Lenze E94AYAE SM301 User Manual

Download

Page 1

EDS94AYAE

.G)!

L−force Drives

Ä.G)!ä

9400

Translation

Manual

E94AYAE − SM301

Safety module



Page 2

 Please read these instructions and the documentation of the standard device before you

start working! Observe the safety instructions given therein!

0Fig. 0Tab. 0

© 2014 Lenze Automation GmbH, Hans−Lenze−Str. 1, D−31855 Aerzen No part of this documentation may be reproduced or made accessible to third parties without written consent by Lenze Automation GmbH. All information given in this documentation has been selected carefully and complies with the hardware and software described. Nevertheless, discrepancies cannot be ruled out. We do not take any responsibility or liability for any damage that may occur. Necessary corrections will be included in subsequent editions.

Page 3

Safety engineering

Contents

1 Safety engineering

Contents

1 Safety engineering 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 Basics 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.1 Introduction 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.2 Drive−based safety with L−force | 9400 5. . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.3 Terms and abbreviations of the safety engineering 6. . . . . . . . . . . . . . . .

1.1.4 Important notes 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.5 Safety instructions 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.6 Hazard and risk analysis 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.7 Standards 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.8 Safety instructions for the installation according to UL or UR 10. . . . . . . .

1.1.9 Overview of sensors 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Device modules 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.1 Slot 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.2 Function mode of the safety modules 14. . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.3 SM301 safety module 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.4 Safe inputs 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.5 Safe output 37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.6 Further inputs 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.7 Safe speed measurement and position detection 42. . . . . . . . . . . . . . . . . .

1.3 Safety functions 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.1 General information 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.2 Integration into the application of the controller 51. . . . . . . . . . . . . . . . . .

1.3.3 Safe torque off 54. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.4 Safe stop 1 56. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.5 Safe stop 2 60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.6 Ramp monitoring SS1/SS2 64. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.7 Emergency stop 67. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.8 Safe maximum speed 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.9 Safely limited speed 71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.10 Safe direction 74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.11 Safe operation mode selector 78. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.12 Safe enable switch 84. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.13 Cascading 85. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4 Safety address 88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5 Safe bus interfaces 90. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5.1 PROFIsafe connection 90. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

EDS94AYAE EN 7.0



Page 4

1.6 Safe parameter setting 101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.7 Error management 104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.8 Response times 107. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.9 Acceptance 110. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Safety engineering

Contents

1.6.1 Parameter setting 101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6.2 Parameter sets and axes 103. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.7.1 Error states 104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.7.2 Logbook function in the controller 105. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.7.3 Logbook function in the SM301 105. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.8.1 Response times of the inputs 108. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.8.2 Response time of the safe output 108. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.8.3 Response times of the safety bus 108. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.8.4 Response time of encoder monitoring 109. . . . . . . . . . . . . . . . . . . . . . . . . . .

1.9.1 Description 110. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.9.2 Periodic inspections 111. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.10 Appendix 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.10.1 Module internal codes 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.10.2 Module error messages 133. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.11 Total index 137. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



EDS94AYAE EN 7.0

Page 5

1.1 Basics

1.1.1 Introduction

With increasing automation, protection of persons against hazardous movements is becoming more important. Functional safety describes the measures needed by means of electrical or electronic equipment to reduce or remove danger caused by failures.

During normal operation, safety equipment prevents people accessing hazardous areas. In certain operating modes, e.g. set−up mode, work needs to be carried out in hazardous areas. In these situations the machine operator must be protected by integrated drive and control measures.

Drive−based safety provides the conditions in the controls and drives to optimise the safety functions. Planning and installation expenditure is reduced. In comparison to the use of standard safety engineering, drive−based safety increases machine functionality and availability.

Safety engineering

Basics

Introduction

1.1.2 Drive−based safety with L−force | 9400

The controllers of the L−force|9400 range can be equipped with a safety module. The functional range of the safety module types varies in order to optimally implement different applications.

"Drive−based safety" stands for applied safety functions, which can be used for the protection of persons working on machines.

The motion functions are continued to be executed by the controller. The safety modules monitor the safe compliance with the limit values and provide the safe inputs and outputs. When the limit values are exceeded the safety modules start the control functions according to EN 60204−1 directly in the controller.

The safety functions are suitable for applications according to IEC 61508 to SIL 3 and meet, depending on the module, the requirements of Performance Level e (PL e) and control category 4 according to EN ISO 13849−1.

EDS94AYAE EN 7.0



Page 6

Safety engineering

Basics Terms and abbreviations of the safety engineering

1.1.3 Terms and abbreviations of the safety engineering

Abbreviation Meaning

9400 Lenze servo controller Cat. Category according to EN ISO 13849−1 (formerly EN 954−1) OSSD Output Signal Switching Device, tested signal output PS PROFIsafe PWM Pulse width modulation SD−In Safe input (Safe Digital Input) SD−Out Safe output (Safe Digital Output) SIL Safety Integrity Level according to IEC 61508 SM Safety module Optocoupler

supply PELV Protective extra low voltage SELV Safety extra low voltage OFF state Signal status of the safety sensor technology when it is released or responding ON state Signal status of the safety sensor technology in normal operation PM PN−switched signal paths PP PP−switched signal paths GSE File containing device−specific data to establish PROFIBUS communication GSDML File containing device−specific data to establish PROFINET communication S−Bus Safety bus

Optocoupler supply for the driver control

Abbreviation Safety function

SLS Safely limited speed SLI Safely limited increment SOS Safe operating stop SS1 Safe stop 1 SS2 Safe stop 2 SSM Safe speed monitor STO Safe torque off

SMS Safe maximum speed SDI Safe direction SSE Safe stop emergency ES Safe enable switch OMS Operation mode selector AIE Error acknowledgement (Acknowledge In Error) AIS Restart acknowledgement (Acknowledge In Stop)

Formerly: safe standstill



EDS94AYAE EN 7.0

Page 7

Safety engineering

Basics

Important notes

1.1.4 Important notes

The following pictographs and signal words are used in this documentation to indicate dangers and important information:

Safety instructions

Structure of safety instructions:

 Danger!

(characterises the type and severity of danger)

Note

(describes the danger and gives information about how to prevent dangerous situations)

Pictograph and signal word Meaning

 Danger!

 Danger!

 Stop!

Danger of personal injury through dangerous electrical voltage.

Reference to an imminent danger that may result in death or serious personal injury if the corresponding measures are not taken.

Danger of personal injury through a general source of danger.

Reference to an imminent danger that may result in death or serious personal injury if the corresponding measures are not taken.

Danger of property damage.

Reference to a possible danger that may result in property damage if the corresponding measures are not taken.

Application notes

Pictograph and signal word Meaning

 Note!  Tip! 

Special safety instructions and application notes

Pictograph and signal word Meaning

 Warnings!  Warnings!

Important note to ensure troublefree operation

Useful tip for simple handling

Reference to another documentation

Safety note or application note for the operation according to UL or CSA requirements.

The measures are required to meet the requirements according to UL or CSA.

EDS94AYAE EN 7.0



Page 8

Safety engineering

Basics Safety instructions

1.1.5 Safety instructions

Application as directed

The safety modules SMx (E94AYAx) may only be used together with Lenze drive controllers of the L−force | 9400 (E94A...) series.

Any other use shall be deemed inappropriate!

Installation/commissioning

 Danger!

Danger to life through improper installation

Improper installation of safety engineering systems can cause an uncontrolled starting action of the drives.

Possible consequences:

ƒ Death or severe injuries

Protective measures:

ƒ Safety engineering systems may only be installed and commissioned by

qualified and skilled personnel.

ƒ All control components (switches, relays, PLC, ...) and the control

cabinetmust comply with the requirements of EN ISO 13849−1 and EN ISO

138492. Thisincludes i.a.: – Switches, relays with at least IP54 enclosure. – Control cabinet with at least IP54 enclosure. – Please refer to EN ISO 13849−1 and EN ISO 138492 for all further

requirements.

ƒ It is essential to use insulated wire end ferrules for wiring. ƒ All safety relevant cables outside the control cabinet must be protected, e.g.

by means of a cable duct: – Ensure that no short circuits can occur. – For further measures see EN ISO 138492.

ƒ If an external force acts upon the drive axes, additional brakes are required.

Please observe that hanging loads are subject to the force of gravity!



EDS94AYAE EN 7.0

Page 9

 Danger!

When the request for the safety function is deactivated, the drive can restart automatically. The behaviour can be set via the parameter "Restart behaviour" (C15300/1/2).

In the case of an automatic restart, you must provide external measures which ensure that the drive only restarts after an acknowledgement (EN 60204).

 Danger!

When the "safe torque off" (STO) function is used, an "emergency switching−off" according to EN 60204 is not possible without additional measures. There is no electrical isolation, no service switch or repair switch between motor and controller!

Emergency switching−off" requires an electrical isolation, e.g. by a central mains contactor!

Safety engineering

Basics

Safety instructions

During operation

After the installation is completed, the operator must check the wiring of the safety function.

The functional test must be repeated at regular intervals. The time intervals to be selected depend on the application, the entire system and the corresponding risk analysis. The inspection interval should not exceed one year.

Residual hazards

In case of a short−circuit of two power transistors a residual movement of the motor of up to 180 °/number of pole pairs may occur! (Example: 4−pole motor Þ residual movement max. 180 °/2 = 90 °)

This residual movement must be considered in the risk analysis, e.g. safe torque off for main spindle drives.

EDS94AYAE EN 7.0



Page 10

1.1.6 Hazard and risk analysis

Safety engineering

Basics Hazard and risk analysis

This documentation can only accentuate the need for hazard analysis. The user of the integrated safety system must read up on standards and the legal situation:

Before the launch of a machine, the manufacturer of the machine must conduct a hazard analysis according to Machinery Directive 2006/42/EC to determine the hazards associated with the application of the machine. The Machinery Directive refers to three basic principles for the highest possible level of safety:

ƒ Hazard elimination / minimisation by the construction itself.

ƒ Required protective measures must be taken against hazards which cannot be

eliminated.

ƒ Existing residual hazards must be documented and the user must be informed of

them.

Detailed information on the hazard analysis procedure is provided in the DIN EN ISO 12100:2013−08 − ""Safety of machinery − General principles for design, risk assessment and risk reduction". The results of the hazard analysis determine the category for safety−related control systems according to EN ISO 13849−1. Safety−oriented parts of the machine control must be compliant.

1.1.7 Standards

Safety regulations are confirmed by laws and other governmental guidelines and measures and the prevailing opinion among experts, e.g. by technical regulations.

The regulations and rules to be applied must be observed in accordance with the application.

1.1.8 Safety instructions for the installation according to U

 Warnings!

ƒ Maximum surrounding air temperature: 55 °C. ƒ External fuse for 24 Vdc supply voltage. Rated 4 A DC fuse UL248−14.

or U



EDS94AYAE EN 7.0

Page 11

Safety engineering

Basics

Overview of sensors

1.1.9 Overview of sensors

Passive sensors

Passive sensors are two−channel switching elements with contacts. The connecting cables and the sensor function must be monitored.

The contacts must switch simultaneously (equivalently). Nevertheless, safety functions will be activated as soon as at least one channel is switched.

The switches must be wired according to the closed−circuit principle.

Examples of passive sensors:

ƒ Door contact switch

ƒ Emergency stop control units

Active sensors

Active sensors are units with 2−channel semiconductor outputs (OSSD outputs). With the integrated safety system of this device series, test pulses < 1 ms for monitoring the outputs and cables are permissible. The maximally permissible connection capacity of the outputs is to be observed. Active sensors are wired directly to the terminals of the integrated safety system. Monitoring for cross or short circuits must be carried out by the active sensor.

P/M−switching sensors switch the positive and negative cable or the signal and ground wire of a sensor signal.

The outputs must switch simultaneously (equivalently). Nevertheless, safety functions will be activated as soon as at least one channel is switched. Active triggering of only one channel indicates faulty sensors or impermissible wiring.

Examples of active sensors:

ƒ Lightgrid

ƒ Laser scanner

ƒ Control systems

Sensor inputs

For unused sensor inputs, "Input deactivated" must be parameterised.

Connected deactivated sensors can create the false impression of safety technology being provided. For this reason, a deactivation of sensors by parameter setting only is not permissible and not possible. It is monitored that no sensor signal is pending.

EDS94AYAE EN 7.0



Page 12

Safety engineering

Device modules Slot

1.2 Device modules

1.2.1 Slot

The slot for the safety modules is marked in the documentation with M4. It is the lowest slot in the controller (see overview in the documentation of the controller).

1.2.1.1 Mounting

1.2.1.2 Dismounting

E94AYAX001

E94AYCXX001H



EDS94AYAE EN 7.0

Page 13

1.2.1.3 Module exchange

 Stop!

Before mounting/dismounting, switch off the supply voltage to prevent electronic modules from damage.

Every module exchange is detected by the standard device and documented in a logbook.

When a module is replaced by the same type, no restrictions arise. Depending on the module type it may be necessary to take further measures (e.g. address setting, safe parameter setting, ...).

When the module is replaced by a different type, the drive is inhibited by the controller. The inhibit can only be deactivated when the parameter setting of the required safety module complies with the plugged safety module.

Codes

Safety engineering

Device modules

Slot

Parameter: Name: Data type: Index:

C00214 Required safety module

Setting of the expected safety module

l If a safety module deviating from this setting is detected, an error (fault) is caused. The error can only be

removed by mains switching.

Selection list

þ Read access þ Write access o Controller inhibit o PLC-STOP o No transfer o COM o MOT

(Lenze setting bold) Information

1 SM0

2 SM100 4 SM300 5 SM301

UNSIGNED_8 24361d = 5F29

 Note!

In case you exchange the module, the address switch  must be set identically to the module to be replaced. Only then the corresponding safe parameter set can be transferred to the module.

EDS94AYAE EN 7.0



Page 14

SMx

PWM

µC

Safety engineering

Device modules Function mode of the safety modules

1.2.2 Function mode of the safety modules

C00214

The setting in C00214 must comply with the plug−in safety module type so that the controller is able to operate.

Disconnecting paths

The transmission of the pulse width modulation is safely disconnected by the safety module. Hence the drivers do not create a rotating field. The motor is safely switched to torqueless operation (STO).

SSP94SM320

Fig. 1−1 Disconnecting paths of the safety modules

SMx Safety module xx Input / output terminal C Control section mC Microcontroller PWM Pulse width modulation P Power section M Motor

Safety status

When the controller is switched off by the safety module, the controller switches to the "Safe torque off"device state.

ƒ "Controller in STO state" is entered into the logbook (0x00750003).

ƒ "Safe torque off active" is displayed in C00183.

Fail−safe status

 Note!

If internal errors of the safety modules are detected, the motor is safely switched to torque−free operation (fail−safe status).



EDS94AYAE EN 7.0

Page 15

Safety engineering

Device modules

SM301 safety module

1.2.3 SM301 safety module

Validity information

These instructions are valid for

SM301 safety module

Type HW SW

E94AYAE from VA from 01.00

Identification

Type



E94YCEI003C E94AYXX001



E94 A Y A x xx xx nn

  

Product series

Version

Module identification: Device module

Module type: Safety module

Design A = SM0 B = SM100 E = SM301

Hardware version

Software version (SM301 only)

Serial number

EDS94AYAE EN 7.0



Page 16

Safety engineering

Device modules SM301 safety module

Application range

The use of this module is permissible with standard devices of the 9400 product series from nameplate designation

Type HW SW

E94AxHExxxx VA 01.49 E94AxPExxxx 2A 02.xx

Safe position and speed detection with a resolver selected as the motor encoder and an additional position encoder is permissible with SM301 V1.3 and standard devices of the 9400 product series from nameplate designation

Type HW SW

E94AxHExxxx xx 07.xx E94AxPExxxx 2A 02.xx

Safe position and speed detection with a resolver selected as the motor encoder is permissible with SM301 V1.4 and standard devices of the 9400 product series from nameplate designation

Type HW SW

E94AxHExxxx xx 08.xx E94AxPExxxx 2A 02.xx

The use of this module is permissible with the PROFIBUS communication module from nameplate designation

Type HW SW

E94AYCPM VB 01.10

This module as of SM301 V1.1 may be used in conjunction with the PROFINET communication module with the following nameplate data

Type HW SW

E94AYCER VC 00.70

 Note!

A safety bus system (PROFIsafe) can only be operated via the upper module slot (MXI1) of the Servo Drive 9400.



