Lenze 9300 Series Guide

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Commissioning
EDB9300EN-V004
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Global Drive
9300 series
Variant V004 - “Safe standstill”
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EVS93XX- X S V004 9300 servo inverter
EVS93XX- X P V004 9300 servo positioning controller
EVS93XX- X CW V004 9300 servo register controller
EVS93XX- X K V004 9300 cam profiler
EVS93XX- X I V004 9300 servo PLC
EVF93XX- X V V004 9300 vector control
Type
Design:
E = Enclosure IP20
C = Cold Plate
Technology:
I = to IEC 1131
K = Cam profiler
P = Positioning controller
R = Register controller
S = Servo inverter
V = Vector control
Version
Explanation
E2002 Lenze Drive Systems GmbH
No part of this documentation may be reproduced or made accessible to third parties without written consent by Lenze Drive Systems GmbH.
All indications given in these Operating instructions have been selected carefully and comply with the hardware and software described. Nevertheless,
deviations cannot be ruled out. We do not take any responsibility or liability for damages which might possibly occur. We will include necessary corrections
in subsequent editions.
Version 4.0 12/2002
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Preface and general information
1
LEDB9300EN-V004 EN 4.0
1 Preface and general information
1.1 Principle of operation
The V004 variant of the 9300 range of controllers supports the ”Safe standstill” safety function and
protects against unexpected start-up according to the requirements of EN954-1 “Control category
3” and EN 1037.
The controllers are therefore equipped with an integrated safety relay with feedback contact. The
safety relay isolatesthe supplyvoltage ofthe optocouplersfor pulse transmission to the IGBTs. An
external +24V DC is required.
This solution offers the following advantages:
•no external motor contactor
•reduced wiring expenses
•saves space
•improved EMC: the motor cable screen must not be interrupted
1.2 About these Instructions
•These Instructions are only valid together with the Operating Instructions for the
corresponding controller. All information given in the Operating Instructions still
applies and must be observed.
•These Instructions only describe the additional measures to be taken to activate the
“Safe standstill” function:
–wiring of the safety relay
–correct sequence for switching the controllers on and off.
•All information given in these Instructions must be observed without exception.
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Safety information
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1.3 Safety and application notes for Lenze controllers
(in conformity with Low-Voltage Directive 73/23/EEC)
General
Lenze controllers (frequency inverters, servo inverters, DC controllers)can include live and rotating
parts - depending on theirtypeof protection - during operation. Surfacescan behot.
Non-authorized removal of the required cover, inappropriate use, incorrect installation or operation,
creates the risk of severe injury to persons or damage to material assets.
For more detailed information please see the documentation.
All operations concerning transport, installation, and commissioning as well as maintenance must
be carried out by qualified, skilled personnel (IEC 364 and CENELEC HD 384 or DIN VDE0100 and
IEC report 664 or DIN VDE 0110 and national regulations for the prevention of accidents must be
observed).
According to this basic safety information qualified skilled personnel are persons who are familiar
with the installation, assembly, commissioning and operation of the product and who have the
qualifications necessary for their occupation.
Application as directed
Drive controllers are components which are designed for installation in electrical systems or
machinery.They arenot to beused as appliances.Theyareintended exclusivelyfor professional and
commercial purposes according to EN 61000-3-2. The documentation includes information on
compliance with the EN 61000-3-2.
When installing the drive controllers in machines, commissioning (i.e. starting of operation as
directed) is prohibited until it is proven that the machine complies with the regulations of the EC
Directive 98/37/EC (Machinery Directive); EN 60204 must be observed.
Commissioning (i.e.starting of operation as directed)is only allowed when there is compliance with
the EMC Directive (89/336/EEC).
ThedrivecontrollersmeettherequirementsoftheLowVoltageDirective73/23/EEC.Theharmonised
standards of the series EN 50178/DIN VDE0160 apply to the controllers.
The technical data and information on the connection conditions must be obtained from the
nameplate and the documentation. They must be observed in any case.
Warning: The availability of controllers is restricted according to EN 61800-3. These products can
cause radio interference in residential areas. In this case, special measures can be necessary.
