STO classified PL e using PMCprotego D and PNOZ mm0p

STO classified PL e using PMCprotego D and PNOZ mm0p
STO classified PL e using PMCprotego D
and PNOZ mm0p
Product
Type:
Name:
Manufacturer:
PMC
PMCprotego D, PNOZ mm0p
Pilz GmbH & Co. KG, Safe Automation
Document
Release Number:
Release Date:
02
15 July 2011
Application Note - No. 1002189_EN_02
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28 pt
42 pt
Application Note – No. 1002189_EN_02
56 pt
STO classified PL e using PMCprotego D and PNOZ mm0p
70 pt
84 pt
98 pt
112 pt
Document Revision History
126 pt
140 pt
Release
Date
154 pt
01
168 pt
02
Changes
Chapter
2011-03-23
Creation
all
2011-07-15
Revision documentation
1
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364 pt
378 pt
392 pt
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476 pt
490 pt
504 pt
518 pt
Exclusion of liability
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574 pt
588 pt
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630 pt
We have taken great care in compiling our application note. It contains information about our
company and our products. All statements are made in accordance with the current status of
technology and to the best of our know-ledge and belief.
However, we cannot accept liability for the accuracy and entirety of the information provided,
except in the case of gross negligence. In particular it should be noted that statements do not
have the legal quality of assurances or assured properties.
We are grateful for any feedback on the contents.
644 pt
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July 2011
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All rights to this publication are reserved by Pilz GmbH & Co. KG. We reserve the right to
amend specifications without prior notice. Copies may be made for the user’s internal purposes.
The names of products, goods and technologies used in this manual are trademarks of the
respective companies.
770 pt
784 pt
798 pt
812 pt
826 pt
Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2/18
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28 pt
42 pt
Application Note – No. 1002189_EN_02
56 pt
STO classified PL e using PMCprotego D and PNOZ mm0p
70 pt
84 pt
98 pt
112 pt
Support
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154 pt
168 pt
Technical help round the clock!
Technical support is available from Pilz round the clock.
This service is provided free of charge beyond standard business hours.
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266 pt
280 pt
Americas
Brazil
+55 11 8245-8267
Mexico
+52 55 5572 1300
USA (toll free)
+1 877-PILZUSA (745-9872)
294 pt
308 pt
322 pt
336 pt
350 pt
364 pt
378 pt
392 pt
Asia
China
+86 21 62494658-216
Japan
+81 45 471-2281
Korea
+82 2 2263 9540
406 pt
420 pt
434 pt
448 pt
Australia
Australia
+61 3 95446300
462 pt
476 pt
490 pt
504 pt
518 pt
532 pt
Europe
Austria
+43 1 7986263-0
Belgium, Luxembourg
+32 9 3217575
England
+44 1536 462203
France
+33 3 88104000
Germany
+49 711 3409-444
Ireland
+353 21 4804983
Italy
+39 031 789511
Scandinavia
+45 74436332
Spain
+34 938497433
Switzerland
+41 62 88979-30
The Netherlands
+31 347 320477
Turkey
+90 216 5775552
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574 pt
You can reach our international hotline on:
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+49 711 3409-444 or mailto:support@pilz.com
630 pt
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658 pt
672 pt
686 pt
Pilz GmbH & Co. KG
Safe Automation
Felix-Wankel-Straße 2
73760 Ostfildern, Germany
700 pt
714 pt
728 pt
742 pt
756 pt
Telephone: +49 711 3409-0
Telefax:
+49 711 3409-133
pilz.gmbh@pilz.de
E-Mail:
Internet:
www.pilz.com
770 pt
784 pt
798 pt
812 pt
826 pt
Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
3/18
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28 pt
42 pt
Application Note – No. 1002189_EN_02
56 pt
STO classified PL e using PMCprotego D and PNOZ mm0p
70 pt
84 pt
98 pt
112 pt
Contents
126 pt
140 pt
1. Useful documentation .................................................................................. 5
154 pt
1.1. Documentation from Pilz GmbH & Co. KG ............................................................................ 5
1.2. Documentation from other sources of information ................................................................. 5
168 pt
182 pt
196 pt
2. Hardware configuration ................................................................................ 6
