SEW-Eurodrive MOVIMOT MM D Series User manual

*22515062_0516*
Drive Technology \ Drive Automation \ System Integration \ Services
Manual
MOVIMOT® MM..D® – Functional Safety
(including field distributor)
Edition 05/2016 22515062/EN

SEW-EURODRIVE—Driving the world

Content
Manual – MOVIMOT® MM..D® – Functional Safety 3
Content
1 General information.................................................................................................................. 4
1.1 About this documentation ...............................................................................................4
1.2 Structure of the safety notes ...........................................................................................4
1.3 Rights to claim under limited warranty ............................................................................6
1.4 Content of the documentation.........................................................................................6
1.5 Exclusion of liability.........................................................................................................6
1.6 Product names and trademarks......................................................................................6
1.7 Copyright notice ..............................................................................................................6
1.8 Other applicable publications..........................................................................................7
2 Integrated safety technology................................................................................................... 8
2.1 Safe condition .................................................................................................................8
2.2 Safety concept ................................................................................................................8
2.3 Safety functions ..............................................................................................................9
2.4 Limitations.....................................................................................................................10
3 Safety requirements ............................................................................................................... 12
3.1 Permitted unit combinations..........................................................................................12
3.2 Installation requirements...............................................................................................17
3.3 External safety controller requirements ........................................................................19
3.4 Startup requirements ....................................................................................................21
3.5 Operation requirements ................................................................................................21
4 Connection variants ............................................................................................................... 22
4.1 24 V voltage supply for group disconnection ................................................................22
4.2 MOVIMOT® with binary control (control via terminals).................................................23
4.3 MOVIMOT® with MBG11A option ................................................................................28
4.4 MOVIMOT® with MWA21A option................................................................................31
4.5 MOVIMOT® with field distributor MF../Z.6. or MQ../Z.6. ..............................................34
4.6 MOVIMOT® with MF../MM../Z.7. or MQ../MM../Z.7. field distributor ............................38
4.7 MOVIMOT® with MF../MM../Z.8. or MQ../MM../Z.8. field distributor ............................42
4.8 Other setup variants......................................................................................................46
5 Technical data......................................................................................................................... 47
Index ........................................................................................................................................ 48
22515062/EN – 05/2016

1General information
About this documentation
Manual – MOVIMOT® MM..D® – Functional Safety
4
1 General information
1.1 About this documentation
This documentation is an integral part of the product. The documentation is intended
for all employees who perform assembly, installation, startup, and service work on the
product.
Make sure this documentation is accessible and legible. Ensure that persons respons-
ible for the machinery and its operation as well as persons who work on the device in-
dependently have read through the documentation carefully and understood it. If you
are unclear about any of the information in this documentation or require further in-
formation, contact SEW‑EURODRIVE.
1.2 Structure of the safety notes
1.2.1 Meaning of signal words
The following table shows the grading and meaning of the signal words for safety
notes.
Signal word Meaning Consequences if disregarded
DANGER Imminent hazard Severe or fatal injuries.
WARNING Possible dangerous situation Severe or fatal injuries.
CAUTION Possible dangerous situation Minor injuries
NOTICE Possible damage to property Damage to the drive system or its
environment.
INFORMATION Useful information or tip: Simplifies
handling of the drive system.
1.2.2 Structure of section-related safety notes
Section-related safety notes do not apply to a specific action but to several actions
pertaining to one subject. The hazard symbols used either indicate a general hazard
or a specific hazard.
This is the formal structure of a safety note for a specific section:
SIGNAL WORD
Type and source of hazard.
Possible consequence(s) if disregarded.
• Measure(s) to prevent the hazard.
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1
General information
Structure of the safety notes
Manual – MOVIMOT® MM..D® – Functional Safety 5
Meaning of the hazard symbols
The hazard symbols in the safety notes have the following meaning:
Hazard symbol Meaning
General hazard
Warning of dangerous electrical voltage
Warning of hot surfaces
Warning of risk of crushing
Warning of suspended load
Warning of automatic restart
1.2.3 Structure of embedded safety notes
Embedded safety notes are directly integrated into the instructions just before the de-
scription of the dangerous action.
