SEW Movidrive CS**A Series User manual

*24842532_0418*
Drive Technology \ Drive Automation \ System Integration \ Services
Manual
MOVIDRIVE® modular, MOVIDRIVE® system
MOVISAFE®CS..A Safety Card
Edition 04/2018 24842532/EN

SEW-EURODRIVE—Driving the world

Table of contents
Manual – MOVISAFE®CS..A Safety Card 3
Table of contents
1 General information.................................................................................................................. 8
1.1 About this documentation ...............................................................................................8
1.2 Structure of the safety notes ...........................................................................................8
1.2.1 Meaning of signal words ................................................................................ 8
1.2.2 Structure of section-related safety notes........................................................ 8
1.2.3 Structure of embedded safety notes .............................................................. 9
1.3 Rights to claim under limited warranty ............................................................................9
1.4 Content of the documentation.........................................................................................9
1.5 Other applicable documentation .....................................................................................9
1.6 Product names and trademarks....................................................................................10
1.7 Copyright notice ............................................................................................................10
2 Safety notes ............................................................................................................................ 11
2.1 Preliminary information .................................................................................................11
2.2 User duties....................................................................................................................11
2.3 Target group .................................................................................................................11
2.4 Designated use .............................................................................................................12
2.5 Transport.......................................................................................................................12
2.6 Installation/assembly.....................................................................................................13
2.6.1 Restrictions of use........................................................................................ 13
2.7 Electrical installation .....................................................................................................13
2.8 Definitions .....................................................................................................................14
2.9 Startup/operation ..........................................................................................................14
3 Safety concept ........................................................................................................................ 15
3.1 General information ......................................................................................................15
3.2 Notes on stop categories ..............................................................................................15
3.3 Pluggable safety key.....................................................................................................15
3.4 Identification and authentication ...................................................................................16
3.5 Report and safety check ...............................................................................................16
3.6 MOVISAFE®CS..A safety concept ...............................................................................16
3.7 Drive safety functions....................................................................................................17
3.7.1 STO – Safe Torque Off ................................................................................ 18
3.7.2 SS1(b) – Safe Stop 1 ................................................................................... 19
3.7.3 SS1(c) – Safe Stop 1 ................................................................................... 20
3.7.4 SS2(b) – Safe Stop 2 ................................................................................... 21
3.7.5 SS2(c) – Safe Stop 2 ................................................................................... 22
3.7.6 SOS – Safe Operating Stop ......................................................................... 23
3.7.7 SLA – Safely Limited Acceleration ............................................................... 23
3.7.8 SLS – Safely Limited Speed ........................................................................ 24
3.7.9 SSR – Safe Speed Range ........................................................................... 24
3.7.10 SSM – Safe Speed Monitoring..................................................................... 25
3.7.11 SDI – Safe Direction..................................................................................... 25
3.7.12 SLI – Safely Limited Increment .................................................................... 26
3.7.13 SBC – Safe Brake Control ........................................................................... 26
3.8 Safety concept of Assist CS..........................................................................................27
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3.8.1 Safety parameters........................................................................................ 27
3.8.2 Test concept and test procedure.................................................................. 27
4 Safety requirements ............................................................................................................... 28
4.1 Installation requirements...............................................................................................28
4.2 Encoder cable requirements .........................................................................................28
4.2.1 Sine/cosine encoder cable ........................................................................... 28
4.2.2 HTL encoder cable....................................................................................... 29
4.3 Requirements for external sensors and actuators ........................................................29
4.4 Startup requirements ....................................................................................................30
4.5 Requirements for stopping in an emergency to EN60204-1 (emergency stop) ...........30
4.6 Encoder requirements...................................................................................................30
4.6.1 Safety encoders at the DR.., DRN.. AC motor. ............................................ 30
4.6.2 Safety encoders on the EDR.., EDRN.. explosion-proof AC motor.............. 31
4.6.3 Safety encoders on the CMP/CMPZ synchronous servomotor.................... 31
4.6.4 Quantization error ........................................................................................ 32
5 Hazard caused by coasting of the drive............................................................................... 33
