Festo CMMS-ST-C8-7-G2 User manual

Description

STO safety function

(SafeTorqueOff)

8040102

1404NH

[8034464]

Motor controller

CMMS-ST-C8-7-G2

2 Festo – GDCP-CMMS-ST-G2-S1-EN – 1404NH –

Translation of the original instructions

GDCP-CMMS-ST-G2-S1-EN

Pilz

and PNOZ

are registered trademarks of the respective trademark owners in certain countries.

Identification of hazards and instructions on how to prevent them:

Warning

Hazards that can cause death or serious injuries.

Caution

Hazards that can cause minor injuries or serious material damage.

Other symbols:

Note

Material damage or loss of function.

Recommendations, tips, references to other documentation.

Essential or useful accessories.

Information on environmentally sound usage.

Text designations:

• Activities that may be carried out in any order.

1. Activities that should be carried out in the order stated.

– General lists.

CMMS-ST-C8-7-G2

Festo – GDCP-CMMS-ST-G2-S1-EN – 1404NH – English 3

Table of Contents – CMMS-ST-C8-7-G2

1 Safety and requirements for product use 7......................................

1.1 Safety 7..................................................................

1.1.1 General safety instructions 7.........................................

1.1.2 Intended use 7.....................................................

1.1.3 Foreseeable misuse 8...............................................

1.1.4 Achievable safety level, safety function in accordance with EN ISO 13849-1 8...

1.2 Requirements for product use 9...............................................

1.2.1 Technical prerequisites 9............................................

1.2.2 Qualification of the specialized personnel (requirements for the personnel) 9...

1.2.3 Diagnostic coverage (DC) 9...........................................

1.2.4 Range of application and certifications 10................................

2 Description of the safety function STO 11........................................

2.1 Product overview 11.........................................................

2.1.1 Purpose 11........................................................

2.1.2 Interfaces 11.......................................................

2.2 Function and application 12....................................................

2.2.1 Description of the safety function STO 13................................

2.2.2 Overview of interfaces [X1] and [X3] 15..................................

2.2.3 Runtime performance 16..............................................

2.3 Switching example STO – “Safe Torque Off” 17....................................

2.3.1 Explanations of the switching example 17................................

2.3.2 STO request 18.....................................................

2.3.3 Restart after termination of the STO status 19.............................

2.3.4 STO timing diagram 20...............................................

2.4 Switching example SS1 – “Safe Stop 1” 21.......................................

2.4.1 Explanations of the switching example 21................................

2.4.2 Request SS1 23.....................................................

2.4.3 Restart after termination of the SS1 function and STO status 24..............

2.4.4 Timing diagram SS1 25...............................................

2.4.5 Parameterisation example 26..........................................

2.5 Testing the safety function 27..................................................

3 Mounting and installation 28..................................................

3.1 Mounting / dismantling 28.....................................................

3.2 Electrical installation 28.......................................................

3.2.1 Safety instructions 28................................................

3.2.2 Ports [X1] and [X3] 29................................................

CMMS-ST-C8-7-G2

4 Festo – GDCP-CMMS-ST-G2-S1-EN – 1404NH – English

4 Commissioning 30...........................................................

4.1 Prior to commissioning 30.....................................................

4.2 Performance test, validation 31.................................................

5Operation 33...............................................................

5.1 Obligations of the operator 33.................................................

5.2 Maintenance and care 33......................................................

5.3 Diagnostics and fault clearance 33..............................................

5.3.1 Status indicators 33.................................................

5.3.2 Error messages 33...................................................

6 Modification and replacement of the motor controller 35............................

6.1 Repair or replacement of the integrated protection circuit 35.........................

6.2 De-commissioning and waste management 35.....................................

A Technical appendix 36........................................................

A.1 Technical data 36............................................................

A.1.1 Safety engineering 36................................................

A.1.2 General, operating and environmental conditions CMMS-ST-...-G2 37..........

A.1.3 Electrical data [X1], [X3] 38............................................

B Glossary 40................................................................

CMMS-ST-C8-7-G2

Festo – GDCP-CMMS-ST-G2-S1-EN – 1404NH – English 5

Notes on this documentation

This documentation serves the purpose of safe work with the safety function STO – “Safe Torque Off ”

with use of the motor controller CMMS-ST-...-G2.

