Pilz PMCprotego S1--2 Manuel utilisateur

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

OperatingManualPMCprotegoS12(C)

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

OperatingManualPMCprotegoS12(C)

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

OperatingManualPMCprotegoS12(C)

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

Ce manuel convient aux modèles suivants

Table des matières

Autres manuels Pilz Unité de contrôle

Pilz

Pilz PSSu K F EI CV Manuel utilisateur

Pilz

Pilz PDP67 F 8DI ION Manuel utilisateur

Pilz

Pilz PSSu E F 4DI-T Manuel utilisateur

Pilz

Pilz PSSu E F PS1-T Manuel utilisateur

Pilz

Pilz PIT si1.1 Manuel utilisateur

Pilz

Pilz PNOZ ma1p Manuel utilisateur

Pilz

Pilz PNOZ mc6.1p Manuel utilisateur

Pilz

Pilz PNOZ mc3p Manuel utilisateur

Pilz

Pilz PSEN cs5.11n Manuel utilisateur

Pilz

Pilz PNOZ mc1p Manuel utilisateur

Pilz

Pilz PNOZ mc7p Manuel utilisateur

Pilz

Pilz PNOZ m EF 2MM Manuel utilisateur

Pilz

Pilz PNOZ mc12p Manuel utilisateur

Pilz

Pilz PSS CPU Series Manuel utilisateur

Pilz

Pilz PIT gb Series Manuel utilisateur

Pilz

Pilz PNOZ m EF 1MM Manuel utilisateur

Pilz

Pilz PNOZ mi1p Manuel utilisateur

Pilz

Pilz PSEN ma1.3a/b-22 Manuel utilisateur

Pilz

Pilz PNOZmulti PNOZ mmc3p Manuel utilisateur

Pilz

Pilz PIT es Set10u-5c PCB Manuel utilisateur

Pilz

Pilz PNOZ ms4p Manuel utilisateur

Pilz

Pilz PNOZ m ES CANopen Manuel utilisateur

Pilz

Pilz PSS u2 ES 4DOD 0.5A Manuel utilisateur

Pilz

Pilz PNOZ m EF 4DI4DOR Manuel utilisateur

Manuels Unité de contrôle populaires d'autres marques

Festo

Festo Compact Performance CP-FB6-E Manuel de la liste des pièces

Elo TouchSystems

Elo TouchSystems DMS-SA19P-EXTME Manuel utilisateur

JS Automation

JS Automation MPC3034A Manuel utilisateur

JAUDT

JAUDT SW GII 6406 Series Guide rapide

Spektrum

Spektrum Air Module System Manuel utilisateur

BOC Edwards

BOC Edwards Q Series Manuel utilisateur

KHADAS

KHADAS BT Magic Manuel utilisateur

Etherma

Etherma eNEXHO-IL Manuel utilisateur

PMFoundations

PMFoundations Attenuverter Manuel utilisateur

GEA

GEA VARIVENT Manuel utilisateur

Walther Systemtechnik

Walther Systemtechnik VMS-05 Manuel utilisateur

Altronix

Altronix LINQ8PD Instructions de montage

Eaton

Eaton Powerware Series Manuel utilisateur

WAGO

WAGO 750-407/040-000 Manuel utilisateur

Sony

Sony CCU-590 Manuel utilisateur

Graco

Graco 25D614 Manuel utilisateur

Task Force Tips

Task Force Tips YE-RF-900 Manuel de programmation

Shini

Shini SPV-U Series Manuel utilisateur