This is the formal structure of an embedded safety note:
 SIGNAL WORD Type and source of hazard. Possible consequence(s) if disreg-
arded. Measure(s) to prevent the hazard.
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1General information
Rights to claim under limited warranty
Manual – MOVIMOT® MM..D® – Functional Safety
6
1.3 Rights to claim under limited warranty
Read the information in this documentation. This is essential for fault-free operation
and fulfillment of any rights to claim under limited warranty. Read the documentation
before you start working with the unit!
1.4 Content of the documentation
The current version of the documentation is the original.
This document contains additional safety-relevant information and conditions for use
in safety-related applications.
1.5 Exclusion of liability
Read the information in this documentation, otherwise safe operation is impossible.
You must comply with the information contained in this documentation to achieve the
specified product characteristics and performance features. SEW‑EURODRIVE as-
sumes no liability for injury to persons or damage to equipment or property resulting
from non-observance of these operating instructions. In such cases,
SEW‑EURODRIVE assumes no liability for defects.
1.6 Product names and trademarks
The brands and product names in this documentation are trademarks or registered
trademarks of their respective titleholders.
1.7 Copyright notice
©2016SEW‑EURODRIVE. All rights reserved. Unauthorized reproduction, modifica-
tion, distribution or any other use of the whole or any part of this documentation is
strictly prohibited.
22515062/EN – 05/2016

1
General information
Other applicable publications
Manual – MOVIMOT® MM..D® – Functional Safety 7
1.8 Other applicable publications
This document supplements the "MOVIMOT® MM..D ..." operating instructions and
limits the application notes according to the following information.
Only use this documentation in conjunction with the following publications:
• For applications with MOVIMOT® MM..D adhere to the operating instructions
"MOVIMOT® MM..D".
• For applications with field distributor, also adhere to the relevant one of the follow-
ing manuals:
– "PROFIBUS Interfaces, Field Distributors" manual (for PROFIBUS only)
or
– "PROFINET IO Interfaces, Field Distributors" manual (for PROFINET IO only)
or
– "EtherNet/IP™ Interfaces, Field Distributors" manual (for EtherNet/IP™ only)
or
– "EtherCAT® Interfaces, Field Distributors" manual (only for EtherCAT®)
or
– "INTERBUS Interfaces, Field Distributors" manual (for INTERBUS only)
or
– "DeviceNet/CANopen Interfaces, Field Distributors" manual (for DeviceNet/
CANopen only)
• For applications with MOVIFIT®MC adhere to the following publications:
– "MOVIFIT® MC" operating instructions
and
– "MOVIFIT®MC/FC – Functional Safety" manual (only for MOVIFIT® MC with
STO or MOVIFIT®MC with S11 PROFIsafe option)
– "MOVIFIT® MC/FC – Functional Safety with S12 Safety Option" manual (only
for MOVIFIT®MC with S12 safety option)
For permitted connection variants, refer to chapter "Connection variants"(→222).
22515062/EN – 05/2016

2Integrated safety technology
Safe condition
Manual – MOVIMOT® MM..D® – Functional Safety
8
2 Integrated safety technology
The safety technology of MOVIMOT® MM..D described below has been developed
and tested in accordance with the following safety requirements:
• Performance level d according to EN ISO 13849-1:2008
• SIL2 according to EN 61800-5-2:2007
This was certified by TÜV Nord. Copies of the TÜV certificate and the corresponding
report are available from SEW‑EURODRIVE on request.
2.1 Safe condition
For the safety-related use of the MOVIMOT® MM..D, "Safe Torque Off" is defined as
a safe condition (see STO safety function).
The safety concept is based on this.
2.2 Safety concept
• The MOVIMOT®MM..D frequency inverter can be connected to an external safety
controller or safety relay. This de-energizes all active elements that generate the
pulse trains to the power output stage (IGBT) by switching off the safety-related
24V supply voltage when a connected control device (e.g. emergency stop button
with latching function) is activated. This ensures that the frequency inverter no
longer supplies power to the motor for generating torque.
