Pilz PMCprotego S1--2 User manual

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

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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

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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

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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

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