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Data exchange with higher-level controller

F process input data

Manual – MOVISAFE

CS..A Safety Card

Byte Bit Name

Valu
e

Description

Reserve

SSx1

The SSx1 drive safety function is not active, or an
error has occurred.

The SSx1 drive safety function is active.

SSx2

The SSx2 drive safety function is not active, or an
error has occurred.

The SSx2 drive safety function is active.

Reserve

24842532/EN – 04/2018

Содержание Movidrive CS**A Series

Страница 1: ...24842532_0418 Drive Technology Drive Automation System Integration Services Manual MOVIDRIVE modular MOVIDRIVE system MOVISAFE CS A Safety Card Edition 04 2018 24842532 EN...

Страница 2: ...SEW EURODRIVE Driving the world...

Страница 3: ...3 2 6 1 Restrictions of use 13 2 7 Electrical installation 13 2 8 Definitions 14 2 9 Startup operation 14 3 Safety concept 15 3 1 General information 15 3 2 Notes on stop categories 15 3 3 Pluggable s...

Страница 4: ...Scope of delivery 34 6 3 Compatibility 35 6 4 MOVISAFE CSS21A CSB21A 36 6 5 MOVISAFE CSB31A CSS31A 37 7 Mechanical installation 38 7 1 Before you start 38 7 2 Installation of the MOVISAFE CS A safety...

Страница 5: ...tion of the drive safety functions 64 9 5 1 Prerequisites 64 9 5 2 Parameterization procedure 64 9 5 3 Encoder error muting 65 9 5 4 Test mode 66 9 6 Startup of the fieldbus and the higher level F PLC...

Страница 6: ...rive safety function via safe communication 88 11 1 6 Response time in case of limit value violation in independent operation 91 11 1 7 Response time in case of limit value violation with safe communi...

Страница 7: ...Card 7 13 4 Sensor supply 105 13 5 Safe digital outputs 105 13 6 Characteristic safety values 106 13 6 1 Drive safety functions without encoder evaluation 106 13 6 2 Drive safety functions with encode...

Страница 8: ...e shows the grading and meaning of the signal words for safety notes Signal word Meaning Consequences if disregarded DANGER Imminent hazard Severe or fatal injuries WARNING Possible dangerous situatio...

Страница 9: ...3 Rights to claim under limited warranty Read the information in this documentation This is essential for fault free operation and fulfillment of any rights to claim under limited warranty Read the d...

Страница 10: ...Functional Safety for Synchronous Motors 1 6 Product names and trademarks The brands and product names in this documentation are trademarks or registered trademarks of their respective titleholders 1...

Страница 11: ...on the product pay attention to the following regula tions conditions documentation and information National and regional safety and accident prevention regulations Warning and safety signs on the pro...

Страница 12: ...is intended for installation in inverters The product is a programmable safety control for manufacturing safety cutoffs and functions The product is intended for use In emergency off devices As a saf...

Страница 13: ...must not be mechanically damaged or destroyed Observe the notes in chapter Mechanical installation 2 38 in the documenta tion 2 6 1 Restrictions of use The following applications are prohibited unles...

Страница 14: ...s during operation Mechanical blocking or internal drive safety functions of the product can cause a mo tor standstill Eliminating the cause of the problem or performing a reset may result in the driv...

Страница 15: ...ed off irrespective of the setpoints set With stop category 1 the MOVISAFE CS A safety card monitors the stopping of the drive and subsequently interrupts the supply of power to the motor With SS1 c t...

Страница 16: ...res that the para meterization tool Assist CS is connected to the correct device The user is authentic ated via the entry of a password 3 5 Report and safety check The acceptance report can be created...

Страница 17: ...1A and CSS31A safety cards can reliably monitor motion functions in conjunction with the following safety encoders ES7S EG7S AS7W AG7W AK0H AK1H EI7C FS The MOVISAFE CS A safety card switches off the...

Страница 18: ...r As a result the drive cannot generate torque This drive safety function corres ponds to a non controlled stop according to EN 60204 1 stop category 0 t V t1 9007201225613323 Drive safety function tr...