Transport, storage
Please observe the notes on transport, storage and appropriate handling.
Observe the climatic conditions according to EN 50178.
Installation
Thecontrollers must beinstalled and cooled according to theregulation and instructions giveninthe
corresponding documentation.
Ensure proper handling and avoid mechanical stress. Do not bend any components and do not
change any insulation distances during transport or handling. Do not touch any electronic
components and contacts.
Controllers contain electrostatically sensitive components, which can easily be damaged by
inappropriate handling. Do not damage or destroy any electrical components since this might
endanger your health!
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Safety information
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Electrical connection
When working on live drive controllers, the applicable national regulations for the prevention of
accidents (e.g. VBG 4)must be observed.
The electrical installation must be carried out according to the appropriate regulations (e.g. cable
cross-sections, fuses, PE connection). Additional information can be obtained from the
documentation.
The documentation contains information about installation in compliance with EMC (shielding,
grounding, filters and cables). These notes must also be observed for CE-marked controllers. The
manufacturer of the system or machine is responsible for the compliance with the required limit
values demanded by the EMC legislation.
Operation
Systems including controllers must be equipped with additional monitoring and protection devices
according to the corresponding standards (e.g. technical equipment, regulations for prevention of
accidents, etc.). If necessary, adapt the controllers to your application. Please observe the
corresponding information given in the Instructions.
After the controller has been disconnected from the supply voltage, live components and power
connectionmust notbetouchedimmediatelysincecapacitorscouldbecharged.Pleaseobservethe
corresponding notes on the controller.
All covers and doors must be closed during operation.
Informationfor UL approved systems withintegrated controllers: ULwarningsarenoteswhich
apply to UL systems. The documentation contains special information about UL.
Safe standstill -1-
Variant V004 of the controller series 9300 and 9300 vector, variante x4x of the controller series 8200
vector and axis controller ECSxAxxx support the function ”Safe standstill”, protection against
unintended start, according to the requirements of Appendix I, No. 1.2.7 of the EC Directive
”Machinery”98/37/EG, DIN EN 954-1 category 3 and DIN EN 1037. It is absolutely necessary to
observetheinformationabout thefunction”Safestandstill”inthecorresponding documentationand
instructions.
Maintenance and servicing
Please observe the information given in the documentation.
The product-specific safety and application notes in these instructions must also be
observed!
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Safety information
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1.4 Additional safety notes for the “Safe standstill”function
•Only qualified personnel are permitted to install and set up the “Safe standstill”function.
•All safety-relevant external cables (e.g. control cable for the safety relay, feedback contact)
must be protected, for instance by a cable duct. Short circuits between signal and ground and
between signal cables must be avoided.
•In the event of external forces acting on the axis, additional brakes are required. Please take
into account the gravitationalforceon hanging loads!
Warning!
When using the “Safe standstill”function additional measures are required for “Emergency off”:
Motor and controller are not isolated and not equipped with a ’service switch’or ’repair switch’!
An “Emergency off”requires potential isolation, e.g. by a central mains contactor.
During operation
Safety circuits must be checked after first commissioning and subsequently at regular intervals.
1.5 Residual hazards
Inthe event of a short circuit of two power transistors, a residual movement of up to 180 °/polepair
number can occur at themotor!(Example: 4-polemotor residual movement max. 180 °/2= 90°)
Thisresidualmovement must betakeninto account for therisk analysis,e.g.safestandstillformain
spindle drives.
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Technical data
5
LEDB9300EN-V004 EN 4.0
2 Technical data
2.1 Safety relay - Technical data/wiring
Thesafetyrelayisconnected tothefrontofthecontrollerbymeansofthe4-poleplugX11.Thesafety
relay is equipped with a freewheeling diode and a reverse voltage protection diode.
