Pilz PMCprotego S1--2 User manual

PMCprotegoS12(C)
OperatingManual1002528EN03
PMCprotegoSafeMotion

Preface
Thisdocumentistheoriginaldocument.
AllrightstothisdocumentationarereservedbyPilzGmbH&Co.KG.Copiesmaybemade
forinternalpurposes.Suggestionsandcommentsforimprovingthisdocumentationwillbe
gratefullyreceived.
Pilz®,PIT®,PMI®,PNOZ®,Primo®,PSEN®,PSS®,PVIS®,SafetyBUSp®,
SafetyEYE®,SafetyNETp®,thespiritofsafety®areregisteredandprotectedtrademarks
ofPilzGmbH&Co.KGinsomecountries.
SDmeansSecureDigital

Content
OperatingManualPMCprotegoS12(C)
1002528EN03 3
Section1 Introduction 5
1.1 Validityofdocumentation 5
1.1.1 Retainingthedocumentation 5
1.2 Definitionofsymbols 5
Section2 Overview 7
2.1 Unitstructure 7
2.1.1 Unitfeatures 7
2.2 Frontview 8
Section3 Safety 9
3.1 Intendeduse 9
3.1.1 Permittedmotortypes 10
3.1.2 Permittedmotorencodertypes 10
3.1.3 Useofqualifiedpersonnel 11
3.1.4 Warrantyandliability 11
3.1.5 Disposal 11
3.2 Standards 12
Section4 Functiondescription 13
4.1 Overview 13
4.2 Inputsandoutputs 14
4.2.1 Inputs 15
4.2.2 Outputs 16
4.2.2.1 Singlepoleoutputs 16
4.2.2.2 Dualpoleoutputs 18
4.2.2.3 Outputtest 18
4.3 Safetyfunctions 20
4.3.1 SafeTorqueOffSTO 20
4.3.2 SafeStop1SS1 22
4.3.3 SafeStop2SS2 26
4.3.4 SafeOperatingStopSOS 28
4.3.5 SafelyLimitedSpeedSLS 30
4.3.6 SafeSpeedRangeSSR 34
4.3.7 SafeDirectionSDI 37
4.3.8 SafelyLimitedIncrementSLI 41
4.3.9 SafelyLimitedPositionSLP 44
4.3.10 SafeBrakeControlSBC 46
4.3.11 SafeBrakeTestSBT 50
4.4 Operatingmodeoftheservoamplifier 52
4.5 Reactiontimes 54
4.6 Configuration 55
Section5 Installation 56
5.1 Generalrequirements 56
5.2 Dimensions 56
5.3 Installingthesafetycard 57

Content
OperatingManualPMCprotegoS12(C)
1002528EN03 4
Section6 Wiring 58
6.1 Generalwiringguidelines 58
6.2 Connectorpinassignment 59
6.3 Shielding 59
6.4 Digitalinputs 60
6.5 Digitaloutputs 61
6.5.1 Supplyvoltage 61
6.5.2 Singlepoleoutputs 63
6.5.3 Dualpoleoutputs 64
6.6 Encoder 65
6.6.1 Supplyvoltage 65
6.6.2 IncrementalencoderwithTTLsignal 66
6.6.3 AbsoluteencoderwithSSIinterface 67
Section7 Commissioning 69
7.1 Safetyguidelines 69
7.2 Initialcommissioning 69
7.3 Recommissioning 72
7.3.1 Recommissioningatarestart 72
7.3.2 Recommissioningaftererror 73
7.3.2.1 Switchingtheinputs"SS1Activate"or"SS1SIL3/Reset" 73
7.3.2.2 Command"CLRFAULT" 74
7.3.3 Swapsafetycard 75
7.3.3.1 DownloadconfigurationfromConfiguratortosafetycard 76
7.3.3.2 DownloadconfigurationtoSDcard 77
7.3.3.3 DownloadconfigurationfromSDcardtosafetycard 78
7.4 Safetychecks 79
Section8 Operation 80
8.1 Operatingstates 80
8.2 Testingthesafepulsedisabler 81
8.3 Displayelements 83
8.4 Messages 84
Section9 Technicaldetails 85
9.1 Safetycharacteristicdata 88
9.1.1 Safeactuatorwithoneencoder 88
9.1.1.1 MTTF>=10years 88
9.1.1.2 MTTF>=57years 89
9.1.2 Safeactuatorwithtwoencoders 89
Section10 Orderreference 91
Section Glossary 92

