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DFS11B
User Manual
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SEW Eurodrive DFS11B User Manual

Gearmotors \ Industrial Gear U nits \ Dri ve Ele ctroni cs \ Dr ive Aut omat ion \ Servi ces
Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
Edition 09/2007
11478217 / EN
M
anual
SEW-EURODRIVE – Driving the world
1 Important Notes...................................................................................................... 6
1.1 Explanation of symbols.................................................................... ... .... ... ... . 6
1.2 Integral part of the product............................................................................. 6
1.3 Documentation reference................. ... ... ............................................. ........... 6
1.4 Liability for defects .... ... .... ... ............................................. .............................. 7
1.5 Product names and trademarks.................................... ... ... .... ... ... ................. 7
1.6 Waste disposal............................................................................................... 7
2 Safety Notes ................ ... ... ... .... ............................................. ................................. 8
2.1 Preliminary information .................................................................................. 8
2.2 General safety notes...................................................................................... 8
2.2.1 General safety notes for bus systems ................................................. 8
2.3 Transport / storage......................................................................................... 8
2.4 Installation / assembly................................ ... ... ............................................. . 9
2.5 Startup / operation ......................................................................................... 9
3 Introduction .......................................................................................................... 10
3.1 Content of this manual ................................................................................. 10
3.2 Additional documentation.................... ... .... ... ... ... ......................................... 10
3.3 Features....................................................................................................... 11
3.3.1 MOVIDRIVE
®
, MOVITRAC®B and PROFIBUS ............................... 11
3.3.2 Access to all information ............................. ....... ... ... .... ... ... ... ... .... ... .. 11
3.3.3 Cyclical and acyclical data exchange via PROFIBUS DP ................ 11
3.3.4 Acyclical data exchange via PROFIBUS DP-V1 ...... .... ... ... ... ... .... ... .. 11
3.3.5 Configuring the PROFIBUS option card ........................................... 12
3.3.6 Monitoring functions .......................................................................... 12
3.3.7 Diagnostics ....................................................................................... 13
3.3.8 Fieldbus monitor ............................................................................... 13
4 Integrated Safety Technology............................................................................. 14
4.1 Safety concept for PROFIsafe fieldbus interfaces ....................................... 14
®
4.2 Safety concept for MOVIDRIVE
and MOVITRAC®.................................... 15
4.2.1 Limitations ......................................................................................... 15
4.2.2 Schematic representation of the safety concept taking MOVIDRIVE
®
MDX61B as example ................................................. 16
5 Safety Conditions.................................. ... ... ... ............................................. ......... 1 7
5.1 Requirements on the installation.................................................................. 17
5.1.1 F-DO connection ............................................................................... 17
5.1.2 24 V voltage supply .......................................................................... 17
6 Assembly and Installation Instructions ............................................................. 18
®
6.1 Installing the DFS11B option card in MOVIDRIVE
MDX61B..................... 18
6.1.1 Before you start ................................................................................ 19
6.1.2 Installing and removing option cards ................................................ 20
6.2 Installing the DFS11B option card in MOVITRAC
®
B.................................. 21
6.2.1 SBus connection for individual unit ................................................... 21
6.2.2 System bus connection ..................................................................... 23
6.3 Assembling and installing the UOH11B gateway housing........................... 25
6.4 Connection and terminal description of the DFS11B option ........................ 26
6.5 Wiring diagram for safe technology.............................................................. 27
6.5.1 Wiring of individual MOVIDRIVE
6.5.2 Group connection of MOVIDRIVE
®
MDX61B and MOVITRAC® B .... 27
®
MDX61B and MOVITRAC® B .. 29
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe®
3
6.6 PROFIBUS pin assignment.......................................................................... 31
6.6.1 Connecting MOVIDRIVE
®
/ MOVITRAC®B / PROFIBUS ............... 31
6.6.2 Baud rates greater than 1.5 MBaud .................................................. 31
6.7 Shielding and routing bus cables................................................................. 32
6.8 Bus termination............................................................................................ 32
6.9 Setting the station address . ... ... .... ............................................. .................. 33
6.10 Operation indicators of the DFS11B option.................................................. 34
6.10.1 PROFIBUS LEDs ................. ... ... .... ...... ... ... .... ... ... ... .... ... ... ... ... .... ... .. 34
7 Project Planning and Startup.............................................................................. 36
7.1 Validity of the GSD files for DFS11B............................................................ 36
7.2 Project planning of PROFIBUS / P ROFIs afe with MOVIDRIVE
®
GSD file.. 36
7.2.1 GSD file for PROFIBUS DP-V1 ............ ... ... .... ... ... ... .... ... ... ... ... .... ... .. 36
7.2.2 Project planning procedure ............................................................... 37
7.2.3 DP configurations for MOVIDRIVE
7.3 Project planning for DP master with MOVITRAC
7.3.1 GSD file for operation in MOVITRAC
®
MDX61B .................................. 38
®
or gateway GSD file...... 41
®
B and UOH11B
gateway housing ............................................................................... 41
7.3.2 PROFIBUS DP master startup .......................................................... 42
7.3.3 Configuring the PROFIBUS DP interface ......................................... 43
7.3.4 Operating mode (DP-V1 mode) ........................................................ 46
7.3.5 Auto setup for gateway operation ............................................ .... ... .. 47
7.4 Setting the MOVIDRIVE
®
MDX61B drive inverter ....................................... 49
7.5 Setting the MOVITRAC® B frequency inverter............................................ 50
7.6 Project planning of PROFIsafe with STEP7.................. ... ... .... ... ... ............... 52
7.6.1 Hardware structure ........................................................................... 52
