Siemens SINAMICS S120 Manuale utente

Functional Example MC-FE-I-005-V11-EN

SINAMICS S120

Safety Integrated Extended Functions

Fail-Safe Drives

Controlling the CU320 from a TM54F and F-CPU

SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

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Preliminary remark

The Functional Examples dealing with “Safety Integrated” are fully

functional and tested automation configurations based on I IA&DT

standard products for simple, fast and inexpensive implementation of

automation tasks in safety engineering. Each of these Functional Ex-

amples covers a frequently occurring subtask of a typical customer

problem in safety engineering.

Aside from a list of all required software and hardware components

and a description of the way they are connected to each other, the

Functional Examples include the tested and commented code. This

ensures that the functionalities described here can be reset in a short

period of time and thus also be used as a basis for individual expan-

sions.

Important note

The Safety Functional Examples are not binding and do not claim to

be complete regarding the circuits shown, equipping and any eventu-

ality. The Safety Functional Examples do not represent customer-

specific solutions. They are only intended to provide support for typi-

cal applications. You are responsible for ensuring that the described

products are used correctly.

These Safety Functional Examples do not relieve you of the responsi-

bility of safely and professionally using, installing, operating and ser-

vicing equipment. When using these Safety Functional Examples, you

recognize that Siemens cannot be made liable for any damage/claims

beyond the liability clause described. We reserve the right to make

changes to these Safety Functional Examples at any time without pri-

or notice. If there are any deviations between the recommendations

provided in these Safety Function Examples and other Siemens publi-

cations – e.g. Catalogs – the contents of the other documents have

priority.

SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

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Table of Contents

1Warranty, Liability and Support .................................................................... 4

2Automation function....................................................................................... 5

2.1 Description of the function example.................................................................. 5

2.2 Advantages / customer benefits ....................................................................... 7

3Components that are required ...................................................................... 8

3.1 Hardware Components..................................................................................... 8

3.2 Software components ..................................................................................... 10

3.2.1 Engineering software ...................................................................................... 10

3.2.2 Firmware......................................................................................................... 10

4Configuration and wiring ............................................................................. 11

4.1 Overview of the hardware configuration ......................................................... 11

4.2 Connecting-up the hardware components...................................................... 12

4.2.1 Connecting-up the control voltage .................................................................. 12

4.2.2 Principle connection between the F-CPU and TM54F.................................... 13

4.2.3 DRIVE-CLiQ interconnection .......................................................................... 14

4.3 Important settings at the hardware components............................................. 15

5Overview and operator control.................................................................... 17

5.1 Description of the operator control.................................................................. 17

5.2 Summary of the input signals ......................................................................... 18

6Project example ............................................................................................ 20

6.1 Passwords ...................................................................................................... 20

6.2 Hardware configuration of the fail-safe control ............................................... 21

6.3 Programming the fail-safe control................................................................... 23

6.4 SINAMICS parameterization of the motion functions ..................................... 26

6.5 Parameterizing the control of the safety functions (TM54F) ........................... 34

6.6 Parameterizing the safety functions integrated in the drive ............................ 37

6.7 Acceptance test .............................................................................................. 43

7History ........................................................................................................... 43

SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

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1 Warranty, Liability and Support

We accept no liability for information contained in this document.

Any claims against us – based on whatever legal reason – resulting

from the use of the examples, information, programs, engineering and

performance data etc., described in this Safety Functional Example

shall be excluded. Such an exclusion shall not apply in the case of

mandatory liability, e.g. under the German Product Liability Act (“Pro-

dukthaftungsgesetz”), in case of intent, gross negligence, or injury of

life, body or health, guarantee for the quality of a product, fraudulent

concealment of a deficiency or breach of a condition which goes to

the root of the contract (“wesentliche Vertragspflichten”). However,

claims arising from a breach of a condition which goes to the root of

the contract shall be limited to the foreseeable damage which is in-

trinsic to the contract, unless caused by intent or gross negligence or

based on mandatory liability for injury of life, body or health. The

above provisions do not imply a change in the burden of proof to your

detriment.

copy these Application Examples or excerpts of them without first

having prior authorization from Siemens I DT in writing.