6 Device structure ..................................................................................................................... 34
6.1 Type designation...........................................................................................................34
6.2 Scope of delivery ..........................................................................................................34
6.3 Compatibility .................................................................................................................35
6.4 MOVISAFE® CSS21A/CSB21A ...................................................................................36
6.5 MOVISAFE® CSB31A/CSS31A ...................................................................................37
7 Mechanical installation .......................................................................................................... 38
7.1 Before you start.............................................................................................................38
7.2 Installation of the MOVISAFE®CS..A safety card........................................................38
7.3 Installation of the MOVISAFE®CS..A safety card – MOVIDRIVE® modular................38
7.4 Installation of the MOVISAFE®CS..A safety card – MOVIDRIVE® system .................40
8 Electrical installation.............................................................................................................. 44
8.1 Important note...............................................................................................................44
8.2 Installation instructions..................................................................................................44
8.3 Connection and terminal assignment............................................................................44
8.3.1 Part numbers................................................................................................ 44
8.3.2 Terminal assignment.................................................................................... 45
8.4 Safe disconnection........................................................................................................45
8.5 Safe digital inputs (F-DI.) ..............................................................................................45
8.5.1 Discrepancy monitoring................................................................................ 47
8.5.2 Interlocking................................................................................................... 47
8.5.3 Signal monitoring ......................................................................................... 48
8.5.4 Pulsed voltage supply and crossfault monitoring ......................................... 48
8.5.5 Sensors with contact (single-channel) ......................................................... 48
8.5.6 Sensors with contact (dual-channel) ............................................................ 50
8.5.7 Active sensors (dual-channel)...................................................................... 51
8.5.8 Sensors with semiconductor outputs (OSSD, dual-channel) ....................... 54
8.6 Safe digital outputs (F-DO.) ..........................................................................................55
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8.6.1 General information...................................................................................... 55
8.6.2 Capacitive loads........................................................................................... 56
8.6.3 Inductive loads ............................................................................................. 56
8.6.4 Ohmic loads ................................................................................................. 57
8.6.5 Information about line diagnostics and test pulses ...................................... 57
8.6.6 Output F_DO-STO ....................................................................................... 57
8.6.7 Actuator (dual-channel, sourcing / sinking output) ....................................... 58
8.6.8 Actuator (dual-channel, sourcing output) ..................................................... 59
8.6.9 Actuator (single-channel, sourcing output)................................................... 60
8.7 EI7CFS built-in encoder...............................................................................................61
8.7.1 Properties..................................................................................................... 61
8.7.2 Installation .................................................................................................... 61
9 Startup ..................................................................................................................................... 62
9.1 Important note...............................................................................................................62
9.2 General startup instructions ..........................................................................................62
9.3 Startup options 1–2.....................................................................................................62
9.3.1 Option 1: Independent operation (no connection to PROFIsafe) ................. 62
9.3.2 Option 2: With PROFIsafe connection ......................................................... 63
9.4 Adjusting the maximum test duration for load with unknown capacitance....................63
9.5 Parameterization of the drive safety functions ..............................................................64
9.5.1 Prerequisites ................................................................................................ 64
9.5.2 Parameterization procedure......................................................................... 64
9.5.3 Encoder error muting ................................................................................... 65
9.5.4 Test mode .................................................................................................... 66
9.6 Startup of the fieldbus and the higher-level F-PLC .......................................................66
9.6.1 Prerequisites ................................................................................................ 66
9.6.2 Setting the PROFIsafe address ................................................................... 66
9.7 Operating states............................................................................................................67
9.7.1 Operating state “Operation” ......................................................................... 67
9.7.2 Operating state “Parameterization” .............................................................. 67
9.7.3 Operating state “Safe state” after critical fault.............................................. 67
9.8 Safety-relevant acceptance ..........................................................................................67
9.8.1 Sequence ..................................................................................................... 68
9.8.2 Creating an acceptance report..................................................................... 68
9.8.3 Structure of the acceptance report............................................................... 68
9.8.4 Confirming acceptance ................................................................................ 69
9.9 Restoring the delivery state ..........................................................................................69