7.6.2 Installing the GSD file ....................................................................... 53
7.6.3 Configuring the DFS in HW Config ................................................... 54
7.6.4 Project planning for a new configuration ......................... .................. 55
7.6.5 Setting the parameters of the PROFIsafe properties ........................ 56
7.6.6 Description of the F-parameters ....................................................... 56
7.6.7 Safety diagnostics using PROFIBUS DP .......................................... 58
7.6.8 Response times of PROFIsafe option DFS ...................................... 60
7.7 Procedure for starting up DFS11B with MOVIDRIVE® MDX61B ................ 61
7.7.1 Preliminary work ............................................................................... 61
7.7.2 Switch on MOVIDRIVE® MDX61B with DC 24 V or AC 400 V ........ 62
7.8 Procedure for starting up DFS11B with MOVITRAC® B (gateway)............. 64
7.8.1 Preliminary work ............................................................................... 64
7.8.2 Switch on the units with DC 24 V or AC 400 V ................................. 64
8 PROFIBUS DP operating characteristics........................................................... 67
8.1 Data exchange with the DFS11B option...................................................... 67
8.1.1 Mapping the DFS in the address range of the PLC .......................... 68
8.1.2 F periphery DB of PROFIsafe option DFS ........................................ 69
8.2 Controlling the MOVIDRIVE
®
MDX61B drive inverter ..................... ... .... ... .. 71
8.2.1 Control example for SIMATIC S7 with MOVIDRIVE
®
8.2.2 PROFIBUS DP timeout (MOVIDRIVE
8.2.3 Fieldbus timeout response (MOVIDRIVE
®
8.3 Controlling the MOVITRAC
B inverter (gateway)....................................... 73
MDX61B) ............................ 72
®
MDX61B) ....................... 72
8.3.1 Control example for SIMATIC S7 with MOVITRAC
8.3.2 SBus timeout .................................................................................... 74
8.3.3 Unit error ........................................................................................... 74
8.3.4 Fieldbus timeout of the DFS11B in gateway operation ..................... 75
8.4 SIMATIC S7 example program .................................................................... 75
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Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe®
®
MDX61B ....... 72
®
B (gateway) .... 74
8.5 Parameter setting via PROFIBUS DP.......................................................... 76
8.5.1 Structure of the 8 byte MOVILINK
®
parameter channel ................... 76
8.5.2 Reading a parameter via PROFIBUS DP (READ) ............................ 79
8.5.3 Writing a parameter via PROFIBUS DP (WRITE) ............................ 80
8.5.4 Parameter setting procedure with PROFIBUS DP ............................ 81
8.5.5 Parameter data format ...................................................................... 81
8.5.6 Return codes for parameterization .................................................... 82
8.5.7 Special cases .................................................................................... 83
9 PROFIBUS DP-V1 Functions............................................................................... 85
9.1 Introduction to PROFIBUS DP-V1 ................................... ... ......................... 85
9.1.1 Class 1 master (C1 master) .............................................................. 86
9.1.2 Class 2 master (C2 master) .............................................................. 86
9.1.3 Data sets (DS) .................................................................................. 86
9.1.4 DP-V1 services ................................................................................. 87
9.1.5 DP-V1 alarm handling ....................................................................... 87
9.2 Characteristics of SEW inverters ........................... .... ... ... ............................ 88
9.3 Structure of the DP-V1 parameter channel.................................................. 89
9.3.1 Procedure for setting parameters via data set 47 ............................. 91
9.3.2 DP-V1 master processing sequence ................................................ 92
9.3.3 Addressing connected inverters ........................................................ 93
9.3.4 MOVILINK
®
parameter requests ...................................................... 93
9.3.5 PROFIdrive parameter orders ........................................................... 98
9.4 Configuring a C1 master ............................................................................ 103
9.4.1 Operating mode (DP-V1 mode) ...................................................... 103
9.4.2 Example program for SIMATIC S7 ................................................. 104
9.4.3 Technical data DP-V1 for MOVIDRIVE
9.4.4 Technical data DP-V1 for the gateway operation and MOVITRAC
®
...................................... .......................................... ... 109
®
DFS11B .......................... 109
9.4.5 Error codes of the DP-V1 services .................. ... ... .......................... 110
®
10 Operating MOVITOOLS
MotionStudio via PROFIBUS.................................. 111
10.1 Introduction ................................................................................................ 111
10.2 Required hardware .................................................................................... 112
10.3 Required software...................................................................................... 112
10.4 Installation.................................................................................................. 112
10.5 Configuring SIMATIC NET......................................................................... 113
10.6 Configuring the SEW communication service............................................ 116
10.6.1 Establishing communication ........................................................... 116
10.6.2 Procedure .................................. ............................................. ....... 117
10.7 Known problems when operating MOVITOOLS
®
MotionStudio ................ 119
11 Fault Diagnosti cs ................. .... ... ... ............................................. ....................... 120
11.1 Diagnostic procedures ............................................................................... 120
11.2 Error list in gateway operation.................................................................... 123
11.3 Error table PROFIsafe option DFS11B...................................................... 124
12 Technical Data.................................................................................................... 125
12.1 DFS11B option for MOVIDRIVE
12.2 DFS11B option for MOVIT RA C
12.3 DFS11B safety part for MOVIDRIVE
®
MDX61B............................................... 125
®
B and gateway housing UOH11B.......... 126
®
MDX61B and MOVITRAC® B ....... 127
13Index.................................................................................................................... 128
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe®
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1
Important Notes
Explanation of symbols
1 Important Notes
Manual
1.1 Explanation of symbols
Always observe the safety and warning information in this documentation.
Electrical hazard
Possible consequences: Severe or fatal injuries.
Hazard.
Possible consequences: Severe or fatal injuries.
Hazardous situation
Possible consequences: Slight or minor injuries.
Harmful situation
Possible consequences: Damage to the unit and the environ­ment.
Tips and useful information.
