Pilz PNOZ m EF 2MM User manual

PNOZ m EF 2MM
Operating Manual-1003107-EN-10
}Configurable, safe small controllers PNOZmulti 2

Preface
This document is the original document.
All rights to this documentation are reserved by Pilz GmbH & Co. KG. Copies may be made
for the user's internal purposes. Suggestions and comments for improving this documenta-
tion will be gratefully received.
Source code from third-party manufacturers or open source software has been used for
some components. The relevant licence information is available on the Internet on the Pilz
homepage.
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

Contents
Operating Manual PNOZ m EF 2MM
1003107-EN-10 3
Section 1 Introduction 6
1.1 Validity of documentation 6
1.2 Using the documentation 6
1.3 Definition of symbols 6
Section 2 Overview 8
2.1 Scope of supply 8
2.2 Unit features 8
2.3 Front view 9
Section 3 Safety 10
3.1 Intended use 10
3.2 System requirements 11
3.3 Safety regulations 11
3.3.1 Safety assessment 11
3.3.2 Use of qualified personnel 11
3.3.3 Warranty and liability 12
3.3.4 Disposal 12
3.3.5 For your safety 12
Section 4 Function description 13
4.1 Operation 13
4.2 Block diagram 13
4.3 Monitoring functions 13
4.3.1 Safe speed monitoring 13
4.3.2 Safe speed range monitoring 15
4.3.3 Safe direction monitoring 16
4.3.4 Safe operating stop monitoring 17
4.3.5 Safe stop 1 monitoring 18
4.3.6 Safe stop 2 monitoring 19
4.3.7 Safely limited acceleration monitoring (SLA-M) 21
4.3.8 Safely limited acceleration range monitoring (SAR-M) 22
4.3.9 Central motion monitoring functions 23
4.4 System reaction time 23
4.5 Proximity switch 24
4.6 Encoder 25
4.6.1 Output signals 26
4.6.2 Adapters for encoders 28
Section 5 Installation 29
5.1 General installation guidelines 29
5.2 Dimensions in mm 29
5.3 Connect the base unit and expansion modules 30
Section 6 Commissioning 31
6.1 Wiring 31
6.2 Pin assignment of Mini-IO socket 31

Contents
Operating Manual PNOZ m EF 2MM
1003107-EN-10 4
6.3 Connection of proximity switches 32
6.4 Connection of an encoder 33
6.4.1 Connect encoder 34
6.4.2 Connect encoder with Z index 34
6.4.3 Connect encoder via an adapter 35
6.5 Connection of proximity switch and encoder 35
6.6 EMC-compliant wiring 37
6.7 Download modified project to the PNOZmulti system 40
Section 7 Operation 42
7.1 LED indicators 42
7.2 Behaviour with implausible sensor signals 42
Section 8 Technical details 44
8.1 Safety characteristic data 46
Section 9 Supplementary data 48
9.1 Categories 48
9.1.1 Safety level 48
9.1.2 Safety functions 49
9.1.3 Safety-related characteristic data for operation with non-safety-related en-
coder without additional requirements
50
9.1.3.1 Permitted sensor types and output signals 50
9.1.3.2 Safety-related architecture 50
9.1.3.3 Achievable safety level 50
9.1.4 Safety-related characteristic data for operation with non-safety-related en-
coder with mechanical fault exclusion
51
9.1.4.1 Permitted sensor types and output signals 51
9.1.4.2 Safety-related architecture 51
9.1.4.3 Achievable safety level 52
9.1.5 Safety-related characteristic data for operation with non-safety-related en-
coder with diagnostics via the drive controller
52
9.1.5.1 Permitted sensor types and output signals 52
9.1.5.2 Requirements of the drive controller 52
9.1.5.3 Safety-related architecture 53
9.1.5.4 Achievable safety level 53
9.1.6 Safety-related characteristic data for operation with a safe encoder 54
9.1.6.1 Permitted sensor types and output signals 54
9.1.6.2 Safety-related architecture 54
9.1.6.3 Achievable safety level 55
9.1.7 Safety-related characteristic data for operation with a safe encoder with Z
index
55
9.1.7.1 Permitted sensor types and output signals 55
9.1.7.2 Safety-related architecture 55
9.1.7.3 Achievable safety level 56
9.1.8 Safety-related characteristic data for operation with non-safety-related en-
coder and proximity switch
56
9.1.8.1 Permitted sensor types and output signals 56