• Disconnecting the 24V supply voltage ensures that the voltage supplies required
for operation of the drive are safely interrupted.
• Instead of galvanic isolation of the drive from the supply system using contactors
or switches, the disconnection of the 24 V supply voltage described here safely
prevents the gating of the power semiconductors in the frequency inverter. The
rotary-field generation for the respective motor is deactivated even though the line
voltage is still present.
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2
Integrated safety technology
Safety functions
Manual – MOVIMOT® MM..D® – Functional Safety 9
2.3 Safety functions
The following drive-related safety functions can be used:
•STO (safe torque off according to EN61800-5-2) by disconnecting the safety-re-
lated 24 V supply voltage.
If the STO function is activated, the frequency inverter no longer supplies power to
the motor for generating torque. This safety function corresponds to a non-con-
trolled stop according to EN60204-1, stop category 0.
The safety-related 24 V supply voltage must be switched off by a suitable external
safety controller or a suitable external safety relay.
•SS1(c) (safe stop 1, function variant c according to EN61800-5-2) by means of
suitable external control (e.g. safety relay with delayed disconnection).
Adhere to the following procedure:
– Decelerate the drive using an appropriate brake ramp specified via setpoint in-
puts.
– Switching off the safety-relevant 24 V supply voltage (= triggering the STO
function) after a specified, safety-related time delay.
This safety function corresponds to a controlled stop according to EN 60204‑1,
stop category 1.
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2Integrated safety technology
Limitations
Manual – MOVIMOT® MM..D® – Functional Safety
10
2.4 Limitations
• The brake controller integrated in MOVIMOT® and the standard brake integrated in
brakemotors is not safety-related and therefore not part of the safety functions
mentioned above. If the brake controller and/or the motor brake fails, the drive can
coast for much longer depending on the application (i.e. the friction and inertia of
the system). In case of regenerative loads (e.g. lifting axes, declining conveying
lines), the drive can even accelerate. This must be taken into account for a risk
analysis of the system/machine. Additional safety measures might have to be im-
plemented (e.g. safety brake system).
– MOVIMOT® drives cannot be used without an additional brake system for ap-
plication-specific safety functions that require active deceleration (braking) of
the dangerous movement.
• When using the SS1(c) function as described above, the brake ramp of the drive is
not monitored with respect to safety. In case of a fault, the drive might not be de-
celerated after the delay time, or it might be accelerated in the worst case. In this
case, the STO function (see above) is only activated after the set time delay has
passed. The resulting danger must be taken into account for the risk analysis of
the system/machine. Additional safety measures might have to be implemented.
• The system/machine manufacturer must perform a system/machine-specific risk
analysis. The use of the drive system with MOVIMOT® must be taken into account.
•The safety concept is only suitable for performing mechanical work on
driven system/machine components.
• When using a thermistor, protection against restart is not guaranteed when the
thermistor is triggered. This must be taken into account for a risk analysis and se-
cured by suitable measures if required.
• When the 24 V supply voltage is disconnected, the line voltage is still present at
the frequency inverter DC link.
•To perform work on the electrical section of the drive system, the supply
voltage must be disconnected using an external maintenance switch.
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2
Integrated safety technology
Limitations
Manual – MOVIMOT® MM..D® – Functional Safety 11
Schematic representation "Safety concept for MOVIMOT®"
SNT
uC
24V
Uz+
Uz-
[1]
[2]
[4]
[3]
[5]
24V
GND
MOVIMOT ®
1419054731
[1] RS485
[2] Digital inputs "R", "L", "f1/f2"
[3] Safety relay, external
[4] Safety-related 24V voltage supply
[5] Motor phase
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3Safety requirements
Permitted unit combinations
Manual – MOVIMOT® MM..D® – Functional Safety
12
3 Safety requirements
The safety functions of MOVIMOT® MM..D can only be used for safe operation of the
system/machine if they are integrated correctly in an application-specific, higher-level
safety function or safety system. It is essential that the system manufacturer/machine
manufacturer conducts a system-specific/machine-specific risk analysis (e.g. accord-
ing to ISO 14121, previously EN 1050). The required safety conditions and safety
functions must be validated by the system/machine manufacturer before startup. The
system/machine manufacturer and the operator are responsible for compliance of the
system/machine with applicable safety regulations.