Страница 19: ...y function is triggered when the monitored deceleration is exceeded or when standstill is reached This drive safety function corresponds to a controlled stop of the drive according to EN 60204 1 stop...

Страница 20: ...rding to EN 60204 1 stop category 1 t2 t1 t V t 9007201225618443 Drive safety function monitored Drive safety function trips v Speed t Time t1 Point of time when SS1 c is activated and motor decelerat...

Страница 21: ...ety function will be triggered if the deceleration value is exceeded while stopping or if movement occurs during standstill STO means that standstill has to be ensured by a mechanical brake This drive...

Страница 22: ...standstill has to be ensured by a mechanical brake This drive safety function corresponds to a controlled stop of the drive according to EN 60204 1 stop category 2 t1 t2 t t V 9007201429937291 Drive...

Страница 23: ...700491 Drive safety function monitoring Drive safety function trips v Speed t Time t1 Point in time when SOS is triggered t2 Point in time when SOS is deactivated 3 7 7 SLA Safely Limited Acceleration...

Страница 24: ...rive safety function trips v Speed t Time t1 Time when SLS is activated t2 Time when SLS is deactivated 3 7 9 SSR Safe Speed Range The SSR function prevents the speed of the drive from exceeding a spe...

Страница 25: ...t1 Point in time at which SSM is activated t2 Point in time at which SSM is deactivated 3 7 11 SDI Safe Direction The SDI function prevents movement in an unintended direction If this condition is vi...

Страница 26: ...S2 S3 9007201225720459 Drive safety function monitoring Drive safety function trips v Speed s Distance s1 s2 Point in time when SLI is activated s2 s3 Point in time when SLI is deactivated s Safe inc...

Страница 27: ...he PC and the Assist CS para meterization tool are not safety related and therefore possibly not error free the safety concept prescribes the following measures Identification of the MOVISAFE CS A The...

Страница 28: ...ensors that are supplied by a separate voltage supply and connec ted to the MOVISAFE CS A safety card The encoder cable must not carry a TF signal when connecting an EI7C FS built in encoder to the MO...

Страница 29: ...d pairs as follows UB and GND A and A B and B The encoder cable may exhibit the following maximum capacitances per unit length Capacitance per unit length core core CA 70 pF m Capacitance per unit len...

Страница 30: ...response time may not be exceeded The user must ensure implementation of the requirements of the required performance level pursuant to EN ISO 13849 1 4 5 Requirements for stopping in an emergency to...

Страница 31: ...RN132S ES7S 13642898 13642715 AS7W 13643916 13643878 EDR 160 EDR 280 EDRN132M EDRN280 EG7S 13642952 13642782 AG7W 13643924 13643886 4 6 3 Safety encoders on the CMP CMPZ synchronous servomotor The saf...

Страница 32: ...termines the average speed over the last 4 recorded encoder increments The response time of the encoder evaluation is thus dependent on the actual speed The error in the calculated speed value equals...

Страница 33: ...ocking device The additional preventive measures must cover the danger zone until no further danger to personnel exists As an alternative you must equip the drive with a safety brake The additional pr...

Страница 34: ...y card CS Series C MOVI C option card S Safety x Function B Basic Stop functions without encoder S Standard Speed functions with a safe encoder x Hardware design 1 MOVITRAC 2 MOVIDRIVE without 2nd Enc...

Страница 35: ...xx xx xx 13 00 xx xx xx 11 00 3 xx xx xx 13 00 xx xx xx 11 00 4 xx xx xx 13 00 xx xx xx 11 00 5 xx xx xx 13 00 xx xx xx 11 00 6 xx xx xx 13 00 xx xx xx 11 00 The xx entries have no effect on compatibi...

Страница 36: ...A Safety Card 36 6 4 MOVISAFE CSS21A CSB21A MOVISAFE CSS21A CSB21A 4700 0015 E223 282D XS X60 CSS21A F RUN F ERR 14 13 1 2 1 2 3 4 20367319307 1 XS Slot for the pluggable safety key 2 F RUN LED 3 F E...

