Pilz PSSu K F EI Operating Manual
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Pilz PSSu K F EI Operating Manual

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PSSu K F EI
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Decentralised system PSSuniversal I/O
Operating Manual-1003303-EN-03

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Summary of Contents for Pilz PSSu K F EI

  • Page 1 PSSu K F EI Decentralised system PSSuniversal I/O Operating Manual-1003303-EN-03...
  • Page 2 Preface This document is the original document. All rights to this documentation are reserved by Pilz GmbH & Co. KG. Copies may be made for the user's internal purposes. Suggestions and comments for improving this documenta- tion will be gratefully received.

  • Page 3: Table Of Contents

    Contents Introduction ..........................Validity of documentation......................1.1.1 Retaining the documentation ....................1.1.2 Terminology: System environment A and B ................Definition of symbols......................... Overview ..........................Module features ........................Front view ..........................Safety ............................Intended use ..........................Safety regulations ........................3.2.1 Use of qualified personnel ......................
  • Page 4 Contents Wiring ............................Connectors' mechanical connection ..................Connect/disconnect the cables....................Supply voltage .......................... Connection of proximity switches ..................... Connection of encoders......................6.5.1 Connect encoder ........................6.5.2 Connect encoder with Z index ....................6.5.3 Connect encoder via an adapter....................Connection of proximity switch and encoder ................
  • Page 5 Contents 9.1.7.3 Achievable safety level ......................68 9.1.8 Safety-related characteristic data for operation with non-safety-related encoder and proxim- ity switch ........................... 9.1.8.1 Permitted sensor types and output signals................68 9.1.8.2 Safety-related architecture......................69 9.1.8.3 Achievable safety level ......................69 9.1.9 Safety-related characteristic data for operation with 2 proximity switches .......

  • Page 6: Introduction

    Introduction Introduction Validity of documentation This documentation is valid for the product PSSu K F EI. It is valid until new documentation is published. This operating manual explains the function and operation, describes the installation and provides guidelines on how to connect the product.

  • Page 7: Definition Of Symbols

    Introduction Definition of symbols Information that is particularly important is identified as follows: DANGER! This warning must be heeded! It warns of a hazardous situation that poses an immediate threat of serious injury and death and indicates preventive measures that can be taken. WARNING! This warning must be heeded! It warns of a hazardous situation that could lead to serious injury and death and indicates preventive measures that can...

  • Page 8: Overview

    Overview Overview Module features Max. 8 modules in one PSSu system Monitoring of 1 axis Configurable within the PAS4000 Measured value recorded by proximity switch or encoder Monitoring functions: – Safe speed monitoring (SSM) – Safe speed range monitoring (SSR-M) –...

  • Page 9: Front View

    Overview Front view O 00 O 01 O 02 Ini A Ini B Ini Z Ini S 24 V> O 00 O 01 O 02 0 V> Legend: 1: Name of compact module 2: Labelling strip with: – 2D code –...

  • Page 10: Safety

    FS_EI_SOSM FS_EI_SDIM FS_EI_SSM1_SSRM The module PSSu K F EI may be used as a safety component in accordance with the Lifts Directive 95/16/EC in accordance with the requirements of EN 81-1/2:1998+A3:2009, EN 81-20:2015, EN 81-50:2015, EN 81-22:2014 and EN 115-1:2008+A1:2010. The programmable safety system should be installed in a protected environment that meets at least the requirements of pollution degree 2.

  • Page 11: Safety Regulations

    Safety Safety regulations 3.2.1 Use of qualified personnel The products may only be assembled, installed, programmed, commissioned, operated, maintained and decommissioned by competent persons. A competent person is a qualified and knowledgeable person who, because of their train- ing, experience and current professional activity, has the specialist knowledge required. To be able to inspect, assess and operate devices, systems and machines, the person has to be informed of the state of the art and the applicable national, European and international laws, directives and standards.

  • Page 12: Function Description

    Function description Function description Module and periphery supply Module supply The module supply provides the module with voltage. Periphery supply The periphery supply that supplies the outputs must be fed externally. The single-pole outputs must have a common supply voltage. FS outputs 4.2.1 Single-pole outputs...
  • Page 13 Function description Fig.: On and off test for single-pole outputs Legend Pulse duration of on/off test (200 μs) Max. waiting time between the on/off test (approx. 4 ms) Repetition time of on and off test in normal circumstances (approx. 2 s) Characteristic for single-pole outputs: Output capacitance C dependent on load current I C [µF] I [A]...