The following requirements are mandatory when installing and operating MOVIMOT®
MM..D in safety-relevant applications.
The conditions are divided into the following sections:
• Approved device combinations
• Installation requirements
• External safety controller requirements
• Startup requirements
• Operational requirements
3.1 Permitted unit combinations
Only MOVIMOT® drives marked with the FS logo for functional safety on the name-
plate may be used in safety applications.
Only the following combinations with MOVIMOT® MM..D are permitted for safety-relev-
ant applications:
• MOVIMOT® with binary control (control via terminals)
• MOVIMOT® and MBG11A option
• MOVIMOT® and MWA21A option
• MOVIMOT® and MOVIFIT®MC with FS logo and externally switched 24V supply
(STO)
• MOVIMOT® and MOVIFIT®MC with FS logo and PROFIsafe option S11
• MOVIMOT® and MOVIFIT®MC with FS logo and safety option S12
• MOVIMOT® with FS logo and field distributor according to the following chapters:
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3
Safety requirements
Permitted unit combinations
Manual – MOVIMOT® MM..D® – Functional Safety 13
3.1.1 MFZ.6.
MOVIMOT® and M.Z.6. field distributor (Connection via prefabricated cable).
The following combinations are permitted:
MQ..
MF..
Fieldbus interface
MFI21A, 22A, 32A Only permitted with Z16F
MFI23F, 33F
MQI21A, 22A, 32A
MFP21D, 22D, 22L, 32D Only permitted with Z26F, Z26J
MFP22H, 32H
MFE52A, 52H, 52L
MFE62A
MFE72A
MQP21D, 22D, 32D
MFD21A, 22A, 32A Only permitted with Z36F
MFO21A, 22A, 32A
MQD21A, 22A, 32A
/
Z..6. Connection module
Z16F, Z26F, Z26J, Z36F
/
AF. Connection technology
AF0 Only permitted with Z16F, Z26F, Z26J
AF1 Only permitted with Z36F
AF2, AF3 Only permitted with Z26F, Z26J
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3Safety requirements
Permitted unit combinations
Manual – MOVIMOT® MM..D® – Functional Safety
14
3.1.2 MFZ.7.
MOVIMOT® frequency inverter integrated in the M.Z.7. field distributor (Connection of
the AC motor via prefabricated cable). The following combinations are permitted:
MQ..
MF..
Fieldbus interface
MFI21A, 22A, 32A Only permitted with Z17F
MFI23F, 33F
MQI21A, 22A, 32A
MFP21D, 22D, 22L, 32D Only permitted with Z27F
MFP22H, 32H
MFE52A, 52H, 52L
MFE62A
MFE72A
MQP21D, 22D, 32D
MFD21A, 22A, 32A Only permitted with Z37F
MFO21A, 22A, 32A
MQD21A, 22A, 32A
/
MM.. MOVIMOT® inverter:
MM03D – MM15D
/
Z..7. Connection module
Z17F, Z27F, Z37F
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3
Safety requirements
Permitted unit combinations
Manual – MOVIMOT® MM..D® – Functional Safety 15
3.1.3 MFZ.8.
MOVIMOT® frequency inverter integrated in the M.Z.8. field distributor (Connection of
the AC motor via prefabricated cable). The following combinations are permitted:
MQ..
MF..