EDS94AYAE EN 7.0

Page 17

1.2.3.1 Overview

Functions from SM301 V1.0 onwards

ƒ Safe torque off (STO)

(formerly: safe standstill, protection against unexpected start−up)

ƒ Safe stop 1 (SS1)

ƒ Safe stop 2 (SS2) − see SOS

ƒ Safe stop emergency (SSE)

ƒ Safe operational stop (SOS) − in accordance with EN 61800−5−2: SOS is designed with

speed monitoring

ƒ Safe maximum speed (SMS)

ƒ Safely limited speed 1 (SLS1)

ƒ Safe operation mode selector (OMS)

Safety engineering

Device modules

SM301 safety module

ƒ Safe enable switch (ES)

ƒ Safe speed monitor (SSM)

ƒ Safe monitor (output)

ƒ Connection of safety sensors

ƒ Safe parameterisation

ƒ Safety bus connection (PROFIsafe V1)

Additional functions as of SM301 V1.1

ƒ Safely limited speed 2 (SLS2)

ƒ Safely limited speed 3 (SLS3)

ƒ Safely limited speed 4 (SLS4)

ƒ Safe cascading (CAS) via SD−In4/SD−Out1

ƒ Safety bus connection (PROFIsafe V2)

Additional functions from SM301 V1.2

ƒ Parameterisable response time of encoder monitoring

Additional functions from SM301 V1.3

ƒ Safe operational stop (SOS) − compliant with EN 61800−5−2: SOS is designed with

position monitoring

EDS94AYAE EN 7.0

ƒ Safe direction (SDI)

ƒ Safe speed measurement and position detection with resolver using a motor

encoder and an additional position encoder (two−encoder−concept)

Additional functions as of SM301 V1.4

ƒ Safely limited increment (SLI)

ƒ Safely monitored brake ramp for SS1/SS2

ƒ Safe speed and position detection with resolver selected as the motor encoder



Page 18

Safety engineering

Device modules SM301 safety module

Motor−encoder combinations

Drive systems with Servo Drives 9400 and safety module SM301 provide speed−dependent safety functions for safe speed monitoring and/or safe relative−position monitoring. Observe permissible motor−encoder combinations during configuration.

ƒ Possible speed−dependent safety functions with safety module SM301:

– Safe stop 1 (SS1) – Safe operational stop (SOS) – Safely limited speed (SLS) – Safe maximum speed (SMS) – Safe direction (SDI) – Safe speed monitor (SSM) – Safely limited increment (SLI)

ƒ Permissible motor−encoder combinations for these functions:

Synchronous servo motors

MCS 06 ... 19 MDXKS 56 / 71

Asynchronous servo motors

MCA 10 ... 26 MQA 20 ... 26

Three−phase asynchronous motors

MDxMA063−xx ... MDxMA225−xx

MHxMA080−xx ... MHxMA225−xx

MFxMA063−xx ... MFxMA132−xx

Encoder

Type Product key

Sin/cos absolute value, single−turn AS1024−8V−K2

Sin/cos absolute value, multi−turn AM1024−8V−K2

Resolver RV03 PL e / SIL 3

Encoder

Type Product key

Sin/cos incremental IG1024−5V−V3

Resolver RV03

Encoder

Type Product key

Sin/cos incremental

IG2048−5V−V3

IG2048−5V−V2 PL d / SIL 2

Safe speed monitoring with SM301

Single−encoder

concept

Two−encoder concept Up to PL e / SIL 3

Safe speed monitoring with SM301

Single−encoder

concept

Two−encoder concept Up to PL e / SIL 3

Safe speed monitoring with SM301

Single−encoder

concept

Two−encoder

concept

PL d / SIL 2

PL e / SIL 3

Up to PL e / SIL 3

A "two−encoder concept" includes e.g. a resolver as motor encoder and, at the same time, an absolute value encoder (sin/cos), an incremental encoder (TTL), or digital encoder (SSI/bus) as position encoder on the machine.

In the case of the "2−encoder concept", the achievable risk mitigation (PL/SIL) depends on the suitability of the encoders used.

 Note!

If feedback systems for safety functions are used, the manufacturer’s documentation must be observed!



EDS94AYAE EN 7.0

Page 19

Safety engineering

Device modules

SM301 safety module

Compatibility Compatibility of SM301/SM300

The SM301 safety module is compatible with the SM300. The controller needs to be adapted since the safe parameter set is required. Observe the following:

ƒ The GSE file can be used.

ƒ The PROFIsafe bits that are not used with SM300 must be suppressed in the SM301,

since unset bits would activate safety functions.

ƒ Speed−dependent functions cannot be used.

Compatibility of different SM301 versions

Replacement of an SM301 by an SM301 with a higher firmware version (SW):

ƒ Every SM301 can be used with a safe parameter set of an elder firmware version

without any changes.

ƒ The safe parameter set including CRC in the memory module of the drive is not

changed when the parameter set from the memory module is accepted.

ƒ The CE Declaration of Conformity remains valid.

ƒ The replacement of the safety module by an equivalent module is ensured. Thus,

there is no need for spare part stockage of SM301 safety modules with elder firmware versions.

ƒ Safe parameter sets of the "SM301 safety module" component can be loaded into

an SM301 with a higher firmware version without any changes. – Extended functionalities of the newer firmware version cannot be selected and

executed.

The safe parameter set of an SM301 with a newer firmware version cannot be loaded into an SM301 with an elder firmware version.

1.2.3.2 Safety category

The implemented safety functions meet the requirements of the standards:

ƒ Control category 3 according to EN ISO 13849−1

In order to comply with category 3, the external wiring and cable monitoring must also meet the requirements of category 3.

ƒ Performance Level (PL) "e" according to EN ISO 13849−1

EDS94AYAE EN 7.0



Page 20

Safety engineering

Device modules SM301 safety module

1.2.3.3 Elements of the module

Fig. 1−2 Module view

SSP94SM321

Pos. Description



Safety address switch (in the left part of the housing) S82 Module switch for parameter set adoption from the memory module X82.1

X82.2 X82.3 X82.4

Plug−in terminal strips for input and output signals



EDS94AYAE EN 7.0

Page 21

Displays

Pos. Colour State Description

Blinking

(Module State)

(Enable)

(Module Error)

(Acknowledge Stop)

(Bus Error)

(Drive Error)

Blinking: on/off every 0.5 s Flashing: on/off every 0.1/0.9 s

Green

Yellow

Red

Yellow

Red

Flashing

Off

On Off On Blinking Flashing Off Error−free operation

Blinking Flashing Off No stop function active

Blinking Off Safety bus: error−free operation.

Off

Drive−based safety has initialised without a fault. Drive−based safety has initialised without a fault. Internal

communication to the standard device is not possible. Drive−based safety is in service status.

For exiting, parameterise the drive−based safety. Drive−based safety is not initialised.

Acknowledgement is not possible. Controller enabled Non−safe display "STO" System error Trouble Warning

Request of an acknowledgement for the restart or the parameter set adoption

SS1/STO active SS2/SOS active

Safety bus error:

l Communication is not possible. l Acknowledgement is possible.

Safety bus error: no valid configuration.

Drive−based safety is not accepted by the standard device (see notes in the instructions for the standard device).

Drive−based safety is correctly recognised by the standard device.

Safety engineering

Device modules

SM301 safety module

EDS94AYAE EN 7.0



Page 22

Safety engineering

Device modules SM301 safety module

Terminal assignment

 Danger!

Danger to life through improper installation

Improper installation of the safety engineering systems can cause

anuncontrolled starting action of the drives.

Possible consequences:

ƒ Death or severe injuries

Protective measures:

Total cable length between X82 and its connected components (e.g. sensors,

devices, ...) > 3 m:

ƒ Up to HW version 1A, a shielded laying system must be used for the cable

between X82 and its connected components: – The shield must at least cover the shield connection at the installation

backplane.

– The shield should also cover the connected component if possible.

ƒ From HW version 1A onwards, unshielded wiring is permissible.

Total cable length between X82 and its connected components (e.g. sensors,

devices, ...) < 3 m:

ƒ Unshielded wiring is permissible.

X82.1 Labelling Description

This part of the terminal strip is not assigned.

GO O1B O1A

X82.2 Labelling Description

− + GIR RI1 GO 24O AIE CLA Clock output for passive sensors, channel A (Clock A) CLB Clock output for passive sensors, channel B (Clock B)

GND SD−Out1 Safe monitor SD−Out1, channel B Safe monitor SD−Out1, channel A

This part of the terminal strip is not assigned.

GND external supply +24 V external supply via a safely separated power supply unit (SELV/PELV)

This part of the terminal strip is reserved.

GND 24O +24 V external supply for the safe monitor SD−Out1 (SELV/PELV) Error acknowledgement input ("Acknowledge In Error")



EDS94AYAE EN 7.0

Page 23

X82.3 Labelling Description

GCL GI2 I2B I2A GCL GI1 I1B I1A AIS

X82.4 Labelling Description

GCL GI4 I4B I4A GCL GI3 I3B I3A AIS

GND clock output GND SD−In2 Sensor input SD−In2, channel B Sensor input SD−In2, channel A GND clock output GND SD−In1 Sensor input SD−In1, channel B Sensor input SD−In1, channel A Restart acknowledgement input ("Acknowledge In Stop", 1−channel,

bridged to X82.4/AIS)

GND clock output GND SD−In4 Sensor input SD−In4, channel B Sensor input SD−In4, channel A GND clock output GND SD−In3 Sensor input SD−In3, channel B Sensor input SD−In3, channel A Restart acknowledgement input ("Acknowledge In Stop", 1−channel,

bridged to X82.3/AIS)

Safety engineering

Device modules

SM301 safety module

Cable cross−sections and tightening torques

Type [mm2] [Nm] AWG [lb−in]

Wire end ferrule, insulated

Rigid

Stripping length or contact length: 9 mm

0.25 ... 0.75

0.14 ... 1.5 26 ... 16

Spring terminal

24 ... 18

Spring terminal

Insulated wire end ferrules according to DIN 46228, part 4, 0.5 mm2 or 0.75 mm2 − length L1 = 10 mm can be used.

 Note!

Provide for a sufficient strain relief, so that the terminals are not pulled from

the plug connectors, in particular when you use rigid cables.

EDS94AYAE EN 7.0



Page 24

Safety engineering

Device modules SM301 safety module

1.2.3.4 Technical data

24 V supply

The module and the safe output must be supplied with 24 V from safely separated power supply units. If electrical isolation is required, separate voltage supply lines must be used.

Detailed features of the 24−V supply

Terminal Specification [Unit] min. typ. max. +, −

24O, GO

If the voltage of the SELV/PELV power supply unit can exceed 30 V in the event of an error, provide for an external fuse ( 1.1.8).

Supply voltage of the module via a safely separated power supply unit (SELV/PELV)

Input current [mA] 350 Supply voltage of the safe output via a safely

separated power supply unit (SELV/PELV) Input current [mA] 1100

[V] 19,2 24 30

[V] 18 24 30

Inputs and output

The inputs and the output are isolated and designed for a low−voltage supply of 24 V DC. The digital inputs are protected against polarity reversal.

Detailed features of the safe inputs and the safe output

Terminal Specification [Unit] min. typ. max. I1A, I1B

I2A, I2B I3A, I3B I4A, I4B AIE, AIS

AIE, AIS Input delay (operating time) s 0.3 10 CLA, CLB

O1A, O1B

Tab. 1−1 Technical data

PLC input, IEC−61131−2, 24 V, type 1 Low signal input voltage Input current at low signal mA 15 High signal input voltage Input current at high signal mA 2 15 Input capacitance Repetition rate of the test pulses

PLC output, IEC−61131−2, 24 V DC, 50 mA Low signal output voltage High signal output voltage Output current Cable capacity Cable resistance of a passive sensor PLC output, IEC−61131−2, 24 V DC Low signal output voltage High signal output voltage Output current Cable capacity Cable resistance

V −3 0 5

V 15 24 30

nF 3.5

ms 50

V 0 0.8 V 17 24 30

mA 60

nF 100

W 200

V 0 0.8 V 17 24 30

mA 500

nF 100

W 200

The chapter "Response times" must be observed as well ( 1.8).



EDS94AYAE EN 7.0

Page 25

1.2.3.5 Example circuit



SM301

E94AYAE

X82.1 X82.2

O1B

O1A

24O

AIE

CLA

CLB

Safety engineering

Device modules

SM301 safety module

24 V ext.



GCL

GI2

I2B

I2A

GCL

GI1

I1B

I1A

AIS

X82.3

Fig. 1−3 Wiring example

E94AYAE SM301 safety module S1 S2 S3 higher−level safety control (active sensor) S4 lightgrid (active sensor) 24 V ext. 24−V voltage supply of the module (SELV/PELV)

 24−V voltage supply of the output (SELV/PELV)  safe output to higher−level safety control

K to AIS of the next module

GCL

GI4

I4B

I4A

GCL

GI3

I3B

I3A

AIS

X82.4

passive sensor with channel A and B

SSP94SM360

EDS94AYAE EN 7.0



Page 26

1.2.3.6 Commissioning

Safety engineering

Device modules SM301 safety module

ƒ For commissioning and safe parameter setting, the Lenze »Engineer« PC

software from version 1.4 must be used. If you select the safety module in the Project view, various tabs are available in the

Operating range via which the safety module can be parameterised. In all other program parts the parameters of the safety module can only be read. Thus, the write access of these parameters (codes) is marked with .

ƒ Settings in or at the module:

– Safety address – Safe parameter setting of the functions to be used

ƒ Required settings in the standard device:

– C00214, type of safety module – Implementation of the SM301 into the drive application by evaluating the control

information and status information.

ƒ During commissioning and after the replacement of a module it is vital to check the

safety function. Additional information contains the "Acceptance" chapter. ( 110).



EDS94AYAE EN 7.0

Page 27

1.2.3.7 Test certificate

Safety engineering

Device modules

SM301 safety module

SSP94TUEV3 _2010

Fig. 1−4 TÜV Certificate

The type test was carried out by ’TÜV Rheinland (Group)’ and confirmed with a certificate.

ƒ SM301 V1.0

Contents Specifications

Test institute TÜV Rheinland Industrie Service GmbH, ASI range Test report 968/EL 420.00/06 Test fundamentals EN 954−1, EN 60204−1, EN 50178, EN 61800−3, IEC 61508 Part 1−7 Object to be examined SM301, type E94AYAE VA1.0x of the 9400 Servo Drives series Test result The module meets the requirements according to EN 954−1, category 3. Special conditions The safety instructions in the corresponding user documentation must be

Place of issue Cologne Issue date 01.08.2006

observed.

EDS94AYAE EN 7.0



Page 28

Safety engineering

Device modules SM301 safety module

ƒ from SM301 V1.1

Contents Specifications

Test institute TÜV Rheinland Industrie Service GmbH, ASI range Test report 968/EL 420.03/07 Test fundamentals EN 954−1, EN 60204−1, EN 50178, EN 61800−3, EN 61508 Part 1−7,

Object to be examined SM301, type E94AYAE VB1.1x of the 9400 Servo Drives series Test result The module meets the requirements according to

Special conditions The safety instructions in the corresponding user documentation must be

Place of issue Cologne Issue date 08.05.2007

ƒ from SM301 V1.2

EN ISO 13849−1, EN 62061

l EN 954−1, category 3 l EN 61508, SIL 3 l EN ISO 13849−1, PL e

observed.

Contents Specifications

Test institute TÜV Rheinland Industrie Service GmbH, ASI range Test report 968/EL 420.04/07 Test fundamentals EN 954−1, EN 60204−1, EN 50178, EN 61800−3, EN 61508 Part 1−7,

Object to be examined SM301, type E94AYAE of the Servo Drives 9400 series Test result The module meets the requirements according to

Special conditions The safety instructions in the corresponding user documentation must be

Place of issue Cologne Issue date 18.10.2007

EN ISO 13849−1, EN 62061

l EN 954−1, category 3 l EN 61508, SIL 3 l EN ISO 13849−1, category 3/PL e

observed.



