Danfoss Vacon OPTEA Operating Manual
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Danfoss Vacon OPTEA Operating Manual

Danfoss Vacon OPTEA Operating Manual

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Operating Guide
VACON® NXP Advanced Safety Options
OPTBL, OPTBM, OPTBN
drives.danfoss.com

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  • Page 1 Operating Guide VACON® NXP Advanced Safety Options OPTBL, OPTBM, OPTBN drives.danfoss.com...

  • Page 3: Table Of Contents

    Safety Speed Sensors 3.6.2 Standard Speed Sensors and Combinations 3.6.3 Speed Discrepancy with Multiple Speed Sources 3.6.4 Encoders 3.6.5 Proximity sensors 3.6.6 Encoder Signal Verification 3.6.7 Usage of Only One Speed Sensor 3.6.8 Estimated Speed Danfoss A/S © 2021.06 AQ319736045637en-000101/DPD01798 | 3...
  • Page 4 6.1.5.2 Start-up Acknowledgment 6.1.6 Reset of a Safety Function 6.1.7 Ramps Safe Stopping Functions 6.2.1 Introduction to the Safe Stopping Functions 6.2.2 STO - Safe Torque Off and SBC - Safe Brake Control 4 | Danfoss A/S © 2021.06 AQ319736045637en-000101/DPD01798...
  • Page 5 Introduction to the SMS Function 6.3.3.2 The Maximum Speed Monitoring 6.3.3.3 The SMS Signals 6.3.4 SSR - Safe Speed Range 6.3.4.1 Introduction to the SSR Function 6.3.4.2 Time Monitoring 6.3.4.3 Ramp Monitoring 6.3.4.4 The SSR Signals Danfoss A/S © 2021.06 AQ319736045637en-000101/DPD01798 | 5...

  • Page 6: Digital Output Tests

    Parameter List General Parameters 8.1.1 Parameter File Parameters 8.1.2 Common Safety Function Parameters 8.1.3 Speed Measurement Parameters 8.1.4 Ramp Parameters 8.1.5 Estimated Speed Parameters Safe I/O Parameters 8.2.1 Digital Input/Output Parameters Safe Fieldbus Parameters 6 | Danfoss A/S © 2021.06 AQ319736045637en-000101/DPD01798...
  • Page 7 11.3 Speed Measurement Data 11.4 Safe Fieldbus Data 11.5 Environmental Data Fault Tracing 12.1 Presentation of Faults on the Control Board 12.2 Fault Codes 12.3 OPTAF STO and ATEX Option Board Fault Information Danfoss A/S © 2021.06 AQ319736045637en-000101/DPD01798 | 7...
  • Page 8 13.7 Using an Output of the Option Board to Control the Access to an Area 13.8 PROFIdrive over PROFIsafe Using the PROFIBUS or PROFINET Option Board 13.9 A Proximity Sensor for Speed Measurement 8 | Danfoss A/S © 2021.06 AQ319736045637en-000101/DPD01798...

  • Page 9: Introduction

    NOTE! Download the English and French product guides with applicable safety, warning and caution information from https:// www.danfoss.com/en/service-and-support/. REMARQUE Vous pouvez télécharger les versions anglaise et française des guides produit contenant l'ensemble des informations de sécurité, avertissements et mises en garde applicables sur le site https://www.danfoss.com/en/service-and-support/. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 9...

  • Page 10: Manual And Software Version

    • Images edited. Chapters 3.1 Using the Advanced Safety Options, 3.6.8 Estimated Speed, 6.2.3.5 The SS1 Signals, 6.3.4.2 Time Monitoring, 6.3.4.3 Ramp Monitoring, 13.3 SS1 Used with STO(+SBC), 13.5 Light Cur- 10 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 11 • PROFINET IO/PROFIsafe Certificate updated. 1.4 Approvals and Certifi- or later (141X4588) or cates. later, • Changes in layout and structure. 70CVB01957 F (141X4608) or later, 70CVB01958 E (141X4610) or later Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 11...

  • Page 12: Approvals And Certificates

    VACON® NXP Advanced Safety Options Operating Guide Introduction 1.4 Approvals and Certificates Illustration 1: TÜV Certificate 12 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 13 PROFIBUS Nutzerorganisation e.V. grants to Vacon Ltd Runsorintie 7, 65380 VAASA, FINLAND the Certificate No: Z20212 for the PROFIsafe Device: Model Name: Vacon OPTEA, OPTBL, OPTBM, OPTBN Advanced Safety Option Order-Number: OPTBL, OPTBM, OPTBN Revision: SW/FW: V4.0.0; HW: 6 Application CRC: Channel A: 0x84C3...
  • Page 14 VACON® NXP Advanced Safety Options Operating Guide Introduction Illustration 3: EC Declaration of Conformity 14 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 15: Product Overview

    However, the product/system designer is responsi- ble for making sure that the system is safe and in compliance with relevant regulations. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 15...

  • Page 16: Terms And Abbreviations

    The variants of the Advanced safety option. OPTBL: no encoder interface. OPTBM: with digital pulse type OPTBN encoder interface board. OPTBN: with Sin/Cos type encoder interface board. OPTE3/5 Option board that handles the PROFIBUS DP interface. OPTEA Option board that handles the PROFINET IO interface. 16 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 17 A user level for accessing the Advanced safety option board functions. Identified via a password. In this user level, it is not possible to verify a parameter file or change passwords. SFRT Safety Function Response Time SRP/CS Safety-Related Part of a Control System Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 17...

  • Page 18: Sls

    A reaction to a violation. It is the STO function for the safe stopping functions, and the SQS function for the safe monitoring functions. WCDT Worst Case Delay Time WDTime Watchdog Time 18 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 19: Safety

    Make sure that no external source generates unintended voltage during work. Wait 5 minutes before opening the cabinet door or the cover of the AC drive. Use a measuring device to make sure that there is no voltage. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 19...

  • Page 20: Cautions And Notices

    Not using a grounding conductor can damage the drive. Make sure that the AC drive is always grounded with a grounding conductor that is connected to the grounding terminal that is identified with the PE symbol. 20 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 21 N O T I C E MALFUNCTION OF FAULT CURRENT PROTECTIVE SWITCHES Because there are high capacitive currents in the AC drive, it is possible that the fault current protective switches do not operate correctly. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 21...

  • Page 22: Grounding

    N O T I C E MALFUNCTION OF FAULT CURRENT PROTECTIVE SWITCHES Because there are high capacitive currents in the AC drive, it is possible that the fault current protective switches do not operate correctly. 22 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 23 (RCM) device can lead to the RCD not providing the intended protection and therefore can result in death or serious injury. Use a type B RCD or RCM device on the mains side of the drive. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 23...