9.9.1 Prerequisites ................................................................................................ 69
9.9.2 Procedure..................................................................................................... 69
10 Data exchange with higher-level controller ......................................................................... 70
10.1 Introduction ...................................................................................................................70
10.1.1 Number of safety cards on the MOVI-C® CONTROLLER............................ 70
10.2 F-periphery access of the safety card in the TIA portal ................................................70
10.2.1 F-periphery-data component of the safety card ........................................... 71
10.3 F process output data ...................................................................................................73
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10.3.1 CSB21A profile variant “Technology Bus STO” ........................................... 73
10.3.2 CSB31A profile variant “Technology Bus F-DO”.......................................... 74
10.3.3 CSS21A/CSS31A profile variant “Technology Standard” ............................ 76
10.3.4 Substitute values.......................................................................................... 78
10.4 F process input data .....................................................................................................78
10.4.1 CSB21A profile variant “Technology Bus STO” ........................................... 78
10.4.2 CSB31A profile design "Technology Bus F-DO".......................................... 80
10.4.3 CSS21A/CSS31A profile variant “Technology Standard” ............................ 82
10.4.4 Substitute values.......................................................................................... 85
10.5 Acknowledgment of safety card ....................................................................................85
10.5.1 Acknowledgment of PROFIsafe data exchange .......................................... 85
10.5.2 Acknowledgment of safety card ................................................................... 85
11 Response times ...................................................................................................................... 86
11.1 Calculation of response times.......................................................................................86
11.1.1 Encoder........................................................................................................ 87
11.1.2 Safe digital input F-DI................................................................................... 87
11.1.3 Safe communication..................................................................................... 88
11.1.4 Selection of a drive safety function via a safe digital input in independent
operation ...................................................................................................... 88
11.1.5 Selection of a drive safety function via safe communication........................ 88
11.1.6 Response time in case of limit value violation in independent operation ..... 91
11.1.7 Response time in case of limit value violation with safe communication ..... 92
11.1.8 Deselection of a drive safety function via a safe digital input....................... 93
11.1.9 Deselection of a drive safety function via safe communication.................... 93
12 Service..................................................................................................................................... 94
12.1 Modification/changes to the device...............................................................................94
12.2 Waste disposal..............................................................................................................94
12.3 Status LEDs ..................................................................................................................94
12.3.1 "F-RUN” LED................................................................................................ 95
12.3.2 "F-ERR" LED................................................................................................ 95
12.4 Error states of the MOVISAFE®CS..A safety card ......................................................96
12.4.1 Error classes ................................................................................................ 96
12.5 Error diagnostics ...........................................................................................................98
12.5.1 Error messages............................................................................................ 99
12.5.2 Diagnostics with MOVISUITE®Assist CS.. ................................................ 100
12.5.3 Diagnostics with PROFIsafe connection .................................................... 100
12.5.4 Fault memory ............................................................................................. 101
12.6 Device replacement ....................................................................................................101
12.6.1 Device replacement with MOVI-C®CONTROLLER ................................... 102
12.6.2 Device replacement with MOVISUITE®...................................................... 102
13 Technical data....................................................................................................................... 103
13.1 General technical data ................................................................................................103
13.2 General electrical data ................................................................................................103
13.2.1 Power consumption of the option cards ..................................................... 103
13.3 Safe digital inputs........................................................................................................104
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Manual – MOVISAFE®CS..A Safety Card 7
13.4 Sensor supply .............................................................................................................105
13.5 Safe digital outputs .....................................................................................................105
13.6 Characteristic safety values ........................................................................................106
13.6.1 Drive safety functions without encoder evaluation ..................................... 106
13.6.2 Drive safety functions with encoder evaluation .......................................... 106
Index ...................................................................................................................................... 107
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1General information
About this documentation
Manual – MOVISAFE®CS..A Safety Card
8
1 General information
1.1 About this documentation
The current version of the documentation is the original.
This documentation is an integral part of the product. The documentation is written for
all employees who assemble, install, start up, and service this 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 product
independently 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 product or its envir-
onment
INFORMATION Useful information or tip: Simplifies
handling of the product.
