Pilz PMCprotego S1--2 Manuale utente

PMCprotegoS12(C)

OperatingManual1002528EN03

PMCprotegoSafeMotion

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

Content

OperatingManualPMCprotegoS12(C)

1002528EN03 3

Section1 Introduction 5

1.1 Validityofdocumentation 5

1.1.1 Retainingthedocumentation 5

1.2 Definitionofsymbols 5

Section2 Overview 7

2.1 Unitstructure 7

2.1.1 Unitfeatures 7

2.2 Frontview 8

Section3 Safety 9

3.1 Intendeduse 9

3.1.1 Permittedmotortypes 10

3.1.2 Permittedmotorencodertypes 10

3.1.3 Useofqualifiedpersonnel 11

3.1.4 Warrantyandliability 11

3.1.5 Disposal 11

3.2 Standards 12

Section4 Functiondescription 13

4.1 Overview 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STO 20

4.3.2 SafeStop1SS1 22

4.3.3 SafeStop2SS2 26

4.3.4 SafeOperatingStopSOS 28

4.3.5 SafelyLimitedSpeedSLS 30

4.3.6 SafeSpeedRangeSSR 34

4.3.7 SafeDirectionSDI 37

4.3.8 SafelyLimitedIncrementSLI 41

4.3.9 SafelyLimitedPositionSLP 44

4.3.10 SafeBrakeControlSBC 46

4.3.11 SafeBrakeTestSBT 50

4.4 Operatingmodeoftheservoamplifier 52

4.5 Reactiontimes 54

4.6 Configuration 55

Section5 Installation 56

5.1 Generalrequirements 56

5.2 Dimensions 56

5.3 Installingthesafetycard 57

Content

OperatingManualPMCprotegoS12(C)

1002528EN03 4

Section6 Wiring 58

6.1 Generalwiringguidelines 58

6.2 Connectorpinassignment 59

6.3 Shielding 59

6.4 Digitalinputs 60

6.5 Digitaloutputs 61

6.5.1 Supplyvoltage 61

6.5.2 Singlepoleoutputs 63

6.5.3 Dualpoleoutputs 64

6.6 Encoder 65

6.6.1 Supplyvoltage 65

6.6.2 IncrementalencoderwithTTLsignal 66

6.6.3 AbsoluteencoderwithSSIinterface 67

Section7 Commissioning 69

7.1 Safetyguidelines 69

7.2 Initialcommissioning 69

7.3 Recommissioning 72

7.3.1 Recommissioning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configurationfromConfiguratortosafetycard 76

7.3.3.2 DownloadconfigurationtoSDcard 77

7.3.3.3 DownloadconfigurationfromSDcardtosafetycard 78

7.4 Safetychecks 79

Section8 Operation 80

8.1 Operatingstates 80

8.2 Testingthesafepulsedisabler 81

8.3 Displayelements 83

8.4 Messages 84

Section9 Technicaldetails 85

9.1 Safetycharacteristicdata 88

9.1.1 Safeactuatorwithoneencoder 88

9.1.1.1 MTTF>=10years 88

9.1.1.2 MTTF>=57years 89

9.1.2 Safeactuatorwithtwoencoders 89

Section10 Orderreference 91

Section Glossary 92

Introduction

OperatingManualPMCprotegoS12(C)

1002528EN03 5

1 Introduction

1.1 Validityofdocumentation

ThisdocumentationisvalidfortheproductsPMCprotegoS12andPMCprotegoS12C.It

isvaliduntilnewdocumentationispublished.

Thisoperatingmanualexplainsthefunctionandoperation,describestheinstallationand

providesguidelinesonhowtoconnecttheproductPMCprotegoS12(C).

Pleasealsorefertothefollowingdocumentsfromthemotioncontrolrange:

}TheconfigurationoftheexpansioncardisdescribedintheonlinehelpfortheConfigur

atorPASconfigSDrive.

}TheservoamplifierPMCprotegoDisdescribedinthe"PMCprotegoDoperating

manual".

}Details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willneedtobeconversantwiththeinformationinthesedocumentsinordertofullyun

derstandthismanual.

1.1.1 Retainingthedocumentation

Thisdocumentationisintendedforinstructionandshouldberetainedforfuturereference.

1.2 Definitionofsymbols

Informationthatisparticularly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.

Introduction

OperatingManualPMCprotegoS12(C)

1002528EN03 6

CAUTION!

Thisreferstoahazardthatcanleadtoalessseriousorminorinjuryplus

materialdamage,andalsoprovides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canbe

taken.Italsohighlightsareaswithinthetextthatareofparticularimport

ance.