  • Page 24: Overview Of The System

    STO function and a mechanical brake. The brake can be used with the Safe Brake Control (SBC) safety function of the Advanced option board, or with another safe control system for the brake. 24 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 25: Integration And Interfaces To Other Systems

    The OPTAF option board, version VB00328H (141L7786). A two-channel STO option board for the NX family. • The Advanced safety option board OPTBL. N O T I C E Check the corresponding product guides for the safety values and usage instructions. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 25...
  • Page 26 N O T I C E When designing systems according to IEC-61508, the requirement for the value of the Safe Failure Fraction (SFF) is considered on subsystem level, not on system level. 26 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 27: Advanced Safety Option Variants

    3.5.2 Input Configuration The 4 two-terminal digital inputs operate in a two-terminal equivalent mode: the state of both terminals must match each other within a discrepancy time (see 11.2 Safe Input/Output Data). Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 27...

  • Page 28: Output Configuration

    If only 1 signal is selected: AND or OR (regardless of which): output = signal. NAND or NOR (regardless of which): output = negative signal. See the examples below for signal and output correspondence. The available logical functions: • • • NAND • Only 1 logical function per output can be selected. 28 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 29 – – – SLS 1 Reached = 1 1 NOR 1 -> false Inactive EXAMPLE 3 (USING GROUP 2): Selected signals: SLS 1 Reached, SSM Below Min Limit Logical function: AND Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 29...

  • Page 30: Option Board Optbl

    Use the Advanced safety option board OPTBL when no encoder is used to measure the speed of the motor shaft. Dout1 Dout2 Din1 Din2 Din3 Din4 Illustration 7: The Terminals X3 and X4 of the OPTBL Option Board 30 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 31: Option Board Optbm

    OPTBM board must be installed in slot C. For further information, see 3.5.7 Closed-loop Control with OPTBM. 10 11 12 13 14 V GND + Illustration 8: The Terminals X5 and X6 of the Digital Pulse Type Encoder Interface Board Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 31...

  • Page 32: Option Board Optbn

    Cos+. Cosine terminal of analog pulse signal. Cos-. Unmodified encoder signal loopback. Cos-. Cosine terminal of analog pulse signal. Z+. Unmodified encoder signal loopback. Z+. Reference signal, optional. Z-. Unmodified encoder signal loopback. 32 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 33: Closed-Loop Control With Optbm

    Calculate and take into account the relevant safety values for the encoder when assessing the fulfillment of the requirements for the targeted safety level(s). The relevant safety values include these values: Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 33...
  • Page 34 N O T I C E When multiple speed sources are used, the monitored limit of a safety function must not be set below the value of Allowed Devi- ation of Speed Sources. 34 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 35: Speed Discrepancy With Multiple Speed Sources

    Advanced safety option board. Connect also the encoder interface board to the encoder board in slot C. The encoder board implements the closed-loop control by using the encoder interface board to receive feedback. See the figure below. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 35...
  • Page 36 This configuration enables the use of absolute encoder with position data for control. The safety functions are implemented with- out the absolute data, and the safety functions with position monitoring are monitoring the relative position based on the incre- mental signals from the encoder. 36 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 37 TTL: A-, B-, Z- Sin/Cos: Sin-, Cos-, Ref- Illustration 13: Using Termination Resistors, Resistor 1 or Resistor 2 The use of resistor on the Advanced safety option board is selected during parameterization. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 37...

  • Page 38: Proximity Sensors

    Due to the way the speed is calculated, it is not recommended to set the safety function speed limits below a certain value. This value depends on the pulses per revolution of the proximity sensor signal. A formula for calculation of the rpm value is 15000/ppr. 38 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 39: Encoder Signal Verification

    When a single speed sensor is used, take into account these fault models. To prevent these faults, plan the design and installation of your system carefully. For more information, see the standard. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 39...

  • Page 40: Estimated Speed

    Estimated speed with a speed sensor fulfills the safety requirements, but it is possible that estimated speed is less accurate than a sensor, especially when sudden changes occur in the load or the speed. 40 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 41 Coast Stop Time passes, or once the speed of the encoder goes below the value of Allowed Deviation of Speed Sources. If the speed sensor indicates rotation that is not permitted by Allowed Deviation of Speed Sources, a fault appears. Illustration Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 41...

  • Page 42: Estimated Speed And Gear Systems

    Estimated speed (Motor shaft)  rpm Estimated speed (Actual)  rpm   =   Gear Ratio Multiplier / Gear Ratio Divider The relation between the estimated speed and external speed sensor speed can be expressed by this formula: 42 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 43: Estimated Speed And External Accelerative Forces

    STO function to be deactivated. Control Board Location select Save/Restore Control panel Advanced safety option Parameter file board Control board PC tool back-up Illustration 17: The Backup Locations of the Parameter File and their Control Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 43...

  • Page 44: Storing A Parameter File Backup

    Hardware: VB00328 E (141L7786) or newer Check the safety levels of STO in the product manual. When a safe fieldbus is used, see also 7.1.1 Introduction to PROFIsafe for the fieldbus related requirements. 44 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 45: Compatibility With Drive Applications

    19, and all the values are described in the tables below. The figure and tables are for installation in slot D.For other slots the indexes are different. For example, G7.4.1 Parameters is G7.3.1 Parameters in slot C. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 45...
  • Page 46 0 = "Default", F20 activated as fault or warning depending on the case (application may decrease the reporting level, e.g. fault -> warn- ing) 1 = "Warning", F20 activated as alarm 46 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 47 SLS 3 – – – – – V7.4.2.1.11 – – – – – V7.4.2.1.12 – – – – – V7.4.2.1.14 – – – – – V7.4.2.1.15 – – – – – Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 47...
  • Page 48 Shows the average speed measured by the option board (encoder Speed and proximity sensors) V7.4.2.3.5 Encoder – – – – Shows the speed of the motor based on the encoder data. Freq 48 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 49: Fault Types

    Advanced safety option board are not the same as the fault types of the AC drive. For more details on faults, see 12.1 Presenta- tion of Faults on the Control Board. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 49...
  • Page 50 If the option board starts after a reboot of the AC drive, it may be possible to read the fault data in the activity log of the Ad- vanced safety option board. See 5.6.2 Activity Log. 50 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 51: Installation

    4.2 Installing the Option Board This topic gives instructions for installing the option board in VACON NXP, FR4–FR9. ® Procedure In FR5–FR9, open the cover of the AC drive. In FR4, remove the cable cover. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 51...
  • Page 52 In IP21, cut free the opening on the cover of the AC drive for the fieldbus cable. Install the cables. Close the cover of the control unit and attach the cable cover. 52 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 53: Vacon Safe Tool

    Actions that are available with the service level password • Validation of the parameter file • Saving the verified parameter file to the option board Actions that are available with the admin level password Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 53...

  • Page 54: Setting The Parameters

     The parameter file is marked as verified by the option board. A verified parameter file can be loaded from the op- tion board and stored on the PC. 54 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 55 Validation of parameters - Adding validation information Send validation information - Parameter file with Advanced validation information safety stored option board Illustration 20: The Process of Creating a New Parameter File Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 55...