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.
Meaning of the hazard symbols
The hazard symbols in the safety notes have the following meaning:
Hazard symbol Meaning
General hazard
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1
General information
Rights to claim under limited warranty
Manual – MOVISAFE®CS..A Safety Card 9
Hazard symbol Meaning
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.
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 product.
1.4 Content of the documentation
This documentation contains additional safety-related information and conditions for
operation in safety-related applications.
1.5 Other applicable documentation
This document supplements the operating instructions and limits the application notes
according to the following information. Use this document only in connection with the
operating instructions.
• "MOVIDRIVE® modular" and "MOVIDRIVE® system" operating instructions
• "MOVIDRIVE® modular, MOVIDRIVE® system – Multi-Encoder Card CES11A"
manual
24842532/EN – 04/2018

1General information
Product names and trademarks
Manual – MOVISAFE®CS..A Safety Card
10
• Addendum to the operating instructions "Safety Encodersand Safety Brakes, AC
Motors DR.., DRN.., EDR.., EDRN"
• Addendum "Safety-Rated Encoders – Functional Safety for Synchronous Motors"
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
©2018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.
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2
Safety notes
Preliminary information
Manual – MOVISAFE®CS..A Safety Card 11
2 Safety notes
2.1 Preliminary information
The following general safety notes have the purpose to avoid injury and damage to
property. They primarily apply to the use of products described in this documentation.
If you use additional components also observe the relevant warning and safety notes.
2.2 User duties
As the user, you must ensure that the basic safety notes are observed and complied
with. Make sure that persons responsible for the machinery and its operation as well
as persons who work on the device independently have read through the documenta-
tion carefully and understood it.
As the user, you must ensure that all of the work listed in the following is carried out
only by qualified specialists:
• Setup and installation
• Installation and connection
• Startup
• Maintenance and repairs
• Shutdown
• Disassembly
Ensure that the persons who work on the product pay attention to the following regula-
tions, conditions, documentation, and information:
• National and regional safety and accident prevention regulations
• Warning and safety signs on the product
• All other relevant project planning documents, installation and startup instructions,
and wiring diagrams
• Do not assemble, install or operate damaged products
• All system-specific specifications and conditions
Ensure that systems in which the product is installed are equipped with additional
monitoring and protection devices. Observe the applicable safety regulations and le-
gislation governing technical work equipment and accident prevention regulations.
2.3 Target group
Specialist for
mechanical work
Any mechanical work may only be performed by adequately qualified specialists. Spe-
cialists in the context of this documentation are persons familiar with the design,
mechanical installation, troubleshooting, and maintenance of the product who possess
the following qualifications:
• Qualification in the mechanical area in accordance with the national regulations
• Familiarity with this documentation
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2Safety notes
Designated use
Manual – MOVISAFE®CS..A Safety Card
12
Specialist for elec-
trotechnical work
Any electrotechnical work may only be performed by electrically skilled persons with a
suitable education. Electrically skilled persons in the context of this documentation are
persons familiar with electrical installation, startup, troubleshooting, and maintenance
of the product who possess the following qualifications:
• Qualification in the electrotechnical area in accordance with the national regula-
tions
• Familiarity with this documentation
Additional qualifi-
cation
In addition to that, these persons must be familiar with the valid safety regulations and
laws, as well as with the requirements of the standards, directives, and laws specified
in this documentation. The persons must have the express authorization of the com-
pany to operate, program, parameterize, label, and ground units, systems, and circuits
in accordance with the standards of safety technology.
Instructed persons All work in the areas of transportation, storage, operation and waste disposal must be
carried out by persons who are trained appropriately. The purpose of the instruction is
that the persons are capable of performing the required tasks and work steps in a safe
and correct manner.
2.4 Designated use
The product is intended for installation in inverters.