Fieldbus interface
MFI21A, 22A, 32A Only permitted with Z18F, Z18J, Z18N
MFI23F, 33F
MQI21A, 22A, 32A
MFP21D, 22D, 22L, 32D Only permitted with Z28F, Z28N, Z28J
MFP22H, 32H
MFE52A, 52H, 52L
MFE62A
MFE72A
MQP21D, 22D, 32D
MFD21A, 22A, 32A Only permitted with Z38F, Z38N, Z38G, Z38J
MFO21A, 22A, 32A
MQD21A, 22A, 32A
/
MM.. MOVIMOT® inverter:
MM03D – MM40D
/
Z..8. Connection module
Z18F, Z28F, Z38F, Z18N, Z28N, Z38N, Z38G, Z18J, Z28J, Z38J
/
AF. Connection technology
AF0 Only permitted with Z18F, Z18N, Z18J, Z28F,
Z28N, Z28J
AF1, AGA, AGB Only permitted with Z38F, Z38N, Z38G, Z38J
AF2, AF3 Only permitted with Z28F, Z28N, Z28J
3.1.4 Further combinations
Any combinations and option modules listed in other publications are not per-
mitted.
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3Safety requirements
Permitted unit combinations
Manual – MOVIMOT® MM..D® – Functional Safety
16
3.1.5 FS logo description
The nameplate of the MOVIMOT® drive and/or the complete unit nameplate of the
MOVIFIT® unit can be marked with the FS logo.
01
• MOVIMOT® MM.. D
For more information about MOVIMOT® with FS01 logo, refer to the "MOVIMOT®
MM..D – Functional Safety" manual.
• MOVIFIT® with STO (with or without S11 PROFIsafe option)
For more information about MOVIFIT® with FS01 logo, refer to the "MOVIFIT®
MC / FC – Functional Safety" manual.
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3
Safety requirements
Installation requirements
Manual – MOVIMOT® MM..D® – Functional Safety 17
3.2 Installation requirements
• Use only hybrid cables from SEW‑EURODRIVE to connect the M.Z.6. field distrib-
utor to the MOVIMOT® inverter with the motor.
• To connect the M.Z.7. or M.Z.8. field distributors or MOVIFIT® MC to the motor,
SEW‑EURODRIVE recommends using the specifically designed prefabricated hy-
brid cable by SEW‑EURODRIVE.
• To connect the MOVIMOT® inverter to the motor (mounting close to the motor),
SEW‑EURODRIVE recommends using the specifically designed prefabricated hy-
brid cable by SEW‑EURODRIVE.
• Hybrid cables by SEW‑EURODRIVE must not be shortened. Use these hybrid
cables with the original cable lengths and the prefabricated plug connectors. En-
sure proper connections.
• Supply system cables and the safety-related control cables must be routed separ-
ately (Exception: When using genuine hybrid cables by SEW‑EURODRIVE).
• Tie all conductors with the same voltage level (e.g. L1 – L3) directly at the terminal
using a cable tie.
• The line length between the safety controller and MOVIMOT® may not exceed
100m.
• Wiring must comply with EN60204-1.
• Route the safety-related control cables EMC-compliantly.
– Outside an electrical installation space: Shielded cables must be routed per-
manently (fixed) and protected against external damage, or other equivalent
measures.
– No single conductors must be routed within the installation space.
• Never use the safety-related 24 V power supply voltage for feedback.
• Make sure that parasitic voltages cannot be generated in the safety-related control
cables.
• Observe the values specified for safety components when designing the safety cir-
cuits.
• Only the voltage for the safety-related 24 V supply is permitted for connecting the
direction of rotation signals and setpoint changeover (terminals "R", "L", "f1/f2").
• For EMC-compliant installation, observe the information in the following publica-
tions:
– "MOVIMOT® MM..D..." operating instructions
– "PROFIBUS Interfaces, Field Distributors" manual (optional)
– "PROFINET IO Interfaces, Field Distributors" manual (optional)
– "EtherNet/IP™ Interfaces, Field Distributors" manual (optional)
– "EtherCAT® Interfaces, Field Distributors" manual (optional)
– "INTERBUS Interfaces, Field Distributors" manual (optional)
– "DeviceNet/CANopen Interfaces, Field Distributors" manual (optional)
Connect the shielding of the safety-related 24 V supply cable to the housing at
both ends.
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3Safety requirements
Installation requirements
Manual – MOVIMOT® MM..D® – Functional Safety
18
• For all 24 V supply voltages of the MOVIMOT® inverter, the field distributor and all
stations of the fieldbus, only voltage sources with safe disconnection (SELV/PELV)
according to EN 60204‑1 and EN 61131‑2 are permitted.
