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Pilz PMCprotego S1--2, Руководство по эксплуатации

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Preface

This document is the original document.
All rights to this documentation are reserved by Pilz GmbH & Co. KG. Copies may be made
for internal purposes. Suggestions and comments for improving this documentation will be
gratefully received.
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 Secure Digital

Содержание PMCprotego S1--2

Страница 1: ...PMCprotego S1 2 C Operating Manual 1002528 EN 03 PMCprotego Safe Motion...

Страница 2: ...es may be made for internal purposes Suggestions and comments for improving this documentation will be gratefully received Pilz PIT PMI PNOZ Primo PSEN PSS PVIS SafetyBUS p SafetyEYE SafetyNET p the s...

Страница 3: ...erview 13 4 2 Inputs and outputs 14 4 2 1 Inputs 15 4 2 2 Outputs 16 4 2 2 1 Single pole outputs 16 4 2 2 2 Dual pole outputs 18 4 2 2 3 Output test 18 4 3 Safety functions 20 4 3 1 Safe Torque Off ST...

Страница 4: ...g at a restart 72 7 3 2 Recommissioning after error 73 7 3 2 1 Switching the inputs SS1 Activate or SS1 SIL3 Reset 73 7 3 2 2 Command CLRFAULT 74 7 3 3 Swap safety card 75 7 3 3 1 Download configurati...

Страница 5: ...ils of how to set the parameters for the servo amplifier are described in the help for the commissioning software PASmotion All these manuals can be found on the supplied CD ROM Motion Control You wil...

Страница 6: ...des information on preventive measures that can be taken NOTICE This describes a situation in which the product or devices could be dam aged and also provides information on preventive measures that c...

Страница 7: ...ety card after an error 7 single pole digital inputs which can be assigned the following safety functions in accord ance with EN 61800 5 2 in the safety cards s Configurator Safe Stop 2 SS2 Safe Opera...

Страница 8: ...9 10 11 12 13 14 15 16 17 18 19 20 21 22 RUN POWER STO CONFIG X30 X31 8176105 12 100001 1 3 4 5 6 2 1 3 Key 1 Screw for attachment to the servo amplifier 2 LEDs to display operating states 3 Inputs o...

Страница 9: ...e safe pulse disabler through deliberate operator action see the section entitled Operation under Testing the safe pulse disabler The following is deemed improper use Any component technical or electr...

Страница 10: ...is detected by the safety card as follows Rotary synchronous motors Detected within one mechanical revolution of the motor Linear synchronous motors Detected within the distance travelled in accordanc...

Страница 11: ...ery in accordance with the general standards and guidelines for safety technology It is the company s responsibility only to employ personnel who Are familiar with the basic regulations concerning hea...

Страница 12: ...onal EN ISO 13849 1 2008 Safety of machinery Safety related parts of control systems Part 1 General principles for design Part 2 Validation EN 61508 1998 Functional safety of safety related electrical...

Страница 13: ...vo amplifier PMCprotego D Safety card PMCprotego S built into the servo amplifier Servo motor synchronous motor with Standard encoder system feedback Brake optional not safety related Safety control s...

Страница 14: ...moves the power to the motor if the safe pulse disabler is activated switches the motor to torque free and can also control an internal motor brake The safety control system Activates the safety funct...

Страница 15: ...I5 I3 I2 I1 I6 Inputs Outputs Fig Inputs and outputs 4 2 1 Inputs The safety card has safe single pole inputs Inputs with fixed assignment SS1 Activate Safe Stop 1 SS1 SIL3 Reset Additional safe input...

Страница 16: ...readiness Outputs with fixed assignment STO Acknowledge 1 Power element switched off Internal error on servo amplifier or safety card Limit values exceeded Activated via SS1 0 Drive in closed loop ope...

Страница 17: ...ge Acknowledge 1 Drive is moving within the permitted limit values for speed or position 0 Drive is moving outside the permitted limit values for speed or position or monit oring is not activated SBA...