Terminal assignment for plug X11 Data for the safety relay
3 4
3 3
K 3 2
K 3 1
3 43 3K 3 2
K 3 1
Coil voltage at +20 °C +24 V DC (+19.5 ... 36.0 V)
3 4
3 3
K 3 2
K 3 1
3 43 3K 3 2
K 3 1
Coil resistance at +20 °C 823 Ω±10%
3 4
3 3
K 3 2
K 3 1
3 43 3K 3 2
K 3 1
Switching voltage max. 250 V AC or 200 V DC
3 4
3 3
K 3 2
K 3 1
3 43 3K 3 2
K 3 1
Continuous current at max.
permissible ambient temperature
(ohmic load)
max. 1.5 A (250 V AC)
max.1.5A(60VDC)
max. 0.5 A (200 V DC)
3 4
3 3
K 3 2
K 3 1
3 43 3K 3 2
K 3 1
Control voltage - contact →coil
Control voltage - contact →contact
AC 1500 Vrms for 1 min
AC 1500 Vrms for 1 min
Wiring of plug X11 Electrical life time at rated load ~10
5operating cycles
X 1 1
3 4
+
3 3
K 3 2
K 3 1
+ 5 V
D C + 2 4 V
=
K
S R
I G B T
Mechanical life time ~10
7operating cycles
X 1 1
3 4
+
3 3
K 3 2
K 3 1
+ 5 V
D C + 2 4 V
=
K
S R
I G B T
X 1 1
3 4
+
3 3
K 3 2
K 3 1
+ 5 V
D C + 2 4 V
=
K
S R
I G B T
X 1 1
3 4
+
3 3
K 3 2
K 3 1
+ 5 V
D C + 2 4 V
=
K
S R
I G B T
•Max. permissible cable cross-section = 1.5 mm@
•Screw tightening torque = 0.5...0.6 Nm (4.4...5.3 Ibin)
Warning!
The electrical reference point for the the safety relay coil must be connected to the PEconductor
system (DIN EN 60204-1 paragraph 9.4.3)!
This is the only way to protect the unit from earth faults.
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Installation
6L
EDB9300EN-V004 EN 4.0
3 Installation
3.1 Circuit for “Safe standstill with safety relay”
The example shows minimum wiring of the components. This ensures the troublefree operation of
the “Safe standstill”function of 93XX-V004 controllers.
S 1 S 2
+ 2 4 V
K 4
A U S E I N
S 3
E m e r g e n c y o f f
K 4
0 V
S 4
F 1 . . F 3
2
1
3
S a f e t y d o o r m o n i t o r i n gE m e r g e n c y o f f S t a r t - S t o p m o m e n t a r y c o n t a c t p u s h b u t t o n
K 2 a
E m e r g e n c y o f f
s w i t c h i n g d e v i c e
S a f e t y d o o r
s w i t c h i n g d e v i c e
K 2 a
K 4
K 3K 2 bK 2 b
K 3
K 2 a
K 4
A 1 A 2
K 3
C W
r o t a t i o n
CCW
r o t a t i o n
t
A 1
t
A 2
Q S P R F R
9 3 x x
X 1 1
G N D
I G B T
A 3
V 0 0 4
D C
+ 2 4 V
C W
r o t a t i o n
CCW
r o t a t i o n
K
S R
K 3 2 3 4 3 3 E 1K 3 1 E 2 2 8 3 9 5 9 X 5
Fig. 1 Minimum wiring for 93XX-V004 controllers with safety relay
to EN 954-1 control category 3 and EN 1037, stop category 1 to EN 60204-1
3.1.1 Description
For a circuit with a safety relay for emergency off and door lock follow EN 954-1 control category
3 and EN 1037. The circuit in Fig. 1 shows a stop function of stop category 1 to EN 60204-1:
•The circuits for emergency off and door locking are two-channel circuits protected against
short circuits between signal cables. The integrated switching devices are equipped with
positively driven contacts.
•The 24 V DC supply for the start/stop button (S1 “OFF”,S2“ON”)flows through the contacts
of A1 (emergency off)and A2 (safety door).
•A1 and A2 and the relay K3 have an additive effect on the input “Quick-Stop”(QSP) of the
controller (A3)via terminal E1 (CW rotation)and terminal E2 (CCW rotation).
•The appropriate control devices must be integrated to ensure a reversal of the direction of
rotation.
•If the safety door is opened during operation, there will be an off-delay on the mains
contactor and also the power supply to the controller. This will not occur if the feedback
contact K31 - K32 of the safety relay (KSR)indicates activation of the external pulse inhibit via
X11 (2nd switch-off circuit).