Introduction
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1 Introduction
1.1 Validityofdocumentation
ThisdocumentationisvalidfortheproductsPMCprotegoS12andPMCprotegoS12C.It
isvaliduntilnewdocumentationispublished.
Thisoperatingmanualexplainsthefunctionandoperation,describestheinstallationand
providesguidelinesonhowtoconnecttheproductPMCprotegoS12(C).
Pleasealsorefertothefollowingdocumentsfromthemotioncontrolrange:
}TheconfigurationoftheexpansioncardisdescribedintheonlinehelpfortheConfigur
atorPASconfigSDrive.
}TheservoamplifierPMCprotegoDisdescribedinthe"PMCprotegoDoperating
manual".
}Detailsofhowtosettheparametersfortheservoamplifieraredescribedinthehelpfor
thecommissioningsoftwarePASmotion.
AllthesemanualscanbefoundonthesuppliedCDROM:"MotionControl"
Youwillneedtobeconversantwiththeinformationinthesedocumentsinordertofullyun
derstandthismanual.
1.1.1 Retainingthedocumentation
Thisdocumentationisintendedforinstructionandshouldberetainedforfuturereference.
1.2 Definitionofsymbols
Informationthatisparticularlyimportantisidentifiedasfollows:
DANGER!
Thiswarningmustbeheeded!Itwarnsofahazardoussituationthatposes
animmediatethreatofseriousinjuryanddeathandindicatespreventive
measuresthatcanbetaken.
WARNING!
Thiswarningmustbeheeded!Itwarnsofahazardoussituationthatcould
leadtoseriousinjuryanddeathandindicatespreventivemeasuresthatcan
betaken.

Introduction
OperatingManualPMCprotegoS12(C)
1002528EN03 6
CAUTION!
Thisreferstoahazardthatcanleadtoalessseriousorminorinjuryplus
materialdamage,andalsoprovidesinformationonpreventivemeasures
thatcanbetaken.
NOTICE
Thisdescribesasituationinwhichtheproductordevicescouldbedam
agedandalsoprovidesinformationonpreventivemeasuresthatcanbe
taken.Italsohighlightsareaswithinthetextthatareofparticularimport
ance.
INFORMATION
Thisgivesadviceonapplicationsandprovidesinformationonspecialfea
tures.

Overview
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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
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
RUN
POWER
STO
CONFIG
X30
X31
8176105 12
100001
1
3
4
5
6
2
1
3
Key:
}1:Screwforattachmenttotheservoamplifier
}2:LEDstodisplayoperatingstates
}3:Inputs/outputsandsupplyvoltage
}4:Labellingstripwith:
– Ordernumber
– Serialnumber
– Numberofdeviceversion
}5:2Dcode
}6:Connectionforencoder

Safety
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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
or
}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
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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

Safety
OperatingManualPMCprotegoS12(C)
1002528EN03 11
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
ROD24VwithW&S 16 X3 Enabled
ROD5VwithW&S 17 X1 Enabled
BiSSencoder5Vdigital 20 X1 Enabled
BiSSencoder12Vdigital 22 X1 Enabled
SSI 25 X1 Enabled
SSILinearencoder 26 X1 Enabled
ROD5V 27 X1 Enabled
EnDat2.2with5V 32 X1 Enabled
EnDat2.2with12V 34 X1 Enabled
3.1.3 Useofqualifiedpersonnel
Theproductsmayonlybeassembled,installed,programmed,commissioned,operated,
maintainedanddecommissionedbycompetentpersons.
Acompetentpersonissomeonewho,becauseoftheirtraining,experienceandcurrentpro
fessionalactivity,hasthespecialistknowledgerequiredtotest,assessandoperatethe
workequipment,devices,systems,plantandmachineryinaccordancewiththegeneral
standardsandguidelinesforsafetytechnology.
Itisthecompany’sresponsibilityonlytoemploypersonnelwho:
}Arefamiliarwiththebasicregulationsconcerninghealthandsafety/accidentpreven
tion
}Havereadandunderstoodtheinformationprovidedinthisdescriptionunder"Safety"
}Andhaveagoodknowledgeofthegenericandspecialiststandardsapplicabletothe
specificapplication.
3.1.4 Warrantyandliability
Allclaimstowarrantyandliabilitywillberenderedinvalidif
}Theproductwasusedcontrarytothepurposeforwhichitisintended
}Damagecanbeattributedtonothavingfollowedtheguidelinesinthemanual
}Operatingpersonnelarenotsuitablyqualified
}Anytypeofmodificationhasbeenmade(e.g.exchangingcomponentsonthePCB
boards,solderingworketc.).
3.1.5 Disposal
}Insafetyrelatedapplications,pleasecomplywiththemissiontimeTMinthesafetyre
latedcharacteristicdata.
}Whendecommissioning,pleasecomplywithlocalregulationsregardingthedisposalof
electronicdevices(e.g.ElectricalandElectronicEquipmentAct).