Страница 18: ...e which operates in accordance with the failsafe principle may be connected Supply voltage 24 VDC connection to supply the safety card s digital outputs 4 2 2 3 Output test The outputs are tested regu...

Страница 19: ...scan time of the power up test otherwise the load may switch on unintentionally Timing diagram 1 t1 t2 t1 t t2 t1 U 0 1 1 Signal 0 0 Signal t1 Pulse duration on power up test see Technical details t2...

Страница 20: ...iconductor outputs 1 Signal Inside the set limit values 0 Signal Outside the set limit values Simultaneous activation of safety functions All safety functions can be active at the same time However sa...

Страница 21: ...nd SS1 SIL3 Reset 1 Signal 24 VDC Ready output 1 Signal 24 VDC The safety card is ready for operation STO Acknowledge output 0 Signal To achieve SIL3 or PL e Connect the output STO SIL3 to servo ampli...

Страница 22: ...in a controlled manner and removes the power to the motor After a defined period STO delay time or once the motor is at standstill the safety function safe torque off STO removes the power to the mot...

Страница 23: ...d while the STO delay time is running the STO delay time has elapsed Input and output assignment Input X30 1 SS1 Activate Outputs X30 5 STO Acknowledge X30 16 Ready Prerequisites for normal operation...

Страница 24: ...plifier for controlled braking of the motor The braking ramp must only be configured in the Configurator if monitoring of the brak ing ramp is also activate there Safety Card Servo Amplifier M Input v...

Страница 25: ...lay time Tolerance window Braking ramp Limit value Standstill detection SS1 SIL3 Reset 1 0 STO Ready 1 0 t2 Timing diagram STO is started during the STO delay time Braking ramp Tolerance window Brakin...

Страница 26: ...rted The braking ramp can be monitored via a maximum position error specified in the Con figurator Braking ramp in normal operation The drive starts with the configured braking ramp when safety functi...

Страница 27: ...of the motor The braking ramp is configured in the Configurator Controller activated After the safety function is triggered the control system is sues a command to the servo amplifier for controlled b...

Страница 28: ...afety function SS1 SS1 SIL3 Reset Input for SIL 3 and reset SS2 Activate Input for safety function SS2 Ready Output for operating status of safety card and second output for feedback from safety funct...

Страница 29: ...t assignment in the Configurator Inputs I0 I6 SOS Activate Outputs O0 O3 SSA Safe Standstill Acknowledge Prerequisites for normal operation Input SS1 Activate and SS1 SIL3 Reset 1 Signal 24 VDC Ready...

Страница 30: ...still position is monitored SS1 Activate Input for safety function SS1 SS1 SIL3 Reset Input for SIL 3 and reset SOS Activate Input for safety function SOS Ready Output for operating status of safety c...

Страница 31: ...A tolerance range may also be set for the limit values used to monitor the speed This toler ance range modifies the set limit values As a result one off or periodic overshoots that ex ceed the limit...

Страница 32: ...nction SLS without tolerance range activated ta Activation of safety function SLS te Once the SLS delay time has elapsed the speed is monitored SS1 Activate Input for safety function SS1 SS1 SIL3 Rese...

Страница 33: ...it value ta Activation of safety function SLS te Once the SLS delay time has elapsed the speed is monitored ts Speed v exceeds the limit value and activates the tolerance range tolerance amount tolera...

Страница 34: ...the SSR delay time has elapsed the speed is monitored Output SRA Safe Range Acknowledge 1 signal If the limit value is exceeded safety function SS1 is activated A tolerance range may also be set for...

Страница 35: ...mum speed SSR SSR SRA Safe Range Acknowledge Fig Safety function SSR without tolerance range activated ta Activation of safety function SSR te Once the SSR delay time has elapsed the speed is monitore...

Страница 36: ...alues maximum and minimum speed ta Activation of safety function SSR te Once the SSR delay time has elapsed the speed is monitored ts Speed v exceeds the limit value and activates the tolerance range...