Страница 37: ...SS31A MOVISAFE CSB31A CSS31A 0800 0015 DF1F 652D XS X60 X17 CSB31A F RUN F ERR 1 9 8 15 14 13 1 2 1 2 3 4 5 20370612875 1 XS Slot for the pluggable safety key 2 F RUN LED 3 F ERR LED 4 X17 Connection...

Страница 38: ...allation of the MOVISAFE CS A safety card Installation of the MOVISAFE CS A safety card The MOVISAFE CS A safety card can be installed only in the following inverters Inverter MO VISAFE CS 21A MO VISA...

Страница 39: ...CS A Safety Card 39 3 Remove the safety cover 1 from the front of the application inverter 1 2 1 5 4 3 2 1 5 4 3 2 1 27021611749935499 4 Remove the plastic cover 1 at the card slot 1 1801441249519207...

Страница 40: ...torque 0 6 0 8 Nm 18014412495199371 7 Install the safety cover at the front side of the application inverter 7 4 Installation of the MOVISAFE CS A safety card MOVIDRIVE system Installation of the MOV...

Страница 41: ...uit able measures for equipotential bonding include for example the use of a dis charge strap or wearing conductive shoes 3 Remove the safety cover 1 from the front of the application inverter 1 2 1 5...

Страница 42: ...ard MOVIDRIVE system Manual MOVISAFE CS A Safety Card 42 5 Take the MOVISAFE CS A safety card 1 and insert it in the slot with slight pres sure 1 15160623243 6 Screw the safety card tight with the spe...

Страница 43: ...tion Installation of the MOVISAFE CS A safety card MOVIDRIVE system Manual MOVISAFE CS A Safety Card 43 7 Install the safety cover 1 at the front of the application inverter 1 5 4 3 2 1 2 1 1457845530...

Страница 44: ...VE modular system No voltage may be connected 8 2 Installation instructions To guarantee electrical safety and fault free operation you must observe the general installation instructions and the notes...

Страница 45: ...5 F DI02 Safe digital input F DI02 X60 6 F DI03 Safe digital input F DI03 X60 7 GND Reference potential for safe inputs outputs X60 8 GND Reference potential for safe inputs outputs X60 9 F SS0 DC 24...

Страница 46: ...onnection variants might be limited de pending on the sensor type Note in addition the chapter Requirements for external sensors and actuators as well as the general installation regulations Possible...

Страница 47: ...acts are moved into the opened activated state after the occurrence of the discrepancy error so that the two input signals assume the required state for the switch test Connection type Dual channel eq...

Страница 48: ...itoring is not active e g for sensors with OSSD output the sensors can be supplied either from F SS0 F SS1 or from another 24 V supply that has the same ground reference WARNING Danger due to incorrec...

Страница 49: ...input F DI Crossfault between a sensor supply line F SS and a 24 V supply voltage if the di gital input F DI is assigned to the sensor supply and the switch contact belonging to F DI is closed Crossf...

Страница 50: ...riant 2 Dual channel contact equipped sensor in equivalent connection variant Operation with activated crossfault monitoring The following errors are detected Crossfault between every digital input li...

Страница 51: ...alent connection variant the NC contact is connected to the sensor supply F SS0 8 5 7 Active sensors dual channel When connecting a dual channel sensor with additional voltage supply the voltage is su...

Страница 52: ...and another digital input line F DIy which is assigned to another sensor supply if at least the associated switch con tact of the other digital input F DIy is closed Crossfault between a digital input...

Страница 53: ...3 WARNING If crossfault monitoring is deactivated the MOVISAFE CS A safety card cannot detect crossfaults in the cabling Severe or fatal injuries Make sure that crossfaults are not possible at the saf...

Страница 54: ...on its own The faults detected in the cabling depend on the diagnostic function of the used sensor For OSSD sensors the following two connection variants are possible examples Variant 1 If contact equ...

Страница 55: ...F SS sensor supply lines can provide 8 6 Safe digital outputs F DO 8 6 1 General information The processing of the safe digital outputs takes place inside the MOVISAFE CS A safety card in dual channe...

Страница 56: ...onic assemblies as buffer capacitors If the capacitive load has a diode in series to its input the maximum load capacity permitted is 12 F This diode is often installed as polarity protection diode in...