  • Page 14: Notes

    Function description 4.2.2 Notes WARNING! When wiring an output with capacitance it is essential to note the pulse dur- ation, repetition period and scan time of the power-up test, otherwise the load may switch on unintentionally. For applications in accordance with Category 4, PL e and SIL 3, detection of shorts between contacts must be guaranteed either via the on/off test or through other meas- ures (e.g.
  • Page 15 Function description CAUTION! Potential loss of safety function due to the use of cascading for safety- related applications Depending on the application, serious injury or death may result. Cascading should only be used to network additional modules. Example: Three axes are to be monitored. One module is used per axis: –...

  • Page 16: Monitoring Functions

    Function description Monitoring functions The module's FS outputs can trigger the safety function STO or SS1 on a drive as a reac- tion to the result of the monitoring functions. The module's ST output can trigger the braking ramp of the safety function SS1 as a re- action to the result of the monitoring functions.

  • Page 17: Safe Speed Monitoring - Ssm

    Function description 4.5.1 Safe speed monitoring - SSM The "Safe speed monitoring" function (SSM) monitors whether the current speed exceeds a limit value. A tolerance range may also be set for the limit values used to monitor the speed. This toler- ance range modifies the set limit values.
  • Page 18 Function description SSM_Enable SSM_Enable SSM_Enable_SS1-M SSM_Enable_SS1-M Legend: SSM_Enable: – "1": Monitored limit value is not violated – "0": Monitored limit value is violated Output on the module (SSM_Enable_SS1): – "1": Monitored limit value is not violated – "0": Monitored limit value is violated : Tolerance time : Tolerance period Tol (%): Tolerance amount of limit value in both directions...

  • Page 19: Safe Speed Range Monitoring - Ssr-M

    Function description 4.5.2 Safe speed range monitoring - SSR-M The "Safe Speed Range Monitoring" function (SSR-M) monitors the current speed to en- sure it stays within a maximum and minimum permitted limit value. A tolerance range may also be set for the limit values used to monitor the speed range. This tolerance range modifies the set limit values.
  • Page 20 Function description SSR_Enable SSR_Enable_SS1-M Legend: SSR_Enable: – "1": Monitored limit value is not violated – "0": Monitored limit value is violated Output on the module (SSR_Enable_SS1-M): – "1": Monitored limit value is not violated – "0": Monitored limit value is violated : Tolerance time : Tolerance period Tol (%): Tolerance amount of the two limit values, maximum and minimum speed...

  • Page 21: Safe Operating Stop Monitoring Sos-M

    Function description 4.5.3 Safe operating stop monitoring SOS-M The "Safe Operating Stop Monitoring" function (SOS-M) monitors whether the standstill po- sition remains within a configured tolerance window. The monitoring function SOS-M is not available on sensors on which a position cannot be determined (Ini pnp-pnp, pnp-npn, npn- pnp,npn-npn).
  • Page 22 Function description SetSOSM SOSM_Enable SOSM_Enable_SS1M Legend SetSOSM: Adopt reference position once the delay time has expired SOSM_Enable: – "1": Monitored limit value not violated/monitoring of standstill position – "0": Monitored limit value violated/monitoring inactive Output on the module (SOSM_Enable_SS1-M): – "1": Monitored limit value not violated/monitoring of standstill position –...

  • Page 23: Safe Direction Monitoring Sdi-M

    Function description 4.5.4 Safe direction monitoring SDI-M The "Safe Direction Monitoring" function (SDI-M) monitors the defined direction of move- ment of the drive axis (positive or negative). The monitoring function SDI-M is not available on sensors on which a position cannot be determined (Ini pnp-pnp, pnp-npn, npn-pnp,npn- npn).
  • Page 24 Function description Monitoring of negative direction of movement: Tol. neg Tol. neg Set_SDIM SDIM_PosEnable/ SDIM_Pos_Enable_SS1M Legend: SDIM_PosEnable/SDIM_NegEnable: – "1": Monitored direction is not violated – "0": Monitored direction is violated Tol. pos/Tol. neg: Tolerance value, for which a movement contrary to the monitored direc- tion will be accepted.