  • Page 56: Saving A Verified Parameter File To The Option Board

    The log is not lost when you do power-down to the AC drive. 56 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 57: Safety Functions

    An inactive safety function becomes active when it receives a request. An active safe stopping function becomes reached when the function is completed. An active safe monitoring function becomes reached when the monitored values are within the monitoring limits. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 57...

  • Page 58: Activation Of A Safety Function

    With the SSM function, there is no response to a violation. Instead, external systems are notified of the violation by a digital output or a fieldbus. To make a safety function recover from a violation, use a reset signal. See 6.1.6 Reset of a Safety Function. 58 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 59: Acknowledgment Of A Safety Function

    When a safety function is requested by both a digital input and a fieldbus, both of them must deactivate the request before the function can be acknowledged. When the last request is deactivated, the automatic acknowledgment signal becomes active, and the manual acknowledgment signal becomes acceptable. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 59...
  • Page 60 Illustration 22: The Deactivation of the SS2 Request Before the Function is Reached. Acknowledgment: Manual. The manual acknowledgment is rejected because the safe stopping function is requested After the safety functions are not requested, the manual acknowledgment is accepted. 60 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 61 When there are safety functions that can be acknowledged by manual acknowledgment and safety functions that cannot (if, for example, they are requested), a manual acknowledgment signal deactivates the functions that can be acknowledged. Functions that could not be acknowledged continue their execution normally. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 61...
  • Page 62 In digital inputs, the acknowledgment signal is edge sensitive. The acknowledgment is done with inactive -> active transition (logi- cal level). In safe fieldbuses, the acknowledgment signal is also edge sensitive, and it is done with a 0 -> 1 transition of the related telegram bit. 62 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 63: Start-Up Acknowledgment

    N O T I C E After a violation or a fault, the reset signal behaves as an implicit acknowledgment signal for safety functions for which acknowl- edgment conditions apply when a reset signal is sent. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 63...

  • Page 64: Ramps

    The safety functions SS1, SS2, SQS, SSR, and SLS can monitor the ramping of the motor speed. The ramps are optional, and all safety functions that provide ramp monitoring can be parameterized to not monitor them. 64 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 65 SLS limit. This can be noted, for example, with long SLS td2 delays. The minimum ramp monitoring stops when the monitoring value would be below the selected SLS limit. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 65...

  • Page 66: Safe Stopping Functions

    The priority of the safe stopping functions from the highest to the lowest: 1. The STO function 2. The SQS function 66 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 67: Sto - Safe Torque Off And Sbc - Safe Brake Control

    6.2.2.1 Introduction to the STO and SBC Functions The Safe Torque Off (STO) safety function allows the drive output to be disabled so that the drive cannot generate torque to the motor shaft. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 67...

  • Page 68: The Sto Function Used Without The Sbc Function

    SBC parameters. The parameter SBC Order defines which safety function becomes active first. The second safety function becomes active after the time that is set in SBC t1. Speed SBC t1 Illustration 30: STO Behaviour with SBC Order = SBC First 68 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 69: The Sto And Sbc Signals

    It is possible that the Active and Reached signals that are mentioned in this chapter are not always available in all interfaces. N O T I C E The availability of the signals over safe fieldbus depends on the fieldbus protocol that you use. Refer to chapter Safe fieldbuses for more information. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 69...
  • Page 70 STO and SBC • When both SBC Reached and STO Reached are activated. reached signals. Deactivation: • When either SBC Reached or STO Reached is deactivated. See STO and SBC signals above. 70 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 71 Safety Functions Logical level STO Request Speed Logical level Automatic acknowledgement STO Active STO Reached STO Output Manual acknowledgement Acknowledgement Illustration 32: The STO Signals when the SBC Function is not Used Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 71...
  • Page 72 SBC t1 SBC Reached Manual acknowledgement Acknowledgement Illustration 33: The STO and SBC Signals when the SBC Function is Used, SBC Order = STO First, and the STO Function is Requested 72 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 73: Ss1 - Safe Stop

    Time + zero speed + ramp monitoring mode The SS1 function can activate the STO function: • When an application-specific time delay has passed (Time monitoring). • When the speed reaches zero speed (Zero speed monitoring). Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 73...

  • Page 74: Time Monitoring

    SBC Speed, whichever is valid first. 6.2.3.3 Zero Speed Monitoring Speed STO + SBC Zero speed / SBC speed SS1 td2 SS1 t1 Illustration 36: The SS1 Function in the Time + Zero Speed Monitoring Mode 74 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 75: Ramp Monitoring

    Activation and deactivation of the signal Description SS1 Active Activation: The signal indi- cates if SS1 func- • SS1 is requested and starts execution. tion is being exe- Deactivation (manual acknowledgment): cuted. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 75...
  • Page 76 STO or SQS is requested. Logical level SS1 Request Speed SS1 t1 Logical level Automatic acknowledgement SS1 Active SS1 Reached Manual acknowledgement Acknowledgement Illustration 38: The SS1 Signals in the Time Monitoring Mode 76 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 77 Logical level SS1 Request Speed Zero Speed SS1 td2 Logical level Automatic acknowledgement SS1 Active SS1 Reached Manual acknowledgement Acknowledgement Illustration 39: The SS1 Signals in the Zero Speed Monitoring Mode Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 77...

  • Page 78: Ss2 - Safe Stop 2 And Sos - Safe Operating Stop

    The parameters of the SS2 and SOS safety functions are described in 8.6 SS2 and SOS Parameters. N O T I C E The SS2 safety function can be used only with Sin/Cos encoders. 78 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 79: Time Monitoring

    The SS2 function must be reached before the time that is set in SS2 t1 elapses. If SS2 t1 elapses first, the STO(+SBC) function is activated as a violation response. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 79...

  • Page 80: Ramp Monitoring

    6.2.4.6 The SS2 and SOS Signals It is possible that the Active and Reached signals that are mentioned in this chapter are not always available in all interfaces. 80 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 81 STO or SS1 or SQS is requested. Activation: The signal indicates Reached if SOS function is • SS2 Reached is activated. being executed. Deactivation: • SS2 Reached is deactivated. OR • SOS detects a violation. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 81...
  • Page 82 SS2 Request Speed Zero speed Position deviation SS2 t1 Revolution Limit Logical level SS2 Active SOS Reached SS2 Reached Acknowledgement Illustration 44: The SS2 and SOS Signals in Time Monitoring Mode 82 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 83 SS2 Request Speed Zero speed Position deviation SS2 td2 Revolution Limit Logical level SS2 Active SOS Reached SS2 Reached Acknowledgement Illustration 45: The SS2 and SOS Signals in Zero Speed Monitoring Mode Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 83...