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Installation
7
LEDB9300EN-V004 EN 4.0
3.1.2 Time chart
n
Q S P
R F R
K 2 a
K 2 b
KS R
t
Q S P
t 1 t 2 t 3 t 4 t 5
tA 2
K 4
S 4
t
t
t
t
tt
tt
tt
tt
tt
tt
t 1 t 2 t 3 t 4 t 5 t 6
t
Q S P
" S a f e s t a n d s t i l l "
f u n c t i o n v i a
s t a r t - s t o p m o m e n t a r y
c o n t a c t p u s h b u t t o n
" S a f e s t a n d s t i l l "
f u n c t i o n v i a
" O p e n i n g o f s a f e t y d o o r "
S 2
tt
S 1
tt
Fig. 2 Time characteristic for switching on and off “safe standstill with safety relay”
3.1.3 Time settings
•t1 to t2 ≥50 msec
Set the time relay K2b so that the controller is enabled at least 50 ms after KSR has been
switched.
•t3 to t4
tQSP = Time for controller-internal QSP ramp
The time interval set must ensure that the controller can always be braked to a controlled
standstill when running at max. speed (t3 to t4).
•t3 to t5 = tQSP + min. 100 ms (guide value)
Set the time relay K2a so that tQSP + min. 100 ms safety time will always be achieved.
This ensures a controlled standstill according to stop category 1 of EN 60204-1. The
controller will only be enabled again (t5)once the motor has been braked to a controlled
standstill (t4).
•t3 to t6 = Internal time of A1, A2 (tA1,t
A2)
tA1 and tA2 must be selected to ensure that the controller brakes the motor to standstill along
the QSPramp within T QSP before the power supply is disconnected via the mains contactor
(K4) (t6). This will be required if
–the emergency off button (S3)is pressed during operation.
–the safety door is opened and the feedback contact of KSR in the controller is not closed
because of an error in the drive (t6)(2nd switch-off circuit).
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Installation
8L
EDB9300EN-V004 EN 4.0
3.1.4 “Safe standstill”function
The “Safe standstill“function is activated by pressing the key “S1“(OFF):
•Opening the NO contact of K3 (t3) via terminal E1 or E2 at X5 immediately triggers a quick
stop (QSP)at the controller.
•The motor is decelerated to standstill (t4)by the controller with tQSP along the QSP ramp.
–the external pulse inhibit is activated with delay (t5)in the controller (terminal 34, X11)after
the time set in time relay K2a.
–opening the NO contact of K2b enables the controller again (t5).
The external pulse inhibit of the controller (safety relay KSR) ensures that the motor cannot start
unexpectedly if the safety doors are opened.
3.1.5 “Emergency off”function
If “S3”(EMERGENCYSTOP)is pressed, the drive will be braked to acontrolled standstill according
to stop category 1 of EN 60204-1:
•The Quick Stop input (QSP)is set immediately at the controller by opening the NO contact of
K3 (t3)via terminal E1 or E3 at the controller.
•The controller brakes with tQSP until the motor is brought to a controlled standstill (t4).
•The mains contactor (K4)safely disconnects the controller (A3)from the power supply with a
delay (tA1)if
–the external pulse inhibit (safety relay KSR, terminal 34, plug X11)is set with a time delay
through the normally open contact of K2a (t5),
–the controller is enabled again via the NO contact of K2b at terminal 28 at the same time
(t5).
Thefeedback contact of K4 prevents the switching of the enable contacts at the emergency off unit
(A1)when the power supply is switched on again if the switching contacts ’stick’.
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Installation
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LEDB9300EN-V004 EN 4.0
3.2 Circuit for “Safe standstill with safety relay and standard PLC
control”
The example shows minimum wiring of the components. This ensures the troublefree operation of
the “Safe standstill”function of 93XX-V004 controllers.