EDS94AYAE EN 7.0

Page 29

Safety engineering

Device modules

SM301 safety module

ƒ from SM301 V1.3

Contents Specifications

Test institute TÜV Rheinland Industrie Service GmbH, ASI range Test report 968/EL 420.07/10 Certification body NB 0035 Registration no. 01/205/0718/10 Test fundamentals EN 60204−1, EN 61800−3, EN 61508 Part 1−7, EN ISO 13849−1, EN 62061,

EN 61800−5−2, EN 61800−5−1 Object to be examined SM301, type E94AYAE of the Servo Drives 9400 series Test result The module meets the requirements according to

l EN 61508, SIL 3

l EN ISO 13849−1, category 3/PL e

Special conditions The safety instructions in the corresponding user documentation must be

observed. Place of issue Berlin Issue date 29.01.2010 Valid until 29.01.2015

ƒ from SM301 V1.4

Contents Specifications

Test institute TÜV Rheinland Industrie Service GmbH, ASI range Test report 968/EL 420.08/10 Test fundamentals EN 60204−1, EN 61800−3, EN 61508 Part 1−7, EN ISO 13849−1, EN 62061,

Object to be examined SM301, type E94AYAE of the Servo Drives 9400 series Test result The module meets the requirements according to

Special conditions The safety instructions in the corresponding user documentation must be

Place of issue Cologne Issue date 11.10.2010

EN 61800−5−2, EN 61800−5−1

l EN 61508, SIL 3

l EN ISO 13849−1, category 3/PL e

observed.

EDS94AYAE EN 7.0



Page 30

Safety engineering

Device modules Safe inputs

1.2.4 Safe inputs

1.2.4.1 General

The following applies to the sensors at the SM301 V1.0:

ƒ Sensor type and sensor function can be parameterised in C15030, C15031 and

C15032.

ƒ A local evaluation is executed if corresponding parameters are set.

ƒ If a safety bus is activated, the sensor signals are sent as status information to the

higher−level control.

ƒ Deactivated sensor inputs must not be connected. The status of a non−connected

input is in the OFF state.

ƒ If a signal is detected at deactivated sensor inputs during initialisation, the drive

remains inhibited (STO).

ƒ Faulty inputs are assessed as OFF state.

Additional conditions from SM301 V1.1 onwards:

ƒ With active cascading in C15035 the SD−In4 input cannot be used freely anymore.

Codes

Parameter: Name: Data type: Index:

C15030 SD-In sensor type

Configuration of the sensor types which are connected to the safe inputs.

Selection list (Lenze setting bold) Information

0 Input deactivated

1 Passive sensor 2 Active sensor

Subcodes Information

C15030/1 SD-In1 sensor type C15030/2 SD-In2 sensor type C15030/3 SD-In3 sensor type C15030/4 SD-In4 sensor type

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15031 SD-In sensor function

Function configuration of the safe inputs.

l The "operation mode selector" and "enable switch" functions may only be assigned to one of the four safe

inputs.

Selection list

Subcodes Information

C15031/1 SD-In1 sensor function C15031/2 SD-In2 sensor function C15031/3 SD-In3 sensor function C15031/4 SD-In4 sensor function

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

(Lenze setting printed in bold) Information

0 Free assignment Safety function set in C15032 1 Emergency stop Safe stop emergency function (SSE) 2 Operation mode selector Safe operation mode selector (OMS) 3 Enable switch Safe enable switch (ES)

UNSIGNED_8 9545d = 2549

UNSIGNED_8 9544d = 2548



EDS94AYAE EN 7.0

Page 31

Safety engineering

Device modules

Safe inputs

C15032 SD-In free assignment

Assignment of a safety function to a safe input.

l Only possible if the "free assignment" sensor function is set for the safe input in C15031.

Selection list

Subcodes Information

C15032/1 Free assignment SD-In1 C15032/2 Free assignment SD-In2 C15032/3 Free assignment SD-In3 C15032/4 Free assignment SD-In4

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15205 SSE: Safe stop emergency function

Selection of the stop function for emergency stop

Selection list (Lenze setting printed in bold) Information

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

(Lenze setting printed in bold) Information

0 STO Safe torque off 1 SS1 Safe stop 1 2 SS2 Safe stop 2 3 SLS1 Safely limited speed 1 4 SLS2 Safely limited speed 2 (from SM301 V1.1) 5 SLS3 Safely limited speed 3 (from SM301 V1.1) 6 SLS4 Safely limited speed 4 (from SM301 V1.1) 7 SDIpos Safe positive direction (from SM301 V1.3) 8 SDIneg Safe negative direction (from SM301 V1.3) 9 No function No (local) safety function assigned.

l Functional test and monitoring of the discrepancy

time are active.

l The input status is transferred to the control via the

safety bus (if parameterised).

0 STO Safe torque off 1 SS1 Safe stop 1

UNSIGNED_8 9543d = 2547

UNSIGNED_8 9370d = 249A

Index:Data type:Name:Parameter:

EDS94AYAE EN 7.0



Page 32

Safety engineering

Device modules Safe inputs

Specification

passive active Discrepancy time parameterisable 0 ... 30000 ms (increment: 2 ms) Input delay parameterisable 0 ... 100 ms (increment: 2 ms) Input filter time for test pulses fixed 2 ms Repetition rate of the test pulses is determined by the clock outputs

CLA and CLB

Error response Sensor input is assessed as OFF state.

Acknowledgement via safety bus or AIE input

Tab. 1−2 Specification of sensor connections

Sensor type

> 50 ms

Explanations

ƒ Discrepancy time

Maximum time in which both channels of a safe input may have non−equivalent states without the safety engineering causing an error response.

ƒ Input delay

Time between the recognition of the signal change and the effective evaluation of an input signal. As a result, multiple and short signal changes due to contact bounce of the components are not taken into account.

ƒ Input filter time

Time in which the interference pulses and test pulses are not detected by e.g. active sensors that are switched on.

The input delay time and the time of the input filters influence the response time. More information can be found in the "Response times" chapter ( 107).

Codes

Parameter: Name: Data type: Index:

C15033 SD-In discrepancy time

Maximum time in which both channels of a safe input may have non−equivalent states without the safety engineering causing an error response.

Setting range (min. value | unit | max. value) Information

0 MS 30000 Lenze: 10, increment: 2 ms

Subcodes Information

C15033/1 SD-In1 discrepancy time C15033/2 SD-In2 discrepancy time C15033/3 SD-In3 discrepancy time C15033/4 SD-In4 discrepancy time

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

UNSIGNED_16 9542d = 2546



EDS94AYAE EN 7.0

Page 33

Safety engineering

Device modules

Safe inputs

Index:Data type:Name:Parameter:

C15034 SD-In input delay

Setting range

0 MS 100 Lenze: 0, increment: 2 ms

Subcodes Information

C15034/1 Input delay SD-In1 C15034/2 Input delay SD-In2 C15034/3 Input delay SD-In3 C15034/4 Input delay SD-In4

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

(min. value | unit | max. value) Information

UNSIGNED_8 9541d = 2545

Contact function test

 Note!

Make sure that an internal contact function test is carried out at the safe inputs:

Safe input in the ON state

ƒ A LOW level at one channel puts the input in the OFF state. The discrepancy

monitoring starts simultaneously.

ƒ A LOW level must be detected at both channels within the discrepancy time,

otherwise a discrepancy error will be reported.

ƒ To be able to acknowledge the discrepancy error, a LOW level must be

detected before at both channels.

Safe input in the OFF state

ƒ A HIGH level at one channel starts the discrepancy monitoring. ƒ A HIGH level must be detected at both channels within the discrepancy

time, otherwise a discrepancy error will be reported.

ƒ To be able to acknowledge the discrepancy error, a HIGH level must be

detected before at both channels.

EDS94AYAE EN 7.0

ON state

Value of safe input:

ON state

Switch both channels

to ON state

Discrepancy monitoring Discrepancy monitoring

Value of safe input:

OFF state

One channel in

ON state

OFF state

Value of safe input:

OFF state

One channel in

OFF state

Value of safe input:

OFF state

Switch both channels

to OFF state



Page 34

Safety engineering

Device modules Safe inputs

SSP94SM355

Fig. 1−5 Status behaviour − contact function test



Fig. 1−6 Contact function test − error−free input signals

AIE



Fig. 1−7 Contact function test − faulty input signals

A, B Safe input, channel A and channel B C Internal valuation of the safe input D Discrepancy monitoring AIE Fault acknowledgement

 Discrepancy monitoring active  Discrepancy monitoring − time−out  Fault acknowledgement impermissible  Fault acknowledgement permissible



SSP94SM358_1

SSP94SM358_2



EDS94AYAE EN 7.0

Page 35

1.2.4.2 Connection of passive sensors

The safe sensor inputs I1A ... I4B are suitable for equivalently switching passive sensors.

To monitor passive sensors according to EN ISO 13849−1, cat. 3, the clock outputs CLA and CLB must be wired. Please observe the following:

ƒ The clock outputs are only suitable for monitoring the passive sensors.

ƒ Always connect ...

– ... CLA to IxA (channel A of the sensor input) via the sensor. – ... CLA to IxB (channel B of the sensor input) via the sensor. – ... GCL with GIx of the sensor input.

ƒ The sensor inputs are tested cyclically through short LOW operation.

– The A and B channels are tested at different times in cycles of approx. 2 s, with

test pulses of < 1 ms.

These errors are detected:

Safety engineering

Device modules

Safe inputs

ƒ Short circuit to supply voltage.

ƒ Short circuit between the input signals when different clock outputs are used.

ƒ Non−equivalent input signals after the discrepancy time.

These errors are not detected:

ƒ Short circuit between the input signals when the same clock outputs are used.

Avoid unrecognisable errors by the installation, e.g. by separated cable routing.

CLA

CLB

GCL

GI2

I2B

SM30x

E94AYAx

I2A

GCL

GI1

I1B

EDS94AYAE EN 7.0

Fig. 1−8 Ways to detect errors

û Unrecognisable errors

I1A



SSP94SM351

Page 36

Safety engineering

Device modules Safe inputs

1.2.4.3 Connection of active sensors

The safe sensor inputs I1A ... I4B are suitable for active sensors.

PN−switched input signals are permissible.

The line monitoring must comply with the requirements of the category 3. Drive−based safety does not provide for line monitoring.

These errors are detected:

ƒ Non−equivalent input signals after the discrepancy time.

1.2.4.4 Example circuits

IxA

IxB

GxI

SM...S

Fig. 1−9 Example circuit − active sensor

Fig. 1−10 Functional example of PN−switching sensor

IxA

IxB

GxI

SM...S

S Sensor P Positive path M Negative path

SSP94SM352



EDS94AYAE EN 7.0

Page 37

Safety engineering

Device modules

Safe output

1.2.5 Safe output

1.2.5.1 General

Via the safe output O1A/O1B information can be output to a higher−level unit (e.g. safety PLC) or external switching elements (actuators) can be controlled.

The feedback output is designed in a potential−free fashion. If electrical isolation is required, a separate supply line must be used.

ƒ The status of the safe output is controlled via two ways:

– directly from the safety module (parameter setting required) – via the PROFIsafe output data

ƒ The safe output is PP switching, i.e. two plus channels are switched.

ƒ The safe output in ON state is cyclically tested by quick LOW switching.

– The A and B channels are tested at different times in cycles of approx. 2 s, with

test pulses of < 1 ms.

– When selecting the downstream control elements, ensure that the test pulses will

not be detected as LOW signal.

These errors will be detected and set the output to OFF state:

ƒ Short circuit to supply voltage.

ƒ In the ON state: Short circuit between the output signals.

ƒ IN the OFF state: Missing 24−V supply voltage at the terminal 24O is detected as

"Stuck−at−Low" error.

These errors are not detected:

ƒ In the OFF state: short circuit between the output signals.

The output can be assigned multiple feedback information by parameter setting:

ƒ Status of the safety function

ƒ Information on error responses

The code C15060 contains information on the status of the feedback output.

Additional conditions for SM301 from version VB 1.1 onwards:

ƒ With active cascading in C15035 the SD−Out1 output cannot be used freely

anymore.

EDS94AYAE EN 7.0



Page 38

Safety engineering

Device modules Safe output

Codes

Parameter: Name: Data type: Index:

C15051 SD-Out condition

Bit coded selection of the conditions for switching the safe output.

Value is bit coded:

Bit 0 STO active Bit 1 STO active neg. logic Bit 2 SS1 active Bit 3 SS1 active neg. logic Bit 4 SS2 active Bit 5 SS2 active neg. logic Bit 6 SLS1 active Bit 7 SLS1 active neg. logic Bit 8 SLS2 active

Bit 9 SLS2 active neg. logic Bit 10 SLS3 active Bit 11 SLS3 active neg. logic Bit 12 SLS4 active Bit 13 SLS4 active neg. logic Bit 14 SDIpos is active Bit 15 SDIpos active neg. logic Bit 16 SDIneg is active Bit 17 SDIneg active neg. logic Bit 18 ES active Bit 19 ES active neg. logic Bit 20 SLI is active Bit 21 SLI active neg. logic Bit 22 OMS Bit 23 OMS neg. logic Bit 24 Reserved

...

Bit 31 Reserved

Subcodes Information

C15051/1 SD-Out1 switching condition

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

Information

Safe torque off

Safe stop 1

Safe stop 2

Safely limited speed 1

Safely limited speed 2 (From SM301 V1.1)

Safely limited speed 3 (From SM301 V1.1)

Safely limited speed 4 (as of SM301 V1.1)

Safe direction, positive (From SM301 V1.3)

Safe direction, negative (From SM301 V1.3)

Safe enable switch

Safely limited increment (From SM301 V1.4)

Safe operation mode selector

BITFIELD_32 9524d = 2534



EDS94AYAE EN 7.0

Page 39

Safety engineering

Device modules

Safe output

C15052 SD-Out condition

Bit coded selection of the conditions for switching the safe output.

Value is bit coded: Information

Bit 0 SOS monitored Safe operational stop is monitored.

Bit 1 SOS monitors neg. logic Safe operational stop is not monitored.

Bit 2 SLS1 monitored Safely limited speed 1 is monitored.

Bit 3 SLS1 monitored neg. logic Safely limited speed 1 is not monitored.

Bit 4 SLS2 monitored Safely limited speed 2 is monitored. (from SM301 V1.1)

Bit 5 SLS2 monitors neg. logic Safely limited speed 2 is not monitored. (from SM301 V1.1)

Bit 6 SLS3 monitored Safely limited speed 3 is monitored. (from SM301 V1.1)

Bit 7 SLS3 monitors neg. logic Safely limited speed 3 is not monitored. (from SM301 V1.1)

Bit 8 SLS4 monitored Safely limited speed 4 is monitored. (from SM301 V1.1)

Bit 9 SLS4 monitors neg. logic Safely limited speed 4 is not monitored. (from SM301 V1.1) Bit 10 SDIpos monitored Safe positive direction is monitored. (from SM301 V1.3) Bit 11 SDIpos monitors neg. logic Safe positive direction is not monitored. (from SM301 V1.3) Bit 12 SDIneg monitored Safe negative direction is monitored. (from SM301 V1.3) Bit 13 SDIneg monitors neg. logic Safe negative direction is not monitored.

Bit 14 SSE active Bit 15 SSE active neg. logic Bit 16 SD−In1 active Bit 17 SD−In1 active neg. logic Bit 18 SD−In2 active Bit 19 SD−In2 active neg. logic Bit 20 SD−In2 active Bit 21 SD−In2 active neg. logic Bit 22 SD−In4 active Bit 23 SD−In4 active neg. logic Bit 24 Reserved Bit 25 Reserved Bit 26 OMS active Special operation is active (from SM301 V1.1) Bit 27 OMS active neg. logic Special operation is not active (from SM301 V1.1) Bit 28 Reserved Bit 29 Reserved Bit 30 Error active Bit 31 Error active neg. logic

Subcodes Information

C15052/1 SD-Out1 switching condition

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15055 SD−Out logic function

Selection of the logic operation for the switching conditions to be evaluated

Selection list (Lenze setting bold) Information

0 OR

1 AND

Subcodes Information

C15055/1 SD−Out1 logic function

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

(from SM301 V1.3)

Emergency stop function

Safe inputs

BITFIELD_32 9523d = 2533

UNSIGNED_8 9520d = 2530

Index:Data type:Name:Parameter:

EDS94AYAE EN 7.0



Page 40

Safety engineering

Device modules Safe output

C15060 Output image

Output image of the safety module feedback, shown in channels.

Value is bit coded: Information

Bit 0 SD-Out1 channel A

Bit 1 SD-Out1 channel B

Bit 2 reserved

...

Bit 15 reserved

þ Read access o Write access o Controller inhibit o PLC-STOP o No transfer

1.2.5.2 Example circuits

O1B



O1A

24O

Index:Data type:Name:Parameter:

BITFIELD_16 9515d = 252B

Safe output 1



24O, GO 24−V voltage supply for the safe output O1A, O1B, GO Safe output SD−Out1, channel A and B with reference potential

 24−V voltage supply − safe output (SELV/PELV) acc. to IEC 61131−2  Input of a higher−level unit (e.g. safety PLC)

SSP94SM360



EDS94AYAE EN 7.0

Page 41

Safety engineering

Device modules

Further inputs

1.2.6 Further inputs

AIS input

The restart (when setting "acknowledged restart", ( 50)), after a stop function has been executed, requires an acknowledgement at AIS input:

ƒ Positive signal pulse of 0.3 ... 10 s (terminal X82.3 or X82.4).

