Rockwell Automation Guardmaster MSR57P Bedienungsanleitung

User Manual Original Instructions

MSR57P Guardmaster Speed

Monitoring Safety

Catalog Number 440R-S845AER-NNL

2Rockwell Automation Publication 440R-UM004C-EN-P - October 2021

MSR57P Guardmaster Speed Monitoring Safety User Manual

Important User Information

Read this document and the documents listed in the additional resources section about installation, configuration, and

operation of this equipment before you install, configure, operate, or maintain this product. Users are required to familiarize

themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws, and standards.

Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to

be carried out by suitably trained personnel in accordance with applicable code of practice.

If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be

impaired.

In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use

or application of this equipment.

The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and

requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for

actual use based on the examples and diagrams.

No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software

described in this manual.

Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is

prohibited.

Throughout this manual, when necessary, we use notes to make you aware of safety considerations.

These labels may also be on or inside the equipment to provide specific precautions.

The following icon may appear in the text of this document.

WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment,

which may lead to personal injury or death, property damage, or economic loss.

ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property

damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.

IMPORTANT Identifies information that is critical for successful application and understanding of the product.

SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous

voltage may be present.

BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may

reach dangerous temperatures.

ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to

potential Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL

Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE).

Identifies information that is useful and can help to make a process easier to do or easier to understand.

Rockwell Automation Publication 440R-UM004C-EN-P - October 2021 3

Table of Contents

About This Publication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Summary of Changes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Who Should Use This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Conventions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Terminology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Chapter 1

Safety Concept Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Safety Certification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Important Safety Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Safety Category 4 Performance Definition . . . . . . . . . . . . . . . . . . . . . 14

Stop Category Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Performance Level and Safety Integrity Level (SIL) 3 . . . . . . . . . . . . 14

Functional Proof Tests. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

PFD and PFH Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

PFD and PFH Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Safe State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Safety Reaction Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Considerations for Safety Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Output Pulse Test Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Considerations for Single-encoder Applications . . . . . . . . . . . . . . . . 17

Contact Information if Device Failure Occurs. . . . . . . . . . . . . . . . . . . . . . 18

Chapter 2

About the MSR57P Speed

Monitoring Safety Relay

Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Safety Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Disabled Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Lock Monitoring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Safe Maximum Speed, Safe Maximum Acceleration, and Safe

Direction Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Hardware Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Chapter 3

Installation and Wiring Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

General Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Environment and Enclosure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Considerations for Reducing Noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Space Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Mount the MSR57P Safety Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Power Supply Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Removable Terminal Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Circuit Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

4Rockwell Automation Publication 440R-UM004C-EN-P - October 2021

Table of Contents

Terminal Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Compatible Encoders. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Connect an Encoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Encoder Cable Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Feedback Cable Connections for Motion Control Applications. . . . . . . 33

Flying Lead Feedback Cable Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Wiring Low-profile Connector Kits. . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Feedback Connections for PowerFlex 70 Drives . . . . . . . . . . . . . . . . . . . . 39

Safe Torque Off Terminal Block (Enhanced Control Only) . . . . . . . 40

Encoder Interface Terminal Block (Enhanced Control Only) . . . . . 40

Feedback Connections for PowerFlex 700S Drives. . . . . . . . . . . . . . . . . . 41

Connect a Configuration Device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Chapter 4

Speed Monitoring I/O Signals Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Safe Stop Input (SS_In) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Safely-limited Speed Input (SLS_In). . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Door Monitor Input (DM_In) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Enabling Switch Monitor Input (ESM_In) . . . . . . . . . . . . . . . . . . . . . 45

Lock Monitor Input (LM_In). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Reset Input (Reset_In) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Reset Loop Input (RL_In). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Safety Control Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Diagnostic Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Chapter 5

General Safety Relay and

Feedback Monitoring

Configuration

Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Cascaded Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Safety Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Reset Type. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Reset Qualification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Overspeed Response Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Speed Resolution Accuracy for Rotary Systems . . . . . . . . . . . . . . . . . 56

Speed Resolution Accuracy for Linear Systems . . . . . . . . . . . . . . . . . 58

Language Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Max Display Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

General Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Feedback Monitoring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Feedback Polarity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Single Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Dual Encoders. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Feedback Voltage Monitor Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Feedback Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Feedback Parameter List. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Rockwell Automation Publication 440R-UM004C-EN-P - October 2021 5

Table of Contents

Chapter 6

Safe Stop and Safe Stop with

Door Monitoring Modes

Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Safe Stop Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Safe Stop Types. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Standstill Speed and Position Tolerance . . . . . . . . . . . . . . . . . . . . . . . 70