S 1 S 2
+ 2 4 V
K 4
O F F O N
S 3
E m e r g e n c y o f f
K 4
0 V
S 4
F 1 . . F 3
2
1
3
S a f e t y d o o r
m o n i t o r i n g
E m e r g e n c y o f f
E m e r g e n c y o f f
s w i t c h i n g d e v i c e S a f e t y d o o r
s w i t c h i n g d e v i c e
K 4
A 1 A 2
S t a n d a r d P C
O u t p u t s I n p u t s
I n p u t s
K 4 K 3
K 3
K 3 K 4
O u t p u t s
K 4
t
A 1
t
A 2
A 4
V 1 V 2
Q S P R F R
9 3 x x
X 1 1
G N D
I G B T
A 3
V 0 0 4
D C
+ 2 4 V
C W
r o t a t i o n
CCW
r o t a t i o n
K
S R
K 3 2 3 4 3 3 E 1K 3 1 E 2 2 8 3 9 5 9 X 5A 1
n = 0
Fig. 3 Minimum wiring for 93XX-V004 controllers with safety relay and standard PLC control
to EN 954-1 control category 3 and EN 1037, stop category 1 to EN 60204-1
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Installation
10 L
EDB9300EN-V004 EN 4.0
3.2.1 Description
For a circuit with standard PLC control and safety relay follow EN 954-1 control category 3 and EN
1037. The circuit in Fig. 3 shows a stop function of stop category 1 to EN 60204-1 (with safety door
monitoring):
•The circuits for emergency off and door lock are two-channel circuits protected against short
circuits between signal cables. The integrated switching devices are equipped with positively
driven contacts.
•A1 and A2 and the relay K3 have an additive effect on the input “Quick-Stop”(QSP) of the
controller (A3)via terminal E1 (CW rotation)and terminal E2 (CCW rotation). The wiring
enables a reversal of the direction of rotation for the drive.
•The PLC control detects if the mains contactor (K4)or the start/stop relay (K3) is not released:
–when checking the configuration of the NC contact
–before restarting the machine.
•If the PLC or the controller fails, the two independent switch-off circuits ensure that the motor
braked to a standstill if an emergency stop is triggered, or if the safety doors are opened.
Note for the PLC programmer!
In the event of faulty operation of the safety relay for the external pulse inhibit, the power supply for
the controller must be switched off via the mains contactor (K4)(2nd switch-off circuit).
Thecircuit forthe“Safestandstill”function hasits owncontacts and is independent of thestandard
PLC. This means that even if the PLC fails, the “safe standstill”function will still operate.
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Installation
11
LEDB9300EN-V004 EN 4.0
3.2.2 Time chart
n
Q S P
R F R
K
S R
tQ S P
t 1 t 2 t 3 t 4 t 5
t
A 2
K 4
S 4
t
t
t
t
tt
tt
tt
tt
t 1 t 2 t 3 t 4 t 5 t 6
tQ S P
" S a f e s t a n d s t i l l "
f u n c t i o n v i a
s t a r t - s t o p m o m e n t a r y
c o n t a c t p u s h b u t t o n
" S a f e s t a n d s t i l l "
f u n c t i o n v i a
" O p e n i n g o f s a f e t y d o o r "
S 2
tt
S 1
tt
Fig. 4 Time characteristic for switching on and off “safety relay and standard PLC control”
3.2.3 Time settings
•t1 to t2 ≥50 ms
Set the time delay in the PLC so that the controller will be enabled at least 50 ms after KSR.
•t3 to t4
tQSP = Time for controller-internal QSP ramp
The time interval set must ensure that the controller can always be braked to a controlled
standstill when running at max. speed (t3 to t4).
•t3 to t5 = tQSP + min. 100 ms (standard value)
Set the time (t3 to t5)so that tQSP + min. 100 ms ensures safety.
This ensures a controlled standstill according to stop catergory 1 of EN 60204-1. The
controller will only be enabled again (terminal 28) (t5)once the motor as been braked to a
controlled standstill (t4).
•t3 to t6 = Internal time of A1, A2 (tA1,t
A2)
tA1 and tA2 must be selected to ensure that the controller brakes the motor to a controlled
standstill along the QSP ramp within T QSP before the power supply is disconnected via the
mains contactor (K4) (t6). This will be required if
–the emergency off button (S3)is pressed during operation.