1.2 Integral part of the product
The manual is a component of the DFS11B PROFIBUS DP-V1 fieldbus interface and contains important information for operation and service.
1.3 Documentation reference
• You must adhere to the information in the documentation to ensure:
• Fault-free operation
• Fulfillment of any rights to claim under limited warranty
• Consequently, read through this manual carefully before you start installation and startup of inverters with the DFS11B PROFIBUS option card.
• This manual assumes that the user has access to and is familiar with the MOVIDRIVE MDX60B / 61B and MOVI TR AC® B system manuals.
®
and MOVITRAC® documentation, in particular the MOVIDRIVE
®
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Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
1.4 Liability for defects
Incorrect handling or undertaking any action that is not specified in this manual could impair the properties of the product. In this case, you lose any right to claim under limited warranty against SEW-EURODRIVE GmbH & Co KG.
1.5 Product names and trademarks
The brands and product names named in these operating instructions are trademarks or registered trademarks of the titleholders.
1.6 Waste disposal
Please follow the current national regulations.
Dispose of the following materials separately in accordance with the country-specific regulations in force, as:
• Electronics scrap
• Plastics
• Sheet metal
• Copper etc.
Important Notes
Liability for defects
1
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
7
2
Safety Notes
Preliminary information
2 Safety Notes
• You are only allowed to perform installation and startup of the DFS11B field-
2.1 Preliminary information
The following safety notes apply to the DFS11B PROFIBUS DP-V1 fieldbus inter­face.
Please also consider the supplementary safety notes in the indiv idual sections of this manual.
bus interface when observing applicable accident prevention regulations and the MOVIDRIVE® MDX60B / 61B and MOVITRAC® B operating instructions.
2.2 General safety notes
Never install damaged products or take them into operation.
Submit a complaint to the shipping company immediately in the event of damage.
2.2.1 General safety notes for bus systems
The communication system allows you to adjust the MOVIDRIVE®/ MOVITRAC inverters to your specific application very accurately. As with all bus systems, there is
a risk of invisible, external (as far as the inverter is concerned) modifications to the parameters which give rise to changes in the inverter behavior. This may result in unexpected (not uncontrolled) system behavior.
2.3 Transport / storage
Inspect the shipment for any damage that may have occurred in transit as soon as you receive the delivery. Inform the shipping company immediately in the event of a damage. Do not operate the product if it is damaged.
Use suitable, sufficiently rated handling equipment if necessary.
®
Possible damage caused by incorrect storage!
Store the unit in a dry, dust-free room if it is not to be installed straight away.
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Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
2.4 Installation / assembly
Observe the notes in section 6, "Assembly and Installation Notes".
2.5 Startup / operation
Observe the notes in section 7, "Project Planning and Startup."
Safety Notes
Installation / assembly
2
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
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3
Introduction
Content of this manual
3 Introduction
3.1 Content of this manual
This user manual describes
• How to install the PROFIBUS / PROFIsafe
• How to use the PROFIBUS / PROFIsafe
• How to start up MOVIDRIVE
• How to start up MOVITRAC
• How to configure the PROFIBUS using GSD files.
• How to configure PROFIsafe
• How to operate MOVITOOLS
®
DFS11B option card in the
MOVIDRIVE
®
MDX61B drive inverter.
®
DFS11B option card in the MOVITRAC®B
frequency inverter and in the UOH11B gateway housing.
®
with the PROFIBUS fieldbus system.
®
B with the PROFIBUS gateway.
®
.
®
MotionStudio via PROFIBUS.
3.2 Additional documentation
For information on how to connect MOVIDRIVE® / MOVITRAC® straightforwardly and effectively to the PROFIBUS fieldbus system, you should request the following publica­tions about fieldbus technology in addition to this user manual about the PROF IBUS option:
®
•MOVIDRIVE
•MOVITRAC
•MOVIDRIVE
• Manuals on MOVITRAC
• Safe Disconnection for MOVIDRIVE
The manual for the MOVIDRIVE manual describe the fieldbus parameters and their coding, as well as explains th e whole range of various control concepts and application optio ns in the for m of brie f exampl es.
The 'Fieldbus Unit Profile and Parameter List' for MOVIDRIVE of all drive inverter parameters. These parameters can be read and written via the vari­ous communication interfaces, such as system bus, RS-485, and fieldbus interface.
Fieldbus Unit Profile manual
®
B system manual
®
MDX61B system manual
®
B safe disconnection
®
MDX60B/61B manual
®
Fieldbus Unit Profile and MOVITRAC® B system
®
manual contains a list
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Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
3.3 Features
Introduction
Features
With the DFS11B option and its powerful universal fieldbus interface, the MOVIDRIVE MDX61B drive inverter and the MOVITRAC® B frequency inverter allow for a connection to higher-level automation systems via PROFIBUS / PROFIsafe
®
.
3
®
3.3.1 MOVIDRIVE
3.3.2 Access to all information
3.3.3 Cyclical and acyclical data exchange via PROFIBUS DP
®
, MOVITRAC®B and PROFIBUS
The unit behavior of the inverter which forms the basis of PROFIBUS operation is referred to as the unit profile. It is independent of any particular fieldbus and is therefore a uniform feature. This feature allows the user to develop fieldbus-indepen dent applica­tions. This makes it much easier to change to other bus systems, such as DeviceNet.
MOVIDRIVE functions via the PROFIBUS interface. The drive inverter is controlled via fast, cyclic pro­cess data. Via this process data channel, you can enter setpoints such as the setpoint speed, ramp generator time for acceleration/deceleration, etc. as well as trigger various drive functions such as enable, control inhibit, normal stop, rapid stop, etc. At the same time you can also use this channel to read back actual values from the drive inverter, such as actual speed, current, unit status, error number or reference signals.
