerance for high test pulses1 Tolerated h...

Страница 42: ...s None for time offset test pulses on the associated A B control inputs 1 Current flows from outside via the internal low side switch to 0 V reference potential of 24 V supply 2 Requires connection of...

Страница 43: ...Output SBA Error message on device Test pulse length The test pulses for control input SBC B are mapped to the output Min time between test pulses ms 100 Loads Resistive load min 240 Inductive load m...

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