INFORMATION

Thisgivesadviceonapplicationsandprovidesinformationonspecialfea

tures.

Overview

OperatingManualPMCprotegoS12(C)

1002528EN03 7

2 Overview

2.1 Unitstructure

ThesafetycardPMCprotegoS12(C)isanexpansionoftheservoamplifierPMCprot

egoD.Itisusedforsafemotionmonitoring,whichisachievedinconjunctionwiththe

standardmotorencoderandservoamplifier.Intheeventofanerror,theservoamplifier's

powerelementshutsdownthepowerquicklyandsafely.

2.1.1 Unitfeatures

Thesafetycardhasthefollowingfeatures:

2singlepoledigitalinputstoactivatethesafetyfunctionSafeStop1(SS1)inaccordance

withEN6180052(fixedassignment):

}SafetyfunctionSafeStop1(SS1)

}InputtoachieveSIL3andtoresetthesafety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OperatingStop(SOS)

}SafeSpeedRange(SSR)

}SafelyLimitedSpeed(SLS)

}SafeDirection(SDI)

}SafeBrakeTest(SBT)(notdefinedinEN6180052)

}SafelyLimitedIncrement(SLI)

}SafelyLimitedPosition(SLP)

3singlepoledigitaloutputswithfixedfunction:

}SafeTorqueOff(STO)

}Safetycardready

}Secondshutdownroute(STOSIL3)

4singlepoledigitaloutputs,whichcanbefreelyassignedthestatusofsafetyfunctions.

1dualpoledigitaloutputfor

}SafeBrakeControl(SBC)

1inputforincrementalencoderorencoderwithSSIsignal

Supplyvoltage

}24VDCfordigitaloutputs

LEDsfor

}Supplyvoltage(POWER)

}Systemstatus(RUN)

}Downloadofconfigurationdata(CONFIG)

}Faultordrivetorquefree(STO)

Overview

OperatingManualPMCprotegoS12(C)

1002528EN03 8

Ctype:

}PMCprotegoS12C:Coatedcircuitboard

2.2 Frontview

RUN

POWER

STO

CONFIG

X30

X31

8176105 12

100001

Key:

}1:Screwforattachmenttotheservoamplifier

}2:LEDstodisplayoperatingstates

}3:Inputs/outputsandsupplyvoltage

}4:Labellingstripwith:

– Ordernumber

– Serialnumber

– Numberofdeviceversion

}5:2Dcode

}6:Connectionforencoder

Safety

OperatingManualPMCprotegoS12(C)

1002528EN03 9

3 Safety

3.1 Intendeduse

ThesafetycardPMCprotegoS12(C)isanexpansionoftheservoamplifierPMCprot

egoD.Itisdesignedforuseinsafetyrelatedapplications.

ItmeetstherequirementsforsafetyfunctionsinaccordancewithEN6180052,withre

gardtosafemotionmonitoring.

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functionofthesafe

pulsedisableristestedperiodically,after8hoursatthelatest,bytriggeringsafetyfunctions

SS1orSTO:

}ByrestartingaftersafetyfunctionsSS1orSTOhavebeentriggeredasaconditionof

operation

}ByrestartingaftersafetyfunctionSS1hasbeentriggeredbytheoperator

INFORMATION

Totestthe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electricalmodificationtotheservoamplifier

}Useoftheservoamplifieroutsidetheareasdescribedinthismanual

}Useoftheservoamplifieroutsidethedocumentedtechnicaldetails(seechapteren

titled“TechnicalDetails”)

IntendeduseincludesmakingtheinstallationandwiringEMCcompliant.

Intendedusealsoincludescompliancewiththe

}OperatingmanualforthePMCprotegoD

}OnlinehelpfortheconfigurationtoolPASconfigSDrive.

INFORMATION

FortheuseofthesafetycardinaPMCprotegoD,theapprovalsoftherel

evantservoamplifierapply(seeTechnicalDetailsintheoperatingmanual

oftheservoamplifiers).

ThesafetycardPMCprotegoS12(C)fromVersion1.0mayonlybeusedinconjunction

withthefollowingservoamplifiers:

}PMCprotegoD.01fromVersion1.1

}PMCprotegoD.03fromVersion1.1

}PMCprotegoD.06fromVersion1.1

Safety

OperatingManualPMCprotegoS12(C)

1002528EN03 10

}PMCprotegoD.12fromVersion1.1

}PMCprotegoD.24fromVersion1.1

}PMCprotegoD.48fromVersion1.1

}PMCprotegoD.72fromVersion1.1

3.1.1 Permittedmotortypes

Thefollowingmotortypesareapprovedforusewiththesafetycard:

}Rotarysynchronousmotors

}Linearsynchronousmotors

Pleasenote:Theuseofsynchronousmotorswithoutmotorencoder(sensorlessoperation)

isnotpermitted.