– Evaluation of the negative edge.

Other equivalent option:

ƒ Signal via the PROFIsafe bit PS_AIS

(if communication via safety bus is preferred) – Evaluation of the positive edge.

AIE input

Errors require an acknowledgement at AIE input:

ƒ Positive signal pulse of 0.3 ... 10 s (terminal X82.2).

– Evaluation of the negative edge.

Other equivalent option:

ƒ Signal via the PROFIsafe bit PS_AIE

(if communication via safety bus is preferred) – Evaluation of the positive edge.

EDS94AYAE EN 7.0



Page 42

Safety engineering

Device modules Safe speed measurement and position detection

1.2.7 Safe speed measurement and position detection

For reliable speed and position detection, you must connect a safety−approved sin/cos encoder to terminal X8 (Sub−D).

Alternatively, you can connect a 2−encoder system, consisting of motor encoder and position encoder from SM301 V1.3. When selecting a 2−encoder system, you can also select a resolver as motor encoder.

From SM301 V1.4 onwards, the resolver can be selected as motor encoder without needing an additional position encoder. The response time of the encoder monitoring must be set to 50 ms or 100 ms.

Safe speed measurement

Motor encoder system

Encoder

Resolver ±10000 / no. of

Tab. 1−3 Detailed features

Max. speed Synchronism Response time of

[rpm] [%] [ms]

±16000

resolver pole pairs

1.5

1 parameterisable

encoder monitoring

Error response

From SM301 V1.2:

12/50/100can be

parameterised

( 1.8.4)

Error stop STO

SM301 V1.3:

12/50/100

From SM301 V1.4 onwards:

50/100

( 1.8.4)

Explanations on the data:

ƒ Synchronism

Variation of the speed determined in comparison with the current speed value.

ƒ Response time of encoder monitoring

Time required to detect faults due to continuous signal errors at the encoder interface.

 Note!

If speed monitoring is active and the standard device detects the inverter error characteristic (C00002=71) or determines the motor parameters (C00002=72), the error message "Safe speed invalid" is displayed. Both functions cannot be completed since the SM301 activates STO. These two states generally occur only once during commissioning.

Therefore, these functions should be carried out before the speed monitoring is activated in the SM301.

The speed determined by the standard device and the safety module is checked for plausibility. Up to SM301 V1.2, the maximum deviation (after a filtering of approx. 2 seconds) is set as a fixed limit value of 20 rpm. The filter time of approx. 2 s is part of the diagnostic function and is independent of the response time. From SM301 V1.3 onwards, this tolerancelimit can be parameterised (C15411).



EDS94AYAE EN 7.0

Page 43

Safety engineering

Device modules

Safe speed measurement and position detection

 Note!

As safe speed, the higher value which results from the comparison of the dual−channel speed information is used.

The value "Tolerance − speed comparison" must be selected as low as possible. If a speed/position information fails during operation, this must be detected by the diagnostic function. It is thus required to exceed the value "Tolerance − speed comparison" for at least more than two seconds during operation to ensure the dual−channel redundancy of the encoder information. A too low value can cause a restricted plant availability.

The speed−dependent and/or direction−of−rotation dependent functions require information from safe speed measurement. These are the functions:

ƒ Safe stop 2 (SS2)

ƒ Safe operational stop (SOS)

– Following EN 61800−5−2: SOS is designed with speed monitoring – In compliance with EN 61800−5−2: SOS is designed with position monitoring (From

SM301 V1.3)

(up to SM301 V1.2)

ƒ Safe maximum speed (SMS)

ƒ Safely limited speed (SLS)

ƒ Safe speed monitor (SSM)

ƒ Safe direction (SDI) (From SM301 V1.3)

ƒ Safely limited increment (SLI) (From SM301 V1.4)

The dependent functions must not be parameterised when "No encoder system" is set. The plausibility check rejects such ambiguous settings until you have parameterised them correctly.

 Tip!

The motor encoder position and, if required, position encoder position are 32−bit values in the safety module. The lower−order 16 bits contain the part of a motor revolution and the higher−order 16 bits contain the multiple of a motor revolution. Examples:

1/4 motor revolution 65536/4 16384 / 0x0000’4000 1/2 motor revolution 65536/2 32768 / 0x0000’8000 1 motor revolution 65536/1 65536 / 0x0001’0000 2 motor revolutions 2*65536 131072 / 0x0002’0000

EDS94AYAE EN 7.0



Page 44

Safety engineering

Device modules Safe speed measurement and position detection

Parameter setting of standard device 9400

Motor mounting

direction

C02527/0 C02529/0 C15409/0 C15502/0

CW CW  CW "Like motor encoder"

CW CCW  CW "Inverted ..." CCW CW  CCW "Inverted ..." CCW CCW  CCW "Like motor encoder"

Tab. 1−4 Overview of dependency of the parameterisation from the mounting direction

Position encoder mounting

direction



Parameter setting of SM301

Motor mounting

direction

Position encoder mounting

 Stop!

Malfunctions due to slip, shaft fracture etc.

Slip, shaft fracture etc. between motor and encoder system disturb the safe speed measurement.

Possible consequences:

ƒ The speed−dependent and/or direction−of−rotation dependent functions are

executed incorrectly.

Protective measures:

ƒ Prevent malfunctions by constructive measures. ƒ Use the motors and encoder systems with guaranteed features. Your Lenze

contact partner helps you to find suitable systems.

ƒ In the event of service, this must also be observed for the motor or the

encoder system.

direction



EDS94AYAE EN 7.0

Page 45

Safety engineering

Device modules

Safe speed measurement and position detection

Single−encoder concepts with resolvers

Please observe during the configuration of such systems:

If only one feedback system is used in connection with these safety applications, the applicable safety standard, IEC 61800−5−2 (Adjustable speed electrical power drive systems, Part 5−2: Safety requirements − Functional), poses special requirements for the connection between feedback system and motor shaft. This is due to the fact that dual−channel safety systems are, as a matter of fact, mechanically designed as single−channel systems at this point. If this mechanical linkage is extremely overdimensioned, the standard allows for fault exclusion for the fault conditions "Shaft breakage" and "Shaft slippage".

Hence, there are acceleration limit values for the individual drive solutions which must not be exceeded:

Synchronous servo motors

Type Product key [rad/s2] [ms]

MCS 06 MCS 09 ... 19 19000 5.5 MDXKS 56 / 71 17000 6.2

Asynchronous servo motors

MCA 10 ... 19 MCA 20 ... 26 22000 4.8 MQA 20 ... 26 22000 4.8

Resolver

Type Product key [rad/s2] [ms]

Resolver

Encoder Max. permissible angular

acceleration

56000 1.9

RV03

Encoder Max. permissible angular

acceleration

22000 4.8

RV03

Min. time per 1000 r/min speed lift

EDS94AYAE EN 7.0



Page 46

Safety engineering

Device modules Safe speed measurement and position detection

Codes

Parameter: Name: Data type: Index:

C15400 Motor encoder system

UNSIGNED_8 9175d = 23D7

Selection of the encoder system connected

Selection list (Lenze setting printed in bold) Information

0 No encoder system 1 Sin/cos encoder "Sin/cos encoder" is used instead of the entries

"sine/cosine encoder" and "absolute value encoder (Hiperface)" of code C00422 of the 9400 standard device.

2 Resolver

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15401 Motor encoder status

UNSIGNED_8 9174d = 23D6

Status of the encoder evaluation

Selection list (read only) Information

0 Valid Encoder data is valid 1 Fault Encoder data is invalid

þ Read access o Write access o Controller inhibit o PLC-STOP o No transfer

C15402 Actual speed value n_safe

INTEGER_16 9173d = 23D5

Display of the current speed calculated from the safety module

Display area (min. value | unit | max. value) Information

-16000 rpm 16000 With invalid encoder data (C15401 = 1) 32767 is displayed.

þ Read access o Write access o Controller inhibit o PLC-STOP o No transfer

C15405 Internal actual speed value

INTEGER_16 9170d = 23D2

Internal actual speed values of SM301.

Display area

−16000 rpm 16000

(min. value | unit | max. value) Information

(As of SM301 V1.4)

With invalid encoder data (C15401 = 1) 32767 is displayed.

Subcodes Information

C15405/1 − Internal actual speed value nSM detected from motor

position.

C15405/2 − Internal actual speed value nGG detected from position

data of the standard device.

þ Read access o Write access o Controller inhibit o PLC-STOP o No transfer

C15409 Motor mounting direction

UNSIGNED_8 9166d = 23CE

Setting of the motor mounting direction.

Selection list

(Lenze setting bold) Information

0 Motor rotating clockwise

(From SM301 V1.4)

1 Motor rotating counter−clockwise

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15410 Response time of encoder monitoring

UNSIGNED_8 9165d = 23CD

Max. internal time after which encoder errors lead to a system response

Selection list Information

0 12 ms

10 50 ms

(As of SM301 V1.2) (From SM301 V1.4: Resolver is sole encoder

 50 or 100 ms)

20 100 ms

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer



EDS94AYAE EN 7.0

Page 47

Safety engineering

Device modules

Safe speed measurement and position detection

C15411 Tolerance of speed comparison

Tolerance of the speed comparison in the safety module

Display area (min. value | unit | max. value) Information

0 rpm 16000

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

(From SM301 V1.3)

C15420 Number of increments − sin/cos encoder

Number of increments of the sin/cos encoder used

Setting range (min. value | unit | max. value) Information

1 16384 Lenze: 1

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15430 Number of pole pairs of resolver

Number of pole pairs of the used resolver

Setting range

(min. value | unit | max. value) Information

1 10 Lenze: 1 (From SM301 V1.3)

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15500 Position encoder system

Setting of the connected position encoder system

Selection list

(read only) Information

0 No position encoder

(From SM301 V1.3)

1 Analog encoder (Sin−Cos/TTL) 2 Digital encoder (SSI/BUS)

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15501 Position encoder − gearbox factor

Setting of the gearbox factor between motor and position encoder

Display area

(min. value | unit | max. value) Information

20 % 50000 Lenze: 100 (From SM301 V1.3)

100 º i = 1.00 2543 º i = 25.43

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15502 Position encoder − mounting direction

Setting of the mounting direction of the position encoder regarding the motor encoder

Selection list (read only) Information

0 Like motor encoder

(From SM301 V1.3)

If the mounting directions of the motor (C02527/0) and position encoder (C02529/0) in the standard

1 Inverted to the motor encoder

device are set in different directions of rotation, this parameter must be set to "inverted to the motor encoder".

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

UNSIGNED_16 9164d = 23CC

UNSIGNED_16 9155d = 23C3

UNSIGNED_8 9145d = 23B9

UNSIGNED_8 9075d = 2373

UNSIGNED_16 9074d = 2372

UNSIGNED_8 9073d = 2371

Index:Data type:Name:Parameter:

EDS94AYAE EN 7.0



Page 48

Safety engineering

Safety functions General information

1.3 Safety functions

1.3.1 General information

1.3.1.1 Stop functions

The stop functions are distinguished according to the cause of release:

ƒ Standard stop (simple stop)

– Release by a safe input with the parameterised STO, SS1 or SS2 functions – Release by activating the bits STO, SS1 or SS2 bits via the safety bus. – In special operation the standard stop can be avoided by using the enable switch.

ƒ Emergency stop

– Release by a safe input with the parameterised "Safe stop emergency" (SSE)

function. – Release by activating the SSE bit via the safety bus. – STO or SS1 can be set as emergency stop function to be executed. – In special operation, the emergency stop cannot be avoided.

ƒ Error stop

– Release as response to an error. – In special operation, the error stop cannot be avoided.

Codes

Parameter: Name: Data type: Index:

C15205 SSE: Safe stop emergency function

Selection of the stop function for emergency stop

Selection list (Lenze setting printed in bold) Information

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

1.3.1.2 Priorisation

Stop functions with priority influence the sequence of subordinated functions already started.

ƒ STO

The STO function has the highest priority over all other functions. Functions already started (e.g. SS1 or SS2) are aborted and the drive is switched off.

ƒ SS1

The SS1 function has priority over SS2. Considering the set stopping time for SS1 and SS2 (C15305) and the SS1 mode (C15306 as of SM301 V1.3), the drive is switched to torque−free operation.

0 STO Safe torque off 1 SS1 Safe stop 1

UNSIGNED_8 9370d = 249A

ƒ Monitoring functions

The monitoring functions have equivalent priorities. They can be executed at the same time.



EDS94AYAE EN 7.0

Page 49

Safety engineering

Safety functions

General information

Codes

Parameter: Name: Data type: Index:

C15305 SS1, SS2: Stopping time

Stopping time for the SS1 and SS2 safety functions

Setting range

0 MS 30000 Lenze: 0, increment: 2 ms

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15306 SS1 mode

Selection list (Lenze setting bold) Information

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

(min. value | unit | max. value) Information

0 STO after stopping time

1 STO at n = 0

(From SM301 V1.3)

UNSIGNED_16 9270d = 2436

UNSIGNED_8 9269d = 2435

EDS94AYAE EN 7.0



Page 50

Safety engineering

Safety functions General information

1.3.1.3 Restart

The restart behaviour of the drive can be parameterised (C15300).

ƒ The "acknowledged restart" setting requires an acknowledgement to the safety

module. The acknowledgement is made via: – Signal at the AIS input (with a signal time of 0.3 ... 10 s) – Signal via the "PS_AIS" time (PROFIsafe)

ƒ An error stop requires an acknowledgement (AIE), before the restart can be

acknowledged.

ƒ The "Automatic restart" setting requires an acknowledgement at the master

control.

ƒ With active cascading (C15035 as of SM301 V1.1) an "Automatic restart" after STO,

SS1 is not possible.

 Danger!

When the request for the safety function is deactivated, the drive can restart automatically. The behaviour can be set via the parameter "Restart behaviour" (C15300/1/2).

In the case of an automatic restart, you must provide external measures which ensure that the drive only restarts after an acknowledgement (EN 60204).

Codes

Parameter: Name: Data type: Index:

C15300 Restart behaviour

Behaviour for restart after functions have been cancelled

Selection list (Lenze setting bold) Information

0 Acknowledged restart

1 Automatic restart

Subcodes Information

C15300/1 Restart - STO, SS1 C15300/2 Restart - SS2, SOS

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

UNSIGNED_8 9275d = 243B



EDS94AYAE EN 7.0

Page 51

Safety engineering

Safety functions

Integration into the application of the controller

1.3.2 Integration into the application of the controller

For the use of the functions, certain settings in the controller are required. Here, the Lenze PC software »Engineer« supports and guides you.

When a safety function is required, the safety technology activates the corresponding safe monitoring function. However, the standstill function is only directly executed with the "safe torque off" (STO) function. Other safety functions in which a controller action is required will need to be safely monitored.

The action of the drive (e.g. braking, braking to standstill, keeping the standstill position) must be implemented by the user application in the standard device.

Currently the application can be parameterised and/or configured via function block editor of the Engineer depending on the runtime software licence. For this, the system block LS_SafetyModuleInterface must be integrated into the application.

The safety module is implemented in the 9400 ServoPLC via the control configuration (SMI_SafetyModuleInterface). The control and status data of the safety module can be evaluated via the free programming and connected to further interface signals.

The connection to a user application serves to achieve the following:

1. Activation of the safety function in the safety module, e.g. SS1.  The monitoring starts.

2. The safety module transmits the information to the basic device that the function has been activated using the corresponding bit in the control word SMI_dwControl.

3. The application evaluates the control word and starts the motion sequence, e.g. braking etc.

Internal communication

Safety module and standard device communicate via an internal interface.

EDS94AYAE EN 7.0



Page 52

Safety engineering

Safety functions Integration into the application of the controller

1.3.2.1 Control information

The safety module transfers information via requested or active safety functions with the control word SMI_dwControl. The application in the standard device must evaluate the control word and execute the corresponding action.

The following table shows the bit coding of the control word.