Страница 57: ...cted Operating the devices without line diagnostics is therefore not recommended WARNING When line diagnostics is deactivated the MOVISAFE CS A safety card cannot de tect a short circuit between a sou...

Страница 58: ...nostics The MOVISAFE CS A safety card detects the following faults in the external cabling when the output is switched on or off Short circuit between sourcing output and a supply voltage that lies wi...

Страница 59: ...multaneously This can be achieved via a drive safety function STO SBC assigned to both outputs or via the secure process output data F PA F DO00 and F DO01 The MOVISAFE CS A safety card detects the fo...

Страница 60: ...s activated Short circuit between different sourcing outputs Short circuit between the P output and the reference potential 0 V Overload at every output Wire break F DO if activated WARNING In case of...

Страница 61: ...er signal The MOVISAFE CS A safety card detects interruptions and crossfaults in the en coder line If a fault occurs the MOVISAFE CS A activates the drive safety function STO in the MOVIDRIVE modular...

Страница 62: ...stem the FCB 01 Output stage inhibit function block must be selected in the MOVISUITE parameter tree under Functions Drive functions In FCB 01 Output stage inhibit the Close brake with STO parameter m...

Страница 63: ...supported by a acceptance protocol generated in the Assist CS parameterization tool For startup perform the following steps 1 Parameterization of drive safety functions in the Assist CS parameterizati...

Страница 64: ...neering interface to the MOVIDRIVE device RS485 Ethernet etc 3 Start the Assist CS parameterization tool Start the Assist CS parameterization tool from the MOVISUITE interface A window opens with a pr...

Страница 65: ...hout any errors you can start up the standard functions and if required make the connection to the higher level safety controller F PLC 9 5 3 Encoder error muting WARNING The active function Encoder e...

Страница 66: ...limit value viola tion activation of drive safety function STO 5 minutes after activation 9 6 Startup of the fieldbus and the higher level F PLC Note that this startup option supports only the safe f...

Страница 67: ...mmunication occurs in the Safe state operating state All safe digital inputs and outputs are disconnected from power The Safe state operating state can be resolved only by deactivation and reactivatio...

Страница 68: ...verified by exceeding each limit value and then triggering the defined state safe state STO brake de en ergized You may must take this into account in the machine and system controls 9 8 2 Creating an...

Страница 69: ...ate you must ensure that the system is in idle state and no dangerous movements can be performed No drive safety function is approved in the delivery state of the safety card The safety card permanent...

Страница 70: ...re of the MOVI C CONTROLLER UHX84A R UHX85A R in MOVISUITE in the Device data Main components System package section Firmware V2 0 Release 201703xxxx March 2017 and older supports up to 8 safety cards...

Страница 71: ...ble Data type Function Presetting Variables that the user can control DBX0 0 F00008_198 PASS_ON BOOL 1 Activate pas sivation 0 DBX0 1 F00008_198 ACK_NEC BOOL 1 Acknowledg ment required for reintegra t...

Страница 72: ..._REI In order to reintegrate the safety card after the fault has been corrected user acknow ledgment with positive edge at the variable ACK_REI is required Acknowledgment is possible only if variable...

Страница 73: ...dgment of the locked digital inputs 1 Acknowledgment has been requested re acknow ledgment by edge 0 1 7 Acknow ledgment error 0 No acknowledgment Edge 0 1 Acknowledgment of the pending errors 1 Ackno...

Страница 74: ...erve 7 Reserve 10 3 2 CSB31A profile variant Technology Bus F DO Byte Bit Name Value Description 0 0 STO1 0 The STO drive safety function is selected 1 The STO drive safety function is not selected 1...

Страница 75: ...DO01 0 Output F DO01 is not selected The safety related output is open 1 Output F DO01 is selected The safety related output is closed 2 Reserve 3 Reserve 4 Reserve 5 Reserve 6 Reserve 7 Reserve 2 0...

Страница 76: ...r control muting 0 Test mode for drive safety functions is not selected 1 Test mode for drive safety functions is selected 6 Acknow ledge F DI 0 No acknowledgment Edge 0 1 Acknowledgment of the locked...

