Safety Function: Cable Pull Switch Application

Safety Function: Cable Pull Switch Application
Application Technique
Safety Function: Cable Pull Switch
Products: Guardmaster Single-input Safety Relay, Lifeline 4 Cable Pull Switch
Safety Rating: CAT. 3, PLd to ISO 13849-1: 2008
Topic
Page
Important User Information
2
General Safety Information
3
Introduction
3
Safety Function Realization: Risk Assessment
4
Emergency Stop Safety Function
4
Safety Function Requirements
4
Functional Safety Description
5
Bill of Material
5
Setup and Wiring
5
Configuration
7
Calculation of the Performance Level
7
Verification and Validation Plan
9
Additional Resources
12
Safety Function: Cable Pull Switch
Important User Information
Read this document and the documents listed in the additional resources section about installation, configuration, and
operation of this equipment before you install, configure, operate, or maintain this product. Users are required to
familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws,
and standards.
Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are
required to be carried out by suitably trained personnel in accordance with applicable code of practice.
If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may
be impaired.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from
the use or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and
requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or
liability for actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or
software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation,
Inc., is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal
injury or death, property damage, or economic loss.
ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss.
Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.
IMPORTANT
Identifies information that is critical for successful application and understanding of the product.
Labels may also be on or inside the equipment to provide specific precautions.
SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be present.
BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous temperatures.
ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to potential Arc Flash. Arc Flash will
cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL Regulatory requirements for safe work practices and for
Personal Protective Equipment (PPE).
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Rockwell Automation Publication SAFETY-AT088B-EN-P - May 2016
Safety Function: Cable Pull Switch
General Safety Information
Contact Rockwell Automation to learn more about our safety risk assessment services.
IMPORTANT
This application example is for advanced users and assumes that you are trained and experienced in safety system requirements.
ATTENTION: Perform a risk assessment to make sure that all task and hazard combinations have been identified and addressed. The risk assessment can require
additional circuitry to reduce the risk to a tolerable level. Safety circuits must consider safety distance calculations, which are not part of the scope of this
document.
Safety Distance Calculations
ATTENTION: While safety distance or access time calculations are beyond the scope of this document, compliant safety circuits must often consider a safety
distance or access time calculation.
Non-separating safeguards provide no physical barrier to prevent access to a hazard. Publications that offer guidance for
calculating compliant safety distances for safety systems that use non-separating safeguards, such as light curtains,
scanners, two-hand controls, or safety mats, include the following:
EN ISO 13855:2010 (Safety of Machinery – Positioning of safeguards with respect to the approach speeds of
parts of the human body)
ANSI B11:19 2010 (Machines – Performance Criteria for Safeguarding)
Separating safeguards monitor a moveable, physical barrier that guards access to a hazard. Publications that offer
guidance for calculating compliant access times for safety systems that use separating safeguards, such as gates with limit
switches or interlocks (including SensaGuard™ switches), include the following:
EN ISO 14119:2013 (Safety of Machinery – Interlocking devices associated with guards - Principles for design
and selection)
EN ISO 13855:2010 (Safety of Machinery – Positioning of safeguards with respect to the approach speeds of
parts of the human body)
ANSI B11:19 2010 (Machines – Performance Criteria for Safeguarding)
In addition, consult relevant national or local safety standards to assure compliance.
Introduction
This safety function application technique explains how to wire and configure two cable pull switches to a Guardmaster™
single-input safety relay. When one of the two cable pull switches is pulled, the relay responds by opening its safety
contacts and removing 24V DC from the coils of the two 100S safety contactors. The 100S contactors open and remove
power from the hazardous motion. The hazardous motion coasts to a stop (stop category 0).