Control word − SMI_dwControl

Bit Name Meaning

1 SS1 active Safe stop 1 requested 2 SS2 active Safe stop 2 requested 3 SLS1 active Safely limited speed 1 requested

4 SLS2 active Safely limited speed 2 requested (as of SM301 V1.1)

5 SLS3 active Safely limited speed 3 requested (as of SM301 V1.1)

6 SLS4 active Safely limited speed 4 requested (as of SM301 V1.1)

7 SDIpos is active The safe positive direction of movement (SDIpos) function is active.(As of SM301

8 SDIneg is active The safe negative direction of movement (SDIneg) function is active.(As of

9 ES active Motion functions in special operation requested 10 SLI is active Safely limited increment is active.(As of SM301 V1.4) 11 OMS Operation mode selector (OMS) function for special operation has been

16 SOS is active Safe operational stop maintained 23 SSE active Emergency stop active (Safe Stop Emergency) 29 OMS active Special operation active (Operation Mode Selector) (from SM301 V1.1)

When the braking time Nlim1 parameterised has elapsed, bit 8 of the SMI_dnState status signal (SLS1 monitored) is set additionally.

When the braking time Nlim2 parameterised has elapsed, bit 9 of the SMI_dnState status signal (SLS2 monitored) is set additionally.

When the braking time Nlim3 parameterised has elapsed, bit 10 of the SMI_dnState status signal (SLS3 monitored) is set additionally.

When the braking time Nlim4 parameterised has elapsed, bit 11 of the SMI_dnState status signal (SLS4 monitored) is set additionally.

V1.3)

After the parameterised SDI deceleration time has expired, bit 12 of the status signal SMI_dnState (SdIpos monitored) is set in addition.

SM301 V1.3)

After the parameterised SDI deceleration time has expired, bit 13 of the status signal SMI_dnState (SdIneg monitored) is set in addition.

requested. (0 = normal operation)

1.3.2.2 Status information

The safety module transfers information via the status of safety functions with the SMI_dnState status word.

The SMI_dnIoState status word contains information on the status of the safe inputs and the safe output. The application in the standard device can evaluate and use the status words for additional tasks.

The following tables show the bit coding of the status words:



EDS94AYAE EN 7.0

Page 53

Safety engineering

Safety functions

Integration into the application of the controller

Status word SMI_dnState

Bit Name Meaning

0 STO Safe torque off is active.

3 EC_STO Error stop category 0 is active (Safe Torque Off).

4 EC_SS1 Error stop category 1 is active (Safe Stop 1).

5 EC_SS2 Error stop category 2 is active (Safe Stop 2).

8 SLS1 monitored Safely limited speed 1 is activated and maintained.

9 SLS2 monitored Safely limited speed 2 is activated and maintained. (from SM301 V1.1) 10 SLS3 monitored Safely limited speed 3 is activated and maintained. (from SM301 V1.1) 11 SLS4 monitored Safely limited speed 4 is activated and maintained. (from SM301 V1.1) 12 SDIpos monitored Safe positive direction (SDIpos) is activated and maintained. (from SM301 V1.3) 13 SDIneg monitored Safe negative direction (SDIneg) is activated and maintained. (from SM301 V1.3) 14 Error active SM301 safety module in error status (trouble or warning).

Unlisted bits are reserved for future extensions!

Status word SMI_dnIOState

Bit Name Meaning

0 SD−In1 Sensor input 1 in ON state.

1 SD−In2 Sensor input 2 in ON state.

2 SD−In3 Sensor input 3 in ON state.

3 SD−In4 Sensor input 4 in ON state.

5 AIS Restart acknowledgement via terminal in ON state.

6 AIE Error acknowledgement via terminal ON state.

8 PS_AIS Restart acknowledgement via safety bus.

9 PS_AIE Error acknowledgement via safety bus. 12 SD−Out1 Safe output 1 (feedback output) in ON state.

Unlisted bits are reserved for future extensions!

If communication to the standard device is interrupted, e.g. by switching off the standard device, the safety module responds by means of the following actions:

ƒ Error stop with STO is activated

ƒ "Warning" error message is transmitted

ƒ The "ME" LED is blinking

The required fault acknowledgement (AIE) is possible via terminal or safety bus. For further information read the "Error management" chapter.

EDS94AYAE EN 7.0



Page 54

Safety engineering

Safety functions Safe torque off

1.3.3 Safe torque off

1.3.3.1 Description

Safe Torque Off/STO

This function corresponds to a "Stop 0" according to EN 60204.

When this function is used, the power supply of the motor is immediately (t1) safely interrupted. The motor cannot create a torque and thus no dangerous movements of the drive can occur. Additional measures, e.g. mechanical brakes are needed against movements caused by external force.

STO

 Input signal of the request of a safety function

I ON state O OFF state

 Speed characteristic n of the motor

t Time axis tx Action instant

 Feedback(s)

SM301DIA_STO

The restart behaviour can be set (C15300/1). Function sequence and error response have no adjustable parameters.

Codes

Parameter: Name: Data type: Index:

C15300 Restart behaviour

Behaviour for restart after functions have been cancelled

Selection list

Subcodes Information

C15300/1 Restart - STO, SS1 C15300/2 Restart - SS2, SOS

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

(Lenze setting bold) Information

0 Acknowledged restart

1 Automatic restart

UNSIGNED_8 9275d = 243B



EDS94AYAE EN 7.0

Page 55

1.3.3.2 Activation

How to activate the function:

ƒ "OFF state" at a safe input, the function of which has been assigned by parameter

setting.

ƒ Via a safety bus data telegram with corresponding content.

ƒ As response to the error stop request.

ƒ As response to the emergency stop request if the function has been parameterised

as emergency stop function (C15205).

Safety engineering

Safety functions

Safe torque off

EDS94AYAE EN 7.0



Page 56

Safety engineering

Safety functions Safe stop 1

1.3.4 Safe stop 1

1.3.4.1 Description

Safe Stop 1 / SS1

This function corresponds to a "Stop 1" according to EN 60204.

The function monitors the reaching of the speed n = 0 (C15310) within an adjustable stopping time (C15305). The speed is calculated from the encoder data (safe speed measurement). Without encoder the function evaluates the speed status n = 0 from the standard device. For this, the monitored stopping time parameterised in the safety module must be 0.5 s longer than the stopping time in the controller.

When the stopping time (t2) has expired, the motor power supply is safely interrupted (STO) immediately. The motor cannot create a torque and thus no dangerous movements of the drive. If standstill has not been achieved, an additional error message is triggered. Depending on the SS1 mode (C15306), the drive can also be switched off safely (STO) directly after the zero speed has been reached. This causes reduced cycle times. C15307 can be used to parameterise an additional deceleration time, e.g. for the application of a holding brake.

Additional measures, e.g. mechanical brakes are needed against movements caused by external force. The time for a brake to be applied must be considered when defining the stopping time.

Restart is only possible after the stopping time has completely elapsed (applies up to SM301 V1.2 and from SM301 V1.3 onwards if C15306 SS1 mode = "STO after stopping time"). If the parameter SS1 mode is "STO at n=0" (from SM301 V1.3 onwards), the restart can be executed immediately after the transition to the STO state.

From SM301 V1.4 onwards, deceleration ramp monitoring can be parameterised. Depending on the parameterised stopping time, a monitoring ramp is calculated. ( 64)



EDS94AYAE EN 7.0

Page 57

Safety engineering

Safety functions

Safe stop 1

SS1

STO

t1 t2



 Input signal of the request of a safety function

I ON state 0 OFF state

 Speed characteristic n of the motor

l Optional: Monitoring of the brake ramp as of SM301 V1.4

t Time axis tx Action instant t

Monitored stopping time

–– Normal operation

−−− Incorrect operation  Feedback(s)  SS1 mode (C15306) influences the switching time and contains the

"SS1:Deceleration STO after n=0" (C15307)

SM301DIA_SS1

EDS94AYAE EN 7.0



Page 58

Safety engineering

Safety functions Safe stop 1

Codes

Parameter: Name: Data type: Index:

C15300 Restart behaviour

UNSIGNED_8 9275d = 243B

Behaviour for restart after functions have been cancelled

Selection list (Lenze setting bold) Information

0 Acknowledged restart

1 Automatic restart

Subcodes Information

C15300/1 Restart - STO, SS1 C15300/2 Restart - SS2, SOS

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15305 SS1, SS2: Stopping time

UNSIGNED_16 9270d = 2436

Stopping time for the SS1 and SS2 safety functions

Setting range (min. value | unit | max. value) Information

0 MS 30000 Lenze: 0, increment: 2 ms

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15306 SS1 mode

UNSIGNED_8 9269d = 2435

Selection list (Lenze setting bold) Information

0 STO after stopping time

(From SM301 V1.3)

1 STO at n = 0

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15307 SS1: Deceleration STO after n=0

UNSIGNED_16 9268d = 2434

Display area (min. value | unit | max. value) Information

0 ms 30000 Lenze: 0, increment: 2 ms (From SM301 V1.3)

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15310 Tolerance window (n=0)

INTEGER_16 9265d = 2431

Safely monitored tolerance window for zero speed

Setting range (min. value | unit | max. value) Information

0 rpm 16000 Lenze: 0

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer



EDS94AYAE EN 7.0

Page 59

1.3.4.2 Activation

How to activate the function:

ƒ "OFF state" at a safe input, the function of which has been assigned by parameter

setting.

ƒ Via a safety bus data telegram with corresponding content.

ƒ As response to the error stop request.

ƒ As response to the emergency stop request if the function has been parameterised

as emergency stop function (C15205).

 Note!

During the safe cascading of a drive system, the SS1 mode (C15306) (from V1.3) must be parameterised to "STO after stopping time". The first one of the drives which is at standstill changes to the STO status, thereby triggering STO for the entire drive system. Those drives which are not at standstill yet are coasting in an uncontrolled way. Therefore, a fixed stopping time for all drives makes sense here.

Safety engineering

Safety functions

Safe stop 1

EDS94AYAE EN 7.0



Page 60

Safety engineering

Safety functions Safe stop 2

1.3.5 Safe stop 2

1.3.5.1 Description

Safe Stop 2 / SS2

This function corresponds to a "Stop 2" according to EN 60204.

This function serves to monitor the reaching of speed n = 0 within an adjustable stopping time (C15305). The reached position must be kept active by the controller. The function SS2 changes to the safe operational stop (SOS) after the stopping time has expired. This function is implemented in the SM301 up to version 1.2 as a monitoring function of a speed band. Thus, the SOS function and accordingly the SS2 function is implemented deviating from the EN 61800−5−2 standard which demands the monitoring of a position windows in section 4.2.3.1. As of version 1.3, the function is implemented in compliance with the standard, i.e. the monitoring is executed through a parameterisable position window (C15311). Depending on the SS2 mode (C15308) the drive can also be switched directly to the safe operational stop (SOS) after zero speed has been reached. This causes reduced cycle times.

For speed n = 0, a tolerance window (C15310) can be parameterised. For the tolerance window Delta p=0 (C15311), a relative position is defined by which the drive may move in the SOS state.

From SM301 V1.3 onwards, the tolerance window for standstill detection (C15310) is used to control the transition to the SOS state subject to the "SS2 mode" parameter (C15308). C15308 serves to determine whether the SOS state is reached after the stopping time has expired or after the reaching of n = 0. In the SOS state, the standstill monitoring based on the position takes place. The respective limit value is set via the parameter "SOS: Tolerance window (Delta p=0)" C15311.

The speed and the position are calculated from the encoder data (safe speed measurement). Without an encoder, the function cannot be used.

If the monitored limits are exceeded, an error stop will be caused. The power supply of the motor is immediately safely interrupted (STO). The motor cannot create a torque and thus no dangerous movements of the drive can occur. Additional measures, e.g. mechanical brakes are needed against movements caused by external force.

A restart is only possible after the stopping time has expired completely (up to V1.2 and V1.3 with C15308 "SS2−mode = SOS after stopping time"). If the parameter SS2 mode = "SOS at n=0" (from V1.3), the restart can be executed after the transition to the SOS state. This does not apply to special operations.

From SM301 V1.3 onwards, the higher−prior stop function SS1/STO is executed when the SS2 stop request and SS1/STO occur at the same time. After the SS1/STO request has been cancelled and acknowledged accordingly (see restart behaviour), a direct STO transition to the SS2/STO state can be achieved without cancelling the SS2 request. Up to SM301 V1.2, the cancellation of all stop functions incl. SS2 before an acknowledgement was necessary in order to reach the SOS state via an SS2 request.

From SM301 V1.4 onwards, deceleration ramp monitoring can be parameterised. Depending on the parameterised stopping time, a monitoring ramp is calculated. ( 64)



EDS94AYAE EN 7.0

Page 61

 Note!

The position of the motor is saved when the SOS state is entered. In the SOS state, relative position changes are added and compared to the permissible value in the parameter "Tolerance window Delta p=0". When the SOS state is quit, the maximum relative position change is displayed in code C15312. When the SOS state is requested again, the maximum value of the last position changes is reset to zero.

Example: The states "SS2 active" and "SOS active" are interrupted by a STO request. When the STO request is reset, an immediate transition to the SOS state takes place. This causes a reset of the current position deviation to p=0.

After the safe operational stop is interrupted by the STO, the motor may have a different position due to an external torque.

Safety engineering

Safety functions

Safe stop 2

EDS94AYAE EN 7.0



Page 62

Safety engineering

Safety functions Safe stop 2

SS2

SOS

 Input signal of the request of a safety function

I ON state 0 OFF state

 Speed characteristic n of the motor

l Speed−monitored up to SM301 V1.2 l Position−monitored as of SM301 V1.3 l Optional: Monitoring of the brake ramp as of SM301 V1.4

t Time axis tx Action instant t

Monitored stopping time

 Feedback(s)  SS2 mode (C15308) influences the switching time



SM301DIA_SS2

 Tip!

Adapt the deceleration time for quick stop (C00105) of the standard device to the stopping time SS1, SS2 (C15305).

The drive must have reached standstill before the stopping time has elapsed.



EDS94AYAE EN 7.0

Page 63

Safety engineering

Safety functions

Safe stop 2

Codes

Parameter: Name: Data type: Index:

C15300 Restart behaviour

UNSIGNED_8 9275d = 243B

Behaviour for restart after functions have been cancelled

Selection list (Lenze setting bold) Information

0 Acknowledged restart

1 Automatic restart

Subcodes Information

C15300/1 Restart - STO, SS1 C15300/2 Restart - SS2, SOS

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15305 SS1, SS2: Stopping time

UNSIGNED_16 9270d = 2436

Stopping time for the SS1 and SS2 safety functions

Setting range (min. value | unit | max. value) Information

0 MS 30000 Lenze: 0, increment: 2 ms

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15308 SS2 mode

UNSIGNED_8 9267d = 2433

Selection whether SS2 is to be executed already after reaching n=0 SOS or only after reaching the parameterised stopping time.

Selection list

(Lenze setting bold) Information

0 SOS after stopping time

(As of SM301 V1.3)

1 SOS at n = 0

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15310 Tolerance window (n=0)

INTEGER_16 9265d = 2431

Safely monitored tolerance window for zero speed

Setting range

(min. value | unit | max. value) Information

0 rpm 16000 Lenze: 0

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15311 SOS: Tolerance window (Delta p=0)

UNSIGNED_32 9264d = 2430

Safely monitored tolerance window for zero position change

Display area (min. value | unit | max. value) Information

0 Incr. 327680 Lenze: 0 (From SM301 V1.3)

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15312 SOS: Maximum change in position

UNSIGNED_32 9263d = 242F

Amount of the maximum change in position while SOS was active

Display area (min. value | unit | max. value) Information

0 Incr. 2147483647 (From SM301 V1.3)

þ Read access o Write access o Controller inhibit o PLC-STOP o No transfer

1.3.5.2 Activation

How to activate the function:

ƒ "OFF state" at a safe input, the function of which has been assigned by parameter

setting.

ƒ Via a safety bus data telegram with corresponding content.

ƒ As response to the error stop request.

EDS94AYAE EN 7.0



Page 64

Safety engineering

Safety functions Ramp monitoring SS1/SS2

1.3.6 Ramp monitoring SS1/SS2

1.3.6.1 Description

From SM301 V1.4 onwards, the deceleration ramp for the stop functions SS1 and SS2 can be parameterised and monitored. If the parameterised ramp is not exceeded, the state changes to the parameterised stop function STO or SOS.

The monitoring of the deceleration process serves to achieve a higher degree of safety. Ramp monitoring becomes most critical when delay times are caused by high moments of inertia

ƒ Braking the drive to standstill and holding the position must still be executed by the

application!

ƒ A safe speed evaluation is the precondition for a safe ramp monitoring, i.e. an

encoder system must be parameterised in the safety module.