The product is a programmable safety control for manufacturing safety cutoffs and
functions. The product is intended for use:
• In emergency off devices
• As a safety-related component pursuant to Machinery Directive 2006/42/EC
• As a PES for risk reduction pursuant to EN61508
• In safety circuits according to EN60204-1
• As a PES for functional safety pursuant to EN62061
• As a SRP/CS pursuant to ENISO13849
• As a device for implementing the safety functions pursuant to EN61800-5-2
In the case of installation in electrical systems or machines, it is prohibited to start the
proper operation of the product until it is determined that the machine meets the re-
quirements stipulated in the local laws and directives.
The standards given in the declaration of conformity apply to the product.
Unintended or improper use of the product may result in severe injury to persons and
damage to property.
Technical data and information on the connection conditions are provided on the
nameplate and in chapter "Technical data" in the documentation. Always comply with
the data and conditions.
2.5 Transport
Inspect the shipment for damage as soon as you receive the delivery. Inform the ship-
ping company immediately about any damage. If the product is damaged, it must not
be assembled, installed or started up.
Observe the following notes when transporting the device:
• Ensure that the product is not subject to mechanical impact during transportation.
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2
Safety notes
Installation/assembly
Manual – MOVISAFE®CS..A Safety Card 13
If necessary, use suitable, sufficiently dimensioned handling equipment.
Observe the information on climatic conditions in chapter "Technical data" of the docu-
mentation.
2.6 Installation/assembly
Ensure that the product is installed and cooled according to the regulations in the doc-
umentation.
Protect the product from strong mechanical strain. The product and its mounting parts
must never protrude into the path of persons or vehicles. Ensure that components are
not deformed and insulation spaces are not changed, particularly during transportation
and handling. Electric components must not be mechanically damaged or destroyed.
Observe the notes in chapter "Mechanical installation" (→ 2 38) in the documenta-
tion.
2.6.1 Restrictions of use
The following applications are prohibited unless the device is explicitly designed for
such use:
• Use in potentially explosive atmospheres
• Use in areas exposed to harmful oils, acids, gases, vapors, dust, and radiation
• Operation in applications with impermissibly high mechanical vibration and shock
loads in excess of the regulations stipulated in EN61800-5-1
• Use at an elevation of more than 4000m above sea level
2.7 Electrical installation
Ensure that all of the required covers are correctly attached after carrying out the elec-
trical installation.
Make sure that preventive measures and protection devices comply with the applic-
able regulations (e.g. EN60204-1 or EN61800-5-1).
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2Safety notes
Definitions
Manual – MOVISAFE®CS..A Safety Card
14
2.8 Definitions
• The designation "F-DI." stands for a safe input.
• The designation "F-DO." stands for a safe output.
• The designation "CS..A" is used as a generic term for all derivatives of the
MOVISAFE®CS product series. If a particular derivative is referred to in the
manual, then the complete designation is used.
• The term "safe" used in this manual refers to the classification as a safe function
according to ENISO13849-1.
• PROFIsafe is a technology standard for a safe fieldbus system.
• The "Assist CS.." parameter tool is the parameterization interface in MOVISUITE®
for the MOVISAFE® CS..A safety card.
2.9 Startup/operation
Observe the safety notes in the chapters "Startup" (→ 2 62) and Operation in the
documentation.
Depending on the degree of protection, products may have live, uninsulated, and
sometimes moving or rotating parts, as well as hot surfaces during operation.
Mechanical blocking or internal drive safety functions of the product can cause a mo-
tor standstill. Eliminating the cause of the problem or performing a reset may result in
the drive restarting automatically. If, for safety reasons, this is not permitted for the
drive-controlled machine, first disconnect the product from the supply system and then
start troubleshooting.
The fact that the operation LED and other display elements are no longer illuminated
does not indicate that the product has been disconnected from the supply system and
no longer carries any voltage.
In the event of deviations from normal operation, switch the product off. Possible devi-
ations are increased temperatures, noise, or vibration, for example. Determine the
cause. Contact SEW‑EURODRIVE if necessary.
Do not deactivate monitoring and protection devices of the machine or system even
for a test run.
Additional preventive measures may be required for applications with increased haz-
ard potential. Be sure to check the effectiveness of the protection devices after every
modification.