Safety
OperatingManualPMCprotegoS12(C)
1002528EN03 12
3.2 Standards
Knowledgeofandcompliancewiththerelevantstandardsanddirectivesareaprerequisite
forusingthesafetycard.Thefollowingstandardsarerelevant:
}EN6132631:2008:Electricalequipmentformeasurement,controlandlaboratoryuse
EMCrequirements
}EN618003:2004:Adjustablespeedelectricaldrives
}EN6180052:2007:Adjustablespeedelectricalpowerdrivesystems–Part52:Safety
requirements.Functional
}ENISO138491:2008:Safetyofmachinery–Safetyrelatedpartsofcontrolsystems–
Part1:Generalprinciplesfordesign,Part2:Validation
}EN61508:1998:Functionalsafetyofsafetyrelatedelectrical/electronic/programmable
electroniccontrolsystems,Parts1,3,4
}EN615082:2000:Requirementsforsafetyrelatedelectrical/electronic/programmable
electronicsystems
}EN602041:2007:Safetyofmachinery–Electricalequipmentofmachines–Part1:
Generalrequirements
}EN62061:2005:Safetyofmachinery–Functionalsafetyofsafetyrelatedelectrical,
electronicandprogrammableelectroniccontrolsystems
Pleasenotethisisnotanexhaustivelistofsafetystandardsanddirectives.

Functiondescription
OperatingManualPMCprotegoS12(C)
1002528EN03 13
4 Functiondescription
4.1 Overview
ThesafetycardmonitorssafetyfunctionsinaccordancewithEN6180052.Itmonitors
safemotionsequencesondrives,whicharesafelybroughttoastopandshutdowninthe
eventofanerror.
ThesafetycardisbuiltintoaservoamplifierPMCprotegoD.Thisconvertstheservoampli
fierintoasafeservoamplifier.
AsafedrivesystemfromPilzconsistsofthefollowing:
}Servoamplifier(PMCprotegoD)
}SafetycardPMCprotegoSbuiltintotheservoamplifier
}Servomotor(synchronousmotor)with
– Standardencodersystem(feedback)
– Brake(optional,notsafetyrelated))
}Safetycontrolsystem
Safety card
PMCprotego S
Servo amplifier
PMCprotego D
Digital outputs:
Status of safety functions
Operational readiness
Safe servo amplifier PMCprotego DS
Safety control system
PSS
PNOZmulti
...
Digital inputs:
Safety functions
Safe pulse
disabler
M3
Internal
supply voltage
External brake
Motor brake
Start-up
disabler
Motor
encoder
External encoder
24 VDC
Second
shutdown route
Safety devices
e.g.
E-STOP
Operating mode
Light grid
Configurator
PASconfig SDrive
Fig.:Safedrivesystem