  • Page 25: Activation Of Safety Function Ss1 On A Servo Amplifier

    Function description 4.5.5 Activation of safety function SS1 on a servo amplifier The safe outputs can be configured in such a way that they can activate the safety function SS1 (a and c) on a servo amplifier. Activation of monitoring function: The "Activate outputs"...
  • Page 26 Function description Outputs shut down Outputs shut down via the monitoring via an functions O-data type Restart interlock ST_O_DO FS_O_DO FS_O_DO Standstill limit value for automatic STO Legend: Restart interlock ST_O_DO: O-data type for the ST output FS_O_DO: O-data type for the FS output Standstill limit value for the automatic STO: Limit value for shutting down the outputs O00: ST output O01: FS output that can be used to trigger the STO function on a connected drive.

  • Page 27: Reaction On Ss1-M (C)

    Function description 4.5.5.2 Reaction on SS1-M (c) The ST output O00 is shut down immediately. The FS outputs are shut down after a configured delay time (STO delay time) has elapsed. The delay time starts running with a 1/0 pulse edge at the signal for the restart interlock or at the signal for the FS-O data types.

  • Page 28: Activation Of Safety Function Sto On A Servo Amplifier

    Function description 4.5.6 Activation of safety function STO on a servo amplifier The module provides all the necessary functions to implement the safety function STO on a servo amplifier. Features: The FS outputs O01 and O02 are used to activate the safety function STO on a servo amplifier.

  • Page 29: Reaction Times

    Function description Reaction times Maximum reaction time from the moment a monitored limit value is violated to the shutdown of outputs O0, O1, O2 is: 10 ms. Cascading: With 8 networked modules, the maximum reaction time from the moment a monitored limit value is violated to the shutdown of all networked modules is: 6 ms.
  • Page 30 Function description I/O data name I/O data element Meaning SDIM_NegEnable Data: SAFEBOOL TRUE: configured limit value for the monitoring function SDIM_Neg has not been violated. FALSE: the limit value for the speed has been ex- ceeded and the monitoring function SDIM_Neg has been activated SSRM_Enable Data: SAFEBOOL...
  • Page 31 Function description I-data type: FS_I_EI_PARA I/O-data name I/O data element Meaning Parameters Handshake: SAFEBOOL Module has adopted new parameter value Parameters ParameterError: SAFE- TRUE: An incorrect parameter has been trans- BOOL ferred FALSE: No fault O-data type: ST_O_DO I/O-data name I/O data element Meaning Data: BOOL...

  • Page 32: Proximity Switches

    Function description O-data type: FS_O_EI_CONTROL I/O-data name I/O data element Meaning BasicInterface ActivateCascading: TRUE: Enable cascading output. BOOL FALSE: Switch off cascading output. BasicInterface Alive: SAFEBOOL Only used internally BasicInterface ErrorAcknowledgement: TRUE: Reset error BOOL BasicInterface Restart: SAFEBOOL TRUE: Reset restart interlock O-data type: FS_O_EI_REFPOS I/O-data name I/O data element...
  • Page 33 Function description CAUTION! Please note: Connection of the proximity switches may only be performed in three-wire technology and not in two-wire technology. Proximity switch assembly: Ini 1 Ini 2 Signal characteristics: Proximity switch Signal image during movement combinations PNP / PNP energised Ini 1 De-energised...

  • Page 34: Encoder

    Function description CAUTION! Appropriate installation measures should be taken to prevent a foreign body coming between the signal encoder and the proximity switch. If not, the for- eign body could cause invalid signals. Please note the values stated in the sensor's technical details. For a full configuration, the maximum frequency of the sensors you are using must be entered in PAS4000 (see sensor's data sheet).

  • Page 35: Output Signals

    Function description The maximum frequency of the used encoders must be entered for a complete configura- tion. Pay attention to the values in the technical details. 4.10.1 Output signals Output signals TTL, HTL Single ended Differential (/Z) Operating Manual PSSu K F EI | 35 1003303-EN-03...