For questions about this document please use the following

e-mail-address:

[email protected]

SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

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2 Automation function

2.1 Description of the function example

The following safety functions according to IEC 61800-5-2 have been integrated into

SINAMICS S120 drives:

Name Function Description

STO Safe Torque Off – The torque-generating power feed to the motor is

disconnected in a safety-relevant fashion

– Restart is interlocked using a restart/power-on

inhibit.

(Category 0 stop function acc. to EN 60204-1)

SBC Safe Brake Control – SBC is only used when there is a motor brake; the

motor brake is connected to the power connector

via the outputs.

– SBC always responds in conjunction with STO or

when internal safety monitoring functions respond

with safety-relevant pulse cancellation.

SS1 Safe Stop 1 – The drive is quickly stopped along the OFF3 ramp

– and is monitored in a safety-relevant fashion at

the same time

– After a delay time has expired or the shutdown

speed is reached, a transition is made to STO

(Category 1 stop function acc., to EN 60204-1)

SS2 Safe Stop 2 – The drive is quickly stopped along the OFF3 ramp

– and is monitored in a safety-relevant fashion at

the same time

– After a delay time has expired or the shutdown

speed is reached, a transition is made to SOS;

the drive remains in closed-loop control

(Category 2 stop function acc., to EN 60204-1)

SOS Safe Operating Stop – This function is used to safely monitor the stand-

still position of a drive. The drive remains in

closed-loop control.

SLS Safely-Limited Speed – The drive speed is safely monitored

– Parameterizable shutdown response when the

limit value is violated

SSM Safe Speed Monitor – Safety-relevant display when a speed limit is

fallen below (n < nx)

The control of these extended safety functions can be realized using

PROFIsafe with PROFIBUS and also using a TM54F terminal expansion

module.

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Task description

The extended safety functions integrated in the SINAMICS S120 drives are

to be controlled from a TM54F via hardware signals. The drives belong to

different drive groups. The safety-relevant logical pre-processing of the

input signals is handled in an F-CPU.

This application should comply with SIL 2 acc. to EN 62061:2005, ISO

13849-1:2006 PL d or EN 954-1:1996 Category 3.

Solution

Hardware overview

The control of the safety functions SS1 and SLS via the TM54F terminal

expansion module connected to a SINAMICS S120 drive group is shown in

this function example. The SLS initiates a Stop C (SS2 → SOS) as re-

sponse to the fault at the particular drive.

The drive group in the booksize format comprises an infeed and a Double

Motor Module. The motor is controlled using a CU320 Control Unit. The ex-

panded setpoint channel is used to enter the speed setpoint. The two ser-

vomotors – that are independent of one another – are controlled by the

Double Motor Module. A Smart Line Module is used as infeed.

The safety-relevant signals are detected using the fail-safe inputs of an F-

CPU and are then evaluated in the F-CPU. The pre-processed signals are

transferred to the TM54F terminal expansion module via the fail-safe

outputs of the F-CPU. This means that the safety functions integrated in the

drive are controlled in the SINAMICS S120.

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When an Emergency Stop is requested, both of the drives are stopped by

the SS1 safety function integrated in the drive. The torque-generating

power feed to the motor is interrupted in a safety-relevant fashion using

safe pulse cancellation. The restart inhibit is activated.

Each drive is assigned a safety door. If this safety door is opened, then the

associated motor is operated at a lower speed and the set speed limit value

is safely monitored using the SLS function. The other drive is not influ-

enced.

Other ways of using the TM54F terminal expansion module and controlling

the safety functions via PROFIsafe are described in additional function ex-

amples.

2.2 Advantages / customer benefits

•The safety functions integrated in the drive are controlled in a

simple fashion

•Simple design/configuring using standardized technology

•The existing system can be simply and quickly expanded.