Contents
Operating Manual PNOZ m EF 2MM
1003107-EN-10 5
9.1.8.2 Safety-related architecture 57
9.1.8.3 Achievable safety level 57
9.1.9 Safety-related characteristic data for operation with 2 proximity switches 58
9.1.9.1 Permitted sensor types and output signals 58
9.1.9.2 Safety-related architecture 58
9.1.9.3 Achievable safety level 59
Section 10 Order reference 60
10.1 Product 60
10.2 Accessories 60

Introduction
Operating Manual PNOZ m EF 2MM
1003107-EN-10 6
1 Introduction
1.1 Validity of documentation
This documentation is valid for the product PNOZ m EF 2MM from Version 2.2.
This operating manual explains the function and operation, describes the installation and
provides guidelines on how to connect the product.
1.2 Using the documentation
This document is intended for instruction. Only install and commission the product if you
have read and understood this document. The document should be retained for future ref-
erence.
1.3 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.
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.

Introduction
Operating Manual PNOZ m EF 2MM
1003107-EN-10 7
INFORMATION
This gives advice on applications and provides information on special fea-
tures.

Overview
Operating Manual PNOZ m EF 2MM
1003107-EN-10 8
2 Overview
2.1 Scope of supply
}Expansion module PNOZ m EF 2MM
}Jumper
2.2 Unit features
Application of the product PNOZ m EF 2MM:
Expansion module for connection to a base unit from the PNOZmulti 2 system.
The product has the following features:
}Can be configured in the PNOZmulti Configurator
}Monitoring of 2 independent axes
}Measured value recorded by proximity switch and encoder
}Monitoring functions
– Safe speed monitoring (SSM)
– Safe speed range monitoring (SSR-M)
– Safe direction of movement monitoring (SDI-M)
– Safe operating stop monitoring (SOS-M)
– Safe stop 1 monitoring (SS1-M)
– Safe stop 2 monitoring (SS2-M)
– Safely limited acceleration monitoring (SLA-M)
– Safely limited acceleration range monitoring (SAR-M)
– Analogue voltage (track S)
}LED display for:
– Supply voltage
– Diagnostics
– Axis status
– Fault
}Please refer to the document "PNOZmulti System Expansion" for details of the base
units PNOZmulti 2 that can be connected.
}Plug-in connection terminals:
Either spring-loaded terminal or screw terminal available as an accessory (see Order
references for accessories).

Overview
Operating Manual PNOZ m EF 2MM
1003107-EN-10 9
2.3 Front view
Legend:
}X4: Connection for proximity switch at axis1
}X3: Connection for proximity switch at axis2
}X12: Mini IO socket for connecting encoder or proximity switch at axis 1
}X22: Mini IO socket for connecting encoder or proximity switch at axis 2
}LEDs:
– Power
– Run
– Diag
– Fault
– Axis 1
– Axis 2

Safety
Operating Manual PNOZ m EF 2MM
1003107-EN-10 10
3 Safety
3.1 Intended use
The motion monitoring expansion module monitors safety functions in accordance with
EN61800-5-2 for safe motion monitoring.
The following monitoring functions are performed:
}Safe direction monitoring (SDI-M)
}Safe operating stop monitoring (SOS-M)
}Safe speed range monitoring (SSR-M)
}Safe speed monitoring (SSM)
}Safe stop 1 monitoring (SS1-M)
}Safe stop 2 monitoring (SS2-M)
}Safely limited acceleration monitoring (SLA-M)
}Safely limited acceleration range monitoring (SAR-M)
The expansion module meets the requirements of ENIEC61508 up to SIL3 and
ENISO13849-1 up to PLe.
The expansion module may only be connected to a base unit from the configurable system
PNOZmulti 2 (please refer to the document "PNOZmulti System Expansion" for details of
the base units that can be connected).
The configurable system PNOZmulti 2 is used for the safety-related interruption of safety
circuits and is designed for use in:
}Emergency stop equipment
}Safety circuits in accordance with VDE0113 Part 1 and EN60204-1
}The product PNOZ m EF 2MM meets the requirements of the standards EN 81-20, EN
81-22 and EN 81-50, harmonised under the Lifts Directive 2014/33/EU, and the require-
ments of the standard EN 115-1, harmonised under the Machinery Directive 2006/42/
EC.
}The programmable safety system should be installed in a protected environment that
meets at least the requirements of pollution degree 2.
Example: Protected inside space or control cabinet with protection type IP54 and cor-
responding air conditioning.
The following is deemed improper use in particular
}Any component, technical or electrical modification to the product,
}Use of the product outside the areas described in this manual,
}Use of the product outside the technical details (see Technical details [ 44]).