Rockwell Automation Publication SAFETY-AT088B-EN-P - May 2016
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Safety Function: Cable Pull Switch
Safety Function Realization: Risk Assessment
The required performance level is the result of a risk assessment and refers to the amount of the risk reduction to be
conducted by the safety-related parts of the control system. Part of the risk reduction process is to determine the safety
functions of the machine. In this application, the performance level required (PLr) by the risk assessment is Category 3,
Performance Level d (CAT. 3, PLd), for each safety function. A safety system that achieves CAT. 3, PLd, or higher, can
be considered control reliable. Each safety product has its own rating and can be combined to create a safety function that
meets or exceeds the PLr.
From: Risk Assessment (ISO 12100)
1. Identification of safety functions
2. Specification of characteristics of each function
3. Determination of required PL (PLr) for each safety function
To: Realization and PL Evaluation
Emergency Stop Safety Function
This application technique includes one safety function: the removal of power from the hazard when the safety system
detects that the cable pull switch has been actuated.
ISO 13849-1 directs that when devices are connected in series, such as the two cable pull switches in each segment in this
safety function application, the function of each device is evaluated as a separate safety function.
In this safety function application, the two cable pull switches are evaluated as two identical E-stop safety functions.
Safety Function Requirements
Pulling any one of the two series-wired cable pull switches stops and prevents hazardous motion by removal of power to
the motor. When the cable pull switches are reset, hazardous motion and power to the motor does not resume until a
secondary action (start button depressed) occurs. Faults at the switch, wiring terminals, or safety controller are detected
before the next safety demand. This emergency stop function is complementary to any other safeguards on the machine
and does not reduce the performance of other safety-related functions. The safety function in this example is capable of
connecting and interrupting power to motors rated up to 9A, 600V AC. The safety function meets the requirements for
Category 3, Performance Level d (CAT. 3, PLd), per ISO 13849-1 and control reliable operation per ANSI B11.19.
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Rockwell Automation Publication SAFETY-AT088B-EN-P - May 2016
Safety Function: Cable Pull Switch
Functional Safety Description
Two cable pull switches are connected in series to the Guardmaster single-input safety relay. One channel runs through
the two cable pull switches between pulsed output S11 and input S12, and the other channel between pulsed output S21
and input S22. The safety relay monitors the pulse stream at each input to confirm that each cable pull switch channel is
in a proper state. When any cable pull switch is pulled, these two circuits are interrupted. The relay responds to this
circuit interruption by opening its safety contacts (13…14 and 23…24), and de-energizing the coils of K1 and K2. With
power removed, hazardous motion coasts to a stop (stop category 0). Hazardous motion cannot be restarted until the
cable pull switches are released and the reset button is pressed and released.
To confirm the proper state of the two 100S safety contactors before permitting a start or reset, 24V DC is run in series
through an N.C. auxiliary contact on each 100S contactor to the Reset button of the safety relay. If a safety contact of one
or both 100S contactors is welded closed, the corresponding auxiliary N.C. contact is held open, breaking the 24V DC
circuit to the Reset button.
The safety relay in this application is configured for Automatic/Manual Start. When the inputs of the cable pull switch
are in the proper state, and the two 100S contactors are properly de-energized, turning the Reset button of the cable pull
switch results in the safety relay energizing the two 100S safety contactors.
Bill of Material
This application technique uses these products.
Cat. No.
Description
Quantity
440E-L13137
440E emergency stop device – Lifeline™ 4 cable pull switch
2
440R-S12R2
Guardmaster single-input safety relay, one dual-channel universal input, one N.C. solid-state auxiliary output
1
100S-C09ZJ23C
Modular control system 100S-C safety contactor, 9A, 24V DC
2
Setup and Wiring
For detailed information on how to install and wire, refer to the publications listed in the Additional Resources.
System Overview
The pulsed outputs of the Guardmaster single-input safety relay (terminals S11 and S21) are run separately through the
contact strings of the two cable pull switches (cable pull 1 to cable pull 2) to input terminals S12 and S22, respectively.