Страница 37: ...24 VDC Ready output 1 Signal 24 VDC The safety card is ready for operation STO Acknowledge output 0 Signal Input SDI Pos Activate 1 Signal 24 VDC Input SDI Neg Activate 1 Signal 24 VDC To achieve SIL3...

Страница 38: ...Activate Input for safety function SDI negative direction is monitored Ready Output for operating status of safety card and second output for feedback from safety function STO STO Acknowledge Output f...

Страница 39: ...hen is monitoring of the old direction of rotation deactivated see Case B in the illustra tion and timing diagram NOTICE Please note that the direction of rotation may only ever be monitored in one di...

Страница 40: ...the SDI delay time has elapsed the negative direction of rotation is monitored SS1 Activate Input for safety function SS1 SS1 SIL3 Reset Input for SIL 3 and reset SDI Neg Activate Input for safety fu...

Страница 41: ...monitored The current position of the motor is recorded and the motor is monitored for compliance with the maximum increment Increment and speed within permitted limits Output SRA Safe Range Acknowled...

Страница 42: ...ill s t v t Fig Safety function SLI without automatic activation ta Activation of safety function SLI te Once the SLI delay time has elapsed the increment is monitored SS1 Activate Input for safety fu...

Страница 43: ...1 0 SSA Safe Standstill Acknowledge Fig Safety function SLI with automatic activation ta Activation of safety function SLI te Once the SLI delay time has elapsed the increment is monitored SS1 Activat...

Страница 44: ...r and external encoder must not overflow during active monitoring of the absolute position Appropriate measures should be used to ensure that the encoder signals are adapted to the mechanical travel I...

Страница 45: ...s have a 0 signal INFORMATION When you use the Always monitor position option make sure that the axis can be reset to the permitted range after the limit value is exceeded Timing diagram s t SS1 SIL3...

Страница 46: ...with safety function STO This prevents a hazardous movement of the drive axis in a torque free state The safety function SBC can be connected to the servo amplifier s brake signal see INFORMATION belo...

Страница 47: ...ion SBC is activated Prerequisites for normal operation Input SS1 Activate and SS1 SIL3 Reset 1 Signal 24 VDC Ready output 1 Signal 24 VDC The safety card is ready for operation STO Acknowledge output...

Страница 48: ...dy 1 0 IB t v t SBC SBC 1 0 t1 t2 Fig Safety function SBC t1 Activation of safety function STO and SBC t2 End of safety function SBC SS1 Activate Input for safety function SS1 SS1 SIL3 Reset Input for...

Страница 49: ...ke engaged due to DISABLE on the servo amplifier C Brake vented D Brake engaged due to STO on the safety card E Brake engaged due to DISABLE on the servo amplifier Servo amplifier ENABLE ENABLE signal...

Страница 50: ...or Inputs I0 I6 SBT Activate Outputs O0 O3 SSA Safe Standstill Acknowledge SBA Safe Brake Acknowledge Prerequisites for normal operation Input SS1 Activate and SS1 SIL3 Reset 1 Signal 24 VDC Ready out...

Страница 51: ...time Ventilation Delay time Energisation Monitoring period Fig Safety function SBT t1 Activation of safety function SBT start of SBT delay time t2 Start of brake test brake engages t3 Start of monitor...

Страница 52: ...ued The safety card must be reset to resume operation The status of the safety card SS1 activated is transmitted to the servo amplifier As a result the information is available to a higher level contr...

Страница 53: ...r applies speed controlled braking with the preset braking ramp until standstill is achieved This status is maintained for as long as safety function SS2 is active If safety function SS2 is deactivate...

Страница 54: ...nse and error reaction time takes into account the following processing times Processing time of digital input TIN The time it takes for a 0 or 1 signal in the safety card to be detected once a signal...

Страница 55: ...ion control sys tem The control system passes the configuration to the respective safety card Download configuration to safety card Online from configurator to safety card Save configuration to extern...

Страница 56: ...for the servo amplifier CAUTION Damage due to electrostatic discharge Electrostatic discharge can damage components Ensure discharge before touching the safety card e g by touching an earthed conduct...