Deceleration Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Safe Stop Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Door Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Lock Monitoring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

Safe Stop Parameter List. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

Safe Stop Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

Safe Stop with Door Monitoring Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

Lock Monitoring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

SS Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

Safe Stop with Door Monitoring Parameter List. . . . . . . . . . . . . . . . . . . . 77

Safe Stop with Door Monitoring Wiring Example . . . . . . . . . . . . . . . . . . 78

Chapter 7

Safely-limited Speed (SLS)

Modes

Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Safely-limited Speed (SLS) Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Safely-limited Speed Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

Safely-limited Speed Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

Safely-limited Speed Wiring Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

Safely-limited Speed with Door Monitoring Mode. . . . . . . . . . . . . . . . . . 82

Safely-limited Speed Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

SLS with Door Monitoring Parameter List. . . . . . . . . . . . . . . . . . . . . . . . . 83

SLS with Door Monitoring Wiring Example . . . . . . . . . . . . . . . . . . . . . . . 84

Safely-limited Speed with Enabling Switch Monitoring Mode . . . . . . . 84

Safe Stop Reset (SS Reset) and Safely-limited Speed Reset

(SLS Reset). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

SLS with Enabling Switch Monitoring Parameter List . . . . . . . . . . . . . . 85

SLS with Enabling Switch Monitoring Wiring Example. . . . . . . . . . . . . 86

Safely-limited Speed with Door Monitoring and Enabling Switch

Monitoring Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

Behavior During SLS Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

Behavior While SLS Monitoring is Inactive. . . . . . . . . . . . . . . . . . . . . 87

Behavior During SLS Monitoring Delay. . . . . . . . . . . . . . . . . . . . . . . . 88

Safe Stop Reset (SS Reset) and Safely-limited Speed Reset

(SLS Reset). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

SLS with Door Monitoring and Enabling Switch Monitoring

Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

SLS with Door Monitoring and Enabling Switch Monitoring Wiring

Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

Safely-limited Speed Status Only Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

Speed Hysteresis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

SLS Status Only Parameter List. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

SLS Status Only Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

6Rockwell Automation Publication 440R-UM004C-EN-P - October 2021

Table of Contents

Chapter 8

Slave Modes for Multi-axis

Cascaded Systems

Cascaded Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Slave, Safe Stop Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

Slave, Safe Stop Parameter List. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

Slave, Safe Stop Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

Slave, Safely-limited Speed Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

Slave, Safely-limited Speed Parameters List . . . . . . . . . . . . . . . . . . . . . . 100

Slave, Safely-limited Speed Wiring Examples . . . . . . . . . . . . . . . . . . . . . 100

Slave, Safely-limited Speed Status Only Mode. . . . . . . . . . . . . . . . . . . . . 102

Slave, Safely-limited Speed Status Only Parameter List . . . . . . . . . . . . 103

Slave, Safely-limited Speed Status Only Wiring Examples. . . . . . . . . . 103

Multi-axis Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

Cascaded System Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

Chapter 9

Safe Maximum Speed and

Direction Monitoring

Safe Maximum Speed (SMS) Monitoring. . . . . . . . . . . . . . . . . . . . . . . . . 113

Safe Maximum Acceleration (SMA) Monitoring . . . . . . . . . . . . . . . . . . . 115

Safe Direction Monitoring (SDM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

Max Speed, Max Accel, and Direction Monitoring Parameter List. . . 119

Chapter 10

Safety Configuration and

Verification

Safety Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121

Configuration Signature ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121

Safety-lock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121

Set a Password . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

Reset the Password . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

Reset the Safety Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

Basics of Application Development and Testing. . . . . . . . . . . . . . . . . . . 123

Commissioning the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

Specify the Safety Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

Configure the Speed Monitoring Safety Relay . . . . . . . . . . . . . . . . . 124

Project Verification Test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

Confirm the Project. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

Safety Validation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

Verify the Signature and Lock at the Speed Monitoring

Safety Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

Editing the Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

Chapter 11

Configuration Examples Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

Example Application 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

Initial Security Group Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

General Group Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

Feedback Group Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

Stop Group Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

Limited Speed Group Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

Door Control Group Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

Max Speed Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

Rockwell Automation Publication 440R-UM004C-EN-P - October 2021 7

Table of Contents

Final Security Group Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

Example Application 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134

Initial Security Group Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135

General Group Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136

Feedback Group Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

Stop Group Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

Limited Speed Group Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

Door Control Group Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

Max Speed Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

Final Security Group Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

Chapter 12

Troubleshootthe MSR57P Safety

Relay

Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143

Nonrecoverable Faults. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144

Fault Recovery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144

Input and Output Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144

Fault Codes and Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144

Fault Reactions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146

Safe State Faults. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146

Stop Category Faults and Fault While Stopping Faults . . . . . . . . . 146

Status Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147

Guard Status Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148

I/O Diagnostic Status Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

Configuration Fault Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150

Appendix A

Specifications General Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151

Environmental Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

Certifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

Encoder Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

Appendix B

Parameter Data Parameter Groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153