This configuration enables the safety relay to detect a loose wire, a short to 24V DC, a short to GND, and cross-channel
faults. There is the possibility that a contact in one of the cable pull switches could fail closed and that this failure could
be masked by the operation of the other cable pull switch. For this reason, the two cable pull switches in the string are
calculated as having a Category 3 structure.
The safety relay responds to the inputs of the cable pull switches and detected circuit faults of the cable pull switches by
opening its safety contacts (13…14 and 23…24), thus de-energizing the coils of K1 and K2. The safety relay cannot be
reset until the cable pull switch is released, or the fault is corrected. In some cases, the cable pull switch must be pulled
and released before the safety relay can be reset. After some faults, before it can be reset, the safety relay must be powercycled once the fault is cleared.
Rockwell Automation Publication SAFETY-AT088B-EN-P - May 2016
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Safety Function: Cable Pull Switch
The safety relay monitors itself for any internal faults. When a fault is detected, the safety relay responds by opening its
safety contacts (13…14 and 23…24) and de-energizing the coils of K1 and K2. Some internal faults can be cleared by
power-cycling the safety relay. In other cases, the safety relay must be replaced.
The safety relay monitors the 100S contactors for welded contacts via two N.C. contacts in series, one from each 100S
contactor, in its reset circuit. If a contact of a 100S contactor is welded, the N.C. contact is held open, which breaks the
reset circuit.
Electrical Schematic
24V
24V
0V
0V
Wiring
WIRING
A2
A1
S11
SI
Y32
S21
Reset
Reset
Status
Status
to
toPLCPLC
0
AM
K1a
33
34
11
21
33
34
12
11
12
22
21
22
Status
Status
to PLC
to
PLC
K2a
Status
Status
totoPLCPLC
K2b
Status
Status
totoPLCPLC
S12
S22
S34
Status
Status
to
toPLC
PLC
K1b
MM
Status
Status
PLC
totoPLC
13
14
23
24
A1
K1
A1
K2
A2
External Switched
External
Switched
Stop/Start Circuit
Stop/Start
Circuit
K1
K2
M
6
A2
Rockwell Automation Publication SAFETY-AT088B-EN-P - May 2016
Safety Function: Cable Pull Switch
Configuration
Follow these steps to configure the relay.
1. With power off, turn the rotary switch to position 0, and apply power.
The PWR status indicator flashes red.
2. Turn the rotary switch to the desired position.
The IN 1 status indicator blinks to acknowledge the new setting. The position is set when the PWR status
indicator is solid green.
3. Lock in the configuration by cycling power to the relay.
The configuration must be confirmed before operation. Use the white space on the front of the device to record
the unit setting.
Calculation of the Performance Level
When properly implemented, each of the two E-stop safety functions of this safety system (emergency stop of hazardous
motion that is initiated by the cable pull switch) can achieve a safety rating of Category 3, Performance Level d (CAT. 3,
PLd), according to ISO 13849-1: 2008, as calculated by using the Safety Integrity Software Tool for the Evaluation of
Machine Applications (SISTEMA).
Rockwell Automation Publication SAFETY-AT088B-EN-P - May 2016
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Safety Function: Cable Pull Switch
The individual subsystem values for one of the E-stop functions are shown in the graphic.
The entire E-stop project can be modeled as follows.
Logic
Input
100S-C
100S-C
K1
K1
Cable Pull
1 1
Cable
Pull
S1
S1
Fault
Fault
Exclusion
Exclusion
Guardmaster
Single-input
GSR SI
Safety Relay
Cable Pull
1 1
Cable
Pull
S2
S1
Subsystem 1 1
Subsystem
Output
100S-C
100S-C
K2
K2
Subsystem 2 2
Subsystem
Subsystem 3 3
Subsystem
Subsystem 4 4
Subsystem
The SISTEMA values and the block diagram model are the same for the second E-stop function.
Because the cable pull switches are electromechanical devices, certain data must be provided for evaluation of expected
performance, which need not be provided for electronically based devices, such as a safety relay, when used in a safety
function.