Workisinprogressforusewith:

}Asynchronousmotors

Pleasenotethefollowingfaultdetectionguidelines:

Whenthedriveisoperatedwithanencoder(standardmotorencoderontheservoampli

fier),afaultontheencodersystem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accordancewiththefollowingformula:

Distance=(Numberofpoles/2)·Polepairpitch

Commandsintheservoamplifier:

– Numberofpoles:MPOLES

– Polepairpitch:MPITCH

3.1.2 Permittedmotorencodertypes

Themotorencoderisconnectedtoaninputontheservoamplifier.Thefollowingmotoren

codertypesareapprovedforusewiththesafetycard:

Encodertype

Feedbacktype

(parameter

FBTYPE)inthe

servoamplifier's

commissioning

software

Connectionto

theservoampli

fier

Statusforopera

tionwithsafety

card

Resolver 0 X2 Enabled

Hiperface(Stegmann) 2 X1 Enabled

EnDat(Heidenhain) 4 X1 Enabled

SinCos5VwithW&S 7 X1 Enabled

RS42224V 12 X3 Enabled

ROD5VwithHall 15 X1 Enabled

Questo manuale è adatto per i seguenti modelli

Indice

Altri manuali Pilz Unità di controllo

Pilz

Pilz PNOZ ms1p Manuale utente

Pilz

Pilz PNOZmulti PNOZ mmc3p Manuale utente

Pilz

Pilz PIT gb LLLE Manuale utente

Pilz

Pilz PIT si1.1 Manuale utente

Pilz

Pilz PNOZ m EF 16DI Manuale utente

Pilz

Pilz PNOZ m0p Manuale utente

Pilz

Pilz PSSu E F 4DO 0.5 Manuale utente

Pilz

Pilz PSSu K F EI Manuale utente

Pilz

Pilz mc1p coated Manuale utente

Pilz

Pilz PSS u2 ES 4AO U/I Manuale utente

Pilz

Pilz PIT gb Series Manuale utente

Pilz

Pilz PNOZ m ES ETH Manuale utente

Pilz

Pilz PDP67 F 8DI ION Manuale utente

Pilz

Pilz PSSu E F PS2 Manuale utente

Pilz

Pilz PNOZ m ES Powerlink Manuale utente

Pilz

Pilz PZE 7 Manuale utente

Pilz

Pilz PSEN cs 4.2p/M12 Manuale utente

Pilz

Pilz PNOZ m EF 8DI4DO Manuale utente

Pilz

Pilz PNOZ mc7p Manuale utente

Pilz

Pilz PNOZ mc7p Manuale utente

Pilz

Pilz PNOZ mmc1p Manuale utente

Pilz

Pilz PSS CPU Series Manuale utente

Pilz

Pilz PNOZmulti 2 Manuale utente

Pilz

Pilz PNOZ mc6p Manuale utente

Manuali Unità di controllo popolari di altre marche

Festo

Festo Compact Performance CP-FB6-E Manuale elenco delle parti

Elo TouchSystems

Elo TouchSystems DMS-SA19P-EXTME Manuale utente

JS Automation

JS Automation MPC3034A Manuale utente

JAUDT

JAUDT SW GII 6406 Series Guida rapida

Spektrum

Spektrum Air Module System Manuale utente

BOC Edwards

BOC Edwards Q Series Manuale utente

KHADAS

KHADAS BT Magic Manuale utente

Etherma

Etherma eNEXHO-IL Manuale utente

PMFoundations

PMFoundations Attenuverter Manuale utente

GEA

GEA VARIVENT Manuale utente

Walther Systemtechnik

Walther Systemtechnik VMS-05 Manuale utente

Altronix

Altronix LINQ8PD Istruzioni per il montaggio

Eaton

Eaton Powerware Series Manuale utente

WAGO

WAGO 750-407/040-000 Manuale utente

Sony

Sony CCU-590 Manuale utente

Graco

Graco 25D614 Manuale utente

Task Force Tips

Task Force Tips YE-RF-900 Manuale di programmazione

Shini

Shini SPV-U Series Manuale utente