Copley Controls Accelnet Manual
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Copley Controls Accelnet Manual

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The Accelnet & Stepnet
Plus Panels
STO Manual
16-01338
Revision 00
March 23, 2015

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Summary of Contents for Copley Controls Accelnet

  • Page 1 The Accelnet & Stepnet Plus Panels STO Manual 16-01338 Revision 00 March 23, 2015...

  • Page 2: Table Of Contents

    Definitions ....................................7 Related Documentation ................................8 Reference Standards ................................9 Abbreviations and Acronyms ..............................10 Introduction to the Accelnet & Stepnet Plus Panels ................... 11 Product Description ................................. 11 Model Overview & Numbering ..............................11 Accelnet Plus Panel Models ..............................12 Stepnet Plus Panel Models ..............................
  • Page 3 STO DC Power Supply ............................... 20 7.6.9 Wiring to the STO Inputs ..............................20 7.6.10 Periodic Test Requirements ............................20 Installation Using STO for Accelnet & Stepnet Plus Panels ................21 STO Overview..................................21 8.1.1 STO Power Requirements ..............................21 8.1.2 STO Wiring Requirements ..............................

  • Page 4: About This Manual

    Accelnet & Stepnet Plus Panels STO Manual 16-01338 Rev 00 About This Manual 1.1 Title, Number, Revision Title The Accelnet & Stepnet Plus Panels STO Manual Table 1 Document Number 16-01338 Current Revision 1.2 Revision History Revision Date ECO #...

  • Page 5: Purpose And Scope Of This Document

    Accelnet & Stepnet Plus Panel drives are installed. The equipment manufacturer must take into account all the aspects of the system in which the Accelnet & Stepnet Plus Panel drives are components.

  • Page 6: Risk Assessment & Responsibility Of The Installer

    Therefore the suitability for use of the Accelnet & Stepnet Plus Panel drives in a given application must be determined in part by one or more risk assessments of the overall safety of the end machine conducted in accordance with the applicable standards.

  • Page 7: Installation Overview

    4.5 Definitions There are certain terms used throughout this document that serve an important role in describing the operation and behavior of the Accelnet & Stepnet Plus Panels STO feature. These terms are discussed and defined as follows: Activate – This term is used to refer to action taken that results in the safe state being entered. In the case of the STO feature, the STO function is activated (made active) by making the voltage at one or both STO inputs less than or equal to the maximum rated de-energize threshold voltage.

  • Page 8: Related Documentation

    Accelnet & Stepnet Plus Panels STO Manual 16-01338 Rev 00 Related Documentation These documents have additional information on the Accelnet & Stepnet Plus Panels models and are required for proper installa ion and commissioning of the drives. All are available from the Downloads page of the Copley Controls web site: http://www.copleycontrols.com/Motion/Downloads/index.html...

  • Page 9: Reference Standards

    Accelnet & Stepnet Plus Panels STO Manual 16-01338 Rev 00 4.7 Reference Standards ISO 13849-1: 2nd ed, 2006 Safety of machinery Safety-related parts of control systems Part 1: General Principles for Design ISO 13849-2: 2003 Safety of machinery Safety-related parts of control systems — Part 2: Validation IEC 61508-1: Ed.

  • Page 10: Abbreviations And Acronyms

    Accelnet & Stepnet Plus Panels STO Manual 16-01338 Rev 00 4.8 Abbreviations and Acronyms Acronym Description Safety-Related a,b,c,d,e Denotation of performance level (PL) Category Common Cause Failure Diagnostic Coverage Electro Magnetic Compatibility Hardware Fault Tolerance MTTF Mean Time to Failure...

  • Page 11: Introduction To The Accelnet & Stepnet Plus Panels

    IEC 61508, ISO 13849-1 and IEC 61800-5-2. All models in the Accelnet & Stepnet Plus Panels family are certified* by TÜV SÜD as meeting the stated SIL Capability, Category and Performance Levels and other requirements of the given standards. The Safe Torque Off (STO) function is realized in “hardware only”...