This data includes:
• Fault Exclusion (FE)
• Mean Time to Failure, dangerous (MTTFd)
• Diagnostic Coverage (DCavg)
• Common Cause Failure (CCF)
The functional safety evaluations of the electromechanical devices include the following:
• How frequently they are operated
• Whether they are effectively monitored for faults
• Whether they are properly specified and installed
Because the cable pull switches are electromechanical devices, a fault exclusion must be considered when calculating a
safety rating. A fault exclusion subsystem is added to the SISTEMA calculation to reflect this. EN-ISO 13849-2:2012,
Annex D, allows a fault exclusion for mechanical aspects of emergency stop (complementary) devices in accordance with
IEC 60947-5-5, when the estimated maximum number of cable pull switch (E-stop) operations is not excessive. Such an
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Rockwell Automation Publication SAFETY-AT088B-EN-P - May 2016
Safety Function: Cable Pull Switch
allowed fault exclusion has no effect on the Category or Performance Level achieved by the cable pull switch (E-stop)
safety functions. To reflect this configuration in the SISTEMA project calculations, the Category and Performance Level
of the fault exclusion subsystem were manually entered as Category 4 and Performance Level e.
SISTEMA calculates the MTTFd by using B10d data for the electromechanical devices provided in the Rockwell
Automation SISTEMA library, along with the estimated frequency of use, entered during the creation of the SISTEMA
project. In this application, the estimated frequency of use for each cable pull switch was 365 times a year.
The DCavg (60%) for the cable pull switch (E-stop) was entered manually to take into account that they are connected
in series. Masking, due to series connection, reduces the ability of the system to detect faults.
The DCavg (99%) for the contactors is selected from the Output Device table of ISO 13849-1:2006, Annex E, Direct
Monitoring.
The CCF value was generated by using the scoring process outlined in Annex F of ISO 13849-1. The complete CCF
scoring process must be performed when actually implementing an application. A minimum score of 65 must be
achieved. A CCF of 65 was entered for practical purposes in each case to satisfy SISTEMA requirements.
Verification and Validation Plan
Verification and validation play important roles in the avoidance of faults throughout the safety system design and
development process. ISO 13849-2 sets the requirements for verification and validation. The standard calls for a
documented plan to confirm that all safety functional requirements have been met.
Verification is an analysis of the resulting safety control system. The Performance Level (PL) of the safety control system
is calculated to confirm that the system meets the required Performance Level (PLr) specified. The SISTEMA software
is typically used to perform the calculations and assist with satisfying the requirements of ISO 13849-1.
Validation is a functional test of the safety control system to demonstrate that the system meets the specified
requirements of the safety function. The safety control system is tested to confirm that all safety-related outputs respond
appropriately to their corresponding safety-related inputs. The functional test includes normal operating conditions and
potential fault injection of failure modes. A checklist is typically used to document the validation of the safety control
system.
Before validating the system, confirm that the Guardmaster safety relay has been wired and configured in accordance
with the installation instructions.
Rockwell Automation Publication SAFETY-AT088B-EN-P - May 2016
9
Safety Function: Cable Pull Switch
Verification and Validation Checklist
General Machinery Information
Machine Name/Model Number
Machine Serial Number
Customer Name
Test Date
Tester Name
Schematic Drawing Number
Guardmaster Safety Relay
440R-S12R2
Safety Wiring and Relay Configuration Verification
Test Step
Verification
Pass/Fail
1
Visually inspect the safety relay circuit to verify that it is wired as documented in the
schematics.
2
Visually inspect the rotary switch settings of the safety relay to verify that they are
correct as documented.
Changes/Modifications
Normal Operation Verification - The safety system responds properly to all normal Start, Stop, E-stop, and Reset inputs.
Test Step
Verification
Pass/Fail
1
Confirm that the system is powered up, that the E-stop is not pressed, and that the
cable is properly tensioned (not tripped). Confirm that the OUT status indicator on
the safety relay is green.
