Allen-Bradley PowerFlex 755 User manual

PowerFlex 755/755T Integrated Safety Functions
Option Module
Catalog Number 20-750-S4
User Manual
Original Instructions

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.
Labels may also be on or inside the equipment to provide specific precautions.
WARNING: Identifies information aboutpractices 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 iscritical 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.
BURNHAZARD: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
potentialArcFlash.ArcFlashwillcausesevereinjury or death. WearproperPersonalProtectiveEquipment(PPE).FollowALL
Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE).

Rockwell Automation Publication 750-UM005A-EN-P - October 2018 3
TableofContents
Preface
Conventions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Terminology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Product Firmware and Release Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Chapter 1
AboutSafeStopandSafeMonitor
Functions What Is the Integrated Safety Functions Option Module? . . . . . . . . 15
Compatible Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Compatible Safety Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Safety Application Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Safety Certification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Important Safety Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Stop Category Definitions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Performance Level and Safety Integrity Level (SIL) CL3 . . . . . . 19
Proof Tests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
PFD and PFH Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
PFD and PFH Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Safety Data for Safe Torque Off . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Safety Data for Safe Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Safety Data for Safety I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Spurious Trip Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Safety Reaction Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Considerations for Safety Ratings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Encoder Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Supported Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Encoder Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
General Encoder Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Digital AqB Diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Sine/Cosine and Hiperface Diagnostics . . . . . . . . . . . . . . . . . . . . . 27
Contact Information If Safety Option Failure Occurs . . . . . . . . . . . . 29
Chapter 2
Installation Remove Power to the System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Access the Control Pod . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Set the SAFETY and Hardware ENABLE Jumpers . . . . . . . . . . . . . . 33
Install the Safety Option Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Feedback Installation Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
I/O Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Cabling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Power Supply Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

4Rockwell Automation Publication 750-UM005A-EN-P - October 2018
Table of Contents
Chapter 3
Safety I/O Safety Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Safety Input Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Latch Input Error Operation in Single Channel Mode. . . . . . . . 41
Single Channel Safety Input Status Data. . . . . . . . . . . . . . . . . . . . . 42
Dual-channel Safety Input Operation . . . . . . . . . . . . . . . . . . . . . . . 43
Equivalent Dual-channel Input Operation. . . . . . . . . . . . . . . . . . . 44
Complementary Dual-channel Input Operation . . . . . . . . . . . . . 45
Standard Input Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Safety Input Safety Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Safety Input Alarms. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Determining Safety Input Alarm Type . . . . . . . . . . . . . . . . . . . . . . 50
Safety Input Alarm Recovery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Input Delays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Use With PowerFlex 750-Series ATEX Option Module . . . . . . 52
Safety Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Safety Output with Test Pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Single-channel Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Latch Output Error Operation in Single Channel Mode . . . . . . 54
Dual-channel Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Latch Output Error Operation in Dual Channel Mode . . . . . . . 55
Safety Output Safety Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Commanding Safety and Test Outputs. . . . . . . . . . . . . . . . . . . . . . 59
Safety Output Alarms. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Determining Safety Output Alarm Type . . . . . . . . . . . . . . . . . . . . 61
Safety Output Alarm Recovery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Test Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Standard Output Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Test Output Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Power Supply Output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Test Output Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Test Output Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Test Output Ready . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Chapter 4
Drive-based Safe Stop Functions Safety Output Assembly Safe Stop Function Tags. . . . . . . . . . . . . . . . 67
Safety Input Assembly Safe Stop Function Tags. . . . . . . . . . . . . . . . . . 68
Safety Function in Response to Connection Event . . . . . . . . . . . . . . . 70
Connection Loss Action . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Connection Idle Action. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Safe Torque Off Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Safe Torque Off Activation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Safe Torque Off Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Safe Torque Off Delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Safe Torque Off Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Safe Torque Off Stopping Action and Source . . . . . . . . . . . . . . . . 76