ƒ When ramp monitoring is activated, the starting value of the ramp and the S−ramp

time must be defined in percent. – The starting value refers to the current speed value at the time of the SS1/SS2

request.

– The starting time of the deceleration ramp is delayed via the S−ramp time in order

to consider a possible S−ramp smoothing.

If the current speed exceeds the parameterised deceleration ramp within the stopping time or before reaching the tolerance window (n=0), an error message is caused and an error stop is initiated.

ƒ The power supply of the motor is immediately safely interrupted (STO). The motor

cannot create a torque and thus no dangerous movements of the drive can occur.



EDS94AYAE EN 7.0

Page 65

Safety engineering

Safety functions

Ramp monitoring SS1/SS2

SS1/ SS2

STO

t1 t2



 Input signal of the request of a safety function

I ON state 0 OFF state

 Speed characteristic n of the motor

l Speed−monitored up to SM301 V1.2 l Position−monitored as of SM301 V1.3 l Optional: Monitoring of the brake ramp as of SM301 V1.4

Start offset ramp

t Time axis tx Action instant tS Monitored stopping time tV S−ramp time –– Normal operation

−−− Incorrect operation  Feedback(s)  If the speed exceeds the parameterised brake ramp, an error message is triggered and an error

stop is initiated.

SM301DIA RUESS2

EDS94AYAE EN 7.0

Codes

C15305 SS1, SS2: Stopping time

Stopping time for the SS1 and SS2 safety functions

Setting range

(min. value | unit | max. value) Information

0 MS 30000 Lenze: 0, increment: 2 ms

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15310 Tolerance window (n=0)

Safely monitored tolerance window for zero speed

Setting range (min. value | unit | max. value) Information

0 rpm 16000 Lenze: 0

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15315 SS1, SS2: ramp monitoring

Selection whether the brake ramp is to be monitored when SS1 and SS2 are executed.

Selection list (Lenze setting bold) Information

0 No ramp monitoring

(From SM301 V1.4)

1 Ramp monitoring is activated

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

UNSIGNED_16 9270d = 2436

INTEGER_16 9265d = 2431

UNSIGNED_8 9260d = 242C



Page 66

Safety engineering

Safety functions Ramp monitoring SS1/SS2

C15316 SS1, SS2: S−ramp time

S−ramp time of deceleration ramp for SS1 and SS2 if a linear ramp is not used.

Setting range (min. value | unit | max. value) Information

0 % 100 0 (From SM301 V1.4)

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15317 SS1, SS2: Start offset ramp

Speed offset at the start of the ramp monitoring.

Display area

0 % 30 0 (From SM301 V1.4)

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

1.3.6.2 Activation

How to activate the function:

ƒ The ramp monitoring must be activated via the C15315 parameter.

ƒ When the stop functions SS1/SS2 are requested, a monitoring ramp is calculated

and applied to the current speed characteristic.

 Note!

ƒ The parameterisation of the monitoring ramp in the safety module must

ƒ Based on the actual speed, a parameterisable percentage (0 ... 30 %) is added

ƒ The monitoring ramp only starts after an internal deceleration time has

UNSIGNED_8 9259d = 242B

UNSIGNED_8 9258d = 242A

(min. value | unit | max. value) Information

consider the parameters of the deceleration ramp from within the application.

to the actual speed as a start offset and used as a constant starting value. – In the Lenze setting of the start offset (C15317), the tolerance window

(n = 0) is considered as an offset.

expired which has been generated as a function of the parameters "SS1, SS2: S−ramp time" and "SS1, SS2: Stopping time":

– The parameter "SS1, SS2: S−ramp time" is scaled linearly from 10 ... 30 % of

the stopping time: 0 % S−ramp time º 10 % deceleration 100 % S−ramp time º 30 % deceleration

– In the Lenze setting of the S−ramp time, the deceleration time is 10 % of

the set stopping time.



EDS94AYAE EN 7.0

Page 67

Safety engineering

Safety functions

Emergency stop

1.3.7 Emergency stop

1.3.7.1 Description

Safe Stop Emergency/SSE

The emergency stop function activates STO or SS1. The function to be executed can be set (C15205). There is no way to avoid emergency stopping during special operation.

With active cascading (C15035 from SM301 V1.1) only "STO" is permissible as emergency stop.

 Note!

Connect the emergency stop buttons which must not be overruled by a special operation to the emergency stop function. For this purpose, parameterise the safe input as "emergency stop" (C15031).

The emergency stop function can also be requested with SSE bit via the safety bus.

The activation of the function is reported internally to the standard device and via the safety bus of the higher−level control.

Codes

Parameter: Name: Data type: Index:

C15205 SSE: Safe stop emergency function

Selection of the stop function for emergency stop

Selection list (Lenze setting printed in bold) Information

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

1.3.7.2 Activation

How to activate the function:

ƒ "OFF state" at a safe input, the function of which has been assigned by parameter

setting.

ƒ Via a safety bus data telegram with corresponding content.

0 STO Safe torque off 1 SS1 Safe stop 1

UNSIGNED_8 9370d = 249A

EDS94AYAE EN 7.0



Page 68

Safety engineering

Safety functions Safe maximum speed

1.3.8 Safe maximum speed

1.3.8.1 Description

Safe Maximum Speed / SMS

This function monitors the maximum motor speed. If a value > 0 is indicated (C15320), the function is activated.

If the maximum speed is exceeded, a error stop is caused. STO, SS1 or SS2 (C15321) can be adjusted.

 Speed characteristic n of the motor

t Time axis

SM301DIA_SMS

Codes

Parameter: Name: Data type: Index:

C15320 SMS: Max. speed Nmax

Selection of the maximum speed and activation of the SMS function

Setting range

0 rpm 16000 Lenze: 1, deactivate: 0

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15321 SMS: Response (n>Nmax)

Response to the exceeding of the set maximum speed

Selection list (Lenze setting bold) Information

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15350 SLS, SMS: Max. response time

Maximum time after an exceeded speed has been detected, after which the speed must be below the limit again.

Setting range

0 MS 30000 Lenze: 0, increment: 2 ms

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

1.3.8.2 Activation

(min. value | unit | max. value) Information

0 STO Safe torque off 1 SS1 Safe stop 1 2 SS2 Safe stop 2

(min. value | unit | max. value) Information

INTEGER_16 9255d = 2427

UNSIGNED_8 9254d = 2426

UNSIGNED_16 9225d = 2409

The function is activated or deactivated via the parameter value. A value > 0 activates the function, a value = 0 deactivates the function.



EDS94AYAE EN 7.0

Page 69

1.3.8.3 Fault analysis

This consideration applies to the SMS and SLS functions.

The evaluation and plausibility of the speed values is done in a cycle of 2 ms.

If the defined limit values are exceeded, the parameterised error response is activated within a time slot of maximally one evaluation cycle. With the error response SS1 or SS2 the response time of the stop function depends on the evaluation in the standard device. Moreover, the set stopping time must be added to the response time until the defined operating status is reached.

In order that the response can be checked for an error as quickly as possible, a maximum response time (C15350) can be parameterised. Before the maximum response time has elapsed, the detected speed must comply with the permissible (monitored) speed. If the permissible (monitored) speed is not complied with, STO is activated immediately.

Safety engineering

Safety functions

Safe maximum speed

SLS



STO

T1 Occurrence of the error event t

T2 Determining the error event t

t3 Response instance to continuous exceedance t

 Feedback(s)

SLS SLS monitored  According to the error response set: SS2, SS1 or STO STO Response in case of an error after the max. response time has elapsed –––– Normal operation

−−−−−− Incorrect operation

t3t2

Cycle time 2 ms

Maximum permissible response time (parameterisable)

Stopping time

SM301DIA_F

EDS94AYAE EN 7.0

 Note!

If the STO function has been selected as the error response for SMS or SLS, the internal response time is not considered because the motor is already coasting after the speed threshold is exceeded for the first time.



Page 70

Safety engineering

Safety functions Safe maximum speed

 Note!

In case of an error, the set limited speed will be exceeded. To assess the risk for the plant, you have to calculate the height of the

maximum exceedance. Consider the following:

ƒ internal response time ƒ application−specific response time ƒ application−specific maximum acceleration



EDS94AYAE EN 7.0

Page 71

Safety engineering

Safety functions

Safely limited speed

1.3.9 Safely limited speed

1.3.9.1 Description

Safely Limited Speed/SLS

Safe Speed Monitor/SSM

When the adjustable braking time (C15331/1 ... 4) has elapsed, the function monitors compliance with the limited speed N

ƒ From SM301 V1.,1 four different speeds can be monitored (SLS1 ... SLS4).

When operating within the limit values, the "SLSx monitored" status is set (C15000). The status can be assigned to the safe output (C15052/1). The status can also be reported via the safety bus. From V1.3, feedback is returned as soon as the speed falls below its threshold. This results in reduced cycle times if the "SLSx monitored" feedback is used.

When the monitored speed is exceeded, a stop error is caused. STO, SS1 or SS2 (C15332/1...4) can be adjusted. If the speed is not within the limit values even after the adjustable response time (C15350), the drive will be directly switched off (STO).

The monitoring of the limited speed can be combined with a monitoring of the direction of rotation. For this purpose, the permissible direction of rotation for the corresponding limited speed SLSx must be set in parameter SLS: Permissible direction of rotation (C15333). This setting triggers two monitoring functions at the same time via one request which is pending via SD−InX or the safety bus.

(C15330/1 ... 4).

lim

SLS

SLS

t1 t2

 Input signal of the request of a safety function

I ON state 0 OFF state

 Speed characteristic n of the motor

t Time axis tx Action instant t

 Feedback(s)

SLS SLS active SLS SLS monitored

Monitored braking time

SM301DIA_SLS

EDS94AYAE EN 7.0



Page 72

Safety engineering

Safety functions Safely limited speed

Codes

Parameter: Name: Data type: Index:

C15330 SLS: Limited speed Nlim

UNSIGNED_16 9245d = 241D

Setting of the limited speed

Setting range (min. value | unit | max. value) Information

0 rpm 16000 Lenze: 0

Subcodes Information

C15330/1 SLS1: Limited speed Nlim1 C15330/2 SLS2: Limited speed Nlim2

(As of SM301 V1.1)

C15330/3 SLS3: Limited speed Nlim3

(As of SM301 V1.1)

C15330/4 SLS4: Limited speed Nlim4

(As of SM301 V1.1)

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15331 SLS: Braking time Nlim

UNSIGNED_16 9244d = 241C

Safely monitored time for braking the drive to the limited speed set in C15330.

Setting range (min. value | unit | max. value) Information

0 MS 30000 Lenze: 0, increment: 2 ms

Subcodes Information

C15331/1 SLS1: Braking time Nlim1 C15331/2 SLS2: Braking time Nlim2 (as of SM301 V1.1) C15331/3 SLS3: Braking time Nlim3 (as of SM301 V1.1) C15331/4 SLS4: Braking time Nlim4 (as of SM301 V1.1)

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15332 SLS: Response (n>Nlim)

UNSIGNED_8 9243d = 241B

Response in the safety module to the exceeding of the limited speed

Selection list

(Lenze setting bold) Information

0 STO Safe torque off 1 SS1 Safe stop 1 2 SS2 Safe stop 2

Subcodes Information

C15332/1 SLS1: Response (n>Nlim1) C15332/2 SLS2: Response (n>Nlim2) (as of SM301 V1.1) C15332/3 SLS3: Response (n>Nlim3) (as of SM301 V1.1) C15332/4 SLS4: Response (n>Nlim4) (as of SM301 V1.1)

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer



EDS94AYAE EN 7.0

Page 73

Safety engineering

Safety functions

Safely limited speed

Index:Data type:Name:Parameter:

C15333 SLS: Permissible direction of movement

Permissible direction of movement during SLS monitoring

Selection list (Lenze setting printed in bold) Information

0 Both directions enabled

1 Positive direction enabled 2 Negative direction enabled

Subcodes Information

C15333/1 SLS1: Permissible direction of movement (from SM301

C15333/2 SLS2: Permissible direction of movement (from SM301

C15333/3 SLS3: Permissible direction of movement (from SM301

C15333/4 SLS4: Permissible direction of movement (from SM301

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15350 SLS, SMS: Max. response time

Maximum time after an exceeded speed has been detected, after which the speed must be below the limit again.

Setting range

0 MS 30000 Lenze: 0, increment: 2 ms

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

(min. value | unit | max. value) Information

V1.3)

UNSIGNED_8 9242d = 241A

UNSIGNED_16 9225d = 2409

1.3.9.2 Activation

How to activate the function:

ƒ "OFF state" at a safe input, the function of which has been assigned by parameter

setting.

ƒ Via a safety bus data telegram with corresponding content.

1.3.9.3 Fault analysis

The fault analysis is described with the SMS function ( 69).

EDS94AYAE EN 7.0



Page 74

Safety engineering

Safety functions Safe direction

1.3.10 Safe direction

1.3.10.1 Description

Safe Direction / SDI

This function monitors safe compliance with an adjustable direction of movement. Monitoring also includes zero speed with a tolerance window.

If the valid direction of rotation is not complied with, optionally SS1, SS2, or STO can be activated.

After the adjustable delay time has expired (C15341), the function monitors the compliance with the positive/negative direction of movement.

When operating within the limit values (C15342), the "SDIxxx monitored" status is set (C15000). The status can be assigned to the safe output (C15052/1). The status can also be reported via the safety bus.

If deviations from the permissible direction of movement occur, an error stop will be triggered. As an error response, STO, SS1, or SS2 can be set (C15343). In the event of an error the maximum change in position is displayed (C15344).

SDIpos

 Input signal of the request of a safety function

’1’ Logic signal level "1" / "TRUE"

 Direction of movemtn of the motor

tx Action instant t Time axis t

 Feedbacks

SDIpos1 SDIpos active SDIpos2 SDIpos monitored

 Error response − triggering motion range  Adjustable SDI tolerance threshold

 Note!

If the SDI delay time (C15341) is parameterised greater than zero, either the "SDIxxx monitored" feedback must be evaluated (safety bus or safe output) or the risk analysis must show that the delay is not hazardous. This fact must e.g. be considered in the calculation of the safety clearance.



Delay time



SMxDIASLS



EDS94AYAE EN 7.0

Page 75

 Note!

If the monitoring of the direction of movement, SDIxxx, is combined with function SLSx, the delay times must be coordinated. Then, braking time Nlim will start at the same time as the SDI delay time.

Safety engineering

Safety functions

Safe direction

EDS94AYAE EN 7.0



Page 76

Safety engineering

Safety functions Safe direction

Codes

Parameter: Name: Data type: Index:

C15340 SDI: Monitoring − normal operation

UNSIGNED_8 9235d = 2413

Setting of the monitoring of the direction of movement of the motor during normal operation

Selection list (read only) Information

0 Both directions enabled

(From SM301 V1.3)

1 Positive direction enabled 2 Negative direction enabled

þ Read access o Write access o Controller inhibit o PLC-STOP o No transfer

C15341 SDI: Deceleration time

UNSIGNED_16 9234d = 2412

Safely monitored time from activation to switching on the monitoring SDIpos/SDIneg

Display area (min. value | unit | max. value) Information

0 ms 30000 (From SM301 V1.3)

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15342 SDI: Tolerance threshold

UNSIGNED_32 9233d = 2411

Setting of the tolerance threshold by how many increments the motor may move towards the direction inhibited through SDI

Display area

(min. value | unit | max. value) Information

0 Incr. 327680 (From SM301 V1.3)

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15343 SDI: Error response

UNSIGNED_8 9232d = 2410

Response to a violation of the permitted direction of movement of the motor

Selection list (read only) Information

0 STO

(From SM301 V1.3)

1 SS1

2 SS2

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15344 SDI: Maximum change in position

UNSIGNED_32 9231d = 240F

Maximum change in position in inhibited direction if SDI is active

Display area

(min. value | unit | max. value) Information

0 Incr. 2147483647

Subcodes Information

C15344/1 SDIpos: Maximum change in position (from SM301 V1.3) C15344/2 SDIneg: Maximum change in position (from SM301 V1.3)

þ Read access o Write access o Controller inhibit o PLC-STOP o No transfer

1.3.10.2 Activation

How to activate the "Safe direction" function:

ƒ Permanent monitoring of the direction of movement during normal operation

(C15340).

ƒ "OFF state" at a safe input, the function of which has been assigned by parameter

setting.

ƒ In conjunction with safely limited speed SLSx (C15333).

ƒ Via a safety bus data telegram with corresponding content.