  • Page 36: Adapters For Encoders

    The adapter records the data between the encoder and the drive and makes it available to the PSSu K F EI via the socket. Pilz supplies complete adapters as well as ready-made cable with connector, which can be used when making your own adapter. The range of products in this area is constantly being expanded.

  • Page 37: Installation

    Installation Installation General installation guidelines Please refer also to the PSSuniversal Installation Manual. NOTICE Damage due to electrostatic discharge! Electrostatic discharge can damage components. Ensure against discharge before touching the product, e.g. by touching an earthed, conductive sur- face or by wearing an earthed armband. 5.1.1 Dimensions Module with connector:...

  • Page 38: Install Compact Module

    Installation Module with connector and labelling bracket: Install compact module Prerequisite: The head module must be installed. If the head module does not have an integrated power supply, a supply voltage module must be installed to the right of the head module. A base module with screw terminals may not be installed to the left of the compact mod- ule.
  • Page 39 Installation NOTICE Potential contact damage due to twisting! The contacts for the Module Supply and Periphery Supply can be bent by twisting the compact modules on the mounting rail. – On the mounting rail, carefully slide the compact module to the left, in parallel to the adjoining module, until you hear the lateral mounting hooks on the adjacent module lock into position [4].

  • Page 40: Install/Uninstall Connector

    Installation Install/uninstall connector We recommend that the connectors with spring-loaded terminals are wired before they are plugged in. Please note: All contacts should be protected from contamination. The mechanics of the connector are designed for 25 plug in/out cycles. Installation procedure: Plug the connector into the required connector strip until it locks into position.

  • Page 41: Install Labelling Bracket

    Installation Install labelling bracket Installation procedure: We recommend that the labelling strips are attached to the labelling bracket prior to in- stallation. Slot the two pins on the labelling bracket into the receiving lugs on the module [1]. Check that the labelling bracket is firmly seated. Fig.: Install labelling bracket Operating Manual PSSu K F EI | 41...

  • Page 42: Wiring

    Wiring Wiring Connectors' mechanical connection Please note: The conductor cross section on the spring-loaded terminals without ferrules is 0,20 - 1,00 mm², 22 - 18 AWG. If you are using multi-core or fine-core cables we recommend ferrules in accordance with DIN 46228/Part 1 or DIN 46228/Part 4, 0.2 ...

  • Page 43: Connect/Disconnect The Cables

    Wiring Connect/disconnect the cables We recommend you use a screw driver with a 0.4 x 2.5 mm (DIN 5264) blade! Strip the cable: Strip the cable [1] and apply a ferrule if necessary (DIN 46228/Part 1 or DIN 46228/Part Connect cable: Using the screwdriver, press the actuator button on the spring-loaded terminal down as far as it will go [2], keep it held down and insert the stripped cable into the plug connec- tion as far as it will go [2].

  • Page 44: Supply Voltage

    Wiring Supply voltage Terminal configuration (1-row): PSSu A Con 1/10 C 24 V X13: 24 V>: +24 V (external periphery supply) 10 A O 0: Single-pole ST output O 1: Single-pole FS output 24 V> O 2: Single-pole FS output n.c.

  • Page 45: Connection Of Proximity Switches

    Wiring Connection of proximity switches Terminal configuration (1-row): PSSu A Con 1/5 C X32: Ini A Ini A Ini B Ini B Ini Z Ini Z Ini S Ini S The following proximity switch combinations can be connected: A: pnp, B: pnp A: npn, B: npn A: pnp, B: npn A: npn, B: pnp...

  • Page 46: Connection Of Encoders

    Wiring pnp proximity switch with resistor R = 10 kOhm Ini A Ini B npn proximity switch with resistor R = 47 kOhm Ini A Ini B Connection of encoders Connector pin assignment X31, depending on the technology Mini-IO socket HTL/TTL Sin/Cos Hiperface...

  • Page 47: Connect Encoder

    Wiring 6.5.1 Connect encoder Encoder types: TTL single ended HTL single ended Please note: Tracks/A, /B, Z, and /Z must remain free Encoder Mini-IO Encoder types: TTL differential HTL differential sin/cos 1 Vss Hiperface Please note: Tracks Z and /Z must remain free Encoder Mini-IO Operating Manual PSSu K F EI...