  • Page 84: Sqs - Safe Quick Stop

    The Safe Quick Stop (SQS) safety function becomes active as the violation response for these safety functions: SLS, SSR, SMS. The parameters of the SQS safety function are described in 8.7 SQS Parameters. 84 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 85: The Sqs Modes

    • Time SQS t1 elapses (SQS-SS1 & SQS-SS2: only time monitoring used). OR • Speed is below zero speed for time SQS td1 (SQS-SS1 & SQS-SS2: zero speed monitoring used). Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 85...
  • Page 86 SS1 Active when the SQS mode is set to SS1. For the behavior in other cases, refer to the figures in 6.2.3.1 Introduction to the SS1 Function 6.2.4.1 Introduction to the SS2 and SOS Functions. 86 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 87 SSR Reached SQS Active STO Active SQS Reached STO Reached Reset Illustration 47: The SQS-STO Function as a Violation Response to an SSR Speed Violation. The SBC Function is not Used. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 87...
  • Page 88 Illustration 48: The SQS-SS1 Function as a Violation Response to an SSR Speed Violation. The SQS Function Uses Time Monitoring Mode. The SS1 Signals are not Used with the SQS-SS1 Mode. 88 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 89: Safe Monitoring Functions

    The safe monitoring functions that do not take into account the direction of movement • • • Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 89...

  • Page 90: Sls - Safe Limited Speed

    SLS t1 elapses. The monitoring of the speed limit starts after the function is reached. If the function is not reached in the set time, or the speed limit is exceeded after the function is reached, the SQS function becomes active as a violation response. 90 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 91: Ramp Monitoring

    N O T I C E It is possible to parameterize a higher priority speed limit to allow higher speed than a lower priority speed limit, but it is not recommended. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 91...

  • Page 92: The Sls Signals

    The signal indi- SLS 1 Active cates if SLS func- SLS 2 Active • SLS is requested and starts to execute. tion is being exe- SLS 3 Active Deactivation (manual acknowledgment): cuted. 92 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 93 Another SLS limit is activated and reached. Deactivation (automatic acknowledgment): • SLS was reached successfully and SLS request ends. OR • Another SLS limit is activated and reached. Deactivation (STO state): • STO is activated. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 93...
  • Page 94 Speed SLS 1 limit Logical level Automatic acknowledgement SLS td2 SLS 1 Active SLS 1 Reached Manual acknowledgement Acknowledgement Illustration 52: The SLS 1 is Requested and Deactivated. Time Monitoring Only. 94 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 95 SLS 3 Active SLS 1 Reached SLS 2 Reached SLS 3 Reached Illustration 53: Changing the SLS Limits. Ramp Monitoring is Active Only at the Initial Activation of the SLS Function. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 95...

  • Page 96: Sms - Safe Maximum Speed

    6.3.3.2 The Maximum Speed Monitoring The maximum speed monitoring starts immediately when the SMS function is requested and becomes active. If the limits are not violated, the function stays in the Reached state. 96 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 97: The Sms Signals

    Deactivation (manual acknowledgment): cessfully. • SMS is acknowledged after being reached successfully. Deactivation (automatic acknowledgment): • SMS was reached successfully and SMS request ends. Deactivation (STO state): • STO is activated. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 97...
  • Page 98 Safety Functions Logical level SMS Request Speed SMS Limit Plus SMS Limit Minus Logical level Automatic acknowledgement SMS Active SMS Reached Manual acknowledgement Acknowledgement Illustration 56: The Signals of the SMS Function 98 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 99: Ssr - Safe Speed Range

    SSR t1 elapses. The monitoring of the speed limit starts after the function is reached. If the function is not reached in the set time, or the speed limit is exceeded after the function is reached, the SQS function becomes active as a violation response. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 99...

  • Page 100: Ramp Monitoring

    It may be necessary to disable the SSR request while the motor is stopped. See 6.4 Combinations of Safety Functions. 6.3.4.3 Ramp Monitoring Speed SSR Max SSR Min Limit SSR td1 SSR td2 SSR t1 Illustration 59: The SSR Function in the Ramp Monitoring Mode 100 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 101: The Ssr Signals

    SSR is requested and starts execution. being executed. being executed. Deactivation (manual acknowledgment): • Acknowledgment signal received and SSR is not requested. Deactivation (automatic acknowledgment): • SSR request ends. Deactivation (SSR violation situations): Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 101...
  • Page 102 Logical level SSR Request Speed SSR Max Limit SSR Max Limit SSR td2 SSR t1 Automatic acknowledgement Logical level SSR Active SSR Reached Manual acknowledgement Acknowledgement Illustration 61: The SSR Signals 102 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 103: Ssm - Safe Speed Monitor

    When the SSM function is set to "Always active", an acknowledgment is not necessary. When the SSM function is not "Always ac- tive", the acknowledgment is used normally, as specified in chapter 6.1.5.1 Acknowledgment of a Safety Function. The parameters of the SSM safety function are described in 8.11 SSM Parameters. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 103...

  • Page 104: Speed Monitoring

    The state of the SSM safe output is determined by the speed of the motor and whether the SSM function is active. The table below shows the state of the SSM safe output and the SSM Reached signal that corresponds to the output state. 104 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 105: The Ssm Signals

    • SSM is requested and starts execution. Deactivation (manual acknowledgment): • Acknowledgment signal received and SSM is not requested. Deactivation (automatic acknowledgment): • SSM request ends. Deactivation (SSM violation situations): Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 105...
  • Page 106 Speed is above minimum limit for the time that is set with SSM td2. OR • SSM request ends. Deactivation (normal operation): • Speed is within safe range for the time that is set with SSM td2. 106 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 107 SSM Max Limit SSM Min Limit SSM td2 SSM td2 Logical level SSM Active SSM Reached SSM Out SSM Above Max Limit SSM Below Min Limit Illustration 65: The SSM Signals Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 107...
  • Page 108 SSM Min Limit SSM td2 SSM td2 SSM td2 Logical level SSM Active SSM Reached SSM Above Max Limit SSM Below Min Limit Acknowledgement Illustration 66: The SSM Function Requested Externally, Manual Acknowledgment 108 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 109: Combinations Of Safety Functions

    Using the SSR function and a safe stopping function at the same time causes a conflicting situation. If the SSR function has a mini- mum limit value that is greater than zero, and is active during the execution of the SS1, the SS2, the SQS-SS1, or the SQS-SS2 func- Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 109...
  • Page 110 SSR function during the operation of the SS2 function. The SSR function will detect a violation of the minimum limit, or the SOS function that is activated during the SS2 function will detect the rotation if the speed is still above SSR Min limit when the SOS function becomes active. 110 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 111: Safe Fieldbuses

    OPTE3/E5 PROFIBUS option board – Firmware: FW0083V006 or later GSD file: Vac30CCF revision 2 or newer The safety PLC – Must support PROFIsafe OPTEA Advanced Dual Port Ethernet Firmware FW0241V001 or later – Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 111...