EDS94AYAE EN 7.0

Page 77

1.3.10.3 Fault analysis

This consideration is applies to function SDI.

The position values are evaluated and checked at a cycle of 2 ms. If the defined tolerance window is exceeded, the parameterised error response is triggered immediately within a time slot of max. one evaluation cycle. If a SS1 or SS2 error response is triggered, the response time of the stop function depends on the evaluation in the standard device. Furthermore, the set stopping time must be added to the response time until the defined operating status is reached. In the Lenze setting, the error response is set to SS1.

Safety engineering

Safety functions

Safe direction

EDS94AYAE EN 7.0



Page 78

Safety engineering

Safety functions Safe operation mode selector

1.3.11 Safe operation mode selector

1.3.11.1 Description

Operation Mode Selector / OMS

The function provides a special operation of the drive. In the special operation the drive is stopped (status 2). The drive can be traversed in the special operation via an enable switch (status 3).

For the stop status in the special operation, the STO, SS1 or SS2 functions can be parameterised.

For motion functions in the special operation, the SLS function (from V1.3 onwards combinable with SDI) or free movement (from V1.4 onwards combinable with SLI function) can be parameterised. The parameterised monitoring function will be automatically activated with the transition to the special operation.

The special operation enables an override of the simple STO, SS1, and SS2 stop functions by the enable switch.

Also in special operation, activated SMS, SDI and SLS monitoring functions are continued to be executed. An error detected in the monitoring functions, also in special operation, leads to the parameterised error stop function. Depending on the priority, the parameterised stop function of the monitoring function or the stop function of the special operation is executed without approval.

An active emergency stop function is also executed in special operation.

The special operation can also be selected via the safety bus by the F−PLC, unless a safe input is parameterised as operation mode selector.

The return to normal operation is only possible in the stop status. Since the drive is stopped in status 2, the AIS acknowledgement is required for restart. The parameters for the restart STO/SS1 or SS2 are used.

 Note!

When returning to normal operation, the automatic restart is not permissible. If "automatic restart" is parameterised, this can be prevented by special measures, e.g. programming in the higher−level control.

 Note!

The "safe enable switch" function serves to directly cancel/complete the stopping times assigned to the stop functions.

 Note!

Monitoring of the safely limited increment (from SM301 V1.4 onwards) in special operation is active if a value > 0 has been selected for C15203.



EDS94AYAE EN 7.0

Page 79

 Note!

If an error (e.g. a discrepancy error) occurs at a safe input to which the OMS function has been assigned, normal operation will be selected. This corresponds to the OFF state. The "ME" LED is blinking and STO is not activated. The special operation can only be selected again when the error has been eliminated and acknowledged.

From SM301 V1.3 onwards, the switching level at the digital input which determines special or normal operation can be set via the safe parameterisation.

 Note!

When the OMS bit is received via the safety bus, the value 0 (normal operation) is assumed in case of passivation. In special applications (e.g. safety door, request of OMS, i.e. open safety door = special operation) this must not cause a dangerous state by automatic restart.

Safety engineering

Safety functions

Safe operation mode selector

EDS94AYAE EN 7.0



Page 80

Safety engineering

Safety functions Safe operation mode selector

SM301OMS01

Operating mode Normal Special

Event Impact Impact

− State  − Request − OMS special operation via ...

... safe input Change  State 

Stop function ...

l STO l SS1 l SS2

... is executed Activated monitoring functions remain active.

... safety bus same response − only possible as an alternative to the safe input

Request − ES confirmation via ...

... safe input No function State 

l Free movement l SLS (as of V1.3 combinable with

SDI) possible as restriction

l SLI (as of V1.4)

... via safety bus same response − only possible as an alternative to the safe input

Stop request State 

parameterised function ...

l STO l SS1 l SS2

... is executed

Emergency stop State 

parameterised function ...

Monitoring responds: SMS

dependent on priority:

parameterised error function ... SLS SDI

parameterised stopping function of special operation

is not executed

l STO

l SS1

... is executed

l STO

l SS1 l SS2

... is executed



EDS94AYAE EN 7.0

Page 81

1.3.11.2 Conditions

A safe input must be parameterised and interconnected as an operation mode selector. Select the operating mode for the LOW level (C15202) depending on the application. Only one operation mode selector can be connected and parameterised. The OMS bit of the safety bus must be deactivated (C15113).

Special operation can also be selected via the safety bus (C15113) with the OMS bit if no safe input has been selected as an operation mode selector. In this case, at least one stop function must be parameterised via the safety bus to ensure that the drive system is safely switched−off if the bus should be interrupted. Furthermore, parameter C15202 must be set to "Normal operation".

The plausibility check rejects ambiguous settings until they are parameterised correctly.

 Note!

The "free traversing" setting for the special operation (C15201) motion function must be suitable for the application!

Safety engineering

Safety functions

Safe operation mode selector

 Danger!

Dangerous situations may occur during automatic or special operation

Depending on the application, automatic or special operation may bring about hazardous situations.

Possible consequences:

ƒ Injury to persons ƒ Damage to material assets

Protective measures:

ƒ Must be observed in particular when setting the operating mode for the

LOW level at the SD−Inx.

ƒ Observe the notes provided in the attached application examples.

EDS94AYAE EN 7.0



Page 82

Safety engineering

Safety functions Safe operation mode selector

Codes

Parameter: Name: Data type: Index:

C15200 OMS: Stop function

Selection of the stop function in special operation

Selection list (Lenze setting bold) Information

0 STO Safe torque off

1 SS1 Safe stop 1 2 SS2 Safe stop 2

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15201 OMS: motion function

Selection of the motion function in special operation

Selection list

(Lenze setting bold) Info

3 SLS1 Safely limited speed 1

(Lenze setting up to SM301 V1.3)

4 SLS2 Safely limited speed 2 (From SM301 V1.1) 5 SLS3 Safely limited speed 3 (From SM301 V1.1) 6 SLS4 Safely limited speed 4 (as of SM301 V1.1)

11 Free traversing (Lenze setting from SM301 V1.4)

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

UNSIGNED_8 9375d = 249F

UNSIGNED_8 9374d = 249E

 Tip!

If SLSx has been parameterised as the motion function during special operation, a change to the acceptance operation is not possible until the reduced speed is monitored and maintained (SLSx monitored).

C15202 OMS: Function at LOW level

UNSIGNED_8 9373d = 249D

Function that is executed in case of LOW level at the safe input with OMS function. Caution: According to the closed−circuit principle, the parameterisation must not cause any additional danger.

Selection list

(read only) Information

0 Normal operation

(From SM301 V1.3)

1 Special operation

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15203 SLI: Safely lim. increment

UNSIGNED_32 9372d = 249C

Number of increments for safely limited increment

Setting range (min. value | unit | max. value) Information

0 Incr. 2147483647 Lenze: 1, deactivate: 0

(From SM301 V1.4)

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15204 SLI: Amount of position change

UNSIGNED_32 9371d = 249B

Maximum position change while SLI is active.

Display area

(min. value | unit | max. value) Information

0 Incr. 2147483647 (From SM301 V1.4)

þ Read access o Write access o Controller inhibit o PLC-STOP o No transfer



EDS94AYAE EN 7.0

Page 83

1.3.11.3 Activation

How to activate the function:

ƒ Via a safe input which has been assigned to the function by parameterisation. In

addition, the requested operating mode depends on OMS: Function at LOW level (C15202).

Example:

Normal operation at LOW level

Special operation is activated via a 2−pole key−operated switch. The "Special operation with LOW level" function is not permissible for a key−operated switch which uses special operation for purposes of short−circuiting. An open circuit in the cable of the switch would activate special operation.

Special operation at LOW level

Special operation is active when the safe input detects the LOW level. This triggers execution of the stop function parameterised.

Only if no safe input is used, the function can only be activated via the safety bus:

Safety engineering

Safety functions

Safe operation mode selector

ƒ A data telegram with corresponding contents must be transmitted to the standard

device.

EDS94AYAE EN 7.0



Page 84

Safety engineering

Safety functions Safe enable switch

1.3.12 Safe enable switch

1.3.12.1 Description

Enable Switch / ES

The drive can be traversed in special operation using an enable switch (see operation mode selector).

1.3.12.2 Conditions

A safe input must be parameterised and interconnected as enable switch. You can only connect and parameterise one enable switch. The ES bit of the safety bus must be deactivated (C15113).

The enable switch function can also be selected via the safety bus with the ES bit, unless a safe input is parameterised as enable switch.

The special operation must be activated.

The plausibility check rejects ambiguous settings until they are parameterised correctly.

Codes

Parameter: Name: Data type: Index:

C15031 SD-In sensor function

Function configuration of the safe inputs.

l The "operation mode selector" and "enable switch" functions may only be assigned to one of the four safe

inputs.

Selection list

Subcodes Information

C15031/1 SD-In1 sensor function C15031/2 SD-In2 sensor function C15031/3 SD-In3 sensor function C15031/4 SD-In4 sensor function

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

(Lenze setting printed in bold) Information

UNSIGNED_8 9544d = 2548

1.3.12.3 Activation

How to activate the function:

ƒ Via a safe input which has been assigned to the function by parameterisation. With

the edge change 0−1 of the ES signal, the status changes to "Acceptance (ES)".

Only if no safe input is used, the function can only be activated via the safety bus:

ƒ A data telegram with corresponding contents must be transmitted to the standard

device (edge change 0−1 of the ES signal).



EDS94AYAE EN 7.0

Page 85

Safety engineering

Safety functions

Cascading

1.3.13 Cascading

1.3.13.1 Description

Cascading / CAS

This function enables a synchronised shutdown of an entire drive system.

ƒ The function can only be activated via parameter setting. For this purpose set the

"CAS: cascading" parameter to "Cascading with SD−In4".

ƒ With activated function:

– The SD−In4 safe input is used as cascading input and cannot be used as universal

input anymore.

– The SD−Out1 safe output is used as cascading output and cannot be parameterised

as universal feedback output anymore.

– A stop function (emergency stop, SSE) released by cascading cannot be overruled

in special operation through the enable switch.

ƒ The cascade trips with every STO, irrespective of which safety module adopts the

STO status and for which reason.

ƒ All safety modules of the cascade can only be enabled if all cascading inputs (SD−In4)

are in the OFF state (emergency stop has been enabled).

ƒ For the restart of the drive system, the AIS restart acknowledgement must be

executed simultaneously for all safety modules of the cascade.

ƒ The restart is executed with a delay of 100 ms after the acknowledgement has been

recognised.

ƒ Cascading is designed for max. 100 drives.

ƒ During special operation, the drives of the cascade can only change from the

SS2/SOS stop function to acceptance. An STO or SS1 as stop function would trigger the entire drive system every time and thus impede acceptance.

EDS94AYAE EN 7.0



Page 86

Safety engineering

Safety functions Cascading

#1 #2 #n

SM301

E94AYAE

X82.1 X82.2

24Vext.

SM301

E94AYAE

X82.1 X82.2

24 V ext.

SM301

E94AYAE

X82.1 X82.2

24 V ext.

O1B

O1A

X82.3



24O

GI4

I4B

I4A

X82.4

Fig. 1−11 Wiring example

E94AYAE Safety module SM301 as of V1.1 #1, #2, #n Number of the module 24 V ext.  24−V voltage supply of the module (SELV/PELV)  24−V voltage supply of the output (SELV/PELV)

X82.3

O1B

O1A

X82.3

O1A

O1B



24O

GI4

I4B

I4A

X82.4

SSP94SM365



24O

GI4

I4B

I4A

X82.4



EDS94AYAE EN 7.0

Page 87

1.3.13.2 Conditions

ƒ This function is available from SM301 V1.1.

ƒ The SD−In4 input must be parameterised as active input for the "emergency stop"

function and the input delay for SD−In4 must be £ 10 ms.

ƒ The emergency stop function to be executed must be parameterised as STO via the

"SSE: emergency stop function" parameter.

ƒ The restart behaviour of the drive after the STO/SS1 stop function has been

executed must be parameterised to "Acknowledged restart".

ƒ The control of the SD−Out1 output via a possibly parameterised safety bus must be

inhibited.

ƒ The SS1 mode (C15306) must be set to "STO after stopping time".

ƒ The plausibility check rejects other settings until they are parameterised correctly.

Codes

Safety engineering

Safety functions

Cascading

Parameter: Name: Data type: Index:

C15035 CAS: Cascading

Safe cascading

Selection list

þ Read access  Write access o CINH o PLC-STOP o No transfer

C15036 CAS: Stop delay

Circulation time of safe cascading

Display area

0 MS 65535 (As of SM301 V1.1)

þ Read access o Write access o CINH o PLC-STOP o No transfer

1.3.13.3 Activation

The cascade trips with every STO, irrespective of which safety module adopts the STO status and for which reason.

(Lenze setting bold) Information

0 No cascading

4 Cascading with SD−In4

(min. value | unit | max. value) Information

(As of SM301 V1.1)

l Display of the time that passes from switching the

SD−Out1 output to OFF state to the detection of the OFF state at the SD−In4 input. This information may be helpful for system commissioning/maintenance.

l If "0 ms" is displayed after a stop, another safety

module has activated the stop via the cascade.

l The time is displayed until the next system

acknowledgement.

UNSIGNED_8 9540d = 2544

UNSIGNED_16 9539d = 2543

EDS94AYAE EN 7.0



Page 88

1.4 Safety address

Safety engineering

Safety address

The safety address serves to clearly assign the safety modules of the SM301 type in systems with several drives. The address "0" is not permissible.

Address switch

The safety address can be set in the left part of the housing by means of the DIP switch . For setting the switch, use an appropriately small tool, e. g. a probe. The switch can only be set if the module is not connected to a standard device. Via the switch, addresses in the range of 0 ... 1023 can be set. Alterations by the switch with regard to the address are only activated when the 24−V supply is switched on. The address setting "0" requires the setting by the address code.

DIP switch  Labelling

Value of the address bit 1 2 4 8 16 32 64 128 256 512

Tab. 1−5 Address setting

1 2 3 4 5 6 7 8 9 0

Address code

The safety address can also be set with the "Safety address" parameter (C15111) of the safety module. For this, the address setting via the DIP switch  must be set with the "0" setting. Via parameter, addresses can be set in a range of 0 ... 65534.

Effective safety address

The effective safety address is the result from the address switch or address parameter. The effective safety address must comply with the module ID assigned in the safe parameter set.

The effective safety address must also be used as target address by a master control with safety bus (e.g. PROFIsafe/PROFIsafe target address).

Module ID

(As of SM301 V1.2) Before the safe parameter set is downloaded, the system checks if the

module ID defined in the parameter set corresponds to the module ID saved in the safety module. If the values are not the same, a corresponding message is displayed. This shall ensure that the safety address is not changed by mistake during parameter setting. If the user confirms the new value after checking it, the changed module ID will be saved non−volatile in the SM301. Code C15017 contains the module ID saved during the last parameter set transfer in the SM301.

 Note!

A general reset does not change the stored module ID.



EDS94AYAE EN 7.0

Page 89

Safety engineering

Safety address

Codes

Parameter: Name: Data type: Index:

C15017 Stored module ID

Module ID stored in the safety module

Display area (min. value | unit | max. value) Information

0 65535

(As of SM301 V1.2)

Default setting (invalid ID): 0 Stored ID defective: 65535

þ Read access o Write access o Controller inhibit o PLC-STOP o No transfer

C15101 Display − DIP switch position

Display of the DIP switch position

Display area

(min. value | unit | max. value) Information

0 1023

þ Read access o Write access o Controller inhibit o PLC-STOP o No transfer

C15111 Safety address

Safety address parameterised in the safety module

Setting range (min. value | unit | max. value) Information

0 65534 Lenze: 0

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

C15112 Effective safety address

Address used in safety module

Display area

(min. value | unit | max. value) Information

1 65534

þ Read access o Write access o Controller inhibit o PLC-STOP o No transfer

UNSIGNED_16 9558d = 2556

UNSIGNED_16 9474d = 2502

UNSIGNED_16 9464d = 24F8

UNSIGNED_16 9463d = 24F7

EDS94AYAE EN 7.0



Page 90

Safety engineering

Safe bus interfaces PROFIsafe connection

1.5 Safe bus interfaces

In the safety module, parameterised interfaces are provided for standardised safety bus systems. With the selection of the bus system, the corresponding parameters are made available.