–the safety door is opened and the feedback contact of KSR in the controller is not closed
because of an error in the drive (t6)(2nd switch-off circuit).
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Installation
12 L
EDB9300EN-V004 EN 4.0
3.2.4 ”Safe standstill”function
The “Safe standstill“function is activated by pressing the key “S1“(OFF):
•A Quick Stop (QSP)is set immediately via terminals E1 and E2 of the controller.
•The controller brakes the motor to a controlled standstill (t4)within tQSP .
•If the controller sends the signal “n=0”(terminal A1)to indicate that the motor has been
stopped, the PLC will disable the controller (terminal 28) and set a delayed pulse inhibit via
KSR (terminal 34, X11).
This procedure corresponds to standstill according to stop category 1 of EN 60204-1.
The external pulse inhibit of the controller (safety relay KSR) ensures that the motor cannot start
unexpectedly if the safety doors are open.
3.2.5 “Emergency off”function
If “S3”(EMERGENCY STOP)is pressed, the drive is braked to a controlled standstill according to
stop category 1 of EN 60204-1:
•A Quick Stop (QSP)is set immediately via terminals E1 and E2 of the controller.
•The controller brakes with tQSP in a controlled mode until the motor has been stopped (t4).
•If the controller sends the signal “n=0”(terminal A1)to indicate motor standstill
–the PLC sets the external pulse inhibit via KSR (terminal 34, X11),
–after an additional delay time ≥of 100 ms (guide value), the PLC deactivates the mains
contactor (K4)and thus interrupts the power supply to the controller (A3)(2nd switch-off
circuit).
The emergency off unit (A1)ensures the emergency off function in the event of a PLC failure:
•Quick Stop (QSP)is set independently of the PLC.
•After the internal time tA1 for A1 (t3 to t6)the power supply for the controller is switched off via
K4.
•The positively driven NO contact in A1 activates the external pulse inhibit via KSR.
Thefeedback contact of K4 prevents the switching of the enable contacts at the emergency off unit
(A1)when the power supply is switched on again if the switching contacts ’stick’.
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Installation
13
LEDB9300EN-V004 EN 4.0
3.3 Circuit for “Safe standstill with safety-oriented PLC”
The example shows minimum wiring of the components. This ensures the troublefree operation of
the “Safe standstill”function of 93XXcontrollers.
S 1 S 2
+ 2 4 V
K 4
O F F O N
K 4Y 1
S a f e t y - o r i e n t e d P C
0 V
F 1 . . F 3
2
1
3
I n p u t s
O u t p u t s
O u t p u t sI n p u t sO u t p u t s
M o t o r b r a k e
S t a r t - S t o p
m o m e n t a r y c o n t a c t
p u s h b u t t o n
S 3
E m e r g e n c y
o f f
E m e r g e n c y o f f
S 4
S a f e t y d o o r
m o n i t o r i n g
M a i n s c o n t a c t o r
C l o c k p u l s e o u t p u t s
Q S P R F R
9 3 x x
X 1 1
G N D
I G B T
A 3
V 0 0 4
D C
+ 2 4 V
C W
r o t a t i o n
CCW
r o t a t i o n
KS R
K 3 2 3 4 3 3 E 1K 3 1 E 2 2 8 3 9 5 9 X 5A 1
n = 0
A 4
Fig. 5 Minimum wiring for 93XX-V004 controllers with safety-oriented PLC
to EN 954-1 control category 3 and EN 1037, stop category 1 to EN 60204-1
3.3.1 Description
For a circuit with safety-oriented PLC control follow EN 954-1 control category 3 and EN 1037. The
circuit in Fig. 5 shows a stop category 1 stop function according to EN 60204-1 (with safety door
monitoring).
•The circuit is positively dynamic for the emergency off function (S3), door locking (S4)and
feedback contact of the safety relay (K SR), i. e. proper and correct functioning of the external
circuit of the PLC and PLC inputs can be ensured through a clock signal.
The circuits for emergency off and door lock are two channel circuits protected against short
circuits between signal cables.
•The integrated switching devices are equipped with positively driven contacts.