Страница 77: ...ted 6 SLI1 0 The SLI1 drive safety function is selected 1 The SLI1 drive safety function is not selected 7 SLI2 0 The SLI2 drive safety function is selected 1 The SLI2 drive safety function is not sel...

Страница 78: ...F PA otherwise an error in the encoder system leads im mediately to an encoder error 10 4 F process input data 10 4 1 CSB21A profile variant Technology Bus STO Byte Bit Name Valu e Description 0 0 STO...

Страница 79: ...F DI02 no voltage or error is present 1 Process value of digital safe digital input F DI02 voltage is present 3 F DI03 0 Process value of digital safe digital input F DI03 no voltage or error is prese...

Страница 80: ...safety card 7 Error state 0 The safety card is in error free operation 1 At least one warning is active in the safety card 1 0 F DI00 0 Process value of digital safe digital input F DI00 no voltage o...

Страница 81: ...Sx1 drive safety function is not active or an error has occurred 1 The SSx1 drive safety function is active 3 SSx2 0 The SSx2 drive safety function is not active or an error has occurred 1 The SSx2 dr...

Страница 82: ...n has determined the ex ceeding of a limit value 1 At least one selected drive safety function has determined the exceeding of a limit value or can not execute limit value monitoring as a con sequenti...

Страница 83: ...tal input F DI03 voltage is present 4 Reserve 5 Reserve 6 Reserve 7 Reserve 2 0 SOS1 0 The SOS1 drive safety function is not active or an error has occurred 1 The SOS1 drive safety function is active...

Страница 84: ...ction is active 5 SSR2 0 The SSR2 drive safety function is not active or an error has occurred 1 The SSR2 drive safety function is active 6 Reserve 7 Reserve 4 0 SLA1 0 The SLA1 drive safety function...

Страница 85: ...FS pro tocol the value 0 is written for Error State 10 5 Acknowledgment of safety card 10 5 1 Acknowledgment of PROFIsafe data exchange The PROFIsafe communication must be error free for safe data exc...

Страница 86: ...afety function in your application and determine the maximum response time for each case taking into account the relevant manufacturer data Observe in particular the information contained in the safet...

Страница 87: ..._VEL Filter time speed 8708 4 1 n_Actual T_Task T_Sys Response time encoder error Deactivation F DO_STO F DOx 8 ms Setting error status F PE 12 ms 11 1 2 Safe digital input F DI All response times mus...

Страница 88: ...ssing_F DI T_Sys SSx b monitoring delay t2 8706 9 Actual_speed SSx b delay a 8706 10 SSx x jerk time2 t3 8706 11 SS1 c T_InputProcessing_F DI T_Sys SSx c delay t1 8706 8 brake application time1 8706 1...

Страница 89: ...2 T_Sys SSx c delay t1 8706 8 brake application time1 8706 15 Via F DI T_InputProcessing_F DI 2 T_Sys SSx c delay t1 8706 8 brake application time1 8706 15 SS2 c Via F PA T_InputProcessing_F PA T_Sys...

Страница 90: ...s monitoring delay t2 8706 53 Via F DI T_InputProcessing_F DI T_Sys monitoring delay t2 8706 53 SDI Via F PA T_InputProcessing_F PA T_Sys Via F DI T_InputProcessing_F DI T_Sys SLI Via F PA T_InputProc...

Страница 91: ...STO T_ENC_VEL T_Sys SS1 c T_ENC_VEL T_Sys SSx c delay t1 8706 8 brake application time1 8706 15 SS2 c T_ENC_VEL T_Sys SSx c delay t1 8706 8 SS1 b T_ENC_VEL T_Sys SSx b monitoring delay t2 8706 9 brak...

Страница 92: ...b delay a 8706 10 SSx x jerk time2 t3 8706 11 SSM T_ENC_VEL T_Sys SSR with parameter ized error response STO T_ENC_VEL 2 T_Sys SS1 c T_ENC_VEL 2 T_Sys SSx c delay t1 8706 8 brake application time1 87...