2
Press the external Start button. Hazardous motion begins.
3
Press the external Stop button. Hazardous motion stops.
4
Press the external Start button to resume hazardous motion.
5
While hazardous motion continues to run, press the E-stop on cable pull switch 1.
The safety relay de-energizes its safety outputs, and this action de-energizes the
contactors. Hazardous motion stops.
6
Press the external Start button. Hazardous motion remains stopped.
7
Turn the blue lever to release the E-stop, and reset the cable pull switch. The OUT
status indicator on the safety relay is green.
8
Press and release the Start button. Hazardous motion begins.
9
While hazardous motion continues to run, pull the cable of cable pull switch 1. The
safety relay de-energizes its safety outputs, and this action de-energizes the
contactors. Hazardous motion stops.
10
Press the external Start button. Hazardous motion remains stopped.
11
Turn the blue lever to reset the cable. The OUT status indicator on the safety relay is
green.
12
Press and release the Start button. Hazardous motion begins.
13
Repeat steps 5…12 by using cable pull switch 2 in place of cable pull switch 1.
Changes/Modifications
Validation of Safe Response to Abnormal Operation - The safety system responds properly to all foreseeable faults with corresponding diagnostics.
Cable Pull Switch, E-stop Input Tests
Test Step
Validation
Pass/Fail
Note: Steps 1…5 validate proper E-stop/cable pull operation in both the case of one
loose wire and in the case of one channel failing to open when the E-stop is pressed
or the cable is pulled.
1
10
While hazardous motion continues to run, remove the wire on terminal S12 of the
safety relay. The safety relay de-energizes its safety outputs, and this action deenergizes the contactors. Hazardous motion stops.
Rockwell Automation Publication SAFETY-AT088B-EN-P - May 2016
Changes/Modifications
Safety Function: Cable Pull Switch
Verification and Validation Checklist
2
Reconnect the wire to terminal S12. The green OUT status indicator remains OFF.
3
Press the external Start button. Hazardous motion does not begin.
4
Press E-stop 1, turn the blue lever to release the E-stop, and reset the cable pull
switch to cycle the safety relay input. The OUT status indicator of the safety relay is
green.
5
Press the external Start button. Hazardous motion begins.
6
Repeat steps 1…5 by using terminal S22 of the safety relay in place of terminal S12
and E-stop 2 in place of E-stop 1.
7
While hazardous motion continues to run, briefly jump 24V to terminal S12 of the
safety relay. The safety relay de-energizes its safety outputs, and this action deenergizes the contactors. Hazardous motion stops. The PWR/Fault status indicator on
the safety relay is steady red.
8
Press and release the external Start button. The safety relay does not respond.
Hazardous motion remains stopped.
9
Cycle power to the safety relay. When the OUT status indicator on the safety relay
turns green, press the external Start button. Hazardous motion begins.
10
Repeat steps 7…9 by using terminal S22 on the safety relay in place of terminal S12.
11
While hazardous motion continues to run, briefly jump 0V to terminal S12 of the
safety relay. The safety relay de-energizes its safety outputs, and this action deenergizes the contactors. Hazardous motion stops. The PWR/Fault status indicator on
the safety relay is steady red.
12
Press and release the external Start button. The safety relay does not respond.
Hazardous motion remains stopped.
13
Cycle power to the safety relay. When the OUT status indicator on the safety relay
turns green, press the external Start button. Hazardous motion begins.
14
Repeat steps 11…13 by using terminal S22 on the safety relay in place of terminal
S12.
15
While hazardous motion continues to run, briefly jump terminal S12 of the safety
relay to terminal S22. The safety relay de-energizes its safety outputs. and this action
de-energizes the contactors. Hazardous motion stops. The PWR/Fault status
indicator on the safety relay blinks red.
16
Press and release the external Start button. The safety relay does not respond.