•Space-saving configuration using integrated safety functions –

additional hardware is not required

Complex safety concepts can be implemented using this as basis.

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3 Components that are required

The hardware components and software versions that are required to im-

plement this function example are listed in this chapter.

3.1 Hardware Components

Table 3-1

Components Type Order No./Ordering data Qty. Manufact.

Power supply PS307 5A 6ES7 3071EA00-0AA0 1 Siemens

IM151-7 F-CPU 6ES7 151-7FA01-0AB0 1 Siemens

SIMATIC ET200S

CPU SIMATIC Micro Memory Card,

512KB

6ES7 953-8LJ11-0AA0 1 Siemens

PM-E 6ES7 138-4CB10-0AB0 1 Siemens

SIMATIC ET200S

Power Module SIMATIC DP, Terminal Module

TM-P15C23-A0

6ES7 193-4CD30-0AA0 1 Siemens

F-DI 4/8 6ES7 138-4FA02-0AB0 1 Siemens

SIMATIC ET200S

fail-safe input module SIMATIC DP, Terminal Module

TM-E30C44-01

6ES7 193-4CG30-0AA0 1 Siemens

F-DO 4 6ES7 138-4FB01-0AB0 1 Siemens

SIMATIC ET200S

fail-safe output module SIMATIC DP, Terminal Module

6ES7 193-4CG30-0AA0 1 Siemens

F-CPU operator components

Components Type Order No./Ordering data Qty. Manufact.

Empty pushbutton housing Empty housing for 4 command

positions, pushbutton in the

enclosure, for metric gland, gray

cover

3SB3 804-0AA3 1 Siemens

3SB3 mushroom pushbutton

(Ø 32 mm), plastic, round with

holder

3SB3 000-1FA20 1 SiemensEmergency Stop command

device

-S3

Base element, 1OE, screw

connection

3SB3 420-0C 2 Siemens

3SB3 illuminated pushbutton with

flat actuator knob, green, with holder

3SB3 001-0AA41 1 Siemens

Base element 1S, screw connection 3BS3 420-0B 1 Siemens

Reset button

-S4

Lamp socket with integrated LED for

base mounting, green, 24V DC

3SB3 420-1PC 1 Siemens

3SB3 knob-operated switch, I-0-II,

latching, 2x50°switching angle,

black, not illuminated, with holder

3SB3 000-2DA11 1 SiemensSafety door/gate simulation

switch

-S1

Base element 1S, screw connection 3BS3 420-0B 2 Siemens

3SB3 knob-operated switch, I-0-II,

latching, 2x50°switching angle,

black, not illuminated, with holder

3SB3 000-2DA11 1 SiemensSafety door/gate simulation

switch

-S2

Base element 1S, screw connection 3BS3 420-0B 2 Siemens

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SINAMICS operator components

Components Type Order No./Ordering data Qty. Manufact.

Empty pushbutton housing Empty housing for 4 command

positions, pushbutton in the

enclosure, for metric gland, gray

cover

3SB3 804-0AA3 1 Siemens

Round actuator knob, O-I, latching,

50° switching angle, black with

holder, not illuminated

3SB3000-2KA11 1 SiemensDrives, ON/OFF1 switch

-S6

Base element 1S, screw connection 3BS3 420-0B 1 Siemens

Actuator, round pushbuttoon with

flat actuator, black with holder, not

illuminated

3SB3000-0AA11 1 SiemensReset button

-S7

Base element 1S, screw connection 3BS3 420-0B 1 Siemens

Actuator, round pushbuttoon with

flat actuator, black with holder, not

illuminated

3SB3000-0AA11 1 SiemensMax. speed button

-S8

Base element 1S, screw connection 3BS3 420-0B 1 Siemens

Drive

Components Type Order No./Ordering data Qty. Manufact.