  • Page 12: Accelnet Plus Panel Models

    Accelnet & Stepnet Plus Panels STO Manual 16-01338 Rev 00 5.3 Accelnet Plus Panel Models Network Axes Models BEL-090-06 1-Axis BEL-090-14 BEL-090-30 EtherCAT BE2-090-06 2-Axis BE2-090-14 BE2-090-20 Table 5 14~90 BPL-090-06 1-Axis BPL-090-14 BPL-090-30 CANopen BP2-090-06 2-Axis BP2-090-14 BP2-090-20 Ic = Continuous Output Current, Adc (peak of sine)

  • Page 13: Specifications Overview

    +HV power has been removed so that the drive can continue to communicate and report status via the communication link. Complete specification and wiring details are provided in the Accelnet & Stepnet Plus Panels User Guide (16-01339) Page 13 of 34...

  • Page 14: Sto Architecture And Function

    STO Architecture and Function The STO function in Accelnet & Stepnet Plus Panels is suitable for use in safety loops up to SIL 3 and/or Cat. 3 PL d performance. Because Cat. 3 PL d performance requires that the safety function continues to operate even in the event of two failures, the STO circuit concept uses a quasi three-channel architecture.

  • Page 15: Sto Channel Operation

    Accelnet & Stepnet Plus Panels STO Manual 16-01338 Rev 00 STO Channel 3 disables the drive (both axes) by disabling both the high and low side MOSFET gate drivers. Any of the three channels by itself is therefore sufficient to prevent the initiation of motion or halt drive induced acceleration when the STO function is activated.

  • Page 16: Sto Function Specifications

    Accelnet & Stepnet Plus Panels STO Manual 16-01338 Rev 00 7.2 STO Function Specifications Specification Requirement When STO is active, motor current that can cause rotation (or motion in the case of a linear motor) is not applied by either Axis A or Axis B. The Operation PWM outputs of both axes are disabled and cannot source or sink current.

  • Page 17: Safety Related Parameters

    Accelnet & Stepnet Plus Panels STO Manual 16-01338 Rev 00 7.4 Safety Related Parameters Servo, 1-Axis: BEL, BPL IEC 61508: 2010 ISO 13849-1: 2006 Category Table 10 3.3 x 10 <60% MTTF 100 yrs 2.9 x 10 20 yrs Servo, 2-Axis: BE2, BP2...

  • Page 18: Regulatory Specifications

    Accelnet & Stepnet Plus Panels STO Manual 16-01338 Rev 00 7.5 Regulatory Specifications Specification Requirement Approvals UL recognized component to UL 61800-5-1 TÜV SÜD Functional Safety to IEC 61508 and ISO 13849-1 Functional Safety IEC 61508-1:2010, IEC 61508-2:2010, ISO 13849-1:2006, ISO 13849-2:2003, IEC 61800-5-2:2007 Directive 2006/95/EC –...

  • Page 19: Limitations And Necessary Risk Reductions

    Accelnet & Stepnet Plus Panels STO Manual 16-01338 Rev 00 7.6 Limitations and Necessary Risk Reductions 7.6.1 Electrical Isolation The STO function does not provide electrical isolation between the drive and the motor. Hazardous voltages may be present on the motor output terminals J3 and J4 even with the STO function activated.

  • Page 20: Hv And Auxhv Dc Power Supply

    Accelnet & Stepnet Plus Panels STO Manual 16-01338 Rev 00 The STO function operates completely independently of the control core of the drive and is implemented entirely in hardware. It does not depend on the control core for its operation and the control core of the drive has no control over the STO function.

  • Page 21: Installation Using Sto For Accelnet & Stepnet Plus Panels

    Accelnet & Stepnet Plus Panels STO Manual 16-01338 Rev 00 Installation Using STO for Accelnet & Stepnet Plus Panels 8.1 STO Overview This diagram gives detail on the physical cabling, shielding, and grounding of the wiring between the STO inputs of the drive and the machine level safety circuits.

  • Page 22: Sto (Safety) Cable Connector

    8.1.3 STO (Safety) Cable Connector The STO connector on the Accelnet & Stepnet Plus Panels is a DB-09F type receptacle with selective-gold plating on the sockets. Threaded bosses accept #4-40 locking screws from the cable connector. The STO cable plug is an AMPLIMITE HDP-20 that uses crimp and poke contacts with selective-gold plating.