•The PLC outputs for motor brake (Y1)and mains contactors (K4)are two-channel circuits.
The safe activation of the functions is ensured by the second switch-off circuit in the output
module of the PLC. Additionally, the PLC reads the NC contact of K4.
Note for the PLC programmer!
In the event of faulty operation of the safety relay for the external pulse inhibit, the power supply for
the controller must be switched off via the mains contactor (K4)(2nd switch-off circuit).
The wiring instructions shown in Fig. 1 must be considered accordingly!
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Installation
14 L
EDB9300EN-V004 EN 4.0
3.3.2 Time chart
n
Q S P
R F R
K
S R
t
Q S P
t 1 t 2 t 3 t 4 t 5
K 4
S 4
t
t
t
tt
tt
tt
tt
t 1 t 2 t 3 t 4 t 5 t 6
t
Q S P
" S a f e s t a n d s t i l l "
f u n c t i o n v i a
s t a r t - s t o p m o m e n t a r y
c o n t a c t p u s h b u t t o n
" S a f e s t a n d s t i l l "
f u n c t i o n v i a
" O p e n i n g o f s a f e t y d o o r "
S 2
tt
S 1
tt
Fig. 6 Time characteristic for switching “with safety-oriented PLC on and off“
3.3.3 Time settings
•t1 to t2 ≥50 msec
Set the delay time in the PLC so that the controller will be enabled at least 50 ms after KSR .
•t3 to t4
tQSP = Time for controller-internal QSP ramp
The time interval set must ensure that the controller can always be braked to a controlled
standstill when running at max. speed (t3 to t4).
•t3 to t5 = tQSP + min. 100 ms (standard value)
Set the time (t3 to t5)so that tQSP + min. 100 ms ensures safety.
This ensures a controlled standstill according to stop category 1 of EN 60204-1: Controller
enable is reset (t5)after the motor has been braked to standstill. Only then will K4 disconnect
the controller from the power supply.
•t4 to t5 = Internal time for safety door monitoring
The selection of the internal time for the safety door monitoring must ensure that the
controller can brake the motor to a controlled standstill along the QSP ramp and within tQSP
before the controller is disconnected via k4. This will be required if
–the emergency off button (S3)is pressed during operation
–the safety door is opened during operation and the feedback contact of KSR in the
controller is not closed because of an error in the drive (2nd switch-off circuit).
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Installation
15
LEDB9300EN-V004 EN 4.0
3.3.4 ”Safe standstill”function
The “Safe standstill“function is activated by pressing the key “S1“(OFF):
•A Quick Stop (QSP)is set immediately via terminals E1 and E2 (X5)of the controller.
•The motor is braked to standstill by the controller with tQSP along the QSP ramp.
•If the controller sends the signal “n=0”(terminal A1, X5)to indicate that the motor has been
stopped, the PLC will disable the controller (terminal 28, X5)and set a delayed pulse inhibit
via KSR (terminal 34, X11).
The external pulse inhibit of the controller (safety relay KSR) ensures that the motor cannot start
unexpectedly if the safety doors are open.
3.3.5 “Emergency off”function
If“S3”(EMERGENCYOFF)ispressed,thedriveisbraked to acontrolled standstillaccording tostop
category 1 of EN 60204-1:
•A Quick Stop (QSP)is set immediately via terminals E1 and E2 (X5)of the controller.
•The controller brakes the motor to a controlled standstill (t4)within tQSP.
•If the controller sends the signal “n=0”to indicate that the motor as been stopped, te PLC
will disable the controller (terminal A1, X5)and set a delayed pulse inhibit via KSR (terminal 34,
X11).
•If the feedback contact of KSR (K31 - K32, X11)indicates activation of the pulse inhibit, the
PLC deactivates the signal for controller enable (terminal 28, X5), mains contactor (K4)and
motor brake (Y1). The controller power supply is interrupted.