Functiondescription
OperatingManualPMCprotegoS12(C)
1002528EN03 14
Thesafetycard
}Activatessafetyfunctions
}Monitorssafemotionsequences.
}Signalsthestatusofsafetyfunctionstothesafetycontrolsystem
}Intheeventofanerror,activatesthesafepulsedisablerwhichisintegratedwithinthe
servoamplifierandshutsdownthepowertothemotor
}Passesthebrakecommandtotheservoamplifierthatisexecutingthetravelcommand
}HasasecondshutdownrouteinordertoimplementcategoriesSIL3orPLe.
}Hasadualpoleoutputtocontrolanexternalholdingbrake.Thebrakecanbetested
usingthesafetyfunction"safebraketestSBT".
}Hasaconnectionforanexternalencoder(incrementalencoderorencoderwithSSI
signalscanbeselected).Fordetailsofthesafetyrelatedassessmentwhenusingan
externalencoderseeChapter8"TechnicalDetails",under"Safetyrelatedcharacteristic
data".
Theservoamplifier
}Removesthepowertothemotor,ifthesafepulsedisablerisactivated,switchesthe
motortotorquefreeandcanalsocontrolaninternalmotorbrake.
Thesafetycontrolsystem
}Activatesthesafetyfunctionsviainputsonthesafetycard
}Evaluatessignalsfromsafetydevices,suchas:
– ESTOPpushbuttons
– Safetygates
– Lightbeamdevices
– Twohandbuttons
}Processesthesafetycard'sstatusoutputs
}Safeinterconnectionbetweensafetycardandsafetycontrolsystem
}Faultdetection(shortsacrosscontacts,shortcircuits)onsignalsbetweenthesafety
controlsystemandsafetycard,andinitiationofmeasures
ConfiguratorPASconfigSDrive
}Configurationandparameterisationofthesafetycard
}Safeuploadanddownloadoftheconfigurationfile
}Onlinedisplayofthestatusofthesafetyfunctions
}Displayoferrorstack
}AbilitytosavetheconfigurationtoSDcard
4.2 Inputsandoutputs
Thesafetycardhassafeinputsandoutputswhich
}canbefreelyassigned
}canbeassignedfixedfunctions.
InputsI0toI6canbeusedtoactivatethesafetyfunctions.
OutputsO0toO3canbeusedtoacknowledgethestatusofthesafetyfunctions.

Functiondescription
OperatingManualPMCprotegoS12(C)
1002528EN03 15
Inputsandoutputsareassignedtothesafetyfunctionsinthesafetycard'sConfigurator.
SOS
SSA Safe Standstill Acknowledge
SS1
SS2
SLS
SSR
SDI
SLI
SLP
SBT
SBC
SSA Safe Standstill Acknowledge
SRA Safe Range Acknowledge
SRA Safe Range Acknowledge
SDA Safe Direction Acknowledge
SRA Safe Range Acknowledge
SSA Safe Standstill Acknowledge
SRA Safe Range Acknowledge
SBA Safe Brake Acknowledge
SSA Safe Standstill Acknowledge
Safety Functions
SS2 Activate
SOS Activate
SLS Activate
SSR Activate
SDI Pos Activate
SDI Neg Activate
SLI Activate
SLP Activate
SBT Activate
O3
O2
O1
O0
STO Acknowledge
STO SIL 3
Ready
SBC+
SBC-
SS1 Activate
SS1 SIL3/Reset
I0
I4
I5
I3
I2
I1
I6
Inputs Outputs
Fig.:Inputsandoutputs
4.2.1 Inputs
Thesafetycardhassafesinglepoleinputs.
Inputswithfixedassignment:
}SS1Activate:SafeStop1
}SS1SIL3/Reset:AdditionalsafeinputtoachieveSIL3andresetthesafetycardafter
anerror
ThesinglepoledigitalinputsI0…I6areusedtoactivatethesafetyfunctions.Inputsare
assignedtothesafetyfunctionsinthesafetycard'sConfigurator.Thefollowingsignalsare
availabletoactivatethesafetyfunctions:
}SS2Activate:SafeStop2
}SOSActivate:SafeOperatingStop
}SSRActivate:SafeSpeedRange
}SLSActivate:SafelyLimitedSpeed
}SDINegActivate:SafeDirection,negative
}SDIPosActivate:SafeDirection,positive
}SLIActivate:SafelyLimitedIncrement
}SLPActivate:SafelyLimitedPosition
}SBTActivate:Safebraketest
Signalsattheinput
}1/0pulseedgeattheinput:Safetyfunctionisactivated
}“0”signal(0V)attheinput:
– Safetyfunctionisactivated