• Always observe in addition the general safety regulations for the CMMS-ST-...-G2.

The general safety regulations for the CMMS-ST-...-G2 can be found in the description

Mounting and Installation , GDCP-CMMS-ST-G2-HW-... (Tab. 2).

Observe the information regarding safety and the requirements for product use in chapter 1.

Product identification

This documentation refers to the following versions:

– Motor controller CMMS-ST-...-G2 Rev 05 and higher.

– Firmware FW 1.4.0.1.4 and higher.

The illustration on the rating plate can be found in the description Mounting and Installation,

GDCP-CMMS-ST-G2-HW-...

Service

Please consult your regional Festo contact if you have any technical problems.

Issue status of the specified standards

Standard: issue status

EN 60204-1:2006/A1:2009-02 EN 61800-5-1:2007-09 EN ISO 12100:2010-11

EN 61800-2:1998-04 EN 61800-5-2:2007-10 EN ISO 13849-1:2008-06

Tab. 1 Issue statuses

CMMS-ST-C8-7-G2

6 Festo – GDCP-CMMS-ST-G2-S1-EN – 1404NH – English

Documentation

Additional information on the motor controllers can be found in the following documentation:

Documentation Type of

equipment

Contents

Mounting and

installation

GDCP-CMMS-AS-G2-HW-... CMMS-AS –Mounting

Itllti

ll ti )

GDCP-CMMD-AS-HW-... CMMD-AS

–

Installation (

in allocation)

– Error messages

– Technical data

GDCP-CMMS-ST-G2-HW-... CMMS-ST

Functions and

commissioning

GDCP-CMMS/D-FW-... CMMS-AS

CMMD-AS

CMMS-ST

– Control interfaces

– Operating modes/operational func-

tions

– Commissioning with FCT

– Error messages

STO safety

function

GDCP-CMMS-AS-G2-S1-... CMMS-AS – Functional safety engineering with

GDCP-CMMD-AS-S1-... CMMD-AS

the safety function STO (safe torque

off)

GDCP-CMMS-ST-G2-S1-... CMMS-ST

Device profile

FHPP

GDCP-CMMS/D-C-HP-... CMMS-AS

CMMD-AS

CMMS-ST

– Description of the interfaces:

– CAN bus (CANopen)

–InterfaceCAMC-PB(PROFIBUS)

– Interface CAMC-DN (DeviceNet)

– Control and parameterisation via

the device profile FHPP (Festo

profile for handling and positioning)

with PROFIBUS, DeviceNet or

CANopen.

Device profile

CiA 402,

GDCP-CMMS/D-C-CO-... CMMS-AS

CMMD-AS

CMMS-ST

– Description of the interface:

– CAN bus (CANopen, DriveBus)

– Control and parameterisation via

device profile CiA 402 (DS 402).

Software Help Help on the CMMS-AS plug-in CMMS-AS – Surface and functions in the Festo

Help on the CMMD-AS plug-in CMMD-AS Configuration Tool for the plug-in

Help for the CMMS-ST plug-in CMMS-ST

Tab. 2 Documentation on the motor controllers

The documentation is available on the following media:

– CD-ROM (scope of delivery)

– Support portal: www.festo.com/sp

1 Safety and requirements for product use

Festo – GDCP-CMMS-ST-G2-S1-EN – 1404NH – English 7

1 Safety and requirements for product use

1.1 Safety

1.1.1 General safety instructions

• Always observe in addition the general safety regulations for the CMMS-ST-...-G2.

The general safety regulations for the CMMS-ST-...-G2 can be found in the description

Mounting and Installation, GDCP-CMMS-ST-G2-HW-... (Tab. 2, page 6).

Note

Loss of the safety function.

The safety functions might fail if you do not comply with the parameters required for the

surroundings and connections.

• In particular, you must provide input voltages which are within the tolerances spe-

cified in Technical data, appendix A.1.

Note

Damage to the motor controller due to incorrect handling.

• Switch off the supply voltage before mounting and installation work. Switch on

supply voltage only when mounting and installation work are completely finished.

• Observe the specifications for handling electrostatically-sensitive devices.

1.1.2 Intended use

The CMMS-ST-...-G2 motor controller supports the following safety function:

– “Safe Torque Off” (STO) up to category 3 / PL d in accordance with EN ISO 13849-1.

