Pilz PMCprotego S1--2 Bedienungsanleitung

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

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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

Dieses Handbuch passt für folgende Modelle

Inhaltsverzeichnis

Andere Pilz Steuereinheit Handbücher

Pilz

Pilz PZE 9P Bedienungsanleitung

Pilz

Pilz PSS Series Bedienungsanleitung

Pilz

Pilz PSSu K F FAU B Bedienungsanleitung

Pilz

Pilz PNOZ m ES Powerlink Bedienungsanleitung

Pilz

Pilz PNOZ m EF Multi Link Bedienungsanleitung

Pilz

Pilz PIT es Set10u-5ns (AIDA) basic Bedienungsanleitung

Pilz

Pilz mc1p coated Bedienungsanleitung

Pilz

Pilz PNOZ mo2p Bedienungsanleitung

Pilz

Pilz PNOZ m ES ETH Bedienungsanleitung

Pilz

Pilz PSS u2 ES 8DI Bedienungsanleitung

Pilz

Pilz P2HZ X1.10P Bedienungsanleitung

Pilz

Pilz PSSu E PD Bedienungsanleitung

Pilz

Pilz PNOZ mc12p Bedienungsanleitung

Pilz

Pilz PSSu K S RS232 Modbus ASCII Bedienungsanleitung

Pilz

Pilz PIT si1.1 Bedienungsanleitung

Pilz

Pilz PNOZ m EF 2MM Bedienungsanleitung

Pilz

Pilz PSS u2 ES 4DOD 0.5A Bedienungsanleitung

Pilz

Pilz PIT m3.3p Bedienungsanleitung

Pilz

Pilz PSS CPU Series Bedienungsanleitung

Pilz

Pilz PIT gb LLLE Bedienungsanleitung

Pilz

Pilz PNOZ mc10p Bedienungsanleitung

Pilz

Pilz P1HZ X1 Bedienungsanleitung

Pilz

Pilz PRBT 6 Bedienungsanleitung

Pilz

Pilz PIT es Set/1 Bedienungsanleitung

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