Rockwell Automation Publication 750-UM005A-EN-P - October 2018 5
Table of Contents
STO Safety Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Safe Stop 1 Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Safe Stop 1 Activation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Safe Stop 1 Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Safe Stop 1 Stopping Action and Source . . . . . . . . . . . . . . . . . . . . . 80
Timed Safe Stop 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Monitored Safe Stop 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
SS1 Safety Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Safe Brake Control Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Safe Brake Control Activation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Safe Brake Control Reset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Safe Brake Control Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Safe Brake Control Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
SBC Safety Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Connecting a Safety Brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Chapter 5
Controller-based Safety
Functions Drive Safety Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Before Adding the Safety Instructions . . . . . . . . . . . . . . . . . . . . . . . 97
Drive Safety Instruction Example . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Pass-through Data Using Standard I/O Mode . . . . . . . . . . . . . . . . . . . 98
Pass-through Data Using Integrated Motion. . . . . . . . . . . . . . . . . . . . 100
SFX Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
SFX Instruction Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Chapter 6
Standard I/O Mode –
Configuration, Programming,
and Operation
Safety Assembly Tags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Configure Safety in the Logix Designer Application . . . . . . . . . . . . . 106
Add a PowerFlex 755 Drive/755T Drive Product to the
Safety Controller Project. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Add an Option Module to a PowerFlex 755 Drive. . . . . . . . . . . 108
Generate the Safety Network Number (SNN) . . . . . . . . . . . . . . 110
Safety Configuration Signature and Ownership . . . . . . . . . . . . . 125
Reset Ownership . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Safety Tags in Standard Routines . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Standard Tags in Safety Routines (tag mapping). . . . . . . . . . . . . 126
Standard and Safety Tasks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Safety Function Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Pass-through Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Falling Edge Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Understand Integrated Safety Drive Replacement. . . . . . . . . . . . . . . 129
Replace an Integrated Safety Drive in a GuardLogix System . . 130
PowerFlex 755 IO Mode Using SFX, SS1, and SLS Instructions. . 132
Studio 5000 Logix Designer Application Configuration . . . . . 132
Programming Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135

6Rockwell Automation Publication 750-UM005A-EN-P - October 2018
Table of Contents
Chapter 7
Integrated Motion –
Configuration, Programming,
and Operation
Safety Assembly Tags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Configure the Integrated Safety Function Option Module in the
Logix Designer Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Add a PowerFlex 755 Drive to the Controller Project. . . . . . . . 144
Understand Module Properties Categories . . . . . . . . . . . . . . . . . . . . . 145
Module Properties>General Category. . . . . . . . . . . . . . . . . . . . . . 146
Module Properties>Connection and Safety Categories . . . . . . 149
Motion Safety>Actions Category . . . . . . . . . . . . . . . . . . . . . . . . . . 152
Motion Safety>Primary Feedback Category . . . . . . . . . . . . . . . . 153
Motion Safety>Secondary Feedback Category . . . . . . . . . . . . . . 155
Motion Safety>Scaling Category. . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Motion Safety>Discrepancy Checking Category . . . . . . . . . . . . 157
Motion Safety>STO Category. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Motion Safety>SS1 Category. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Motion Safety>SBC Category . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
Motion Safety>Input Configuration Category. . . . . . . . . . . . . . 161
Motion Safety>Test Output Category . . . . . . . . . . . . . . . . . . . . . 162
Motion Safety>Output Configuration Category . . . . . . . . . . . . 163
Axis Properties > Actions > Safety Actions . . . . . . . . . . . . . . . . . 164
Module Properties > Associated Axes Motor and Load
Feedback Device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Generate the Safety Network Number (SNN) . . . . . . . . . . . . . . 166
Safety Configuration Signature and Ownership . . . . . . . . . . . . . 167
Reset Ownership . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Replace an Integrated Safety Drive in a GuardLogix System . . 168
Motion Direct Commands in Motion Control Systems. . . . . . 169
Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
Motion and Safety Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
Motion Safety Instances. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
Safety Function Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
Safe Monitor Network Communication. . . . . . . . . . . . . . . . . . . . 179
Explicit Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
Application Example - Using SFX, SS1, and SLS Instructions
with Integrated Motion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
Studio 5000 Logix Designer Application Configuration . . . . . 185
Programming Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Chapter 8
Monitoring and Troubleshooting Monitor Status Using Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . 195
Module Status Indicator (DS1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
Network Status Indicator (DS2). . . . . . . . . . . . . . . . . . . . . . . . . . . 196
Motion Output Status Indicator (DS3) . . . . . . . . . . . . . . . . . . . . 197
Safety Fault Indicator (DS4). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Safety Fault Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Understand Safety Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199