Currently supported communication types:

ƒ Operation without safety bus system

ƒ Operation with PROFIsafe protocol

Codes

Parameter: Name: Data type: Index:

C15100 S bus: Configuration

Configuration of the safety bus

Selection list

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

(Lenze setting bold) Information

0 No safety bus

1 PROFIsafe / PROFIBUS 2 PROFIsafe / PROFINET (As of SM301 V1.1)

UNSIGNED_8 9475d = 2503

1.5.1 PROFIsafe connection

1.5.1.1 Conditions

The SM301 supports the transmission of safe information on the PROFIsafe protocol according to the "PROFIsafe − Profile for Safety Technology" specification, version 1.30, of the PROFIBUS Nutzerorganisation (PNO). The SM301 V1.1 also supports the PROFIsafe protocol according to the "PROFIsafe − Profile for Safety Technology" specification, version

2.x. The standard device transmits the PROFIsafe information to the safety module for safe evaluation.

PROFIsafe connection Required

PROFIBUS E94AYCPM (PROFIBUS−DP)

PROFINET

(as of SM301 V1.1)

 Note!

A safety bus system (PROFIsafe) can only be operated via the upper module slot (MXI1) of the Servo Drive 9400.

communication module

as of software version V1.00

E94AYCER (PROFINET)

as of software version V0.70

Setting

"S BUS: Configuration" (C15100)

PROFIsafe / PROFIBUS

PROFIsafe / PROFINET

 Note!

The operation with PROFIsafe via PROFINET is only permissible according to the "PROFIsafe − Profile for Safety Technology" specification, version 2.x.



EDS94AYAE EN 7.0

Page 91

1.5.1.2 Description

Addressing

In order that a data telegram reaches the correct node, an unambiguous PROFIsafe target address is required. If PROFIsafe has been selected as safety bus, the safety address is simultaneously accepted as PROFIsafe target address. This address must comply with the corresponding configuration of the safety PLC.

PROFIsafe frame

The PROFIsafe message is sent in the first slot of a PROFIBUS data telegram or in the second slot of a PROFINET data telegram.

This must be observed for the hardware configuration of the safety PLC!

Header PROFIsafe data Data Trailer

Safety engineering

PROFIsafe connection

PROFIBUS data telegram

Slot 1 Slot 2

Safe bus interfaces

PROFINET data telegram (as of SM301 V1.1)

Header PROFIsafe data Data Trailer

Slot 2 Slot 1

PROFIsafe data

In the PROFIsafe data one bit each is used to control a certain safety function.

ƒ The structure of the PROFIsafe message is described in the PROFIsafe profile.

ƒ The length of the PROFIsafe message in the SM301 is eight bytes (fixed).

The PROFIsafe messages are structured according to the following system:

PROFIsafe message − V1 mode

Bit offset

Byte offset 7 6 5 4 3 2 1 0

0 1 2 3 4 Control byte or status byte 5 Consecutive number 6 7

(Signature consists of PROFIsafe process data and PROFIsafe parameters)

PROFIsafe output data/PROFIsafe input data

PROFIsafe process data

CRC2

EDS94AYAE EN 7.0



Page 92

Safety engineering

Safe bus interfaces PROFIsafe connection

PROFIsafe message − V2 mode (as of SM301 V1.1)

Bit offset

Byte offset 7 6 5 4 3 2 1 0

0 1 2 3 4 Control byte or status byte 5 6 7

Tab. 1−6 Structure of the PROFIsafe data

(Signature consists of PROFIsafe process data and PROFIsafe parameters and the

PROFIsafe output data/PROFIsafe input data

PROFIsafe process data

CRC2

consecutive number)

The meaning of the PROFIsafe process data is separately described for PROFIsafe output data and PROFIsafe input data. All bits described are evaluated.

Unassigned bits are reserved for future functions and marked with "−". These bits must be transmitted with "0".

PROFIsafe output data

The PROFIsafe output data is transmitted from the control to the safety module.

Control word PROFIsafe output data (safe user data)

Bit Name Value Description

0 STO 0 The STO function is activated. 1 SS1 0 The SS1 function is activated. 2 SS2 0 The SS2 function is activated. 3 SLS1 0 The SLS1 function is activated. 4 SLS2 0 The SLS2 function is activated. (from SM301 V1.1) 5 SLS3 0 The SLS3 function is activated. (from SM301 V1.1) 6 SLS4 0 The SLS4 function is activated. (from SM301 V1.1) 7 SDIpos 0 The SDIpos function is activated. (from SM301 V1.3) 8 SDIneg 0 The SDIneg function is activated. (from SM301 V1.3) 9 ES 1 Acceptance active:

In special operation −> motion functions are possible.

11 OMS

16 PS_AIS 0  1 Activation of restart acknowledgement

17 PS_AIE 0  1 Activation of fault acknowledgement

23 SSE 0 The SSE function is activated. 24 SD−Out1 0 The SD−Out1 output is set to the OFF state.

− 0 Reserved for future extensions

Tab. 1−7 Detailed specification of the PROFIsafe output data

0 Normal operation 1 Special operation

The bit must be set for at least one PROFIsafe cycle.



EDS94AYAE EN 7.0

Page 93

Safety engineering

Safe bus interfaces

PROFIsafe connection

Control byte

For the PROFIsafe V1 mode only the indicated bits of the PROFIsafe control byte are supported:

Assignment Bit

Byte 7 6 5 4 3 2 1 0

4 − − − activate_FV − − − −

Tab. 1−8 Structure of the PROFIsafe control byte in V1 mode

Bit coding − control byte

Bit Name Value Description

4 activate_FV 1 The PROFIsafe output data is passivated.

− 0 Reserved for future extensions

Tab. 1−9 Detailed specification of the control byte in V1 mode

For the PROFIsafe V2 mode only the indicated bits of the PROFIsafe control byte are supported:

Assignment Bit

Byte 7 6 5 4 3 2 1 0

4 − − Toggle_h activate_FV − R_cons_nr − −

Tab. 1−10 Structure of the PROFIsafe control byte in V2 mode

Bit coding − control byte

Bit Name Value Description

2 R_cons_nr 1 Reset of the consecutive number. 4 activate_FV 1 The PROFIsafe output data is passivated. 5 Toggle_h 1/0 Change increases the consecutive number.

− 0 Reserved for future extensions

Tab. 1−11 Detailed specification of the control byte in V2 mode

Control data filter

Unused functions in the control data of the safety bus must be set to "Inhibit" via the parameter "S−bus: Control data filter" (C15113). After this, the functions can no longer be activated via the safety bus independently of the transferred control data. As of SM301 V1.2, the filtered control data is indicated in "S−bus: Display of control data" (C15115).

012

1 0 1 0

Fig. 1−12 Function example − filter

a a

i i

 Control data, incoming (0 = active, 1 = inactive)  Control data filter

 Effective control data (0 = active, 1 = inactive)

1 0 1 1

SSP94SM301

(Selection in the »Engineer«: a = "pass through", i = "inhibit")

EDS94AYAE EN 7.0



Page 94

Safety engineering

Safe bus interfaces PROFIsafe connection

Codes

Parameter: Name: Data type: Index:

C15113 S-Bus: Filter control data

Bit coded selection of the active bit positions in the safety bus control data

Value is bit coded: Information

Bit 0 STO Safe torque off Bit 1 SS1 Safe stop 1 Bit 2 SS2 Safe stop 2 Bit 3 SLS1 Safely limited speed 1 Bit 4 SLS2 Safely limited speed 2

(From SM301 V1.1)

Bit 5 SLS3 Safely limited speed 3

(From SM301 V1.1)

Bit 6 SLS4 Safely limited speed 4

(From SM301 V1.1)

Bit 7 SDIpos Safe positive direction

(From SM301 V1.3)

Bit 8 SDIneg Safe negative direction

(From SM301 V1.3)

Bit 9 ES Safe enable switch Bit 10 Reserved Bit 11 OMS Safe operation mode selector Bit 12 Reserved

... Bit 15 Reserved Bit 16 PS_AIS Restart acknowledgement via safety bus Bit 17 PS_AIE Fault acknowledgement via safety bus Bit 18 Reserved

... Bit 22 Reserved Bit 23 SSE Emergency stop function Bit 24 SD−Out1 Safe output Bit 25 Reserved

... Bit 31 Reserved

þ Read access  Write access o Controller inhibit o PLC-STOP o No transfer

BITFIELD_32 9462d = 24F6



EDS94AYAE EN 7.0

Page 95

Safety engineering

C15115 S-bus: Control data display

Display of safety bus control data after filtering via C15113

Value is bit coded: Information

(From SM301 V1.2)

Bit 0 STO Safe torque off Bit 1 SS1 Safe stop 1 Bit 2 SS2 Safe stop 2 Bit 3 SLS1 Safely limited speed 1 Bit 4 SLS2 Safely limited speed 2 Bit 5 SLS3 Safely limited speed 3 Bit 6 SLS4 Safely limited speed 4 Bit 7 SDIpos Safe positive direction

(From SM301 V1.3)

Bit 8 SDIneg Safe negative direction

(From SM301 V1.3)

Bit 9 ES Safe enable switch Bit 10 Reserved Bit 11 OMS Safe operation mode selector Bit 12 Reserved

... Bit 15 Reserved Bit 16 PS_AIS Restart acknowledgement via safety bus Bit 17 PS_AIE Fault acknowledgement via safety bus Bit 18 Reserved

... Bit 22 Reserved Bit 23 SSE Emergency stop function Bit 24 SD−Out1 Safe output Bit 25 Reserved

... Bit 31 Reserved

þ Read access o Write access o Controller inhibit o PLC-STOP o No transfer

Safe bus interfaces

PROFIsafe connection

BITFIELD_32 9460d = 24F4

Index:Data type:Name:Parameter:

EDS94AYAE EN 7.0



Page 96

Safety engineering

Safe bus interfaces PROFIsafe connection

PROFIsafe input data

The safety module transmits the PROFIsafe input data to the controller. This can be displayed via "Safety function status" (C15000).



EDS94AYAE EN 7.0

Page 97

Safety engineering

Safe bus interfaces

PROFIsafe connection

Bit coding of PROFIsafe input data

Bit Name Description

0 STO active The STO function is active and the drive is safely switched to torque−free

1 SS1 active The SS1 function is active.

2 SS2 active The SS2 function is active.

3 SLS1 active The SLS1 function is active.

4 SLS2 active The SLS2 function is active.

5 SLS3 active The SLS3 function is active.

6 SLS4 active The SLS4 function is active.

7 SDIpos is active The SDIpos function is active.

8 SDIneg is active The SDIneg function is active.

9 ES active 1: ES function in special operation is active: Motion function

10 SLI is active The safely limited increment (SLI) function is active. (As of SM301 V1.4) 11 OMS 1: special operation requested

16 SOS monitored The SOS function is monitored. 17 SLS1 monitored The SLS1 function is monitored. 18 SLS2 monitored The SLS2 function is monitored. (from SM301 V1.1) 19 SLS3 monitored The SLS3 function is monitored. (from SM301 V1.1) 20 SLS4 monitored The SLS4 function is monitored. (from SM301 V1.1) 21 SDIpos is monitored The SDIpos function is active, the compliance with the direction of

22 SDIneg is monitored The SDIneg function is active, the compliance with the direction of

23 SSE active The SSE function is monitored.

24 SD−In1 Sensor at I1A and I1B Channels A and B are in the ON state 25 SD−In2 Sensor at I2A and I2B Channels A and B are in the ON state 26 SD−In3 Sensor at I3A and I3B Channels A and B are in the ON state 27 SD−In4 Sensor at I4A and I4B Channels A and B are in the ON state 29 OMS active Special operation is not active. (from SM301 V1.1) 31 Error active Error status (i.e trouble or warning) is active.

Tab. 1−12 Detailed specification of the PROFIsafe input data

operation. This bit is also set at the end of the stopping time by SS1.

At the end of the function the STO bit is set.

At the end of the function the SOS bit is set.

When the braking time has elapsed, the SLS1_monitored bit is set additionally.

When the braking time has elapsed, the SLS2_monitored bit is set additionally.

When the braking time has elapsed, the SLS3_monitored bit is set additionally.

When the braking time has elapsed, the SLS4_monitored bit is set additionally.

After the deceleration time has expired, bit 21 (SDIpos monitored) is set in addition.

After the deceleration time has expired, bit 22 (SDIneg monitored) is set in addition.

0: ES function in special operation is not active: Stop function

0: normal operation

movement is monitored.

When the stopping time has elapsed, the STO or SS1 bit is set according to the emergency stop function parameterised.

(From SM301 V1.1 onwards)

(As of SM301 V1.3)

EDS94AYAE EN 7.0



Page 98

Safety engineering

Safe bus interfaces PROFIsafe connection

Status byte

For the PROFIsafe V1 mode only the indicated bits of the PROFIsafe status byte are supported:

Assignment Bit

Byte 7 6 5 4 3 2 1 0

4 − − − FV_activated COM−Failure WD-Timeout COM−Failure CRC − −

Tab. 1−13 Structure of the PROFIsafe status byte in V1 mode

Bit coding − status byte

Bit Name Description

2 COM−Failure CRC Status after communication error is active. 3 COM−Failure

WD-Timeout

4 FV_activated The PROFIsafe input data is deactivated.

− Reserved for future extensions

Tab. 1−14 Detailed specification of the status byte in V1 mode

Status after time−out is active.

For the PROFIsafe V2 mode only the indicated bits of the PROFIsafe status byte are supported:

Assignment Bit

Byte 7 6 5 4 3 2 1 0

4 − cons_nr_R Toggle_d FV_activated WD_timeout CE_CRC − −

Tab. 1−15 Structure of the PROFIsafe status byte in V2 mode

Bit coding − status byte

Bit Name Description

2 CE_CRC Status after communication error is active. 3 WD_timeout Status after time−out is active. 4 FV_activated The PROFIsafe input data is deactivated. 5 Toggle_d Change shows increase of the consecutive number. 6 cons_nr_R Consecutive number has been reset.

− Reserved for future extensions

Tab. 1−16 Detailed specification of the status byte in V2 mode



EDS94AYAE EN 7.0

Page 99

Safety engineering

Safe bus interfaces

PROFIsafe connection

PROFIsafe parameters

These PROFIsafe parameters and contents are supported:

PROFIsafe parameters

Name Description Valid contents

F_Source_Add PROFIsafe source address of the safety PLC 0x01 ... 0xFFFE F_Dest_Add

F_WD_Time PROFIsafe monitoring time of the safety module 110 ... 65535 ms F_Check_SeqNo

F_Check_iPar Check iparameters CRC3 in CRC 0 F_SIL

F_CRC_Length

F_Block_ID Identification of the parameter type 0 F_Par_Version

F_Par_CRC Cyclic CRC Is calculated

Tab. 1−17 Supported PROFIsafe parameters

PROFIsafe target address of the safety module

Check sequence no. in CRC

Supported SIL (Safety Integrity Level)

Length of CRC

Version of the safety layer

DIP switch:

Code:

V1 mode: V2 mode:0not relevant

SIL1: SIL2: SIL3:

V1 mode/2−byte−CRC: V2 mode/3−byte−CRC:10

V1 mode: V2 mode:01

0x01 ... 0x03FF 0x01 ... 0xFFFE

0 1 2

Diagnostic messages

Incorrect configurations of the PROFIsafe parameters are reported to the safety PLC by means of a diagnostic telegram ( PROFIBUS or PROFINET Communication Manual).

Diagnostic information

Error number Description

64 The PROFIsafe target address set does not comply with the parameter F_Dest_Add. 65 The F_Dest_Add parameter has the invalid value 0x0000 or 0xFFFF. 66 The F_Source_Add parameter has the invalid value 0x0000 or 0xFFFF. 67 The F_WD_Time parameter has the invalid value 0 ms. 68 The F_SIL parameter does not have the valid value 0 ... 2. 69 The F_CRC_Length parameter does not have the valid value 1. 70 The version of the PROFIsafe parameter set is wrong. 71 CRC1 error

Tab. 1−18 Information contents of byte 11

More error messages are listed in the appendix.

EDS94AYAE EN 7.0



Page 100

Safety engineering

Safe bus interfaces PROFIsafe connection

GSE file

The GSE file contains all information on the configuration of the PROFIBUS system. This makes the integration easy and user−friendly.

 Tip!

You will find the current GSE file for this Lenze product in the Internet in the "Downloads" area under

http://www.Lenze.com

GSDML file

The GSDML file contains all information on the configuration of the PROFINET system

of SM301 V1.1)

. This makes the integration easy and user−friendly.

 Tip!

You will find the current GSDML file for this Lenze product on the Internet in the "Downloads" area under

http://www.Lenze.com

(As

100



EDS94AYAE EN 7.0