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3
Safety concept
General information
Manual – MOVISAFE®CS..A Safety Card 15
3 Safety concept
3.1 General information
The MOVISAFE® CS..A safety card is a safe assembly with safe digital inputs and out-
puts and, depending on the parameterization, safe communication.
MOVISAFE® CS..A is fully integrated in the MOVIDRIVE® modular inverter or the
MOVIDRIVE® system inverter. This means that MOVISAFE®CS..A internally activates
the STO drive safety function of the inverter. The output stage of the inverter is safely
switched off by the STO function.
The safety concept is based on a safe state existing for all safe process values. A safe
state of the MOVISAFE®CS..A safety card is defined as follows:
• The internal output F-DO_STO is activated as N.C. As a result, the drive safety
function STO is switched and the output stage of the inverter is switched off.
• All other existing safe digital outputs are activated as N.C.
• With parameterized safe communication, either substitute values are sent for the
data (i.e. all data is "0"), or the communication is interrupted.
3.2 Notes on stop categories
• With stop category 0, the output stage of the inverter is switched off, irrespective of
the setpoints set.
• With stop category 1, the MOVISAFE®CS..A safety card monitors the stopping of
the drive and subsequently interrupts the supply of power to the motor:
– With SS1(c), the output stage of the inverter is switched off after the parameter-
ized delay time.
– With SS1(b), the stopping of the drive is monitored. At a standstill, the output
stage of the inverter is switched off.
• With stop category 2, the MOVISAFE®CS..A safety card monitors the stopping of
the drive and subsequently monitors the safe operating stop:
– With SS2(c), the safe operating stop is monitored after the parameterized delay
time.
– With SS2(b), the stopping of the drive and the subsequent safe operating stop
are monitored.
3.3 Pluggable safety key
The safety key must be inserted upon activation of the MOVISAFE®CS..A safety card
and may not be removed when the safety card is activated.
The parameterization data of the MOVISAFE®CS..A safety card is divided into applica-
tion-related data and a key data set. The key data set ensures the data integrity.
The application-related data is stored in the device. The application-related data is re-
leased with the aid of the key data set on the pluggable safety key. The safety card
becomes operational only if the key data set on the pluggable safety key matches the
parameterization.
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3Safety concept
Identification and authentication
Manual – MOVISAFE®CS..A Safety Card
16
The pluggable safety key is also used to establish a location reference in the system.
Since the application-related data set is released only with the matching key data set
on the pluggable safety key, the location reference can be established in this way. It is
the user’s responsibility to secure the location reference of the safety key in the sys-
tem. The data for safe communication is also stored on the pluggable safety key, be-
cause this data has the same location reference. This ensures that, in the event of a
device replacement, the application-related data and the communication data are
available again immediately.
3.4 Identification and authentication
The unique identification of the device and an authentication of the user are necessary
for the steps "Parameterize", "Create report" and "Confirm validation". To identify the
device, the ID of the pluggable safety key is entered in the login dialog of the device.
The ID is printed on the pluggable safety key. This mechanism ensures that the para-
meterization tool Assist CS.. is connected to the correct device. The user is authentic-
ated via the entry of a password.
3.5 Report and safety check
The acceptance report can be created once the parameters are downloaded. The ac-
ceptance of the safety card within the system can be carried out (see chapter "Re-
quirements for commissioning") with this acceptance report. Following acceptance,
this must be confirmed in the safety card. The confirmation is not a replacement for
the test that must be carried out. The "Checksum of the report" of the safety card is
announced as confirmation of the acceptance.
3.6 MOVISAFE®CS..A safety concept
MOVISAFE
®CS..A
safety
concept
• The MOVISAFE® CS..A safety card is an integrated, safe assembly that can be
operated with or without PROFIsafe connection. MOVISAFE® CS..A is equipped
with safe inputs and outputs (F-DI, F-DO) and is available in the following designs.