Parameters and Settings in a Linear List . . . . . . . . . . . . . . . . . . . . . . . . . 154

Appendix C

Using a HIM Connect a HIM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161

Setting Parameters with a HIM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161

Accessing the Fault History Queue. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162

Appendix D

Use DriveExplorer or

DriveExecutive Software

Connect a Personal Computer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163

Using DriveExplorer Software. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164

Configure Serial Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164

Edit Parameters in DriveExplorer Software . . . . . . . . . . . . . . . . . . . 164

Access the Fault History Queue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165

Using DriveExecutive Software. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165

8Rockwell Automation Publication 440R-UM004C-EN-P - October 2021

Table of Contents

Configure Serial Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166

Edit Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167

Appendix E

Application Examples Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169

PowerFlex 70 Drive with Safe Torque Off Application Example . . . . . 169

PowerFlex 700 Drive without Safe Torque Off. . . . . . . . . . . . . . . . . . . . . 172

Kinetix 6000 or Kinetix 7000 Drives with

Safe Torque Off Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174

Kinetix 2000 Drive without Safe Torque Off Example . . . . . . . . . . . . . 176

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177

Rockwell Automation Publication 440R-UM004C-EN-P - October 2021 9

Preface

About This Publication This manual explains how the Guardmaster MSR57P Speed Monitoring Safety

Relay can be used in Safety Integrity Level (SIL) 3, Performance Level (PLe), or

Category (CAT) 4 applications. It describes the safety requirements, including

PFD and PFH values and application verification information, and provides

information on how to install, configure, and troubleshoot the safety relay.

Summary of Changes This publication contains the following new or updated information. This list

includes substantive updates only and is not intended to reflect all changes.

Who Should Use This

Manual

Use this manual if you are responsible for design, installation, configuration,

or troubleshooting safety applications that use the MSR57P Speed Monitoring

Safety Relay.

You must have a basic understanding of electrical circuitry and familiarity

with relay logic. You must also be trained and experienced in the creation,

operation, and maintenance of safety systems.

Conventions This manual lists configuration parameters by number, followed by the name

in brackets. For example, P24 [OverSpd Response].

Topic Page

Updated certification information 14, 25

10 Rockwell Automation Publication 440R-UM004C-EN-P - October 2021

Preface

Terminology The following table defines terms that are used in this manual.

Abbreviation Full Term Definition

1oo2 One out of Two Refers to the behavioral design of a dual-channel safety system.

CAT Category —

DC Door Control —

DM Door Monitoring —

EN European Norm The official European Standard.

ESM Enabling Switch Monitoring —

ESPE Electro-sensitive Protective Equipment

An assembly of devices and/or components working together for protective tripping or

presence-sensing purposes and comprise as a minimum:

•Sensingdevice

• Controlling/monitoring devices

• Output signal-switching devices (OSSD).

FMEA Failure Mode and Effects Analysis Analysis of potential failure modes to determine the effect upon the system and identify ways

to mitigate those effects.

IEC International Electrotechnical Commission —

IGBT Insulated Gate Bipolar Transistor —

HFT Hardware Fault Tolerance The HFT equals n, where n+1 faults could cause the loss of the safety function. An HFT of 1

means that two faults are required before safety is lost.

HIM Human Interface Module A module used to configure a device.

LM Lock Monitoring —

MP Motion Power —

OSSD Output Signal Switching Device The component of the electro-sensitive protective equipment (ESPE) connected to the control

system of a machine, which, when the sensing device is actuated during normal operation,

responds by going to the off state.

PC Personal Computer Computer used to interface with and program your safety system.

PFD Probability of a Dangerous Failure On

Demand The average probability of a system to fail to perform its design function on demand.

PFH Average Frequency of a Dangerous Failure

per Hour (Probability of Failure per Hour) The probability of a system to have a dangerous failure occur per hour.

PL Performance Level ISO 13849-1 safety rating

RL Reset Loop —

SDM Safe Direction Monitoring —

SFF Safe Failure Fraction The sum of safe failures plus the sum of dangerous detected failures that are divided by the

sum of all failures.