Страница 57: ...e servo amplifier When installing please note the guidelines given under Installation in the operating manual for the servo amplifier 1 Remove the film 2 Break the middle link 3 Break the top link and...

Страница 58: ...switch off the load Possible remedy Exclude the error by using separate multicore cable for supply voltages Use appropriate wiring to exclude short circuits between the outputs Signal lines must be sh...

Страница 59: ...ion 13 I4 Activate safety function 14 I5 Activate safety function 15 I6 Activate safety function 16 Ready Status Safety card ready for op eration and second output for feedback from safety function ST...

Страница 60: ...ded shield Strip all the wires and fit end ferrules Use the cable ties to attach the cable to the shielding plate on the side 1 or bottom 2 of the servo amplifier Press the cable s braided shield firm...

Страница 61: ...lly Connection 6 5 Digital outputs 6 5 1 Supply voltage The digital outputs need a 24 VDC supply When selecting the power supply please refer to the requirements stated under Tech nical Details The po...

Страница 62: ...V Pins 21 and 22 are linked internally Connector pin assignment Supply voltage L3 10 X30 L1 L2 0 V 21 22 24 V PE 24 V XGND Servo Amplifier Max cable length 30 m 24 V connection isolated from external...

Страница 63: ...V 16 Ready Status Safety card ready for oper ation and second output for feed back from safety function STO 19 STO SIL3 Second STO shutdown route for SIL 3 21 0 V Supply Supply voltage for digital ou...

Страница 64: ...mplifier 6 5 3 Dual pole outputs Connector X30 Pin Designation Description 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 X30 17 SBC Output Control external brake 18 SBC Output Control exter...

Страница 65: ...to do so could result in electric shock The power supplies must comply with EN 60950 1 05 2006 EN 61558 2 6 11 1997 Connector X30 Pin Name Description 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 2...

Страница 66: ...inals X30 11 22 across the lines V and 0 V 6 6 2 Incremental encoder with TTL signal If the cable length is 50 m please speak to our Customer Support Connector X31 Pin Name Description 1 5 6 9 1 A Cha...

Страница 67: ...pair shielded Shield connection within the housing Connection 6 6 3 Absolute encoder with SSI interface If the cable length is 50 m please speak to our Customer Support Connector X31 Pin Name Descrip...

Страница 68: ...PMCprotego S1 2 C 1002528 EN 03 68 Input circuit Incremental encoder 2 7 1 X31 4 Encoder 6 9 CLOCK CLOCK DATA DATA CLOCK CLOCK DATA DATA 0 V Vcc V 0 V X30 0 V V 11 22 Shielded Shield connection within...

Страница 69: ...mplifier DANGER Risk of electrocution Never wire the electrical connections on the servo amplifier while voltage is applied Switch off the mains voltages and 24 V supply Make sure that the control cab...

Страница 70: ...figured Please note that the inputs SS1 Activate and SS1 SIL3 Reset must always be connected 3 Connect the configuration PC to the servo amplifier or motion control system Connect the PC to the servo...

Страница 71: ...successful the servo amplifier s power element is enabled The Ready output has a 1 signal The RUN LED is lit SS1 SIL3 Reset 1 0 1 0 1 0 1 0 1 0 SS1 Activate Ready STO Acknowledge 1 0 LED CONFIG LED R...

Страница 72: ...ial commissioning Servo Amplifier 24 V X4 1 BTB RTO X3B 14 15 L1 L2 L3 X0 X8 Safety Card Sx 24 V X30 1 SS1 SIL3 Reset X30 20 Ready X30 16 STO Acknowledge X30 5 SS1 Activate X30 1 Servo Amplifier STO E...

Страница 73: ...rror This section describes the recommissioning process after an error has occurred Rectify the error noting The error messages in the error stack The LED display Perform a reset as follows Switch inp...

Страница 74: ...isites for using the CLRFAULT command The safety card is in STOP condition The STO LED flashes Both inputs SS1 Activate and SS1 SIL3 Reset have a 1 signal 24 V Alternatively this function can also be...