®
MDX61B / MOVITRAC® B offer digital access to all drive parameters and
While process data exchange usually takes place cyclically, drive parameters can be read and written acyclically via functions such as READ or WRITE or via the MOVILINK ment applications in which all the important drive parameters are stored in the maste r programmable controller, so that there is no need to make parame ter settings manually on the drive inverter itself.
3.3.4 Acyclical data exchange via PROFIBUS DP-V1
The PROFIBUS DP-V1 specification introduced new acyclical READ / WRITE services as part of the PROFIBUS DP expansions. These acyclical services are added to the current cyclical bus operation in special telegrams to ensure compatibility of PROFIBUS DP and PROFIBUS DP-V1.
®
parameter channel. This parameter data exchange enables you to imple-
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
11
3
EURODRIVE
Introduction
Features
3.3.5 Configuring the PROFI BUS opt io n card
Generally, the PROFIBUS option card has been designed so that all fieldbus-specific settings, such as the station address and the default bus parameter can be made using hardware switches on the option card. This manual setting means the drive inverter can be integrated into the PROFIBUS environment and switched on within a very short pe­riod of time.
[1]
PROFIBUS Master
B
®
EURODRIVEEURODRIVE
MOVITRAC
Figure 1: PROFIBUS with MOVIDRIVE® and MOVITRAC
[1] Visualization
3.3.6 Monitoring functions
Using a fieldbus system requires additional monitoring functions for the drive technolo­gy, for example, time monitoring of the fieldbus (fieldbus timeout) or rapid stop concepts. You can, for example, adapt the monitoring functions of MOVIDRIVE specifically to your application. You can determine, for instance, which of the drive inverter’s error responses should be triggered in the event of a bus error. A rapid stop is useful for many applications. You can also 'freeze' the last setpoints so the drive contin­ues operating with the most recently valid setpoints (for ex ample, conveyor belt). As the range of functions for the control terminals is also guara nteed in fieldbus mode, yo u can continue to implement rapid stop concepts using the terminals of the drive inverter, irre­spective of the fieldbus used.
Digital I/O Analog I/O
PROFIBUS
B
®
MOVIDRIVE
®
B
®
MOVIDRIVE
58687AXX
®
/ MOVITRAC
®
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Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
3.3.7 Diagnostics
Introduction
Features
3
The MOVIDRIVE numerous diagnostics options for startup and service. For example, you can use the integrated fieldbus monitor to control setpoint values sent from the higher-level control­ler as well as the actual values.
3.3.8 Fieldbus monitor
Furthermore, you are supplied with a variety of additional information about the status of the fieldbus interface. The fieldbus monitor in conjunction with the MOVITOOLS addition to setting all drive parameters (including the fieldbus parameters), the tool dis­plays the fieldbus and unit status information in detail.
®
drive inverter and the MOVITRAC® B frequency inverter offer you
®
MotionStudio PC software offers you an easy-to-use diagnostic tool. In
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
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4
Integrated Safety Technology
Safety concept for PROFIsafe fieldbus interfaces
4 Integrated Safety Technology
4.1 Safety concept for PROFIsafe fieldbus interfaces
• Within the DFS.. PROFIsafe interface, PROFIsafe fieldbus interfaces are equipped with an integrated safety-oriented electronics components with a failsafe output (F­DO). The safety concept of this component is based on a safe status for all safety­oriented process variables. For this PROFIsafe interface DFS.., this is the value "0" for the F-DO output.
• The following requirements are fulfilled by means of a 2-channel redundant system structure of the safety component with suitable monitoring mechanisms:
• SIL3 according to EN 61508
• Category 4 according to EN 954-1
• Performance level e according to EN ISO 13849-1 When the system detects a fault, the system responds by reverting to a safe status.
This makes the safety function available in the form of a failsafe input connected to a higher-level safety control via the PROFIsafe communication. The safe output on the safety component of the DFS interface is neither evaluated locally nor processed logically.
• The safe output F-DO can be used to disabl e the 24 V input "Safe stop" at X17 of the MOVIDRIVE Refer to the safety concept described in the following for MOVIDRIVE installation instructions in this manual.
®
/MOVITRAC® inverter and in this way safely disconnects the drive.
®
/MOVITRAC® inverters as well as all safety notes, requirements and
Important: The safety function of MOVIDRIVE® / MOVITRAC® is only permitted for applica-
tions up to category 3 according to EN 954-1.
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Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
Integrated Safety Technology
Safety concept for MOVIDRIVE® and MOVITRAC®
4
4.2 Safety concept for MOVIDRIVE® and MOVITRAC
• In case of danger, any potential risk to a machine must be eliminated as quickly as possible. Standstill with restart prevention is generally the safe condition for prevent­ing dangerous movements.
• The MOVIDRIVE the optional connection of an external fail-safe, approved emergency stop relay (according to safety category 3, EN 954-1). The emergency stop relay disconnects all active elements (disconnection of the safety oriented 24 V power supply of the output stage control) that generate the pulse trains to the power output stage (IGBT) when a connected control device (E-STOP butto n with latching function) is activated.
• Disconnecting the 24 V at the positive and negative poles ensures that the supply voltages required for operating the inverter and consequently for generating a rotat­ing field of pulse patterns (w hich allow the generation of a rotating field) are s afely interrupted. Automatic restart is prevented in this way.
• Instead of galvanic separation of the drive from the power supply by means of relays or switches, the disconnection of the 24 V supply described here safely prevents the control of the power semiconductors in the drive inverter. This process disconnects the rotating field generation for the respective motor. The individual motor cannot develop any torque in this state even though the mains voltage is still present.
• The requirements for the emergency stop relay are clearly defined in the following sections and must be strictly observed.