SIL Safety Integrity Level A measure of a products ability to lower the risk that a dangerous failure could occur.

SLS Safely-limited Speed —

SMA Safe Maximum Acceleration —

SMS Safe Maximum Speed —

SS Safe Stop —

STO State Torque Off —

Andere Handbücher für Guardmaster MSR57P

Dieses Handbuch passt für folgende Modelle

Inhaltsverzeichnis

Andere Rockwell Automation Relais Handbücher

Rockwell Automation

Rockwell Automation 440R-S13R2 Bedienungsanleitung

Rockwell Automation

Rockwell Automation Allen-Bradley 193-T1D P Series Bedienungsanleitung

Rockwell Automation

Rockwell Automation Allen-Bradley Guardmaster Minotaur... Bedienungsanleitung

Rockwell Automation

Rockwell Automation Allen-Bradley GuardMaster MSR55P Back EMF... Bedienungsanleitung

Rockwell Automation

Rockwell Automation Guardmaster MSR57P Bedienungsanleitung

Rockwell Automation

Rockwell Automation Allen-Bradley Guardmaster Minotaur MSR117T Bedienungsanleitung

Rockwell Automation

Rockwell Automation Allen-Bradley Guardmaster Minotaur MSR127 Bedienungsanleitung

Rockwell Automation

Rockwell Automation Allen-Bradley Minotaur 440R Bedienungsanleitung

Rockwell Automation

Rockwell Automation Allen-Bradley Guardmaster Minotaur MSR142RTP Bedienungsanleitung

Rockwell Automation

Rockwell Automation Allen-Bradley 193-T1APM Bedienungsanleitung

Rockwell Automation

Rockwell Automation Allen-Bradley Guardmaster 440R-GL2S2P Bedienungsanleitung

Rockwell Automation

Rockwell Automation Allen-Bradley 193 Bedienungsanleitung

Rockwell Automation

Rockwell Automation MSR127RTP Bedienungsanleitung

Rockwell Automation

Rockwell Automation Allen-Bradley 700-SA Benutzerhandbuch

Rockwell Automation

Rockwell Automation Guardmaster MSR57P Bedienungsanleitung

Rockwell Automation

Rockwell Automation Allen-Bradley E3 Bedienungsanleitung

Rockwell Automation

Rockwell Automation Allen-Bradley GLT Bedienungsanleitung

Rockwell Automation

Rockwell Automation Allen-Bradley Guardmaster MSR55P Bedienungsanleitung

Rockwell Automation

Rockwell Automation Allen-Bradley 194U-A60-PE Bedienungsanleitung

Rockwell Automation

Rockwell Automation Allen-Bradley Guardmaster Dual-Input Safety... Benutzerhandbuch

Rockwell Automation

Rockwell Automation E1 PLUS Benutzerhandbuch

Rockwell Automation

Rockwell Automation Allen-Bradley Guardmaster GLP Bedienungsanleitung

Rockwell Automation

Rockwell Automation Allen-Bradley 440R-GL2S2T Bedienungsanleitung

Rockwell Automation

Rockwell Automation Allen-Bradley Guardmaster 440C-CR30 Kurzanleitung

Beliebte Relais Handbücher anderer Marken

Shelly

Shelly Pro Series Bedienungsanleitung

GE MVAX 11 Bedienungsanleitung

ABB

ABB RELION REF615R Bedienungsanleitung

Pilz

Pilz PNOZ X10 Betriebsanleitung

Kemo Electronic

Kemo Electronic B197 Bedienungsanleitung

Seg

Seg MRM3 Bedienungsanleitung

Basler

Basler BE1-700C Bedienungsanleitung

CD Automation

CD Automation REVEX 2PH 280A Bedienungsanleitung

ABB

ABB SPAJ 142 C Stücklistenhandbuch

Ruelco

Ruelco 1S04 Bedienungsanleitung

Basler

Basler V3E Z1P B2C1F Bedienungsanleitung

Doepke

Doepke Dupline DSM 2 Bedienungsanleitung

Siemens

Siemens SIRIUS 3RT1966-4D Bedienungsanleitung

GE DGP Bedienungsanleitung

Kyongbo Electronics

Kyongbo Electronics GDR-D01 Bedienungsanleitung

Siemens

Siemens SIPROTEC 4 Bedienungsanleitung

Siemens

Siemens BD2-AK03X/FS Series Bedienungsanleitung

Leuze

Leuze MSI-SR5B Bedienungsanleitung