  • Page 112: Overview Of The Profisafe System

    PROFIsafe communication, and the CRC signature ensures the validity of the frame. Status Byte / F-I/O data CRC2 Control Byte Max. 12 octets 1 octet 3 octets Illustration 70: The structure of the PROFIsafe frame. S = Standard frame 112 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 113: Parameterization For Profisafe

    "Commissioning" of the user guide of the used fieldbus. An unsuccessful initialization of the PROFIsafe protocol does not affect the PROFIBUS/PROFINET cyclic communication. The PROFIBUS/PROFINET cyclic communication can be used to read diagnostic infor- mation if the PROFIsafe parameterization fails. See the PROFIsafe parameters in 8.3.1 PROFIsafe Parameters. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 113...

  • Page 114: Profisafe Watchdog Time

    It can sometimes be difficult to determine the bus transfer time that is used to calculate the watchdog time. For more information on the cycle times, see the user guide of the used fieldbus. Use this formula to calculate the F WD Time: F WD Time  =  DAT  +  HAT  +  2  ×  BT 114 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 115: The Profisafe Safety Function Response Time (Sfrt)

    Some values of some parameters in the Advanced safety option board are not compatible with PROFIdrive on PROFIsafe. The Advanced safety option board allows more detailed or different behavior for some safety functions than what is mentioned in the PROFIdrive on PROFIsafe amendment. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 115...

  • Page 116: Profisafe Over Profibus

    The F-I/O Data consists of PROFIsafe user data, which consists of PROFIdrive Safety Signals. The Safety Signals inside the F-I/O Data together with the PROFIsafe trailer (see 7.1.4 The PROFIsafe Frame) form the PROFIdrive Safety Telegram. 116 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 117: Profisafe Over Profinet

    Safe Stop 2 SS2 request 6.2.4.6 The SS2 and SOS Signals – – – – Safe Limited Speed SLS 1 request 6.3.2.5 The SLS Signals – – – – – – – – Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 117...

  • Page 118: Safety Status Word 1 (S_Zsw1)

    SAFETY_EVENT Unacknowledged safety functions Sum of all active – active safety functions – – – – – – – – SQS_ACTIVE Safe Quick Stop activated SQS Active 6.2.5.3 The SQS Signals 118 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 119: Safety Control Word 2 (S_Stw2)

    – – – – – – – – – 0..7 – – – – ACK_SAFETY Acknowledge safety function Acknowledgment 6.1.5.1 Acknowledgment of a Safe- (0->1 edge) ty Function6.1.5.2 Start-up Ac- knowledgment Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 119...

  • Page 120: Safety Status Word 2 (S_Zsw2)

    SLS 1/2/3 Reached 6.3.2.5 The SLS Signals – – – – – – – – INTERNAL_EVENT Drive Safety Process fault status 6.1.4 Violation of a Safety Function – – – – 120 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 121 The SSM function excluded if it is set to "Always active". Table 59: SLS Limit Status Active signal SLS_LIMIT_BIT_ACTIVE SLS not reached SLS 1 Reached SLS 2 Reached SLS 3 Reached Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 121...

  • Page 122: Vacon Safety Control Word (Vs_Cw)

    The SSM function can be parameterized to be always active. In this case, the selector bit has no function. Only when the safety function is parameterized to use ramp selection from the fieldbus. 122 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 123: Vacon Safety Status Word (Vs_Sw)

    SS1 Active Safe Stop 1 activated 6.2.3.5 The SS1 Signals SS2 Active Safe Stop 2 activated 6.2.4.6 The SS2 and SOS Signals SQS Active Safe Quick Stop activated 6.2.5.3 The SQS Signals Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 123...
  • Page 124 Safe Digital Output 2 state 3.4 Determining the Achieved Safety Level 6..7 – – – When the SSM function is parameterized to "Always active", it is not included in this bit. 124 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 125: Parameter List

    See 3.6.4 Encoders. Two Proximity sensors HTL and proximity sensor TTL and proximity sensor HTL and estimated speed TTL and estimated speed Sin/Cos and proximity sensor Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 125...

  • Page 126: Ramp Parameters

    Use this parameter to set the minimum time for the speed to accelerate from zero to Ramp1 Speed. Ramp1 Acc Time 0...3 000 000 Use this parameter to set the maximum time for the speed to accelerate from zero to Ramp1 Speed. 126 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 127: Estimated Speed Parameters

    SS1 Ramp SS2 Ramp Acknowledgment Reset Acknowledgment + Reset Digital Output 1 – Use this parameter to select the func- tion for the digital output. Group 1 Group 2 Group 3 Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 127...
  • Page 128 Group 7 for safe digital output 2 • SLS 2 Active Group 8 for safe digital output 2 • SLS 3 Active • SSR Active • SMS Active • SSM Active Group 4 and Group 8 128 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 129: Safe Fieldbus Parameters

    When you use the value 0 for SBC Speed, and a non-zero value for Zero Speed, Zero Speed is used instead as the condition for the first safety function to activate. See the tables in 6.2.2.3 The STO Function Used with the SBC Function. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 129...

  • Page 130: Ss1 Parameters

    Use this parameter to set the time after which the SOS function activates (when only time monitoring is used), or after which the SS2 function must be reached (when zero speed monitoring is used). 130 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 131: Sqs Parameters

    Ramp Speed to zero. SQS Ramp Dec 0...3 000 000 Use this parameter to set the maximum time for the speed to decelerate from SQS Time Max Ramp Speed to zero. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 131...

  • Page 132: Sls Parameters

    Use this parameter to set the monitored maximum speed limit to positive direction when the SMS function is active. SMS Limit Minus -65535...0 Use this parameter to set the monitored maximum speed limit to negative direction when the SMS function is active. 132 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 133: Ssr Parameters

    Use this parameter to set the monitored minimum speed limit that is used when the SSM function is active. NOTE! Setting the value to 0 disables the monitoring of the minimum limit. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 133...

  • Page 134: Validation Parameters

    Use this parameter to write the date when the system was validated. Comment A maximum of 120 ASCII char- – Use this parameter to write a description of the validation, for example, acters. relevant versions of the subsystems. 134 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 135: Commissioning And Validation

    The Commissioning report lists relevant instructions for commissioning the option board. The Commissioning report can be printed from the VACON Safe tool with prefilled data or downloaded from the Danfoss website. ® If it is possible, commission the AC drive first without the Advanced safety option board to make sure that your process is operation-...