210 pt
2.1. Pilz products ........................................................................................................................... 6
2.2. Hardware-configuration .......................................................................................................... 6
224 pt
238 pt
252 pt
3. Application Task ........................................................................................... 7
266 pt
3.1. Description ............................................................................................................................. 7
3.1.1. Safe pulse disabler of servo amplifier .......................................................................... 8
280 pt
294 pt
308 pt
3.1.2. Testing the safe pulse disabler .................................................................................... 9
322 pt
3.1.3. Circuitry and parameterisation ..................................................................................... 9
336 pt
3.1.4. Signal table ................................................................................................................ 10
350 pt
364 pt
3.1.5. Timing diagram .......................................................................................................... 10
378 pt
3.1.6. STO feedback loop test flow chart ............................................................................. 10
392 pt
3.1.7. Inputs and outputs on PNOZmulti Mini ...................................................................... 12
406 pt
420 pt
434 pt
448 pt
462 pt
476 pt
3.1.8. Safety assessments ................................................................................................... 12
3.2. Functional safety .................................................................................................................. 12
3.3. Circuit diagram of the application ......................................................................................... 13
3.3.1. Circuit diagram 1/4 ..................................................................................................... 13
3.3.2. Circuit diagram 2/4 ..................................................................................................... 14
490 pt
504 pt
3.3.3. Circuit diagram 3/4 ..................................................................................................... 15
518 pt
3.3.4. Circuit diagram 4/4 ..................................................................................................... 16
532 pt
546 pt
560 pt
574 pt
588 pt
602 pt
616 pt
630 pt
Abbreviations
644 pt
658 pt
672 pt
686 pt
700 pt
714 pt
728 pt
742 pt
756 pt
770 pt
PMC
PNOZ
PRG
STO
RTO
FW
PDrive
Pilz Motion Control
Pilz E-STOP Positive-Guided (DE: Pilz NOT-AUS-Zwangsgeführt)
Program
Safe Torque Off
Ready To Operate)
(DE: BTB - Betriebsbereit)
Firmware
Setup software for setting parameters and configuring servo amplifiers of the PMCtendo
DD4/5, PMCprimo Drive 2/3 and PMCprotego D series.
784 pt
798 pt
812 pt
826 pt
Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
4/18
14 pt
28 pt
42 pt
Application Note – No. 1002189_EN_02
56 pt
STO classified PL e using PMCprotego D and PNOZ mm0p
70 pt
84 pt
98 pt
112 pt
1. Useful documentation
126 pt
140 pt
154 pt
Reading the documentation listed below is necessary for understanding this application note.
The availability of the indicated tools and safe handling are also presupposed with the user.
168 pt
182 pt
196 pt
1.1. Documentation from Pilz GmbH & Co. KG
210 pt
No.
Description
Item No.
224 pt
1
Pilz international homepage, download section
www.pilz.com
238 pt
2
Operating Manual PNOZ mm0p
1001274-EN-xx
252 pt
3
Operating Manual PMCprotego D.01…D.24
21 934-EN-xx
266 pt
4
Operating Manual PMCtendo AC
21 706-EN-xx
280 pt
5
User Manual Motion Control Tools
21 468-EN-xx
294 pt
308 pt
322 pt
336 pt
350 pt
364 pt
1.2. Documentation from other sources of information
378 pt
No.
392 pt
1
406 pt
2
Description
Item No.
420 pt
434 pt
448 pt
462 pt
476 pt
490 pt
504 pt
518 pt
532 pt
546 pt
560 pt
574 pt
588 pt
602 pt
616 pt
630 pt
644 pt
658 pt
672 pt
686 pt
700 pt
714 pt
728 pt
742 pt
756 pt
770 pt
784 pt
798 pt
812 pt
826 pt
Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
5/18
14 pt
28 pt
42 pt
Application Note – No. 1002189_EN_02
56 pt
STO classified PL e using PMCprotego D and PNOZ mm0p
70 pt
84 pt
98 pt
112 pt
2. Hardware configuration
126 pt
140 pt
2.1. Pilz products
154 pt
168 pt
182 pt
196 pt
No.