Rockwell Automation Publication 750-UM005A-EN-P - October 2018 7
Table of Contents
Safety Supervisor State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
Safety Core Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
Safe Torque Off Fault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
Safe Stop 1 Fault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
Safe Brake Control Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
SS2, SOS, SLS, SLP, and SDI Faults. . . . . . . . . . . . . . . . . . . . . . . . 202
Safety Feedback Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
Safety Fault Reset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
Monitor Status with a HIM or Software. . . . . . . . . . . . . . . . . . . . . . . . 205
Fault Messages on HIM, Drive Module, and Connected
Components Workbench Software . . . . . . . . . . . . . . . . . . . . . . . . 205
Monitor Status Using Integrated Motion . . . . . . . . . . . . . . . . . . . . . . 210
Out-of-Box State. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
Recognize Out-of-Box State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
Restore the Drive to Out-of-Box State. . . . . . . . . . . . . . . . . . . . . . 214
Appendix A
Safety Function Validation
Checklist Safe Stop 1 (SS1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
Safe Stop 2 (SS2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
Safe Operating Speed (SOS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
Safely-limited Speed (SLS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
Safely-limited Position (SLP). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226
Safe Direction (SDI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
Safe Feedback Interface (SFX). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
Safe Brake Control (SBC). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
Appendix B
Specifications,Certifications,and
CE Conformity Integrated Safety Functions Option Module Specifications . . . . . . 233
Electrical Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
Environmental Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
Certifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
CE Conformity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
Machinery Directive (2006/42/EC) . . . . . . . . . . . . . . . . . . . . . . . 236
EMC Directive (2014/30/EU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
Waste Electrical and Electronic Equipment (WEEE) . . . . . . . . 237
Appendix C
Safety I/O Assemblies and Safety
Attributes Safety Assembly Tags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
Safety Feedback Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
Safe Stop Function Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
Explicit Messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
Example: Read SS1 Fault Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251

8Rockwell Automation Publication 750-UM005A-EN-P - October 2018
Table of Contents
Appendix D
Parameter Data Parameters and Settings in a Linear List . . . . . . . . . . . . . . . . . . . . . . . . 253
Device Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
Host Config Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263

Rockwell Automation Publication 750-UM005A-EN-P - October 2018 9
Preface
This user manual explains how to use PowerFlex® 755 drives and PowerFlex
755T drive products in safety applications up to safety integrity level 3 (SIL 3),
performance level e (PLe), category 4.
This user manual is intended for people that design, install, configure, or
troubleshoot safety applications that use the Integrated Safety Functions
option module (catalog number 20-750-S4).
This user manual covers using network safety with drives in Standard I/O
mode and Integrated Motion mode. All chapters apply to both modes with the
following exceptions:
•Chapter 6 is specific to Standard I/O mode and can be skipped if you are
using Integrated Motion mode.
•Chapter 7 is specific to Integrated Motion mode and can be skipped if
you are using Standard I/O mode.
This user manual describes the safety requirements, including probability of
dangerous failure on demand (PFD) and average frequency of a dangerous
failure (PFH) per hour values and application verification information (see
PFD and PFH Data on page 21).
Conventions This manual lists identifies parameter names by listing the parameter number
first, followed by the name in brackets. For example, P7 [STO Fault Type].
Both the Host Config and Device Config parameters exist for this option
module and the parameter numbers overlap. For example, there is a P3 [Device
Config Identity State] and a P3 [Host Config Safety State]. Host Config
parameters reside on the Host (that is, the drive) side of the option module and
are specific to supporting the option module. Device Config parameters reside
on the option module itself.
Throughout this manual, the PowerFlex 755/755T Integrated Safety
Functions option module is also referred to as the Integrated Safety Functions
option module.
Topic Page
Conventions 9
Terminology 10
Product Firmware and Release Notes 12
Additional Resources 13
IMPORTANT You must have a basic understanding of electrical circuitry and familiarity
withPowerFlex755 drivesand PowerFlex755Tdriveproducts. You mustalso
be trained and experienced in the creation, operation, and maintenance of
safety systems.