Functiondescription
OperatingManualPMCprotegoS12(C)
1002528EN03 16
}“1”signal(+24V)attheinput:
– Safetyfunctionisnotactivated
NOTICE
Inputs"SS1Activate"and"SS1SIL3/Reset"mustalwaysbeconnected.
Inthecaseofallinputs,onlytestedoutputsfromasafetycontrolsystem
maybeconnected.
4.2.2 Outputs
4.2.2.1 Singlepoleoutputs
Safe,singlepoleoutputssignalthestatusoftheactivatedsafetyfunctionsandthesafety
card'sstateofreadiness.
Outputswithfixedassignment:
}STOAcknowledge
– 1:Powerelementswitchedoff
–Internalerroronservoamplifierorsafetycard
–Limitvaluesexceeded
–ActivatedviaSS1
– 0:Driveinclosedloopoperation
}STOSIL3
– 1:Secondshutdownrouteon
– 0:Secondshutdownrouteoff
}Ready
– 1:Safetycardisreadyforoperation
– 0:Safetycardisnotreadyforoperation.Possiblecauses:
–Safetycardisstartingup
–Nosupplyvoltage
–Majorinternalerror
–Erroronthefeedbackoutput"STOAcknowledge"
INFORMATION
"Ready"isasecondfeedbackchannelforthesafetyfunctionSTO.The
"Ready"outputswitchesoffifaproblemoccursatthefeedbacksignal"STO
Acknowledge".

Functiondescription
OperatingManualPMCprotegoS12(C)
1002528EN03 17
INFORMATION
Ifthe"STOSIL3"outputisnotused,24VDCmustbeappliedtothe"STO2
ENABLE"inputontheservoamplifier.
ThesinglepoledigitaloutputsO0…O3signalthestatusofthesafetyfunctions.Outputs
areassignedtothesignalsinthesafetycard'sConfigurator.Thefollowingsignalsareavail
able:
}SSASafeStandstillAcknowledge
– 1:Motoriswithinthepermittedlimitvaluesforstandstill.
– 0:Standstillmonitoringisinactiveormotorisoutsidethestandstillrange
}SDASafeDirectionAcknowledge
– 1:Driveismovinginthepermitteddirection.
– 0:Driveisnotmovinginthepermitteddirectionormonitoringisnotactivated.
}SRASafeRangeAcknowledge
– 1:Driveismovingwithinthepermittedlimitvaluesforspeedorposition.
– 0:Driveismovingoutsidethepermittedlimitvaluesforspeedorposition,ormonit
oringisnotactivated.
}SBASafeBrakeAcknowledge
– 1:Braketestwasrunwithinthedefinedperiod
– 0:Braketestmustbeactivatedwithinaselectabletimeperiod,otherwisetheaxisis
shutdown.
Thetablebelowshowswhichoutputssignalthestatusofwhichsafetyfunction.
Output
In
ternal
error
Nosafety
functionac
tivated SS1 SS2 SOS SLS SSR SDI SLI SLP SBT
STOAcknowledge x x x x x x x x x x x
SSASafeStand
stillAcknowledge
   x x    x  x
SDASafeDirec
tionAcknowledge
       x   
SRASafeRange
Acknowledge
     x x  x x 
SBASafeBrake
Achnowledge
          x
Ready  x x x x x x x x x x
Signalsattheoutput
}“0”signal(0V)attheoutput:
– Outputishighimpedance
– Nocurrenttotheload
– Safetyfunctionnotactivated
}“1”signal(+24V)attheoutput:
– Outputislowimpedance