®
MDX61B and MOVITRAC® B drive inverters are characterized by
®
4.2.1 Limitations
Using a suitable external circuit via an emergency stop relay with
– Approval for at least safety category 3 – Disconnection for at least safety category 3
allows for operating the MOVIDRIVE® MDX61B and MOVITRAC® B drive invert­ers with safe disconnection according to stop category 0 or 1 (to EN 60204-1) and ensures protection against restart according to safety category 3 (to EN 954-1).
• If the DC 24 V link voltage is safely disconnected at the positive pole only, no test pulses must be applied to this pole in disconnected condition.
• Important: The safety concept is only suitable for performing mechanic al work on system/machine components.
• Important: A system/machine-specific risk analysis must be carried out by t he system/machine manufacturer and taken into account for operation of the MOVIDRIVE
• Danger of fatal injury: When the 24 V voltage supply is disconnected, mains supply voltage is still present on the drive inverter’s DC link.
• Important: If work is carried out on the electrical section of the drive system, the supply voltage must be disconnected using an external maintenance switch.
®
MDX 61B and MOVITRAC®B inverters.
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
15
4
Integrated Safety Technology
Safety concept for MOVIDRIVE® and MOVITRAC®
4.2.2 Schematic representation of the safety concept taking MOVIDRIVE® MDX61B as example
Uz+
Uz-
CAN
RS485
Binary
IN
Binary
OUT
Analog
IN
Analog
OUT
[1]
SNT
HV
[17]
[14] [13 ]
24V
int.
24V ext.
SNT
NV
[16]
24V
int.
24V ext./ 24V int.
[2]
[15]
24V
GND
[5]
[6]
[7]
[8]
[10]
PWM
S24V
S0V24
[4]
GND
S0V24
SNT
[9]
Uz+
[3]
24V
MOVIDRIVE
24
I V S
®
B
[11]
M
Uz-
[12]
L1L2 L3
61519AXX
Figure 2: Schematic representation of the "safety concept for MOVIDRIVE® MDX61B"
[1] High voltage switched-mode power supply [2] Low voltage switched-mode power supply [3] Emergency stop relay (external) approved for at least category 3 according to EN 954-1 [4] Safety-oriented 24 V voltage supply [5] Safety switched-mode power supply (SNT) [6] Galvanic isolation [7] Safety circuit [8] Feedback to the central processing unit: Voltage supply for output stage control OK (not in safety circuit) [9] Voltage supply for control of the power transistors [10] 24 V safety switched-mode power supply disconnected / brake applied (not in safety circuit) [11] Motor [12] Power section [13] Temperature detection [14] Position sensing [15] Pulse width modulated signals for output stage [16] Central processing unit [17] Fieldbus interface
This representation also applies to MOVITRAC®B.
16
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
5 Safety Conditions
For information on the safety-relevant conditions, refer to the following documents:
•"MOVIDRIVE
•"MOVITRAC
5.1 Requirements on the installation
5.1.1 F-DO connection
• The maximum current load of the F-DO safety-related binary output is DC 1 A.
• The safety-related binary output is 2-pole, designed as P-M switch, and controlled via PROFIsafe
• Actuators must generally be connected with the safe output F -DO with a 2-pole con­nection between the P switch output and the M switch output (F-DO_P and F­DO_M).
• It is not permitted to make a 1-pole connection between F-DO_P and the GND refer ­ence potential as doing so would cause an error as soon as the output is controlled.
• Internal testing of the safe output is cyclical. However, when decoupling takes place, the test pulses at the connection terminals are not visible and need not be taken into account during operation.
®
MDX60B / 61B Safe Disconnection – Conditions" manual
®
B Safe Disconnection – Conditions" manual
®
by a higher-level safety control.
Safety Conditions
Requirements on the installation
5
5.1.2 24 V voltage supply
The 24 V supply voltage(s) of the DFS11B and all stations connected to the fieldbus must be designed as safety extra-low voltage. The voltage must lie within the limits defined in the technical data. Besides, the following voltage values must not be exceeded if a fault occurs (according to EN 60950): Max. DC 60 V, max. DC 120 V for 200 ms.
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
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6
Assembly and Installation Instructions
Installing the DFS11B option card in MOVIDRIVE® MDX61B
6 Assembly and Installation Instructions
This section contains information about assembly and installation of the DFS11B option
®
card in MOVIDRIVE
MDX61B, MOVITRAC® B and UOH11B gateway housing.
6.1 Installing the DFS11B option card in MOVIDRIVE® MDX61B
Only SEW-EURODRIVE engineers may install or remove option cards for MOVIDRIVE ® MDX61B.
• Users may only install or remove option cards for MOVIDRIVE 1 to 6.
• Plug the DFS11B option card into the fieldbus slot [1].
DFS11B
FSR FDOBF FDO
[1]
12 34 56
F-ADDRESS X31
01
X30
2 2 2 2
2 2 2
AS
LS PS
0
2
1
2
2
2
3
2
4
2
5
2
6
2
7
2
8
2
9
2
5
9
6
1
0 1 2 3
4 5 6
01
®
MDX61B sizes
62268AXX
[1] Fieldbus slot
18
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
Installing the DFS11B option card in MOVIDRIVE® MDX61B
6.1.1 Before you start
The DFS11B option card must be plugged in the fieldbus slot.
Observe the following notes before installing or removing an option card:
• Disconnect the inverter from the power. Switch off the DC 24 V and the supply
• Take appropriate measures to protect the option card from electrostatic charge (use
• Before installing the option card, remove the keypad and the front cover.
• After installing the option card, replace the front cover and the keypad.
• Keep the option card in its original packaging until imm ediately before you ar e ready
• Hold the option card by its edges only. Do not touch any components.
Assembly and Installation Instructions
voltage.
discharge strap, conductive shoes, and so on) before touching it.
to install it.