10 Rockwell Automation Publication 750-UM005A-EN-P - October 2018
Preface
Throughout this manual, the PowerFlex 755TL low harmonic drives,
PowerFlex 755TR regenerative drives, PowerFlex 755TM drive systems are
also referred to as PowerFlex 755T drive products.
The PowerFlex 755 drive is used for the examples in this manual.
Terminology Table 1 defines the abbreviations that are used in this manual.
Table 1 - Abbreviations and Definitions
Abbreviation Full Term Definition
Timed SS1 Timed Safe Stop 1 Timed SS1 and Safe Stop 1 time-controlled (SS1-t) are synonymous. Both mean a safe stop where the
motor speed is decelerated to zero and once the maximum stop-time elapses, torque is removed from
the motor.
• Safe Stop 1 time-controlled (SS1-t) is according to IEC 61800-5-2.
SS1-t Safe Stop 1 time-controlled
Monitored SS1 Monitored Safe Stop 1 Monitored SS1and SafeStop1ramp-monitored(SS1-r) aresynonymous.Bothmeanasafestopwhere
themotor speed is reducedtostandstillwithindecelerationlimits and oncestandstillspeedis reached
or the maximum stop-time elapses, torque is removed from the motor.
• Safe Stop 1 ramp-monitored (SS1-r) is according to IEC 61800-5-2.
SS1-r Safe Stop 1 ramp-monitored
1oo2 One out of Two Refers to the behavioral designof a dual-channel safety system.
CAT Category Classification of the safety-related parts of a control system in respect of their resistance to faults and their subsequent behavior in the fault condition, and which is achieved bythe structural arrangement
of the parts, fault detection, and/or by their reliability (source ISO 13849-1).
CL Claim Limit ThemaximumSILratingthatcanbeclaimedforasafety-relatedelectricalcontrolsystemsubsystemin
relation to architecturalconstraints and systematic safety integrity (sourceIEC 62061).
CIP™ Common Industrial Protocol Protocol for industrial automation applications and trademarked by ODVA, Inc.
EN European Norm The official European Standard.
ESD Emergency Shutdown Systems A system, usually independent of the main control system, which is designed toshut down an
operating system safely.
ESPE Electro-sensitive Protective Equipment
An assembly of devices and/or components working together for protective tripping or presence-
sensing purposes and includes as a minimum:
•Asensingdevice.
• Controlling/monitoring devices.
• Output signal-switching devices (OSSD).
HFT Hardware Fault Tolerance The HFT equals n, where n+1 faults could cause the loss of the safety function. An HFT of one means
that two faults are required before safety is lost.
HIM Human Interface Module A module that is used to configure a device.
IEC International Electrotechnical Commission The International Electrotechnical Commission (IEC) is the organization that prepares and publishes
international standards for all electrical, electronic, and related technologies.
IGBT Insulated Gate Bi-polar Transistors Typical power switch that is used to control main current.
ISO International Organization for Standardization The International Organization for Standardization is an international standard-setting body that is
composed of representatives from various national standards organizations.
NC Normally Closed A set of contacts on a relay or switch that are closed when the relay is de-energized or the switch is de-
activated.
NO Normally Open A set of contacts on a relay or switch that are open when therelay is de-energized or the switch is de-
activated.
OSSD Output Signal Switching Device The component of the electro-sensitive protective equipment (ESPE) connected to the control system of a machine. When the sensing device is actuatedduring normal operation, the device responds by
going to the OFF-state.
PELV Protective Extra Low Voltage An electrical system where the voltage cannot exceed ELV under normal conditions, and under single-
fault conditions, except earth faults in other circuits.