Description
Order number
Version
Number
1
PNOZ mm0p
772 000
-
1
2
PMC protego D.03/000/0
8176 101
(from FW
1
5.24)
210 pt
3
Cable Power DD4plug>ACplug:L05m
8165 882
-
1
238 pt
4
Cable Hiperface DD4plug>ACpluf:L05m
8165 879
-
1
252 pt
5
PNOZmulti Configurator
-
V7.1.0
1
224 pt
build 4
266 pt
280 pt
6
PMCtools
-
V3.3
1
294 pt
308 pt
322 pt
336 pt
350 pt
2.2. Hardware-configuration
364 pt
378 pt
392 pt
406 pt
420 pt
434 pt
448 pt
462 pt
476 pt
490 pt
504 pt
518 pt
532 pt
546 pt
560 pt
574 pt
588 pt
602 pt
616 pt
630 pt
644 pt
658 pt
672 pt
686 pt
700 pt
714 pt
728 pt
742 pt
756 pt
770 pt
784 pt
798 pt
812 pt
826 pt
Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
6/18
14 pt
28 pt
42 pt
Application Note – No. 1002189_EN_02
56 pt
STO classified PL e using PMCprotego D and PNOZ mm0p
70 pt
84 pt
98 pt
112 pt
3. Application Task
126 pt
140 pt
3.1. Description
154 pt
168 pt
182 pt
196 pt
210 pt
224 pt
238 pt
252 pt
266 pt
280 pt
294 pt
308 pt
322 pt
336 pt
350 pt
364 pt
378 pt
392 pt
406 pt
420 pt
434 pt
448 pt
462 pt
476 pt
490 pt
504 pt
518 pt
532 pt
546 pt
560 pt
574 pt
588 pt
602 pt
616 pt
630 pt
644 pt
658 pt
672 pt
686 pt
700 pt
714 pt
728 pt
With the PMCprotego D, the highest safety level (PLe / SIL3) can also be achieved for the STO
function without an additional safety card (PMCprotego S1) if the shutdown paths of the
PMCprotego D are tested by an external device (e.g. safety control) – referred to as “STO
Feedback Loop Test” in the following.
This Application Note shows in principle the procedure for such a test.
The feedback signal of the PMCprotego D necessary for this test can be activated if the
firmware is version 5.24 or later and can be configured for any output on the PMCprotego D.
At the moment, this must be done with the PTerm terminal program and the OxMODE70
instruction.
In the future, this feedback loop function will be configurable in PDrive.
742 pt
756 pt
770 pt
784 pt
798 pt
812 pt
826 pt
Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
7/18
14 pt
28 pt
42 pt
Application Note – No. 1002189_EN_02
56 pt
STO classified PL e using PMCprotego D and PNOZ mm0p
70 pt
84 pt
98 pt
3.1.1. Safe pulse disabler of servo amplifier
112 pt
126 pt
140 pt
154 pt
168 pt
182 pt
196 pt
The safe pulse disabler of the servo amplifier consists of two shutdown paths that can,
independently of each other, switch off the power supply to the motor using the inputs 'STO1ENABLE' and 'STO2-ENABLE'. As a cyclical test of the pulse disabler during operation is
inadvisable for availability reasons, a function test of the shutdown paths must be performed at
least before the release of the drive, once the PMCprotego D has run up and, in addition, every
8 hours (see section 3.1.8 PMC safety assessment).
210 pt
224 pt
238 pt
252 pt
The control of the pulse disabler can be made via a block in the PNOZmulti Mini (e.g.
emergency stop or light curtain); for that the enable signal of the block is to be linked to the
result of the STO feedback loop test for this purpose.
266 pt
280 pt
294 pt
308 pt
322 pt
336 pt
350 pt
364 pt
378 pt
392 pt
406 pt
420 pt
434 pt
448 pt
462 pt
476 pt
490 pt
504 pt
518 pt
532 pt
546 pt
560 pt
574 pt
588 pt
602 pt
616 pt
630 pt
644 pt
658 pt
672 pt
686 pt
700 pt
714 pt
728 pt
742 pt
756 pt
770 pt
784 pt
798 pt
812 pt
826 pt
Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
8/18
14 pt
28 pt
42 pt
Application Note – No. 1002189_EN_02
56 pt
STO classified PL e using PMCprotego D and PNOZ mm0p
70 pt
84 pt
98 pt
3.1.2. Testing the safe pulse disabler
112 pt
126 pt
140 pt
154 pt
When testing the safe pulse disabler, the two shutdown paths STO1-Enable and STO2-Enable
are switched off in sequence, independently of each other, and the relevant switching state of
the pulse disabler checked using the read-back signal 'STO feedback loop'.