Functiondescription
OperatingManualPMCprotegoS12(C)
1002528EN03 18
– Currentissuppliedtotheload
– Safetyfunctionactivated
Supplyvoltage
}24VDCconnectiontosupplythesafetycard'sdigitaloutputs
4.2.2.2 Dualpoleoutputs
Thesafetycardhasasafedualpoleoutputtocontrolamechanicalbrake:
}SBC+/SBC
Signalsattheoutput
}“0”signal(0V)attheoutput(SBC+/SBC):
– Outputishighimpedance
– Nocurrenttotheload
– Safetyfunctionisactivated,brakeclosed
}“1”signal(+24V)attheoutput(SBC+/SBC):
– Outputislowimpedance
– Currentissuppliedtotheload
– Safetyfunctionisnotactivated,brakeopen
NOTICE
Onlyabrakewhichoperatesinaccordancewiththefailsafeprinciplemay
beconnected.
Supplyvoltage
}24VDCconnectiontosupplythesafetycard'sdigitaloutputs
4.2.2.3 Outputtest
Theoutputsaretestedregularly:
}Outputsthatareswitchedonarecheckedviaregularofftests.
– Testpulsesforoutputsthatareswitchedon:seetechnicaldetails
– Outputsthatareswitchedonareswitchedoffforthedurationofthetestpulse.
– Theloadmustnotswitchoffbecauseofthetest.
}Outputsthatareswitchedoffarecheckedviaregularontests.
– Testpulsesforoutputsthatareswitchedoff:seetechnicaldetails
– Outputsthatareswitchedoffareswitchedonforthedurationofthetestpulse.
– Theloadmustnotswitchonbecauseofthetest.
Testingforshorts
}Atestisregularlycarriedouttocheckforshortsbetweentheoutputs.

Functiondescription
OperatingManualPMCprotegoS12(C)
1002528EN03 19
WARNING!
Whenwiringanoutputwithcapacitanceitisessentialtonotethepulsedur
ation,repetitionperiodandscantimeofthepoweruptest,otherwisethe
loadmayswitchonunintentionally.
Timingdiagram
1
t1t2t1
t
t2t1
U
0
}1:“1”Signal
}0:“0”Signal
}t1Pulsedurationonpoweruptest(seeTechnicaldetails)
}t2Scantimeofpoweruptestundernormalcircumstances(ca.200ms)
Characteristic:OutputcapacitanceCdependentonloadcurrentI
1
2
3
4
5
0
0,2 0,4 0,6 0,8 1 1,2 1,4 1,6 1,8 2
C [µF]
I [A]

Functiondescription
OperatingManualPMCprotegoS12(C)
1002528EN03 20
4.3 Safetyfunctions
Safetyfunctionsmaintainasafeconditiononaplantorpreventhazardousconditions
arisingonaplant.
ThesafetyfunctionsforelectricaldrivesaredefinedinEN6180052.
Thesafetycardimplementsthefollowingsafetyfunctions:
}Safestop1(SS1)
}Safestop2(SS2)
}Safeoperatingstop(SOS)
}Safespeedrange(SSR)
}Safelylimitedspeed(SLS)
}Safedirection(SDI)
}SafelyLimitedIncrement(SLI)
}SafelyLimitedPosition(SLP)
}Safebrakecontrol(SBC)
}Safebraketest(SBT)(notdefinedinEN6180052)
Activationofsafetyfunctions
}Thesafetyfunctionsareactivatedusingthesinglepolesafeinputsonthesafetycard.
}Theseinputsoperateinaccordancewiththefailsafeprinciple(onswitchingoff).The
safetycontrolsystemactivatesthesafetyfunctionsviaa1/0pulseedge.
Feedbackfromthesafetyfunctions
}Messageviasinglepolesemiconductoroutputs
– “1”Signal:Insidethesetlimitvalues
– “0”Signal:Outsidethesetlimitvalues
Simultaneousactivationofsafetyfunctions
}Allsafetyfunctionscanbeactiveatthesametime.However,safetyfunctionSS1has
priorityoverallothersafetyfunctions.
}IfSS1isactivated,thedriveisstoppedinaccordancewithitsconfiguration.
}Noothersafetyfunctionsareprocessedorcalledupduringthistime.
Reactiontolimitvalueviolationsanderrors
}Whensetlimitvaluesareexceeded,theESTOPbrakingrampisactivated.
}ThesafetyfunctionSTOisactivatedifthereareanyinternalerrorsonthesafetycard
orservoamplifier.Thepowerelementisswitchedoff.
4.3.1 SafeTorqueOffSTO
Thesafetyfunction"SafeTorqueOff"(STO)removesthepowertothemotor.Itisimple
mentedviatheservoamplifier'sshutdownpathandthesafetycard'ssafeoutputs.
Featuresofthesafetyfunction:
}Themotorbecomestorquefreeandnolongergeneratesanyhazardousmovements.
}Topreventthedriverunningdowninanuncontrolledmanner,innormaloperationthe
safetyfunctionSTOisactivatedviathesafetyfunctionSS1.