Safety
Operating Manual PNOZ m EF 2MM
1003107-EN-10 11
NOTICE
EMC-compliant electrical installation
The product is designed for use in an industrial environment. The product
may cause interference if installed in other environments. If installed in other
environments, measures should be taken to comply with the applicable
standards and directives for the respective installation site with regard to in-
terference.
3.2 System requirements
Please refer to the "Product Modifications PNOZmulti" document in the "Version overview"
section for details of which versions of the base unit and PNOZmulti Configurator can be
used for this product.
3.3 Safety regulations
3.3.1 Safety assessment
Before using a device it is necessary to perform a safety assessment in accordance with
the Machinery Directive.
Functional safety is guaranteed for the product as a single component. However, this does
not guarantee the functional safety of the overall plant/machine. In order to achieve the re-
quired safety level for the overall plant/machine, define the safety requirements for the
plant/machine and then define how these must be implemented from a technical and organ-
isational standpoint.
3.3.2 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.

Safety
Operating Manual PNOZ m EF 2MM
1003107-EN-10 12
3.3.3 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.).
3.3.4 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).
3.3.5 For your safety
The unit meets all the necessary conditions for safe operation. However, you should always
ensure that the following safety requirements are met:
}This operating manual only describes the basic functions of the unit. The expanded
functions are described in the PNOZmulti Configurator's online help. Only use these
functions once you have read and understood the documentations.
}Do not open the housing or make any unauthorised modifications.
}Please make sure you shut down the supply voltage when performing maintenance
work (e.g. exchanging contactors).

Function description
Operating Manual PNOZ m EF 2MM
1003107-EN-10 13
4 Function description
4.1 Operation
The motion monitoring module PNOZ m EF 2MM can monitor two axes independently. The
motion monitoring module signals the status of the monitored values to the base unit. De-
pending on the implemented safety circuit, the values may be transferred from the base unit
to an output on the control system. Proximity switches or encoders are used to record the
values.
The configuration of the motion monitoring module is described in detail in the PNOZmulti
Configurator's online help.
The relay meets the following safety requirements:
}The circuit is redundant with built-in self-monitoring.
}The safety device remains effective in the case of a component failure.
4.2 Block diagram
Proximity switch Proximity switch
A22 B22 S22 GND A12 B12 S12 GND
Mini-IO Mini-IO
Proximity switch/
Encoder
Proximity switch/
Encoder
4.3 Monitoring functions
The motion monitoring module PNOZ m EF 2MM supports the following monitoring func-
tions.
Please note that the position monitoring functions SOS-M, SDI-M and SS2-M cannot be
used in conjunction with 2 proximity switches, as no position can be detected.
4.3.1 Safe speed monitoring
The Safe speed monitoring function (SSM) monitors the current speed to see if a limit
value is exceeded.
If the configured limit value is exceeded, the output switches off. As soon as the value falls
below the limit value (plus hysteresis), the output switches off again.
If a manual reset is configured, the output will not switch back on until the value is inside
the limit value (plus hysteresis) and the reset input is activated.