  • Page 48: Connect Encoder With Z Index

    Wiring 6.5.2 Connect encoder with Z index Encoder types: TTL single Z Index HTL single Z Index Please note: Tracks /A, /B and /Z must remain free Encoder Mini-IO Encoder types: TTL diff. Z Index HTL diff. Z Index sin/cos 1 Vss Z Index Encoder Mini-IO Operating Manual PSSu K F EI...

  • Page 49: Connect Encoder Via An Adapter

    6.5.3 Connect encoder via an adapter The adapter (e.g. ) is connected between the encoder and the drive. The output on the ad- apter is connected to the socket on the PSSu K F EI. Encoder Operating Manual PSSu K F EI | 49...

  • Page 50: Connection Of Proximity Switch And Encoder

    Wiring Connection of proximity switch and encoder When connecting the encoders and proximity switches, please refer to the chapter entitled "EMC-compliant wiring". Sensor types: Configuration: HTL single Z Freq. Ini pnp – HTL single ended (A,B) + Ini pnp (Z) –...

  • Page 51: Emc-Compliant Wiring

    Wiring – Hiperface (A,/A,B,/B) + HTL single ended (A as Z) Please note: Track /Z must remain free Encoder Mini-IO EMC-compliant wiring EMC-compliant wiring for connecting an encoder Encoder To avoid EMC interference we recommend that the shield on the sensor lines is only con- nected to earth at a single point: A or B Conductor loops outside the shield must be avoided.
  • Page 52 Wiring EMC-compliant wiring for connecting an encoder with drive Encoder To avoid EMC interference we recommend that the shield on the sensor lines is only con- nected to earth at a single point: A or B or C or D Conductor loops outside the shield must be avoided.

  • Page 53: Function Test During Commissioning

    Wiring EMC-compliant wiring for connecting 2 proximity switches Ini A Ini B To avoid EMC interference we recommend that the shield on the sensor lines is only con- nected to earth at a single point: A or B or C Conductor loops outside the shield must be avoided.

  • Page 54: Operation

    Operation Operation Messages A module error is displayed via the "Err" LED, signalled to the head module and then entered in the head module's diagnostic log. The module can detect the following errors: Module error Statement Remedy Start-up error Error as the PSSu system Change faulty module.

  • Page 55: Display Elements

    Operation Display elements Legend LED on LED flashes LED off 7.2.1 Display elements for module diagnostics The module has an LED for displaying operating states ("On" LED) and module errors ("Err" LED). Meaning Designation Colour Status - - - Module is not in operation Green Module in op-...

  • Page 56: Display Elements For Input And Output Status

    Operation 7.2.2 Display elements for input and output status Each input and output is assigned an LED to display the status Meaning Designation Colour Status Signal Description - - - 0 signal Frequency < 10 Signal state of Green 1 signal sensor track A (/A or Sin or Ini A) Frequency ≥...

  • Page 57: Technical Details

    Technical details Technical details General Certifications CE, TÜV, cULus Listed Application range Failsafe Module's device code 0F20h Number of FS output bits Number of FS status bits Number of FS control bits Application in system environment B From FS firmware version, head modules 1.12.0 Electrical data Supply voltage...
  • Page 58 Technical details Incremental encoder input Number of inputs Connection type Mini-IO female connector, 8-pin Input signal level 0,5 - 30,0 Vss Phase position for the differential signals A, /A and B,/B 90° ±30° Overload protection -50 - 65 V Input resistance 20,0 kOhm Input's frequency range 0 - 500 kHz...
  • Page 59 Technical details Environmental data Climatic suitability In accordance with the standard EN 60068-2-78 Humidity 93 % r. h. at 40 °C Condensation during operation Not permitted Max. operating height above sea level 2000 m EN 61000-4-2, EN 61000-4-3, EN 61000-4-4, EN 61000-4-5, EN 61000-4-6, EN 61000-6-2, EN 61000-6-4 Vibration...

  • Page 60: Safety Characteristic Data

    Technical details Safety characteristic data NOTICE You must comply with the safety characteristic data in order to achieve the required safety level for your plant/machine. Unit Operating EN ISO EN ISO EN 62061 EN 62061 EN ISO mode 13849-1: 2015 13849-1: 2015 13849-1: 2015 SIL CL...