17
Cycle power to the safety relay. When the OUT status indicator on the safety relay
turns green, press the external Start button. Hazardous motion begins.
Validation of Safe Response to Abnormal Operation - The safety system responds properly to all foreseeable faults with corresponding diagnostics.
Guardmaster Single-input Safety Relay, Logic Setting Fault Tests
Test Step
Validation
Pass/Fail
1
While hazardous motion continues to run, turn the RESET rotary switch on the safety
relay from the proper AM position to position MM. The PWR/Fault status indicator
blinks red-green twice, pauses steady green, and repeats. Hazardous motion
continues to run.
2
Confirm that the response of the safety relay to an E-stop input continues to be
normal.
3
Return the RESET rotary switch setting of the safety relay to AM. The red-green
blinking stops. The PWR/Fault status indicator is steady green. The system continues
to operate normally.
Rockwell Automation Publication SAFETY-AT088B-EN-P - May 2016
Changes/Modifications
11
Safety Function: Cable Pull Switch
Verification and Validation Checklist
Validation of Safe Response to Abnormal Operation - The safety system responds properly to all foreseeable faults with corresponding diagnostics.
Guardmaster Single-input Safety Relay Tests
Test Step
Validation
Pass/Fail
1
While hazardous motion continues to run, remove the wire on terminal S34 of the
safety relay. Hazardous motion continues to run.
2
Press an E-stop button. The safety relay de-energizes its safety outputs, and this
action de-energizes the contactors. Hazardous motion stops.
3
Press the external Start button. Hazardous motion remains stopped.
4
Turn the blue lever to release the E-stop and reset the cable pull switch. The OUT
status indicator on the safety relay remains OFF.
5
Reconnect the wire to terminal S34 of the safety relay. The OUT status indicator turns
green. Start hazardous motion. Press the external Start button. Hazardous motion
begins.
Changes/Modifications
Additional Resources
These documents contain more information about related products from Rockwell Automation.
Resource
Description
Guardmaster Safety Relay SI–Monitoring Safety Relay Installation Instructions,
publication 440R-IN042
Provides guidance on how to install, commission, operate, and maintain a Guardmaster
440R-S12R2 single-input safety relay.
Lifeline 4 Installation Instructions, publication 440E-IN001
Provides instructions on how to install a Lifeline 4 cable pull switch.
Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1
Provides general guidelines on how to install a Rockwell Automation® industrial
system.
Safety Products Catalog, publication S117-CA001
Website http://www.rockwellautomation.com/rockwellautomation/catalogs/
overview.page
Provides information about Rockwell Automation safety products.
Product Certifications Website, http://www.rockwellautomation.com/global/
certification/overview.page
Provides declarations of conformity, certificates, and other certification details.
You can view or download publications at http://www.rockwellautomation.com/literature/. To order paper copies of
technical documentation, contact your local Allen-Bradley distributor or Rockwell Automation sales representative.
12
Rockwell Automation Publication SAFETY-AT088B-EN-P - May 2016
Safety Function: Cable Pull Switch
Notes:
Rockwell Automation Publication SAFETY-AT088B-EN-P - May 2016
13
Rockwell Automation Support
Use the following resources to access support information.
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www.rockwellautomation.com/literature
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For more information on
Safety Function Capabilities, visit:
http://marketing.rockwellautomation.com/safety/en/safety_functions
Rockwell Automation maintains current product environmental information on its website at http://www.rockwellautomation.com/rockwellautomation/about-us/sustainability-ethics/product-environmental-compliance.page.
Allen-Bradley, Guardmaster, Lifeline, LISTEN. THINK. SOLVE, Rockwell Automation, Rockwell Software, and SensaGuard are trademarks of Rockwell Automation, Inc.
Trademarks not belonging to Rockwell Automation are property of their respective companies.
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Publication SAFETY-AT088B-EN-P - May 2016
Supersedes Publication SAFETY-AT088A-EN-P - June 2013
Copyright © 2016 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.
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