  • Page 136: Doing The First Start-Up After The Installation Of The Option Board

    After parameterization the fault F20 (source: 82, fault number: 3) no longer appears. Depending on the parameter- ized safety functions and the state of the option board inputs, different safety functions can be reported as reques- ted or reached. 136 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 137: Validating The Parameter File

    Advanced safety option to make the commissioning simpler. To bypass the safety functions of the Advanced safety option, do these steps. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 137...
  • Page 138 Set the parameter P7.4.1.2.1 in the expander board menu to value "Warning" to deactivate the drive response to faults re- ported by the Advanced safety option. Reset the faults. The AC drive should be in the READY state. 138 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 139: Operation And Maintenance

    Table below lists the Advanced safety option specific values that should be considered for logging when submitting support re- quest for Danfoss support. The needed signals depend on the situation that is being monitored. Table 83: Internal Variables of the Drive for Monitoring and Logging...
  • Page 140 Displays the value of the estimated speed provided to the Advanced safety option. Frequency EstimatedShaft- Firmware If this value is other than 0, the Estimated Shaft Frequency is not currently being calculated and FreqInvalid provided to the Advanced safety option. 140 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 141: Resetting The Password

    The passwords are reset to the default value. • The activity log in the option board is cleared. Procedure Navigate to the parameter P7.4.1.1.2 Factory Reset under menu group G7.4.1.1 Config Settings. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 141...

  • Page 142: Updating The Firmware

    Make sure that the firmware version for the option board is the intended version. See 10.1 Gathering Diagnostic Data. Find the stored parameter file and save it back to the option board. Validate the safety system again. 142 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 143: Replacing The Option Board

    4.1 Installation Safety 4.2 Installing the Option Board. Commission the new option board. Keep the replaced option board for further use, or contact Danfoss for possible analysis of the option board. Also see 10.8 Disposal.  After replacing the option board, the next start-up is the first start-up of the new option board. Do the checks and procedures of the first start-up.

  • Page 144: Disposal

    If the option board is decommissioned or disposed due to a suspected failure of the option board, contact the manufacturer to report the incident and to ask if it is necessary to return the option board to the manufacturer for further analysis. 144 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 145: Technical Data

    Actual speed at the time of the violation of the monitored speed limit. The response time is faster in higher speeds. 11.2 Safe Input/Output Data Number of inputs: 4 logical (4x2 physical). Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 145...
  • Page 146 1 mm (18) Output state in case of a fault All outputs are inactive. Combined maximum output current for the Digital Output (STO & normal) and 24V supply is 250 mA. 146 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 147: Speed Measurement Data

    Push-Pull Differential Input Voltage HTL(Active, logic 1) VA→Ā – 30 V Differential Input Voltage HTL(Inactive, logic 0) VA→Ā -30 V – -2 V Operating phase-shift A/B – – 90° ± 20% Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 147...
  • Page 148 The effects of external accelerative forces are not taken into account in the values above. The values are valid in these conditions: • The motor parameters have been set correctly, and the motor identification run has been completed successfully. • The motor is not overloaded. 148 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 149: Safe Fieldbus Data

    Ambient operating temperature According to the used AC drive. Storing ambient temperature -40°C – +80°C Air Humidity According to the used AC drive. Non-condensing. Operating altitude According to the used AC drive. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 149...

  • Page 150: Fault Tracing

    The safety function violation faults (Fault code F48) use the same syntax as the fault code 20. The source fields indicate the safety function that was violated. The number field indicates the violation that has occurred. 150 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 151: Fault Codes

    There is a fault in an output of the Advanced safety option board. • The STO output of the Advanced safety option board is not connected. Troubleshooting • Check the cabling. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 151...
  • Page 152 12.2.12 Fault Code 20 - Safety System, S10 - Cross Check, Fault Number 3 Cause • Incompatible software and/or hardware versions or a failed update. Troubleshooting • Update the option board firmware. • If the fault reoccurs, contact the nearest distributor. 152 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 153 The reset signal cannot be accepted as the speed is above a monitoring limit at requested monitoring function. Troubleshooting • Check the requested safety functions. • Check the motor speed and the speed sensors. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 153...
  • Page 154 12.2.25 Fault Code 20 - Safety System, S35 – SS2, Fault Number 5 Cause • An acknowledgment signal was received when the safety function was still requested and could not be acknowledged. Troubleshooting • Deactivate the safety function request before acknowledging. 154 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 155 The safety function is controlled from the PLC over fieldbus but the requested safety function is not parameterized to be used at all. Troubleshooting • Make sure that the configurations of the PLC and the Advanced safety option board match. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 155...
  • Page 156 12.2.39 Fault Code 20 - Safety System, S48 – Enc. Common, Fault Number 12 Cause • The supported operating frequency of the encoder signals was exceeded. Troubleshooting • See the technical data for the used encoder type or information on the maximum frequency. 156 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 157 • A wrong phase shift between signals. • Discrepancy between different speed sources is too high. Troubleshooting • Check the encoder connections. • Check the encoder parameters. • Check the encoder. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 157...
  • Page 158 12.2.51 Fault Code 20 - Safety System, S53 – Prox. sensor, Fault Number 3 Cause • A short circuit between the signals of the proximity sensor 2. Troubleshooting • Check the proximity sensor cabling. 158 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 159 • The PROFIsafe telegram is commanding the drive to a fail-safe state. • The watchdog time was exceeded. Troubleshooting • Check the F-parameters in the option board and the safety PLC. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 159...
  • Page 160 12.2.64 Fault Code 20 - Safety System, S67 - F-Parameter, Fault Number 69 Cause • The length of the F parameter CRC does not match. Troubleshooting • Check the F-parameters in the option board and the safety PLC. 160 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 161 Fault in the communication between the option board and the external safe fieldbus master. • Interference. Troubleshooting • Check the fieldbus parameters in option boards and PLC. • Check the cabling. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 161...
  • Page 162 12.2.75 Fault Code 20 - Safety System, S82 - Plaus. Check, Fault Number Other Cause • Fault in the safety configuration. • There are invalid parameters. Troubleshooting • Check the used parameter file. 162 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 163 12.2.81 Fault Code 20 - Safety System, S86 - Activity Log, Fault Number Other Cause • A fault in the internal logging. Troubleshooting • Reboot the AC drive. • If the fault reoccurs, contact the distributor near you. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 163...
  • Page 164 12.2.87 Fault Code 20 - Safety System, S243 - Drive Conf., Fault Number 35 Cause • The AC drive received the F-parameters but no safe fieldbus communication is set. Troubleshooting • Check the F-parameters in the option board and the safety PLC. 164 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 165 The Activity log can be used to see the activation and deacti- vation history of the safety functions. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 165...
  • Page 166 The Activity log can be used to see the activation and deacti- vation history of the safety functions. 166 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 167 The Activity log can be used to see the activation and deacti- vation history of the safety functions. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 167...
  • Page 168 The Activity log can be used to see the activation and deacti- vation history of the safety functions. 168 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 169 12.2.116 Fault Code 48 - Safety Violation, S35 - SS2, Fault Number 2 Cause • Only when zero speed monitoring is used: the time set with t1 of the safety function has passed but the function is not reached. Troubleshooting • – Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 169...
  • Page 170 The minimum deceleration ramp was violated. Troubleshooting • – 12.2.124 Fault Code 48 - Safety Violation, S39 - SSR, Fault Number 4 Cause • The maximum acceleration ramp was violated. Troubleshooting • – 170 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 171 The motor speed exceeds the minimum deceleration ramp (Ramp1_Dec_Time_Mi n) Troubleshooting • – 12.2.132 Fault Code 48 - Safety Violation, S40 - SLS, Fault Number 5 Cause • SLS 1 Limit was violated. Troubleshooting • – Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 171...