  • Page 61: Supplementary Data

    PSSu K F EI. INFORMATION The safety-related characteristic data of the PSSu K F EI and all other devices that are used must be taken into account when calculating the safety level. We recommend that you use the PAScal software tool to calcu- late the safety function's SIL/PL values.

  • Page 62: Safety-Related Characteristic Data For Operation With Non-Safety-Related Encoder Without Addi

    Supplementary data Safe Stop 2 Monitoring (SS2-M) The safety functions of the PSSu K F EI are monitoring functions, whereby a safe output signal is used to show if defined limit values are exceeded. The reaction function that takes place (e.g. shutting down the drive, activating a mechanical...

  • Page 63: Achievable Safety Level

    Supplementary data Sensor Subsystem PSSu K F EI Category MTTFd Operating mode PFH (1/h) Manufacturer- Monitoring 1,80E-08 specific 1 sensor *In accordance with EN ISO 13849-1, Category 1 is only met if the sensor is a "well-tried component". The values for DC refer to the standard EN 61508.

  • Page 64: Safety-Related Architecture

    PSSu K F EI Actuator non-safe encoder Logic Diagnostic To calculate the safety function you will need the following data for the "sensor" subsystem and the subsystem "PSSu K F EI": Sensor Subsystem PSSu K F EI Category MTTFd Operating mode...

  • Page 65: Requirements Of The Drive Controller

    Logic Diagnostic Drive Control Diagnostic To calculate the safety function you will need the following data for the "sensor" subsystem and the subsystem "PSSu K F EI": Sensor Subsystem PSSu K F EI Category MTTFd Operating mode PFH (1/h)

  • Page 66: Achievable Safety Level

    PSSu K F EI Actuator safe encoder Logic Diagnostic To calculate the safety function you will need the following data for the "sensor" subsystem and the subsystem "PSSu K F EI": Sensor Subsystem PSSu K F EI PFH (1/h) Operating mode PFH (1/h)

  • Page 67: Achievable Safety Level

    PSSu K F EI Actuator safe encoder with Logic track Z Diagnostic To calculate the safety function you will need the following data for the "sensor" subsystem and the subsystem "PSSu K F EI": Operating Manual PSSu K F EI | 67 1003303-EN-03...

  • Page 68: Achievable Safety Level

    Supplementary data Sensor Subsystem PSSu K F EI PFH (1/h) Operating mode PFH (1/h) See manufacturer Monitoring 1,01E-09 2 sensors 9.1.7.3 Achievable safety level Monitoring function PL of EN ISO 13849-1: SIL CL in accordance with 2015 EN IEC 62061 SOS-M PL e (Cat.4)

  • Page 69: Safety-Related Architecture

    Logic Diagnostic Sensor proximity switch To calculate the safety function you will need the following data for the "sensor" subsystem and the subsystem "PSSu K F EI": Sensor Subsystem PSSu K F EI Category MTTFd Operating mode PFH (1/h)

  • Page 70: Safety-Related Characteristic Data For Operation With 2 Proximity Switches

    Logic Diagnostic Sensor proximity switch To calculate the safety function you will need the following data for the "sensor" subsystem and the subsystem "PSSu K F EI": Sensor Subsystem PSSu K F EI Category MTTFd Operating mode PFH (1/h)
  • Page 71 Supplementary data Please note: Common cause failures (CCF) are possible for the sensor subsystem. An appropriate ana- lysis must be carried out. To use proximity switches 1 and 2 we recommend that you: Use different technologies/design or physical principles (e.g. different manufacturers) and Evaluate the sensor supply via track S Operating Manual PSSu K F EI | 71...

  • Page 72: Order Reference

    Order reference Order reference 10.1 Product Product type Features Order no. PSSu K F EI Compact module 312 433 10.2 Accessories Terminals Product type Features Order no. PSSu A Con Set1 C Set consisting of connectors with spring-loaded terminals 1- 313 114 row/5-pin and 1-row/10-pin, scope of supply: 2 pieces Labelling Product type Features...
  • Page 73 We are represented internationally. Please refer to our homepage www.pilz.com for further details or contact our headquarters. Headquarters: Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: info@pilz.com, Internet: www.pilz.com...

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