In case of a single fault, the voltage between the outputs or between any output
and grounded parts may not exceed DC 60 V.
• For safety-related applications with MOVIMOT® remove the jumpers on the field
distributors between 24V/X40 and 24V/X29 labeled "Caution, remove jumper for
safety operation", see following figure:
CAUTION
remove jumper
for safety operation
CAUTION
remove jumper
for safety operation
1421314571
• No other changes to the wiring of the field distributor are permitted.
• When planning the installation, observe the technical data of MOVIMOT® MM..D.
• Observe the following when installing option MBG11A or MWA21A:
– No other field unit (e.g. PLC) must be connected to the RS485 interface.
– Use safety-related 24V supply voltages.
– Ensure a protected routing of the connected cables.
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3
Safety requirements
External safety controller requirements
Manual – MOVIMOT® MM..D® – Functional Safety 19
3.3 External safety controller requirements
A safety relay can be used as an alternative to a safety controller. The following re-
quirements apply analogously.
• For safety-relevant applications up to performance level d to EN ISO 13849-1, the
safety controller and all other safety-relevant subsystems must be approved for at
least performance level d to EN ISO 138491‑1 or SIL 2 to EN 61508. For determin-
ing the performance level of the overall application, you can use the method de-
scribed in EN ISO 13849-1 for combining several safety-relevant subsystems
(without PFH value calculation). SEW‑EURODRIVE recommends to determine the
PFH value for the overall application. The PFH value for MOVIMOT® MM..D is 01/
h (fault exclusion).
• For safety-related applications up to SIL 2 according to EN 62061, the safety con-
troller and all other safety-relevant subsystems must be approved for at least SIL 2
to EN 61508 or performance level d to EN ISO 13849-1. The probability of a dan-
gerous failure per hour (=PFH value) must also be determined. To determine the
PFH value for the overall application, the PHF value for MOVIMOT® = 0 1/h (fault
exclusion).
Application Safety controller requirements
Performance Leveld accord-
ing to ENISO13849-1
Performance Leveld according to ENISO13849-1
SIL 2 according to EN61508
SIL 2 according to EN62061 Performance Leveld according to ENISO13849-1
SIL 2 according to EN61508
• The wiring of the safety controller must be suitable for the required safety class,
(see manufacturer documentation). Safety circuits with MOVIMOT® MM..D require
2-pole disconnection.
• The values specified for the safety controller must be strictly adhered to when
designing the circuit.
• The switching capacity of the safety relays or the relay outputs of the safety con-
troller must correspond at least to the maximally permitted, limited output current
of the 24 V voltage supply.
Observe the manufacturer's instructions concerning the permitted contact
loads and fusing that may be required for the safety contacts. If the manu-
facturer provides no specific information, the contacts must be protected
with 0.6 times the nominal value of the maximum contact rating specified by
the manufacturer.
• To ensure protection against unintended restart in accordance with EN 1037, the
safety controllers must be designed and connected in such a way that resetting the
control device alone does not lead to a restart. A restart may only be carried out
after a manual reset of the safety circuit.
• The 24 V power supply input of MOVIMOT® inverters comes equipped with a serial
polarity protection diode as well as a buffer capacitor with C = 120 µF. This must
be considered as load when dimensioning the switching output.
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3Safety requirements
External safety controller requirements
Manual – MOVIMOT® MM..D® – Functional Safety
20
Sample circuit
"safety relay"
The following figure shows the basic connection of an external safety relay (according
to the requirements listed above) to the MOVIMOT® MM..D drive. The information in
the respective manufacturer's data sheets must be observed for connection.
[4]
[3] [1]
[5]
[6]
[2] U
18014400103440907
[1] Safety relay with approval
[2] DC 24 V voltage supply
[3] Fuses in accordance with the manufacturer's specifications of the safety relay
[4] Safety-related DC24 V voltage supply
[5] Reset button for manual reset
[6] Approved emergency stop actuating device
22515062/EN – 05/2016