Safe Torque Off (Sto); Sincos Encoder Resolution - Emerson Unidrive M702 User Manual

Safety Product Mechanical
information information installation
W, Clock, Not used, Not used
11
W\, Clock\, Not used, Not used
12
AB Servo (3), FD Servo(4), FR Servo (5
Type
Maximum input frequency
Line loading
Line termination components
Working common mode range
SC EnDat (9), SC SSI (11)
Type
Maximum Signal level
Maximum input frequency
Maximum applied differential voltage and
common mode voltage range
EnDat (8), SSI (10), BiSS (13)
Not used
Resolver (14)
Not used
Common to All
Absolute maximum applied voltage relative to 0V -9 V to 14 V
Common to all Feedback types
Feedback device supply
13
Supply voltage
Maximum output current
The voltage on Terminal 13 is controlled by Pr 03.036 . The default for this
parameter is 5 V (0) but this can be set to 8 V (1) or 15 V (2). Setting the encoder
voltage too high for the encoder could result in damage to the feedback device.
The termination resistors should be disabled if the outputs from the encoder are
higher than 5 V.
0 V Common
14
Motor thermistor input
15
Thermistor type is selected in P1 Thermistor Type (03.118).

Sincos encoder resolution

The sine wave frequency can be up to 500 kHz but the resolution is
reduced at high frequency. Table 4-30 shows the number of bits of
interpolated information at different frequencies and with different
voltage levels at the drive encoder port. The total resolution in bits per
revolution is the ELPR plus the number of bits of interpolated
information. Although it is possible to obtain 11 bits of interpolation
information, the nominal design value is 10 bits.
86
Electrical Getting Basic
installation started parameters
),
SC Servo (12)
EIA 485 differential receivers
512 kHz
120 Ω (switchable)
–7 V to +12 V
Differential voltage
1.25 V peak to peak (sin with
regard to sinref and cos with
regard to cosref)
See Table 4-30
±4 V
5.15 V ±2 %, 8 V ± 5 % or 15 V ± 5 %
300 mA for 5 V and 8 V
200 mA for 15 V
Running NV Media Card
Optimization
the motor Operation
Table 4-30 Feedback resolution based on frequency and voltage
level
Volt/Freq 1 kHz
1.2 11
1.0 11
0.8 10
0.6 10
0.4 9
4.16

SAFE TORQUE OFF (STO)

The SAFE TORQUE OFF function provides a means for preventing the
drive from generating torque in the motor, with a very high level of
integrity. It is suitable for incorporation into a safety system for a
machine. It is also suitable for use as a conventional drive enable input.
The safety function is active when either one or both STO inputs are in
the logic-low state as specified in the control terminal specification. The
function is defined according to EN 61800-5-2 and IEC 61800-5-2 as
follows. (In these standards a drive offering safety-related functions is
referred to as a PDS(SR)):
'Power, that can cause rotation (or motion in the case of a linear motor),
is not applied to the motor. The PDS(SR) will not provide energy to the
motor which can generate torque (or force in the case of a linear motor)'.
This safety function corresponds to an uncontrolled stop in accordance
with stop category 0 of IEC 60204-1.
The SAFE TORQUE OFF function makes use of the special property of
an inverter drive with an induction motor, which is that torque cannot be
generated without the continuous correct active behavior of the inverter
circuit. All credible faults in the inverter power circuit cause a loss of
torque generation.
The SAFE TORQUE OFF function is fail-safe, so when the SAFE
TORQUE OFF input is disconnected the drive will not operate the motor,
even if a combination of components within the drive has failed. Most
component failures are revealed by the drive failing to operate. SAFE
TORQUE OFF is also independent of the drive firmware. This meets the
requirements of the following standards, for the prevention of operation
of the motor.
Data as verified by TÜV Rheinland:
According to EN ISO 13849-1:
PL = e
Category = 4
MTTF = High
D
DC = High
av
Mission Time and Proof Test Interval = 20 years
The calculated MTTF
STO1 2574 yr
STO2 2716 yr
According to EN 61800-5-2:
SIL = 3
-11
PFH = 4.21 x 10
The SAFE TORQUE OFF input also meets the requirements of EN 81-1
(clause 12.7.3 b) as part of a system for preventing unwanted operation
of the motor in a lift (elevator).
SAFE TORQUE OFF can be used to eliminate electro-mechanical
contactors, including special safety contactors, which would otherwise
be required for safety applications.
Onboard Advanced Technical
PLC parameters data
5 kHz 50 kHz 100 kHz 200 kHz 500 kHz
11 10 10
11 10 9
10 10 9
10 9 9
9 9 8
for the complete STO function is:
D
-1
h
Unidrive M702 User Guide
UL listing
Diagnostics
information
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9 7
8 7
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Issue Number: 3