The motor controller CMMS-ST-...-G2 is a product with safety-relevant functions and is intended for

installation in machines or automation systems. Use it only:

– in excellent technical condition,

– in its original state without unauthorised modifications,

– within the product's limits, as defined by the technical data Appendix A.1,

– within the specified service life of the switching elements Appendix A.1, Tab. A.6,

– in an industrial environment.

1 Safety and requirements for product use

8 Festo – GDCP-CMMS-ST-G2-S1-EN – 1404NH – English

Note

In the event of damage caused by unauthorised manipulation or improper use, the

guarantee is invalidated and the manufacturer is not liable for damages.

1.1.3 Foreseeable misuse

The following foreseeable misuses are among those not approved as intended use:

– use outdoors,

– use in non-industrial areas (residential areas),

– use in applications where switching off can result in hazardous movements or conditions.

Note

– The STO function may not be used as the sole safety function for drives subject to

permanent torque or force (e.g. suspended loads).

– Bypassing of safety equipment is not allowed.

– Repairs to the motor controller are not allowed!

The STO (Safe Torque Off) function does not provide protection fromelectric shock, but

only against hazardous movements (Description, mounting and installation,

GDCP-CMMS-ST-G2-HW-...)!

In applications with extremely high requirement rates, the service life of the switching elements must

be taken into account in the design (replacement interval for the motor controller, Appendix A.1,

Tab. A.1 and Tab. A.6) .

1.1.4 Achievable safety level, safety function in accordance with EN ISO 13849-1

The motor controller CMMS-ST-...-G2 with integrated STO safety function fulfils the requirements of the

test regulations for

– Category 3 / PL e in accordance with EN ISO 13849-1

and can be used in applications up to Cat. 3 / PL d in accordance with EN ISO 13849-1.

The achievable safety level depends on the other components used to implement the safety function.

1 Safety and requirements for product use

Festo – GDCP-CMMS-ST-G2-S1-EN – 1404NH – English 9

1.2 Requirements for product use

• Make this documentation available to the design engineer, installer and personnel responsible for

commissioning the machine or system in which this product is used.

• Make sure that the specifications of the documentation are always complied with. When so doing,

also take into account the documentation for the other components (e.g. motors, cables, etc.).

• Take into consideration the legal regulations applicable for the destination, as well as:

– regulations and standards,

– regulations of the testing organizations and insurers,

– national specifications.

• If the safety function is demanded, protection against automatic restart corresponding to the re-

quired category must be furnished. Among other means, this can take place through an external

safety switching device.

1.2.1 Technical prerequisites

General conditions for the correct and safe use of the product, which must be observed at all times:

• Comply with the connection and environmental conditions of the motor controller (Appendix A.1)

and all connected components specified in the technical data.

Only compliance with the limit values or load limits will enable operation of the product in compli-

ance with the relevant safety regulations.

• Observe the instructions and warnings in this documentation.

1.2.2 Qualification of the specialized personnel (requirements for the personnel)

The device may only be set into operation by a qualified electrotechnician who is familiar with:

– the installation and operation of electrical control systems,

– the applicable regulations for operating safety-engineered systems,

– the applicable regulations for accident protection and occupational safety, and

– the documentation for the product.

1.2.3 Diagnostic coverage (DC)

Diagnostic coverage depends on the connection between the motor controller and the control loop

system as well as the implemented diagnostic measures Section 5.3.

If a potentially dangerous malfunction is recognised during the diagnostics, appropriate measures

must be taken to maintain the safety level.

Note

Check whether a fault exclusion of cross circuits in the input circuit and connection

wiring is possible in your application.

If not: If applicable, use a safety switching device with cross-circuit detection for control

of the safety function as well as an appropriate filter construction group for filtering the

test pulses at the control ports of the CMMS-ST-...-G2.

1 Safety and requirements for product use

10 Festo – GDCP-CMMS-ST-G2-S1-EN – 1404NH – English

1.2.4 Range of application and certifications

The motor controller with integrated STO safety function is a safety-related part of the control systems.

The motor controller carries the CE marking.

Standards and test values which the product must comply with and fulfils can be found in the section

“Technical data” Appendix A.1. The product-relevant EU directives can be found in the declaration of

conformity.

Certificates and declaration of conformity on this product can be found at

www.festo.com/sp.

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