CU320 6SL3 040-0MA00-0AA1 1 SiemensSINAMICS CU320

Compact Flash card for SINAMICS

CU320

6SL3054-0CE01-1AA0 1 Siemens

SINAMICS safety license SINAMICS license, Safety

Integrated extended functions for

CompactFlash card

6SL3074-0AA10-0AA0 2 Siemens

SINAMICS Smart Line Module SLM 5 kW / 230 V 6SL3130-6AE15-0AA0-

Z=220V

1 Siemens

SINAMICS Terminal Module TM54F 6SL3 055-0AA00-3BA0 1 Siemens

Load resistors

R1 .. R8

1kOhm 1W Type PO595-0

Style 0207

Power Metaloxide film

resistors

8 Yageo

Europe

ST 2,5-QUATTRO-TG 3038451 8 Phoenix

Contact

Load resistor terminals

(R1..R8)

Component plug

P-CO

3036796 8 Phoenix

Contact

SINAMICS Double Motor

Module

DMM 6SL3 120-2TE21-0AA3 1 Siemens

Synchronous servomotor 1FK7

COMPACT, 3000 rpm, 0.82 kW

1FK7 042-5AF71-1FG0 1 SiemensMotors

Synchronous servomotor 1FK7

COMPACT, 3000 rpm, 0.82 kW

1FK7 042-5AF71-1DG0 1 Siemens

DRIVE-CLiQ cable

TM54F to CU320:

SINAMICS DRIVE-CLiQ cable

IP20/IP20 length: 0.41 m

6SL3060-4AP00-0AA0 1 Siemens

DRIVE-CLiQ cable

SLM zu CU320:

SINAMICS DRIVE-CLiQ cable

IP20/IP20 length: 0.41 m

6SL3060-4AP00-0AA0 1 Siemens

DRIVE-CLiQ cable

DMM to CU320:

SINAMICS DRIVE-CLiQ cable

IP20/IP20 length: 0.41 m

6SL3060-4AP00-0AA0 1 Siemens

Signal cable

DMM to Motor1:

Pre-fabricated signal cable

(SINAMICS DRIVE-CLiQ) connector

IP20/IP67, with 24 V MOTION-

CONNECT 500 length (M) = 2

6FX5002-2DC10-2AA0 1 Siemens

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Components Type Order No./Ordering data Qty. Manufact.

Signal cable

DMM to Motor2:

Pre-fabricated signal cable

(SINAMICS DRIVE-CLiQ) connector

IP20/IP67, with 24 V MOTION-

CONNECT 500 length (M) = 2

6FX5002-2DC10-2AA0 1 Siemens

Power cable

DMM to motor1:

Pre-fabricated power cable

(1FT/1FK/1PH to SINAMICS) 4x1.5

C, connector size 1/1.5 mm2

UL/CSA DESINA, MOTION-

CONNECT 500 Dmax=11.5 mm,

length (m) = 2

6FX5002-5CS01-1AC0 1 Siemens

Power cable

DMM to motor2:

Pre-fabricated power cable

(1FT/1FK/1PH to SINAMICS) 4x1.5

C, connector size1/1.5 mm2UL/CSA

DESINA, MOTION-CONNECT 500

Dmax=11.5 mm, length (m) = 2

6FX5002-5CS01-1AC0 1 Siemens

Note The function example was tested with the hardware components listed

here. Other components that have the same function can be alternatively

used. If other components are used it may be necessary to use a

different parameterization and also change the component wiring.

3.2 Software components

3.2.1 Engineering software

Table 3-2

Components Type Order No./Ordering data Qty. Manufact.

STEP 7 V5.4 SP2 6ES7810-4CC08-0YA5 1 Siemens

S7 Distributed Safety

Programming

V5.4 SP3 6ES7833-1FC02-0YA5 1 Siemens

STARTER V4.1 SP1 6SL3072-0AA00-0AG0 1 Siemens

or, as an alternative to the STARTER software:

SIMOTION SCOUT V4.1 SP1 6AU1810-1BA41-1XA0 1 Siemens

3.2.2 Firmware

All of the SINAMICS components must have firmware release V2.5 SP1 or

higher.

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