Sanyo Denki Sanmotion R 3E S, Инструкция по эксплуатации

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10. Safe Torque Off function
10-3
10.2.2 Standards conformity
This function meets the following safety functions, safety standards, and safety parameters.
✔ Probability of a dangerous Failure per Hour (PFH) of this function (Safe Torque Off circuit)
achieves less than 25% of required level of SIL3 and 2% of required level of SIL2.
✔
To suffice ISO13849-1:2006, Cat3, PL=d, you need to design machine safety system so as to
detect failure of STO circuit by surely using Error Detection Monitor (EDM).
✔
The Mean Time to Dangerous Failure (MTTFd) for this function is a hundred year. The
Diagnostic Coverage (DC) for this function with use of Error Detection Monitor (EDM) is 92%.
✔
For another standards conformity of Safety Function and Safety Standard,
refer to Chapter 12.
✔ Please contact us if error detection by EDM is not used.
10.2.3 Risk assessment
This servo amplifier unit meets the requirements of the above functional safety standards.
However, before activating this safety function, make sure to assess the risks associated with
the overall equipment to ensure safety.
10.2.4 Residual risk
Even if this function activated, the following risks remain. Please ensure the safety is maintained
even if these risks occur, by performing risk assessments.
■
When this function is activated while servo motor is running, the power supply to the motor is
shut down, however, the motor continues to run a while because of inertia. Please make sure
to design the safety system to prevent any danger until the motor stops completely.
■
When servo motor used in vertical axes, the motor rotates by gravity. Please be advised that
preparing means for stopping such as mechanical brake at your end is needed. Moreover,
please note that servo brake circuit of servo amplifier, dynamic brake circuit, holding brake
excitation signal, and servo motor holding brake are not safety related devices.
■
If the power device malfunctions and causes inter-phase shorting, the servo motor may move
within a range of up to 180 degrees in electrical angle and remain in the excited state. For
your information, the travel distance of R motor in this occasion is as follows;
R-motor travel distance: 1/10 turns (rotation angle at the motor shaft).
■
Be sure to check if this function works properly when the machine is operated for the first time
or servo amplifier is replaced. If the servo amplifier is incorrectly used due to miswiring of
input / output signals, this function will not work properly, which may incur danger.
■
Even when this function is working, power supply to servo amplifier is not shut down. Be sure
to shut down power supply before you perform maintenance or checkup of servo amplifier, in
which you may be exposed to electric shock.
Item Standard
Safety
functions
■
IEC61800-5-2, safe-torque-off (STO) / EN61800-5-2
■
IEC60204, Stop Category 0 / EN60204
Safety
Standards
■
IEC61508(2
nd
), SIL3, HFT=1, type B / EN61508
■
IEC62061, SILCL3, HFT=1, type B / EN62061
■
ISO13849-1:2006, Cat3, PL = e (When error detection performed by
using EDM) / EN ISO 13849-1 / AC:2009
■
ISO13849-1:2006, PL = c (When error detection not performed.)
/ EN ISO 13849-1 / AC:2009