6
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
19
6
6.1.2 Installing and removing option cards
Assembly and Installation Instructions
Installing the DFS11B option card in MOVIDRIVE® MDX61B
1.
2.
3.
4.
Figure 3: Installing an option card in MOVIDRIVE® MDX61B sizes 1 to 6
1. Remove the two retaining screws holding the card retaining bracket . Pull the card retaining bracket out evenly from the slot (do not twist !).
2. Remove the two retaining screws of the black cover on the card retaining bracket. Remove the black cover.
3. Position the option card onto the retaining bracket so that the three retaining screws fit into the corresponding bores on the card retaining bracket.
4. Insert the retaining bracket with installed option card into the slot, pressing slightly so it is seated properly. Secure the card retaining bracket with the two retaining screws.
5. To remove the option card, follow the instructions in reverse order.
53001AXX
20
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
Assembly and Installation Instructions
Installing the DFS11B option card in MOVITRAC® B
6.2 Installing the DFS11B option card in MOVITRAC® B
•MOVITRAC® B does not require special firmware status.
• Only SEW-EURODRIVE engineers are allowed to install or remove option cards for MOVITRAC
6.2.1 SBus connection for individual unit
[1]
®
B.
MOVITRAC® B
DFS11B
FSR FDOBF
FDO
12
LS
34 56
PS
0
2
1
2
2
2
3
2
4
2
5
F-ADDRESS X31
01
2
6
2
7
2
8
2
9
2
X44
S1
S2
ON OFF
6
5
9
X30
6
1
0
2
1
2
2
2
3
2
4
2
5
2
6
2
AS
01
H1
H2
X24
X26
1234567
24V
FSC11B
X46
X45
7
23456HL^
1
X12
1 2 3
+
=
-
24V IO GND
4 5 6 7 8 9
61085AXX
[1] Terminating resistor activated, S1 = ON
The DFS11B features an integrated SBus terminating resistor and must therefore always be installed at the beginning of the SBus conne ctio n.
The address of the DFS11B option card is always 0.
X46 X26 Description
X46:1 X26:1 SC11 SBus +, CAN high X46:2 X26:2 SC12 SBus –, CAN low
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
21
6
Assembly and Installation Instructions
Installing the DFS11B option card in MOVITRAC® B
X46 X26 Description
X46:3 X26:3 GND, CAN GND X46:7 X26:7 DC 24 V
X12 Description
X12:8 +24 V input X12:9 GND reference potential for the binary inputs
X31 Description
X31:1 Safe output F_DO_M X31:2 Safe output F_DO_P X31:3 Supply of the safe output GND X31:4 Supply of the safe output 24V_LS X31:5 Power supply to control electronics GND X31:6 Power supply to control electronics 24V_PS
Description of the LEDs LED Meaning
R RUN – Component status (green) BF BUS FAULT – Bus status (red, if a fault occurs, else disabled) FS Status of the safety option (green during standard operation) FDO Status of the safe output (orange)
To simplify cabling, the DFS11B can be supplied with DC 24 V from X46.7 of the
®
MOVITRAC MOVITRAC
to X26.7.
®
B must be supplied with DC 24 V at terminals X12.8 and X12.9 when it
supplies the DFS11B option.
The line length of the supply voltages 24V_LS and 24V_PS must not exceed 30 m.
22
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
Installing the DFS11B option card in MOVITRAC® B
6.2.2 System bus connection
MOVITRAC® B
S1
S2
ON OFF
X44
FSC11B
X46
X45
7
23456HL^
1
X12
1 2 3 4 5 6 7 8 9
24V
+
=
-
24V IO GND
DFS11B
FSR FDOBF
FDO
12
LS
34 56
PS
0
2
1
2
2
2
3
2
4
2
5
2
6
F-ADDRESS X31
2
7
2
8
2
9
2
01
5
9
X30
6
1
0
2
1
2
2
2
3
2
4
2
5
2
6
2
AS
01
H1
H2
X24
X26
1234567
Assembly and Installation Instructions
MOVITRAC® B
S1
ON OFF
X44
FSC11B
X46
X45
23456HL ^
1
S2
7
MOVITRAC® B
S1
X44
FSC11B
X45
1
X46
23456HL ^
6
S2
ON OFF
7
Figure 4: System bus connection
DFS Description
GND System bus reference SC11 System bus high SC12 System bus low
MOVITRAC® B Description
GND System bus reference SC22 System bus low, outgoing SC21 System bus high, outgoing SC12 System bus low, incoming SC11 System bus high, incoming S12 System bus terminating resistor
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
61051AXX
23
6
Assembly and Installation Instructions
Installing the DFS11B option card in MOVITRAC® B
Please note:
• Use a 2 x 2-core twisted pair and shielded copper cable (data transmission cable with braided copper shield). Connect the shield flatly on both sides of the electronics shield clamp of MOVITRAC must meet the following specifications:
– Core cross section 0.75 mm – Line resistance 120 Ω at 1 MHz – Capacitance per unit length ≤ 40 pF/m at 1 kHz
• The permitted total cable length depends on the baud rate setting of the SBus: – 250 kBaud: 160 m
– 500 kBaud: 80 m – 1000 kBaud: 40 m
• Connect the system bus terminating resistor (S1 = ON) at the end of the system bus connection. Switch off the terminating resistor on the other units (S1 = OFF). The DFS11B gateway must always be connected either at the beginning o r the end of the system bus connection and have a permanently installed terminating resistor.
®
. Also connect the ends of the shield to GND. The cable
2
• There must not be any potential displacement between the units connected with the SBus. Take suitable measures to avoid potential displacement, such as connecting the unit ground connectors using a separate cable.
• Point-to-point wiring is not permitted.