Function description
Operating Manual PNOZ m EF 2MM
1003107-EN-10 14
In PNOZmulti Configurator 12 areas can be configured per axis (with units < Version 2.0
only 8 limit values can be configured).
A tolerance range may also be set for the limit values used to monitor the speed. This toler-
ance range modifies the set limit values. As a result, one-off or periodic overshoots that ex-
ceed the limit values can be tolerated.
The following values can be configured for the tolerance range:
}Tolerance time (t1), which takes into account the length of the overshoots (maximum
time for which the limit value may be exceeded). It must not be possible that the sum of
all the overshoots exceeds the tolerance time (t1) within a tolerance period (t2).
}Tolerance period (t2), which takes into account the oscillation period (minimum time
that must elapse between one limit value overshoot and the next)
}Tolerance amount (%), which takes into account the amplitude of the overshoots (max-
imum permitted percentage by which the configured limit values may be exceeded)
Tolerance amount (%)
Limit value
Speed +
Tolerance amount (%)
t
v
Limit value
Speed -
SSM
SSM
ts
te
Enable SSM 0
1
Legend:
}Enable SSM:
– "1": Monitored limit value not exceeded
– "0": Monitored limit value exceeded
}ts: Speed v exceeds the limit value and activates the tolerance range (tolerance time,
tolerance period, tolerance amount)
}t1: Tolerance time
}t2: Tolerance period
}Tolerance amount (%): Tolerance amount of limit value in both directions

Function description
Operating Manual PNOZ m EF 2MM
1003107-EN-10 15
4.3.2 Safe speed range monitoring
The Safe speed range monitoring function (SSR-M) monitors the current speed to ensure
it stays within a maximum and minimum permitted limit value.
If the speed is outside the configured range, the output switches off. As soon as the speed
returns within the configured range (plus hysteresis), the output switches back on.
If manual reset is configured, the output will not switch back on until the value is below the
limit value (plus hysteresis) and the reset input is activated.
In PNOZmulti Configurator 2 areas can be configured per axis (with units < Version 2.0 only
1 area can be configured).
A tolerance range may also be set for the limit values used to monitor the speed range.
This tolerance range modifies the set limit values. As a result, one-off or periodic over-
shoots that exceed the range limits can be tolerated.
The following values can be configured for the tolerance range:
}Tolerance time (t1), which takes into account the length of the overshoots (maximum
time for which the limit value may be exceeded). It must not be possible that the sum of
all the overshoots exceeds the tolerance time (t1) within a tolerance period (t2).
}Tolerance period (t2), which takes into account the oscillation period (minimum time
that must elapse between one limit value overshoot and the next)
}Tolerance amount as a %, which takes into account the amplitude of the overshoots
(maximum permitted percentage by which the limit value may be exceeded)
Tolerance amount (%)
Limit value
Maximum Speed
Tolerance amount(%)
t
v
Limit value
Minimum Speed
SSR-M
SSR-M
ts
Enable SSR 0
1
Legend:
}Enable SSR:
– "1": Speed is within the configured range
– "0": Speed is outside the configured range

Function description
Operating Manual PNOZ m EF 2MM
1003107-EN-10 16
}ts: Speed v exceeds the limit value and activates the tolerance range (tolerance time,
tolerance period, tolerance amount)
}t1: Tolerance time
}t2: Tolerance period
}Tolerance amount (%): Tolerance amount of the two limit values, maximum and min-
imum speed
4.3.3 Safe direction monitoring
The Safe direction monitoring function (SDI-M) monitors the direction of movement
defined for the drive axis (positive or negative). Safe direction of movement monitoring is
activated via the start input. It remains active until the configured tolerance is exceeded in
the opposite direction. The function can be retriggered at any time by a rising edge at the
start input. As a result, the current position can be used at any time as the start point for the
monitoring function.
One SDI-M element can be configured per axis for each direction in the PNOZmulti Config-
urator.
Please note:
This monitoring function cannot be used in conjunction with 2 proximity switches because
position detection is not possible.
WARNING!
Potential loss of safety function with a tolerance value >24,900,000 in-
crements!
The following applies when using a PNOZmulti Configurator Version <10.0:
If a tolerance value >24,900,000 increments is configured in the PNOZmulti
Configurator, the monitoring function will no longer be evaluated correctly.
Depending on the application, serious injury or death may result.
Make sure that a tolerance value <24,900,000 increments is configured.
From Version 10.0 of the PNOZmulti Configurator, the feasibility of the
value will be checked automatically.