  • Page 23: Example Wiring Diagram (Sil 3 And Cat. 3 Pl D Sto Implementation)

    [IN8] is an opto-isolated input configured for an Enable function. The [ICOM] signal for [IN8] connects to ground. When +24 VDC is applied to [IN8] it will enable the Accelnet & Stepnet Plus Panels if no other inputs are configured as Enables and no Enable inputs are inactive.

  • Page 24: Example Sto Timing

    Accelnet & Stepnet Plus Panels STO Manual 16-01338 Rev 00 8.2.3 Example STO Timing Fig. 6 Power +24 VDC supplied to the safety relay Reset/Start Momentary push-button that causes the K1~K2 relay contacts to close, supplying power to the STO inputs of the drive, and de-activating the STO function.

  • Page 25: Start-Up Checklist

    Before powering the drive, and commencing with the functional safety tests, check:  That the installation requirements given in the Accelnet & Stepnet Plus Panels User Guide and this manual have been adhered to. Specifically ensure that proper grounding, shielding, overcurrent, and overvoltage protection measures are in place in regards to electrical safety and electromagnetic compatibility.

  • Page 26: Start-Up Checklist

    Accelnet & Stepnet Plus Panels STO Manual 16-01338 Rev 00 8.3.2 Start-Up Checklist Requirement Comments Initials Ensure that the drive can be run and stopped freely during the commissioning. Stop the drive (if running), and safely remove +HV power from the drive.

  • Page 27: Sto Status Indications

    STO Circuit Status Data Objects The Accelnet & Stepnet Plus Panels have a variety of data objects that can be read by the end user via CANopen, EtherCAT, or serial communications. The status of the STO circuit is available in ASCII parameter 0x139 and DS-402 parameter 0x219D.

  • Page 28: Cme2 Control Panel

    Accelnet & Stepnet Plus Panels STO Manual 16-01338 Rev 00 8.4.3 CME2 Control Panel CME2 is the PC based software tool used for configuring, commissioning, and troubleshooting Copley Control digital servo drives. A graphic LED labeled “Safety” on the CME2 Control Panel screen gives the status of the...

  • Page 29: Troubleshooting

    16-01338 Rev 00 8.5 Troubleshooting The status of the STO function in the Accelnet & Stepnet Plus Panels servo drives can be viewed via LED indicators on the drive, via data objects accessible over CANopen or EtherCAT connections, and using the configuration software CME2.

  • Page 30: Maintenance

    There are no user-replaceable parts in the Accelnet & Stepnet Plus Panels. The warranty will be void if the user removes the cover or attempts any repairs. For safety and to assure compliance with documented system data, only Copley Controls shall perform repairs to the Accelnet & Stepnet Plus Panels.

  • Page 31: Periodic Testing Checklist

    Accelnet & Stepnet Plus Panels STO Manual 16-01338 Rev 00 9.3 Periodic Testing Checklist Table 17 Requirement Comments Initials Ensure that the drive can be run and stopped freely during the commissioning. Stop the drive (if running), and safely remove +HV DC power from the drive.

  • Page 32: Muting & Suspension Of Safety Functions

    Accelnet & Stepnet Plus Panels STO Manual 16-01338 Rev 00 10.0 Muting & Suspension of Safety Functions 10.1 STO Muting Muting (bypassing) means de-activating the STO function. A convenient method for muting the STO function is shown here for those installations that are not using the STO function.

  • Page 33: Decommissioning

    Accelnet & Stepnet Plus Panels STO Manual 16-01338 Rev 00 11.0 Decommissioning Before decommissioning any safety system from active service:  Evaluate the impact of decommissioning on adjacent operating units and facilities or other field services.  Conduct a proper review and obtain required authorization.
  • Page 34 Accelnet & Stepnet Plus Panels STO Manual 16-01338 Rev 00 Accelnet & Stepnet Plus Panels STO Manual P/N: 16-01338 Revision 00 March 23, 2015 Copley Controls 20 Dan Road Canton, MA 02021 USA All rights reserved  2014, 2015 Page 34 of 34...

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