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Commissioning
16 L
EDB9300EN-V004 EN 4.0
4 Commissioning
4.1 Conditions
4.1.1 Electrical requirements
The external voltage source must be able to drive a current >1 A because it supplies the control
electronics of the controller (back-up in the event of power failure): Evenafter the power supply has
been disconnected:
•actual values are recorded and processed
•the control electronics remain reliable
4.1.2 Necessary changes to the default setting
For troublefree operation of the examples (^6, ff) the default setting of the controller must be
changed as follows:
•Motor standstill must be assigned to the digital
output terminal A1 Code C0117/1, selection 10650
•TRIP display must be assigned to the digital
output terminal A2 Code C0117/2, selection 15000
•“HIGH”active must be assigned to digital output
terminal Code C0118/1, selection 0
Excerpt from code table
Code Possible settings IMPORTANT
No. Name Lenze Selection
[C0117]
1
2
3
4
CFG: DIGOUT
CFG: DIGOUT
CFG: DIGOUT
CFG: DIGOUT
*
15000
10650
500
5003
DCTRL-TRIP
CMP1-OUT
DCTRL-RDY
MCTRL-MMAX
Signal configuration DIGOUT
X5/A1
X5/A2
X5/A3
X5/A4
* depending on C0005
C0118
1
2
3
4
DIGOUT pol
DIGOUT pol
DIGOUT pol
DIGOUT pol
1
1
0
0
0
1
High active
Low active
Terminal polarity DIGOUT
X5/A1
X5/A2
X5/A3
X5/A4
Caution!
Time for controller-internal QSP ramp = tQSP (code C0105) must not be set too short!
If tQSP is too short, TRIP can be activated.
•The drive idles to standstill.
•Controlled standstill is not possible.
•Only stop category 0 can be reached.
•Safe standstill is not possible, the safety door is not secured.
tQSP and the QSP ramp must always be adapted to the system being used.
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Commissioning
17
LEDB9300EN-V004 EN 4.0
Warning!
The “Safe standstill”function, protection against unintended start“must always be checked for
correct operation when
•setting up the system for the first time
•having worked on the wiring of the system
•having replaced one or several system components
4.2 Operating test
Proceed as follows:
1. All drives taking part in the operation must be set to standstill.
2. Hanging loads must be mechanically fastened (blocked).
3. Safety relay KSR (”Safe standstill function, protection against unintended start”)mustbe
controlled.
4. Circuit breakers (S4)open when the controller (A3)is supplied with power (K4).
5. Interrupt the feedback circuit of safety relay KSR at X11, K31-K32.
The mains contactor (K4)is released after the time tA2 defined in A2.
6. Connect the feedback circuit of safety relay KSR to X11, K31-K32.
Mains contactor (K4)picks up again.
7. Repeat steps 3 to 6 for every controller.
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Appendix
18 L
ba_VPMMbkJsMMQ bk QKM
5 Appendix
5.1 PLC program
This section describes the operating principle of safety relay KSR for the “Safe standstill”function
of theV004variants. Thespecified programmingispart ofaPLCprogram accordingto IEC61131-3.
Warning!
Thefollowing PLCprogram isabasic programmingsolution. Theprogram must always beadapted
to the respective application.
If the safety relay KSR fails, the mains contactor (K4) interrupts the power supply to the drive
controller via the second switch-off circuit.
5.1.1 “Motor on”and “Motor off”flow charts (basic sequence)
B a s i c s e t t i n g
P o w e r o n
K
S R
d e f e c t i v e
M o t o r
s t a r t
K
S R
a c t i v e
M o t o r
i s r o t a t i n g
E r r o r e v a l u a t i o n
2 n d s w i t c h - o f f
c i r c u i t a c t i v e
E r r o r e v a l u a t i o n
2 n d s w i t c h - o f f
c i r c u i t a c t i v e
n o
n o
y e s
y e s
n o
y e s
n o
y e s
S t o p
m o t o r
K
S R
n o t a c t i v e
E r r o r e v a l u a t i o n
2 n d s w i t c h - o f f
c i r c u i t a c t i v e
n o
y e s
y e s
B r i n g m o t o r
t o s t a n d s t i l l
P o w e r o f f
n o
w a i t i n g f o r
m o t o r s t a r t
M o t o r
i s r o t a t i n g
Fig. 7 Operational sequence “motor on”Fig. 8 Operational sequence “motor off”
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