  • Page 172: Optaf Sto And Atex Option Board Fault Information

    Doing so can lead to situations where two fault reset commands are needed for the STO fault triggered by OPTAF to be cleared. For further information, see the relevant parameter description in the VACON NX OPTAF STO Board Manual. ® 172 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 173: Configuration Examples

    Acknowledgment 1) Table 101: General Parameters General parameters Value Drive Reset Enabled Drive Acknowledgment Enabled 2) Disabled 1) 1) and 2) indicate alternative options. Use values marked with the same number. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 173...

  • Page 174: Ss1 Used With Sto(+Sbc)

    Table 102: Configuration in OPTBL: Used Safety Functions: SS1, STO+SBC STO parameters Value Acknowledgment Mode (STO) N/A (no effect) SBC Enabled [Checkbox] Active SBC Order SBC first SBC t1 0.25 s SBC Speed 0 rpm 174 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 175 Advanced safety option board. The ramp definitions for controlled ramp are taken from the ramp 2 of the drive. Table 106: Configuration in Safety-aware Multipurpose Drive Application Parameter Value P2.12.1 S Stop Response Ramp 2 P2.4.2 Ramp 2 Shape P2.4.4 Deceleration Time 2 Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 175...

  • Page 176: Ss1 Without A Direct Support Of The Drive Application

    If different systems are used to request safety functions and supply the frequency reference, the digital output of the Advanced safety option board can be used to inform the frequency reference handling system about the SS1 request. 176 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 177: Light Curtain Control Of Sls

    Advanced safety option board OPTBN. The SQS function is also used as a violation response of the SLS function. The SLS function is controlled by a light curtain. No external safe reset or acknowledgment is required. The SLS acknowledgment mode Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 177...
  • Page 178 Drive Reset Enabled Drive Acknowledgment Enabled 2) Disabled 1) Table 111: Speed Measurement Configuration Speed measurement configuration Value Encoder Type Sin/Cos Encoder power supply 15 V Encoder reference signal No reference signal 178 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 179 1. Table 113: Configuration in the Safety-aware Multipurpose Drive Application Parameter Value P2.12.1 S Stop Response Ramp 1 P2.12.2 SLS Response Ramp 1 P2.4.1 Ramp 1 Shape P2.1.4 Deceleration Time 1 Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 179...

  • Page 180: Sls Without A Direct Support Of The Drive Application

    An output of the Advanced safety option can be used to supply an indication of a violation a safety function. 180 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 181 With the above configuration for output 2, the output will indicate the execution of SQS. SQS can then be triggered either by exter- nal request or violation of SLS. Both are indicated in the same way in the output allowing the external system to react to the safety function. Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 181...

  • Page 182: Using An Output Of The Option Board To Control The Access To An Area

    A Sin/Cos encoder is used to measure the speed of the motor shaft. External control for the speed reference to the drive is assumed for realizing the limited speed mode. Table 115: Configuration in the OPTBN: Used Safety Functions: SLS, SQS SLS parameters Value Acknowledgment Mode (SLS) Manual SLS Ramp Monitoring None 182 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 183 SQS t1 – SQS td1 – SQS td2 – Table 119: Speed Measurement Configuration Speed measurement configuration Value Encoder Type Sin/Cos Encoder power supply 15 V Encoder reference signal No reference signal Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 183...
  • Page 184 There should be an access behind the door when there is a power loss or a fault in the option board. Prevent the possibility of being trapped. N O T I C E In this configuration, the door will be locked again if SLS monitoring is violated. Prevent the possibility of being trapped. 184 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 185: Profidrive Over Profisafe Using The Profibus Or Profinet Option Board

    – Table 123: SQS Parameters SQS parameters Value Acknowledgment Mode (SQS) Automatic SQS Type SQS Monitoring Time SQS Ramp Monitoring – SQS t1 5.0 s SQS td1 – SQS td2 – Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 185...
  • Page 186 When running PROFIdrive application in NXP, bypass mode must be selected in OPTE5. If extra process data items are needed, a different telegram type with 4, 8, 12 & 16 process data items can be selected. 186 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...

  • Page 187: A Proximity Sensor For Speed Measurement

    Speed measurement configuration Value Encoder Type 1 proximity sensor Encoder Power Supply – Encoder Reference Signal No reference signal Encoder Number of Pulses – Proximity Sensor Number of Pulses Proximity Sensor Duty Cycle Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798 | 187...
  • Page 188 X3-9 +24 V Advanced safety option board X3-10 (GND) X3-3 (GND) X3-4 (GND) X3-1 (STO 1) X3-2 (STO 2) SD2+ option board SD1+ OPTAF SD2- SD1- Illustration 84: Using 1 Proximity Sensor 188 | Danfoss A/S © 2021.06 AQ319736045637en-000101 / DPD01798...
  • Page 189 Grounding principle..................22 Terminals................... 30, 31, 32 Installation...................... 51 Unverified parameter file................53 Manual version....................10 Menu structure....................45 VACON NXP AC drive.................. 44 Validated parameter file................53 Verified parameter file................53 Parameter backup................43, 44, 44 Parameter file..................54, 56 Danfoss A/S © 2021.06 AQ319736045637en-000101/DPD01798 | 189...
  • Page 191 COMMISSIONING REPORT TABLE OF CONTENTS GENERAL ....................... 2 ......................2 URPOSE ......................2 EFERENCES ......................2 ISCLAIMER DRIVE CONFIGURATION .................... 3 VALIDATION STEPS ....................4 ................... 4 ENERAL TESTING INSTRUCTIONS ................... 4 REPARING FOR COMMISSIONING ....................6 IGITAL OUTPUT TESTS ...........

  • Page 192: General

    For detailed description of the Advanced safety option board and its features, see the Advanced safety options Operating Guide. References ® The documents for VACON products can be found in http://drives.danfoss.com/knowledge- center/technical-documentation/ Advanced safety options Operating Guide Disclaimer The compilation of information contained in this report relies upon configuration provided by the user (or a person on whose behalf it is used) and is intended as a guide with purpose to test the safety configuration(s) of an AC drive.

  • Page 193: Drive Configuration

    VACON 2 Drive configuration Table 1: The AC drive Drive Type Serial Numbers Firmware name Firmware version Application Name Application Version Table 2: The option boards Slot A Slot B Slot C Slot D Slot E Table 3: The Advanced safety option board SW version File Name File Creator...