MOVISAFE® CSB21A safety card:
– 4 safe inputs
MOVISAFE® CSS21A safety card:
– 4 safe inputs
– 2 safe dual-channel outputs
MOVISAFE® CSB31A safety card:
– 4 safe inputs
– 2 safe dual-channel outputs
– 2nd encoder slot (not used for functional safety)
MOVISAFE® CSS31A safety card:
– 4 safe inputs
– 2 safe dual-channel outputs
– 2nd encoder slot (not used for functional safety)
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3
Safety concept
Drive safety functions
Manual – MOVISAFE®CS..A Safety Card 17
• The MOVISAFE® CS..A safety card can release or safely deactivate the output
stage of the inverter. The switching state of the internal output F-DO_STO, and
thus the STO drive safety function, must be stable once within 60seconds for at
least 2seconds (2.5seconds with extended diagnostics).
• The safety concept of the MOVISAFE®CS..A safety card is based on a safe state
existing for all safe process values. For the MOVISAFE®CS..A, this value is "0" for
all F-DI inputs and F-DO outputs.
• The system was designed pursuant to IEC61508 for SIL3 and ENISO13849-1 for
Performance Level e.
• The MOVISAFE® CSS21A and CSS31A safety cards can reliably monitor motion
functions in conjunction with the following safety encoders:
– ES7S/EG7S
– AS7W/AG7W
– AK0H/AK1H
– EI7C FS
The MOVISAFE® CS..A safety card switches off the output stage of the inverter
when a limit value of an active drive safety function is exceeded.
3.7 Drive safety functions
This chapter describes the drive safety functions pursuant to EN61800-5-2. The fol-
lowing table shows the availability of the drive safety functions described below, de-
pending on the respective MOVISAFE®CS..A safety card used.
MOVISAFE®
safety card
Drive safety functions
Idle state Motion
STO SBC SS1(c) SS1(b) SS2(c) SS2(b) SOS SLS SSM SSR SDI SLI SLA
Only with FS encoder
CSB21A x x
CSS21A x x x x x x x x x x x x x
CSB31A1) x x x
CSS31A1) x x x x x x x x x x x x x
1) has a second encoder connection (not used for functional safety)
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3Safety concept
Drive safety functions
Manual – MOVISAFE®CS..A Safety Card
18
3.7.1 STO – Safe Torque Off
If the STO function is activated, the drive inverter no longer supplies power to the mo-
tor. As a result, the drive cannot generate torque. This drive safety function corres-
ponds to a non-controlled stop according to EN60204-1, stop category 0.
t
V
t1
9007201225613323
=Drive safety function trips
v = Speed
t = Time
t1=Point of time when STO is triggered.
INFORMATION
The motor coasts to a halt or is stopped mechanically.
Controlled standstill is preferred, if possible.
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3
Safety concept
Drive safety functions
Manual – MOVISAFE®CS..A Safety Card 19
3.7.2 SS1(b) – Safe Stop 1
When the SS1(b) function is active, the drive inverter brings the motor to a standstill
electrically. The deceleration is monitored. The STO drive safety function is triggered
when the monitored deceleration is exceeded or when standstill is reached.
This drive safety function corresponds to a controlled stop of the drive according to
EN60204-1, stop category 1.
t
V
t1t2
9007201225616011
=Drive safety function monitored
=Drive safety function trips
v = Speed
t = Time
t1=Point in time when SS1(b) is activated and motor deceleration is triggered.
t2=Point of time when STO is triggered.
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3Safety concept
Drive safety functions
Manual – MOVISAFE®CS..A Safety Card
20
3.7.3 SS1(c) – Safe Stop 1
When the SS1(c) function is active, the drive inverter brings the motor to a standstill
electrically. The drive safety function STO is triggered after a specified, safety-related
time.
This drive safety function corresponds to a controlled stop of the drive according to
EN60204-1, stop category 1.
t2 t1
t
V
∆t
9007201225618443
=Drive safety function monitored
=Drive safety function trips
v = Speed
t = Time
t1=Point of time when SS1(c) is activated and motor deceleration is triggered.
t2=Point of time when STO is triggered.
Δt = Safety-relevant period of time
INFORMATION
• The SS1(c) function does not monitor the stopping of the drive.
• The safety-relevant period of time Δt allows the drive to come to a stop. In the
event of a fault, the drive does not come to a stop and becomes de-energized at
the time t2 (STO).
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