24
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
Assembly and Installation Instructions
V
Assembling and installing the UOH11B gateway housing
6.3 Assembling and installing the UOH11B gateway housing
UOH11B
DFS11B
12 34 5
F-ADDRESS X31
01
X30
6
FSR FDOBF
FDO LS
6
PS
0
2
1
2
2
2
3
2
4
2
5
2
6
2
7
2
8
2
9
2
5
9
6
1
SEW Drive
SC11 Systembus +, CAN high
SC12 Systembus -, CAN low
GND, CAN GND
X26
X26:1 SC11 system bus +, CAN high X26:2 SC12 system bus -, CAN low X26:3 GND, CAN GND X26:6 GND, CAN GND X26:7 DC 24 V
0
2
1
2
2
2
3
2
4
2
5
2
6
2
AS
X24
X26
23456
1
01
H1
H2
7
+ 24
GND
61050AXX
The gateway housing has a power supply of DC 24 V that is connected to X26. Connect the system bus terminating resistor at the end of the system bus connection.
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
25
6
Assembly and Installation Instructions
Connection and terminal description of the DFS11B option
6.4 Connection and terminal description of the DFS11B option
Part number PROFIBUS / PROFIsafe® interface type DFS11B option: 1820 9629
The "PROFIBUS interface type DFS11B" option can only be used in conjunction with MOVITRAC
®
B and MOVIDRIVE® MDX61B, not with MOVIDRIVE®MDX60B.
The DFS11B option must be plugged in the fieldbus slot.
Front view of DFS11B
Description
Diagnostic LEDs: R
DFS11B
FSR FDOBF
FDO
12 34 56
F-ADDRESS X31
01
9
X30
6
0
2
1
2
2
2
3
2
4
2
5
2
6
2
AS
01
LS PS
0
2
1
2
2
2
3
2
4
2
5
2
6
2
7
2
8
2
9
2
5
1
X31 connection 1 (F_DO_M)
F-ADDRESS: DIP switch for setting the failsafe address
X30: PROFIBUS connec­tion
61048AXX
ADDRESS: DIP switch for setting the PROFIBUS station address
1) The 24 V supply voltage(s) of the DFS11B and all stations connected to the fieldbus must be designed as safety e xtra-low voltage. The voltage must lie within the limits defined in the technical data. Besides, the following voltage values must not be exceeded if a fault occurs (according to EN 60950): Max. DC 60 V, max. DC 120 V for 200 ms.
DIP switch Terminal
FS BF FDO
2 (F_DO_P) 3 (GND) 4 (24 V_LS) 5 (GND) 6 (24 V_PS)
0
2
1
2
2
2
3
2
4
2
5
2
6
2
7
2
8
2
9
2 X30:1
X30:2 X30:3 X30:4 X30:5 X30:6 X30:7 X30:8 X30:9
0
2
1
2
2
2
3
2
4
2
5
2
6
2 AS
Function
RUN – Component status (green) Failsafe status – Status of the safety option (green during stan­dard operation) BUS FAULT – Bus status (red if a fault occurs, else disabled) Failsafe output – Status of the safe output (orange)
Safe output Safe output Supply of the safe output Supply of the safe output Power supply to control electronics Power supply to control electronics
1)
1)
Significance: 1 Significance: 2 Significance: 4 Significance: 8 Significance: 16 Significance: 32 Significance: 64 Significance: 128 Significance: 256 Significance: 512
N.C. N.C. RxD/TxD-P CNTR-P DGND (M5V) VP (P5V/100 mA) N.C. RxD/TxD-N N.C.
Significance: 1 Significance: 2 Significance: 4 Significance: 8 Significance: 16 Significance: 32 Significance: 64 Auto setup for gateway operation
Front view of MOVITRAC
®
B, DFS11B
Description Function
and UOH11B
H1
H2
X24
LED H1 (red) LED H2 (green)
X24 X terminal
System error (only for gateway functions) Reserved
RS-485 interface for diagnostics via PC and MOVITOOLS (only applies to MOVITRAC
®
MotionStudio
®
B)
58129axx
26
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
Assembly and Installation Instructions
Wiring diagram for safe technology
6.5 Wiring diagram for safe technology
6.5.1 Wiring of individual MOVIDRIVE® MDX61B and MOVITRAC® B
6
MOVIDRIVE® B MOVITRAC
®
B
X31:1 - F-DO_M
Reference potential for binary signal
Reference +24 V input safe stop
+24 V input safe stop
+24 V output
VO24
SVI24
SOV24
1 DGND
234
X17:
–
Voltage
supply
24V
DFS11B
GND
F-ADDRESS
01
AS
=
X31
12 34 56
0
2
1
2
2
2
3
2
4
2
5
2
6
2
7
2
8
2
9
2
9
X30
6
0
2
1
2
2
2
3
2
4
2
5
2
6
2
01
+
FSR FDOBF
FDOFDO LS PSGND
5
1
[1]
X31:2 - F_DO_P
Cable specification
61520AEN
[1] The 24 V supply voltage(s) of the DFS11B and all stations connected to the fieldbus must be
designed as safety extra-low voltage. The voltage must lie within the limits defined in the technical data. Besides, the following voltage values must not be exceeded if a fault occurs (according to EN 60950): Max. DC 60 V, max. DC 120 V for 200 ms.
2
Only connect cables with a core cross section of a minimum of 0.25 mm
2
to a maximum 1 mm
(AWG18) to the safety-related binary output F-DO (X31:1, X31:2)
(AWG23) up
of the DFS11B option. IEC 60999 does allow clamping without conductor end sleeves. The maximum line length is 30 m.
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
27
6
F-DO connection • The safety-related binary output is 2-pole, designed as P-M switch, and controlled
Assembly and Installation Instructions
Wiring diagram for safe technology
via PROFIsafe by a higher-level safety control.