168 pt
182 pt
196 pt
210 pt
224 pt
The read-back signal 'STO feedback' can be connected to a digital output of the servo amplifier
using the instruction OxMODE 70 if the amplifier has firmware version 5.24 or later. This
enables the function of the safe pulse disabler to be tested from an external safety control and
the drive safely operated if the highest safety level is to be achieved.
238 pt
252 pt
266 pt
280 pt
294 pt
308 pt
322 pt
336 pt
350 pt
364 pt
Testing the safe pulse disabler is done:
at run up of the system (PNOZmulti Mini and PMCprotego D).
on restart after a protection device has been triggered.
after a periodic triggering (8-hour interval) by the operator
(see 3.1.8 Safety assessment – PMC safety assessment).
The test sequence is started by the BTB/RTO contacts of the PMCprotego D; this ensures that
the test is always carried out when the PMCprotego D changes over into the operational
readiness state (BTB or RTO). This is the case after a restart or fault reset of the PMCprotego
D.
378 pt
392 pt
406 pt
420 pt
If the test is successfully completed, an output on the PNOZmulti Mini is also set (“STO
feedback loop test OK”) whitch the user can employ for enabling the start of his sequence
control system.
434 pt
448 pt
462 pt
476 pt
If the test is requested during operation of the inverter, it should first be ensured that the enable
input and then the STO inputs of the PMCprotego D are switched off. If not, a fault F27 is
triggered that has to be reset before the PMCprotego D can be restarted.
490 pt
504 pt
518 pt
3.1.3. Circuitry and parameterisation
532 pt
546 pt
560 pt
574 pt
588 pt
602 pt
616 pt
630 pt
644 pt
658 pt
672 pt
686 pt
700 pt
714 pt
728 pt
742 pt
756 pt
770 pt
784 pt
798 pt
812 pt
826 pt
Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
9/18
14 pt
28 pt
42 pt
Application Note – No. 1002189_EN_02
56 pt
STO classified PL e using PMCprotego D and PNOZ mm0p
70 pt
84 pt
98 pt
3.1.4. Signal table
112 pt
126 pt
140 pt
154 pt
168 pt
182 pt
196 pt
STO1-Enable
STO2-Enable
STO-Feedbackloop
0
0
1
0
1
1
1
0
1
1
1
0
210 pt
224 pt
238 pt
3.1.5. Timing diagram
252 pt
266 pt
280 pt
294 pt
308 pt
322 pt
336 pt
350 pt
364 pt
378 pt
392 pt
406 pt
420 pt
434 pt
448 pt
462 pt
476 pt
490 pt
504 pt
518 pt
532 pt
546 pt
560 pt
574 pt
588 pt
602 pt
616 pt
630 pt
3.1.6. STO feedback loop test flow chart
The sequence of the STO feedback loop test shown in the following sequence schedule can be
implemented, e.g. in the PNOZmulti, by means of a step sequence. This test sequence has to
be integrated by the user into his PNOZmulti Mini project.
The test result in this must be connected by the user, e.g. with the enable signal of the
emergency stop used or the safety gate block, and so control the inputs STO1 Enable or STO2
Enable of the PMCprotego D.
The user has to ensure that an enabling of the PMCprotego D can only take place when the test
sequence has been successfully completed.
Generally, the user shall ensure that the STO feedback loop test/test sequence is carried out in
the PNOZmulti Mini at the times given in sub-section 3.1.2.