Страница 75: ...number of the new safety card We recommend that you swap the whole unit servo amplifier with safety card Please contact Pilz NOTICE Damage due to electrostatic discharge Electrostatic discharge can da...

Страница 76: ...d from an SD card in the servo amp lifier 5 Downloading a configuration via an SD card which is written by the servo ampli fier safety card 2 6 Inserting an SD card from the servo amplifier for safety...

Страница 77: ...d insert it into the servo amplifier s SD card read device 3 continue as described under Download configuration from SD card to safety card 2 option 5 Downloading a configuration via an SD card which...

Страница 78: ...ng the Configurator During this process the firmware for the servo amplifier is also reloaded Prerequisite The following files must be available on the SD card 3 or 6 default pdis Configuration file f...

Страница 79: ...comprises Proper execution of the employed safety functions Inspection of the parameters The result of the check on each safety function must be documented in a test report This test report must be si...

Страница 80: ...AFE OPERATION SS1 STO POWER ON Download configuration Safety function deactivated Safety function activated Demand upon Configurator Internal error Error STO Limit values Error SS1 Activate Error Rese...

Страница 81: ...esting the safe pulse disabler The safety card meets the requirements of EN IEC 61508 up to SIL 3 and EN ISO 13849 1 up to PL e To achieve category SIL 3 or PL e the operator must ensure that the func...

Страница 82: ...edge LED RUN t2 t t1 t1 At least 2 ms time during which SS1 Activate or SS1 SIL3 Reset must have a 0 signal t2 Approx 2 s safety card s run up time SS1 Activate Input for safety function SS1 SS1 SIL3...

Страница 83: ...ply voltage is not present Green Supply voltage is present RUN System not ready Green System ready RUN status Green System boots Star tup status CONFIG Normal operation Yellow Downloading the configur...

Страница 84: ...s chapter Outputs on the safety card display the state of the safety functions e g STO Acknow ledge Errors and messages are entered in the safety card s error stack The following are displayed in onli...

Страница 85: ...he input signal Binary Gray Binary Gray Signal at the data input Differential signal RS 422 Differential signal RS 422 Incremental encoder input 680004 680008 Number of inputs 1 1 Connection type 9 pi...

Страница 86: ...cuit proof Yes Yes Times 680004 680008 Response time 4 ms 4 ms Error reaction time 2 ms 2 ms Environmental data 680004 680008 Climatic suitability EN 60068 2 1 EN 60068 2 14 EN 60068 2 2 EN 60068 2 30...

Страница 87: ...20 IP20 Mechanical data 680004 680008 Material Front Steel 1 4016 Steel 1 4016 Top Polyester film Polyester film Conductor cross section with screw terminals Rigid single core flexible multi core or m...

Страница 88: ...amplifier Number of poles MPOLES Pole pair pitch MPITCH 9 1 1 1 MTTF 10 years Operating mode EN ISO 13849 1 2008 PL EN ISO 13849 1 2008 Category EN 62061 SIL CL EN 62061 PFHD 1 h IEC 61511 SIL IEC 615...

Страница 89: ...r all safety functions All the units used within a safety function must be considered when calculating the safety characteristic data 9 1 2 Safe actuator with two encoders Operating mode EN ISO 13849...

Страница 90: ...em Sensor Sensor 1 Motor encoder Sensor 2 External encoder Diversity with cross comparison PMCprotego D PMCprotego S1 The safety related characteristic data is valid for all safety functions All the u...

Страница 91: ...perating Manual PMCprotego S1 2 C 1002528 EN 03 91 10 Order reference Order reference Product type Features Order no PMCprotego S1 2 Safety Card 680 004 PMCprotego S1 2 C Safety card with coated circu...

Страница 92: ...iti ates the STO function if the motor speed drops below a defined limit value or c Initiates the motor delay and then initiates the STO function after an application specific time delay Safe Stop 2 S...

Страница 93: ...mo PMCprotego PMCtendo PMD 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 We would poi...

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