• An actuator must generally be connected with the safe output F-DO with a 2-pole connection between the P switch output and the M switch output (F-DO_P and F­DO_M).
• It is not permitted to make a 1-pole connection between F-DO_P and the GND refer ­ence potential as doing so would cause an error as soon as the output is controlled.
• Internal testing of the safe output is cyclical. However, when decoupling takes place, the test pulses at the connection terminals are not visible and need not be taken into account during operation.
Internal tests and monitoring processes are able to detect various external faults: When the output is switched on, the following faults can be detected.
• Short circuit between P output and reference potential
• Short circuit between M output and +24 V supply voltage
• Short circuit between P output and M output
When the output is switched off, the following faults can be detected.
• Short circuit between P output and reference potential
• Short circuit between M output and reference potential
• Short circuit between P output and +24 V supply voltage
• Short circuit between M output and +24 V supply voltage
Whenever the system detects a fault, it reverts to a safe status, i.e. all safety-related pro­cess values (F-DO) are set to "0". In addition, the safety component is passivated. The fault is indicated by the "FS" LED (failsafe status) (→ page 35).
The 24 V supply voltage(s) of the DFS11B and all stations connected to the fieldbus must be designed as safety extra-low voltage. The voltage must lie within the limits defined in the technical data. In addition, the following voltage values must not be exceeded if a fault occurs (according to EN 60950): Max. DC 60 V, max. DC 120 V for 200 ms.
28
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
Assembly and Installation Instructions
P
Wiring diagram for safe technology
6.5.2 Group connection of MOVIDRIVE® MDX61B and MOVITRAC® B
6
MOVIDRIVE® B MOVITRAC
X17:
®
Reference potential for binary signal
Reference +24 V input safe stop
+24 V input safe stop
+24 V output
VO24
SVI24
SOV24
1 DGND
234
B
MOVIDRIVE® B MOVITRAC
Reference potential for binary signal
1 DGND
X17:
®
Reference +24 V input safe stop
+24 V output
VO24
SOV24
234
MOVITRAC
B
+24 V input safet stop
SVI24
X17:
®
B
Reference potential for binary signal
Reference +24 V input safe stop
+24 V input safe stop
+24 V output
VO24
SVI24
SOV24
1 DGND
234
MOVIDRIVE® B
Voltage
supply
24V
–
DFS11B
X31:1 - F-DO_M X31:2 - F_DO_
GND
F-ADDRESS
01
AS
=
X31
12 34 56
0
2
1
2
2
2
3
2
4
2
5
2
6
2
7
2
8
2
9
2
9
X30
6
0
2
1
2
2
2
3
2
4
2
5
2
6
2
01
+
FSR FDOBF
FDOFDO LS PSGND
5
1
[1]
61521AEN
[1] The 24 V supply voltage(s) of the DFS11B and all stations connected to the fieldbus must be designed
as safety extra-low voltage. The voltage must lie within the limits defined in the technical data. In addi­tion, the following voltage values must not be exceeded if a fault occurs (according to EN 60950): Max. DC 60 V, max. DC 120 V for 200 ms.
Observe that the maximum current load of the F-DO safety-related binary output is DC 1 A.
The DFS11B option card might be destroyed if the maximum current load (DC 1 A) of the safety-related binary output F-DO is exceeded. If this happens, the safety function of MOVIDRIVE
®
MDX61B / MOVITRAC® B is not ensured.
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
29
6
Assembly and Installation Instructions
Wiring diagram for safe technology
Cable specification
Only connect cables with a core cross section of a minimum of 0.25 mm2 (AWG23) up
2
to a maximum 1 mm
(AWG18) to the safety-related binary output F-DO (X31:1, X31:2)
of the DFS11B option. IEC 60999 does allow clamping without conductor end sleeves.
Power consumption of the safe contact X17 for MOVITRAC
X17 safety input, terminal 4
Voltage / cross section / time Min. Type Max. Unit
Safety-related 24 V supply voltage 19.2 24 30 VDC Power consumption (size / capacity) Size 0 / 24 µF
Size 1 / 270 µF5 Size 2/2S / 270 µF6 Size 3 / 270 µF7.5 Size 4 / 270 µF8 Size 5 / 270 µF10
Cross section of the connection line of the safety-related 24 V volt­age supply
Duration for disconnecting the safety­oriented 24 V supply voltage
Size 0 Sizes 1 to 5 10
®
3
––
0.75 – 1.5 mm
––
20
Watt
2
ms
Power consumption of the safe contact X17 for MOVIDRIVE
X17 safety input, terminal 4
MOVIDRIVE® MDX60/61B General electronics data
Safety contact X17:1
X17:2 X17:3
X17:4
Permitted cable cross section
Power consumption X17:4
Input capacitance X17:4
Time for restart Time to inhibit output stage
Signal level
DGND: Reference potential for X17:3 VO24: U other units. SOV24: Reference potential for DC+24 V input "Safe stop" (safety contact) SVI24: DC+24 V input "Safe stop" (safety contact)
One conductor per terminal: 0.08 ... 1.5 mm Two conductors per terminal: 0.25 ... 1.0 mm
Size 0: 3 W Size 1: 5 W Size 2, 2S: 6 W Size 3: 7.5 W Size 4: 8 W Size 5: 10 W Size 6: 6 W
Size 0: 27 µF Sizes 1 to 6: 270 µF
= 200 ms
t
A
≤ 100 ms
t
S
DC +19.2 V...+30 V= "1" = Contact closed DC–30 V...+5 V= "0" = Contact open
= DC 24 V, only to supply X17:4 of the same unit; it cannot be used to supply
OUT
®
2
(AWG28...16)
2
(AWG23...17)
30
Manual – Fieldbus Interface DFS11B PROFIBUS DP-V1 with PROFIsafe
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