Страница 93: ...2 Calculation factor formula symbol Calculation specification response time Response time T_InputProcessing_F DI_Deselection T_InputProcessing_F DI_Deselection 16 ms 11 1 9 Deselection of a drive safe...

Страница 94: ...come void if the user modifies the device internally e g ex change of components welding parts 12 2 Waste disposal Observe the applicable national regulations Dispose of materials separately in ac cor...

Страница 95: ...more of the following constraints The safety card controls inverters Test mode Off Device off 12 3 2 F ERR LED The following table shows the states of the F ERR LED LED status Meaning Red Critical er...

Страница 96: ...and outputs as applicable System error Entry in fault memory and safe state of digital in puts and outputs Critical error Entry in fault memory and safe state of digital in puts and outputs No safe c...

Страница 97: ...arameterized this always leads to an en coder error In addition the corresponding error code is transferred for the encoder error that occurred The acknowledgment of the encoder error with activated d...

Страница 98: ...e communication is suspen ded In addition the corresponding error code is transferred for the critical error that oc curred Error messages If there is an error in the safety card the inverter indicate...

Страница 99: ...g type See error status Subcomponent safety card Subfault 46 51 Description Error Response Emergency stop and output stage inhibit with self reset Cause Measure The safety option signals a subcomponen...

Страница 100: ...e dispatched diagnostic alarm if the Diagnostic alarm as sembly parameter is enabled for the safety card in the F host per configuration De pending on the fieldbus used PROFIBUS DP or PROFINET IO the...

Страница 101: ...that do not directly trigger an error response of the CS A safety card Essentially these are the message Power On primary error 66 and sub error 100 and the message Acknowledgment mes sage primary er...

Страница 102: ...has been loaded The MOVISAFE CS A safety card is subsequently in the same state that it was in before the device replacement This means that the MOVISAFE CS A safety card will be in the Accepted stat...

Страница 103: ...em operating instructions 0 C 40 C without derating 40 C 55 C with derating Ambient temperature of MOVIDRIVE modular all sizes 0 C 45 C without derating Installation altitude Maximum 3800 m 13 2 Gener...

Страница 104: ...ut 5 V or 1 5 mA Logic 1 HIGH input 11 V and 2 mA Reference ground GND Power demand typical 0 21 W at DC 24 V Input current 15 mA Input resistance 4 k at DC 24 V Input filter time parameterizable 4 ms...

Страница 105: ...ocked 0 1 mA 13 5 Safe digital outputs F DO00_P M F DO01_P M Value description Properties DC 24 V output pursuant to EN 61131 2 Short circuit and overload protection Rated current 150 mA Inrush curren...

Страница 106: ...STO SS1c SBC Safe digital inputs outputs Safe communication INFORMATION In the case of 1 pole wiring of the safe digital inputs outputs the feasible perform ance level pursuant to EN ISO 13849 1 is re...

Страница 107: ...ess output data 73 F periphery access of the safety card in the TIA portal 70 Introduction 70 Definitions 14 Designated use 12 Device replacement With MOVI C CONTROLLER 102 With MOVISUITE 102 Device s...

Страница 108: ...ard 71 H Hazard symbols Meaning 8 I Startup Restore delivery state 69 Installation Safety notes 13 Installation of the MOVISAFE CS A safety card In MOVIDRIVE modular 38 In MOVIDRIVE system 40 M Mechan...

Страница 109: ...mentation 8 Installation 13 Meaning of the hazard symbols 8 Preliminary information 11 Setup 13 Structure of embedded 9 Structure of the section related 8 Safety relevant acceptance Confirming accepta...

Страница 110: ...TO Safe Torque Off 18 T Target group 11 Technical data 103 Characteristic safety values 106 General electrical data 103 General technical data 103 Power consumption of the option cards 103 Safe digita...

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Страница 116: ...SEW EURODRIVE Driving the world SEW EURODRIVE GmbH Co KG Ernst Blickle Str 42 76646 BRUCHSAL GERMANY Tel 49 7251 75 0 Fax 49 7251 75 1970 sew sew eurodrive com www sew eurodrive com...

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