  • Page 194: Validation Steps

    4 • VACON 3 Validation steps General testing instructions The commissioning tests in this document are focused on validating the functionality of the integrated safety functions and the related stopping and monitoring functions configured in the drive system. The test objective is to verify proper configuration of the defined safety functions and of test mechanisms, and to examine the response of specific monitoring functions to the explicit input of values outside tolerance limits.
  • Page 195 VACON Figure 1: Preparing and commissioning a safety system that includes the Advanced safety option board Preparing for the commissioning before the first start-up of the system with the option board 1. Read carefully the warnings in chapter Safety of the Advanced safety options Operating Guide.

  • Page 196: First Start-Up After The Installation Of The Option Board

    6 • VACON The fieldbus connection can be established. (If a fieldbus is used.) • 12. Have a computer available with a software to control and parameterise the AC drive and the option boards, and to store test logs and parameters. 13.

  • Page 197: Reset And Acknowledgement Tests

    VACON the Advanced safety options Operating Guide for more information. Reset the faults. The drive is not ready. The warning F30 SafeTorqueOff is shown. NOTE! If the option board has been used in a previous configuration, it is possible that it has a valid parameter file already.

  • Page 198: Safe Fieldbus Tests

    8 • VACON using a safe I/O of the option board using a safe fieldbus from the drive control board (triggered by the fault reset signal of the AC drive). Depending on the configuration, some of the methods may be disabled or not taken into use. If the Advanced safety option board is set to the manual start-up acknowledgement mode, an acknowledgement signal is required after the start-up to deactivate the STO safety function.

  • Page 199: Safety Function Tests

    VACON If necessary, acknowledge the safety function or reset the violations if violations occurred. Repeat the steps 3 to 6 for each safety function intended to be used over the safe fieldbus. This can be done as a part of the safety function tests listed in following chapters.
  • Page 200 10 • VACON SBC-2 The mechanical brake becomes active as expected. SBC Reached is indicated in the used status output: The physical output of the option board The safety fieldbus status message Caution: Depending on the parameterisation the brake may become active before the STO function is activated.
  • Page 201 VACON Give a RUN request to the AC drive. Activate the SS1 function from the desired source. The drive should ramp down towards standstill. The behaviour of the ramp down is dependent on the way the ramp down is realised (e.g. drive application, external speed reference).

  • Page 202: Ss2 + Sos

    12 • VACON The SS1 tests have been executed, possible deviations documented and □ testing approved. Notes: 3.7.3 SS2 + SOS Step Instructions Comments Make sure that the drive is in READY state. Make sure that no safety functions requested. Give a RUN request to the AC drive.

  • Page 203: Sqs

    VACON NOTE! The faults that are shown and their type (Fault or Warning) depend on the settings of the AC drive. NOTE! F47 SafetyReached, subcode: SS2 (3), indicates that the SS2 safety function is Reached and that the SOS safety function is active.
  • Page 204 14 • VACON SBC-1 Make sure that the mechanical brake is deactivated. Make sure that SBC Reached is deactivated in the used status output: The physical output of the option board The safe fieldbus status message STO-2 Activate the SQS function from the desired source. STO-3 Make sure that the drive is not in READY state.
  • Page 205 VACON Notes: 3.7.4.2 SQS-SS1 The SQS function as a violation response is tested during the testing of a safety function that uses the SQS function as its violation response. The SQS-SS1 function from an external source: the test instructions are similar to that of SS1 test instructions in 3.7.2 SS1.
  • Page 206 16 • VACON Warning: F46 SafetyRequest, subcode: SQS (4). Warning: F47 SafetyReached, subcode: SQS (4). NOTE! The faults that are shown and their type (Fault or Warning) depend on the settings of the AC drive. Deactivate the SQS function. If the manual acknowledgement mode is used: do a check that the STO function is not deactivated automatically.
  • Page 207 VACON Time mode: The SOS function is activated after a delay. Make sure that the delay is correct for the process. Time + Zero speed mode: The SOS function is activated after the speed goes below a defined speed. Time + Zero speed + Ramp mode: The SOS function is activated after the speed goes below a defined speed.
  • Page 208 18 • VACON The SQS-SS2 tests have been executed, possible deviations documented □ and testing approved. Notes: 3.7.5 When possible, test the SQS safety function before the SLS safety function. Do the test steps for all the used SLS limits. Step Instructions Comments...

  • Page 209: Sms

    VACON Applicable faults are shown: Warning: F47 SafetyReached, subcode: SQS (4). Warning: F48 SafetyViolat, Safety function: SLS, subcode: 5. NOTE! The faults that are shown and their type (Fault or Warning) depend on the settings of the AC drive. The drive is in NOT READY state or in RUN state. NOTE! In the SQS-SS2 mode the drive should stay in RUN state.
  • Page 210 20 • VACON A warning should occur to indicate the SMS function activation: Warning: F46 SafetyRequest, subcode: SMS (12). Warning: F47 SafetyReached, subcode: SMS (12). NOTE! The display of the warning depends on the settings of the AC drive. NOTE! Depending on the SMS parameter values, the function may be reached after a delay.

  • Page 211: Ssr

    VACON Notes: 3.7.7 When possible, test the SQS safety function before the SSR safety function. Do the test steps for all the used SSR limits. Step Instructions Comments Make sure that the drive is in READY state. Make sure that no safety functions requested. Give a RUN request to the AC drive.

  • Page 212: Ssm

    22 • VACON NOTE! The faults that are shown and their type (Fault or Warning) depend on the settings of the AC drive. The drive is in NOT READY state or in RUN state. NOTE! In the SQS-SS2 mode the drive should stay in RUN state.
  • Page 213 VACON NOTE! The display of warnings depends on the settings of the AC drive. Increase the speed above the reached SSM limit. When you are testing the SSM minimum limit, decrease the speed below the limit instead. Speed is outside the safe range. The SQS function is not active.

  • Page 214: After Commissioning

    24 • VACON After commissioning NOTE! The information in this chapter is also included in the Advanced safety options Operating Guide. After the commissioning of the system with the option board, the parameter file stored in the option board can be validated. Step Instructions Comments...

  • Page 215: Signature

    VACON 4 Signature Type of testing: □ First commissioning □ Re-commissioning □ Periodic/maintenance test □ _____________________ Creation of the parameter file Date:_________________________ Company:____________________ Creator:______________________ Parameterisation of the Advanced safety option board Date:_________________________ Company:____________________ Signature:____________________ Validation of the Advanced safety option board as a part of the overall system has been executed □ Date:_________________________ Company:____________________ Signature:____________________...
  • Page 216 Danfoss can accept no responsibility for possible errors in catalogs, brochures and other printed material. Danfoss reserves the right to alter its products without notice. This also applies to products already on order provided that such alterations can be made without subsequential changes being necessary in specifications already agreed. All trademarks in this material are property of the respective companies.

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