Pilz PNOZ m EF 1MM User manual

PNOZ m EF 1MM
Operating Manual-1003108-EN-11
}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
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1 Introduction ............................................................................................................................6
1.1 Validity of documentation.......................................................................................................... 6
1.2 Using the documentation .......................................................................................................... 6
1.3 Definition of symbols................................................................................................................. 6
2 Overview .................................................................................................................................8
2.1 Scope of supply ........................................................................................................................ 8
2.2 Unit features ............................................................................................................................. 8
2.3 Front view ................................................................................................................................. 9
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
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 ................................................................................................................ 24
4.5 Proximity switch ........................................................................................................................ 25
4.6 Encoder .................................................................................................................................... 26
4.6.1 Output signals........................................................................................................................... 28
4.6.2 Adapters for encoders .............................................................................................................. 29
5 Installation ..............................................................................................................................30
5.1 General installation guidelines.................................................................................................. 30
5.2 Dimensions in mm .................................................................................................................... 30
5.3 Connect the base unit and expansion modules........................................................................ 31
6 Commissioning ......................................................................................................................32
6.1 Wiring........................................................................................................................................ 32
6.2 Pin assignment of Mini-IO socket ............................................................................................. 32
6.3 Connection of proximity switches ............................................................................................. 33

Contents
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6.4 Connection of an encoder......................................................................................................... 34
6.4.1 Connect encoder ...................................................................................................................... 36
6.4.2 Connect encoder with Z index .................................................................................................. 36
6.4.3 Connect encoder via an adapter............................................................................................... 37
6.5 Connection of proximity switch and encoder ............................................................................ 37
6.6 EMC-compliant wiring............................................................................................................... 39
6.7 Download modified project to the PNOZmulti system .............................................................. 43
7 Operation ................................................................................................................................44
7.1 LED indicators .......................................................................................................................... 44
7.2 Behaviour with implausible sensor signals ............................................................................... 44
8 Technical details ....................................................................................................................45
8.1 Safety characteristic data ......................................................................................................... 47
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 encoder without addi-
tional 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 encoder with mech-
anical 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 encoder with dia-
gnostics 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 encoder and proxim-
ity switch ...................................................................................................................................
56
9.1.8.1 Permitted sensor types and output signals............................................................................... 56
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

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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
9.1.10 Safety characteristic data for operation with 2 proximity switches with reduced diagnostics ... 59
9.1.10.1 Permitted sensor types and output signals............................................................................... 59
9.1.10.2 Safety-related architecture........................................................................................................ 60
9.1.10.3 Achievable safety level ............................................................................................................. 60
10 Order reference ......................................................................................................................61
10.1 Product ..................................................................................................................................... 61
10.2 Accessories .............................................................................................................................. 61

Introduction
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1 Introduction
1.1 Validity of documentation
This documentation is valid for the product PNOZ m EF 1MM 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
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INFORMATION
This gives advice on applications and provides information on special fea-
tures.

Overview
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2 Overview
2.1 Scope of supply
}Expansion module PNOZ m EF 1MM
}Jumper
2.2 Unit features
Application of the product PNOZ m EF 1MM:
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 1 axis
}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 ref-
erences for accessories).

Overview
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2.3 Front view
Legend:
}X4: Connection for proximity switch at axis1
}X12: Mini IO socket for connecting encoder or proximity switch at axis 1.
}LEDs:
– Power
– Run
– Diag
– Fault
– Axis 1

Safety
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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 1MM 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 corres-
ponding 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 [ 45]).

Safety
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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 prevention,
}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
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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-related
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 func-
tions 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
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4 Function description
4.1 Operation
The motion monitoring module PNOZ m EF 1MM can monitor one axis. The motion monit-
oring module signals the status of the monitored values to the base unit. Depending 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
A12 B12 S12 GND
Mini-IO
Proximity switch/
Encoder
4.3 Monitoring functions
The motion monitoring module PNOZ m EF 1MM 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
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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, tol-
erance period, tolerance amount)
}t1: Tolerance time
}t2: Tolerance period
}Tolerance amount (%): Tolerance amount of limit value in both directions

Function description
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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
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}ts: Speed v exceeds the limit value and activates the tolerance range (tolerance time, tol-
erance period, tolerance amount)
}t1: Tolerance time
}t2: Tolerance period
}Tolerance amount (%): Tolerance amount of the two limit values, maximum and minimum
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
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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
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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 activated.
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
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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
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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