644 pt
658 pt
672 pt
686 pt
700 pt
714 pt
728 pt
742 pt
756 pt
770 pt
784 pt
798 pt
812 pt
826 pt
Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
10/18
14 pt
28 pt
42 pt
Application Note – No. 1002189_EN_02
56 pt
STO classified PL e using PMCprotego D and PNOZ mm0p
70 pt
84 pt
98 pt
112 pt
126 pt
140 pt
154 pt
168 pt
182 pt
196 pt
210 pt
224 pt
238 pt
252 pt
266 pt
280 pt
294 pt
308 pt
322 pt
336 pt
350 pt
364 pt
378 pt
392 pt
406 pt
420 pt
434 pt
448 pt
462 pt
476 pt
490 pt
504 pt
518 pt
532 pt
546 pt
560 pt
574 pt
588 pt
602 pt
616 pt
630 pt
644 pt
658 pt
672 pt
686 pt
700 pt
714 pt
728 pt
742 pt
756 pt
770 pt
784 pt
798 pt
812 pt
826 pt
Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
11/18
14 pt
28 pt
42 pt
Application Note – No. 1002189_EN_02
56 pt
STO classified PL e using PMCprotego D and PNOZ mm0p
70 pt
84 pt
98 pt
3.1.7. Inputs and outputs on PNOZmulti Mini
112 pt
126 pt
140 pt
154 pt
168 pt
182 pt
PNOZmulti outputs:
STO1 Enable
STO2 Enable
STO feedback loop test OK
Enable
196 pt
210 pt
224 pt
238 pt
252 pt
266 pt
PNOZmulti inputs:
STO Test requirement (BTB/RTO)
STO Feedback loop signal from PMCprotego D
Request STO1
Request STO2
280 pt
294 pt
308 pt
3.1.8. Safety assessments
322 pt
336 pt
350 pt
364 pt
378 pt
392 pt
Input circuit safety assessment
If the feedback loop test sequence result is negative, STO1 Enable and STO2 Enable in
PNOZmulti Mini are set to low level and so activate the safe pulse disable of the inverter!
The enable signals of a safety block used are only passed on to the PMCprotego D (STO1
Enable or STO2 Enable) when the feedback loop test sequence result is positive.
406 pt
420 pt
434 pt
448 pt
PMC safety assessment
The operating company must ensure that the function of the safe pulse disabler is tested, at
least every 8 hours, by triggering safety functions.
462 pt
476 pt
490 pt
504 pt
518 pt
Overall application safety assessment
The PNOZmulti Mini and the PMCprotego D must be installed in the same mounting area in
order to exclude a short circuit between 24 VDC and a safety input of the modules.
A fault in the PNOZmulti Mini or PMCprotego D does not lead to a loss of the safety function.
532 pt
546 pt
560 pt
3.2. Functional safety
574 pt
588 pt
602 pt
616 pt
The fault-free execution of the STO feedback loop test (functional test of the safe pulse
disabler) is the basic precondition that the safety function STO of the servo amplifier
PMCprotego D can achieve PL e and SIL3.
630 pt
644 pt
658 pt
672 pt
User-related safety functions (e.g. safety-related stop function, initiated by a safeguard) that can
be executed with this, require its own classification (calculation) of the safety level for the overall
safety chain.
686 pt
700 pt
714 pt
728 pt
742 pt
756 pt
770 pt
784 pt
798 pt
812 pt
826 pt
Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
12/18
14 pt
28 pt
42 pt
Application Note – No. 1002189_EN_02
56 pt
STO classified PL e using PMCprotego D and PNOZ mm0p
70 pt
84 pt
98 pt
112 pt
126 pt
140 pt
154 pt
168 pt
182 pt
196 pt
210 pt
224 pt
238 pt
252 pt
266 pt
280 pt
294 pt
308 pt
322 pt
336 pt
350 pt
364 pt
378 pt
392 pt
406 pt
420 pt
434 pt
Recommended printer settings
448 pt
462 pt
Adobe Acrobat Reader ( www.adobe.com )
476 pt
490 pt
504 pt
518 pt
532 pt
546 pt
560 pt
574 pt
588 pt
602 pt
616 pt
630 pt
644 pt
PDF-XChange Viewer ( www.tracker-software.com )
658 pt
672 pt
686 pt
700 pt
714 pt
728 pt
742 pt
756 pt
770 pt
784 pt
798 pt
812 pt
826 pt
Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
17/18
14 pt
28 pt
42 pt
Application Note – No. 1002189_EN_02
56 pt
STO classified PL e using PMCprotego D and PNOZ mm0p
70 pt
84 pt
98 pt
112 pt
126 pt
140 pt
154 pt
168 pt
182 pt
196 pt
210 pt
224 pt
238 pt
252 pt
266 pt
280 pt
294 pt
308 pt
322 pt
336 pt
350 pt
364 pt
378 pt
392 pt
406 pt
420 pt
434 pt
448 pt
462 pt
476 pt
490 pt
504 pt
518 pt
532 pt
546 pt
560 pt
574 pt
588 pt
602 pt
616 pt
630 pt
644 pt
658 pt
672 pt
686 pt
700 pt
714 pt
728 pt
742 pt
756 pt
770 pt
784 pt
798 pt
812 pt
826 pt
Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
18/18
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