Function description
Operating Manual PNOZ m EF 2MM
1003107-EN-10 17
Tol
v
t
SDI
s
4.3.4 Safe operating stop monitoring
The Safe operating stop monitoring function (SOS-M) monitors whether the stop position
remains within a configured tolerance window. Safe operating stop monitoring is activated
within a rising edge at the start input. It remains active until the value is outside the toler-
ance band. The function can be retriggered at any time by a rising edge at the start input.
As a result, the current position can be used at any time as the start point for the monitoring
function.
In PNOZmulti Configurator 3 elements SOS-M can be configured per axis (with units < Ver-
sion 2.0 only 1 element can be configured).
Please note:
This monitoring function cannot be used in conjunction with 2 proximity switches because
position detection is not possible.
WARNING!
Potential loss of safety function with a tolerance value >24,900,000 in-
crements!
The following applies when using a PNOZmulti Configurator Version <10.0:
If a tolerance value >24,900,000 increments is configured in the PNOZmulti
Configurator, the monitoring function will no longer be evaluated correctly.
Depending on the application, serious injury or death may result.
Make sure that a tolerance value <24,900,000 increments is configured.
From Version 10.0 of the PNOZmulti Configurator, the feasibility of the
value will be checked automatically.

Function description
Operating Manual PNOZ m EF 2MM
1003107-EN-10 18
Tol
s
t
SOS
te
Legend:
}te: Activation of the monitoring function SOS
4.3.5 Safe stop 1 monitoring
The Safe stop 1 monitoring function (SS1-M) monitors whether the set delay time has
elapsed (until controlled braking of the motor) or the standstill limit value for automatic STO
is below the limit value.
}If the monitoring function SS1-M is triggered, the Braking ramp output is switched off.
The drive controller's braking ramp is activated.
}After the set delay time has elapsed or the value for the automatic STO is below the
limit value, the output ST switches off. The safety function Safe torque off (STO) is ac-
tivated.
A maximum of 1 SS1-M element can be configured per axis in the PNOZmulti Configurator.
Sequence without standstill limit value for automatic STO:
t
v
STO
tDelay
t1t2
Legend
t1: Monitoring function SS1-M is activated
t2: Delay time elapses, safety function "Safe torque off" (STO) is activated
tDelay: Set delay time for controlled braking of motor

Function description
Operating Manual PNOZ m EF 2MM
1003107-EN-10 19
Sequence with standstill limit value for automatic STO:
t
v
t
STO
Standstill limit value
12
t3
t
tDelay
tSTO
STO
Legend
t1: Monitoring function SS1-M is activated
t2: Standstill limit value for automatic STO reached, safety function "Safe
torque off" (STO) is activated
t3: Delay time elapses
tDelay: Set delay time for controlled braking of motor
tSTO: Actual time from activation of monitoring function until STO is activated
4.3.6 Safe stop 2 monitoring
The Safe stop 2 monitoring function (SS2-M) monitors
}Whether the set delay time has expired (until controlled braking of the motor) or the
standstill limit value for automatic SOS is below the limit value.
and
}Whether the stop position ultimately remains within a configured tolerance window.
Reaction:
}If the monitoring function SS2-M is triggered, the "Braking ramp" output switches off.
The drive controller's braking ramp is activated.
}If the set delay time has elapsed or the value for the automatic SOS is below the limit
value, the stop position is monitored, the Position monitoring output switches on. If
the stop position is outside the tolerance window, the Position monitoring and STO
outputs switch off, the safety function Safe torque off (STO) is activated.
A maximum of 1 SS2-M element can be configured per axis in the PNOZmulti Configurator.
Please note:
This monitoring function cannot be used in conjunction with 2 proximity switches because
position detection is not possible.

Function description
Operating Manual PNOZ m EF 2MM
1003107-EN-10 20
Sequence without standstill limit value for automatic SOS:
Tol
t
v,s
SOS
tDelay
t1t2
v(t)
s(t)
Legend
t1: Activation of the monitoring function SS2-M
t2: Delay time elapses, monitoring of stop position (SOS) is activated
tDelay: Set delay time for controlled braking of motor
Sequence with standstill limit value for automatic SOS:
Tol
t
v, s
t
Standstill limit value
12
t3
t
tDelay
tSOS
SOS
s(t)
v(t)
Legend
t1: Activation of the monitoring function SS2-M
t2: Standstill limit value for automatic SOS reached, monitoring of stop posi-
tion (SOS) is activated
t3: Delay time elapses
tDelay: Set delay time for controlled braking of motor