Phoenix Contact PSRmodular User Manual
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Phoenix Contact PSRmodular User Manual

Configurable safety system
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PSRmodular:
Configurable safety system
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Summary of Contents for Phoenix Contact PSRmodular

  • Page 1 PSRmodular: Configurable safety system User manual...
  • Page 2 Extension motion monitoring Digital (signal) output Screw Gateway PROX Proximity switch Push-in External memory Safety mat/safety edge System TBUS TBUS extension SDOR Safe relay output Modular PHOENIX CONTACT GmbH & Co. KG • Flachsmarktstraße 8 • 32825 Blomberg • Germany phoenixcontact.com...

  • Page 3: Table Of Contents

    1.4.4 Safety when starting applications ............15 Directives and standards ..................15 Documentation ....................16 System description ........................17 PSRmodular safety system: Structure and method of operation ......17 Installation ......................20 2.2.1 Safety notes ..................20 2.2.2 Mounting location ................. 20 2.2.3...
  • Page 4 4.2.16 Monitor (status of I/Os) ................. 55 4.2.17 Monitor graphic ..................56 4.2.18 System test ..................57 Items and operators of the PSRmodular Software ..............59 Item function blocks..................... 59 5.1.1 Output item ..................59 5.1.2 INPUT item ..................71 Speed control ....................100 5.2.1...
  • Page 5 Maintenance, repair, decommissioning, and disposal ............217 Maintenance...................... 217 Repair........................ 217 Decommissioning and disposal ................. 217 Technical appendix.........................219 Response times of the PSRmodular system............219 Appendix for document lists....................221 List of figures ..................... 221 Revision history ........................229 5 / 232 PHOENIX CONTACT...
  • Page 6 PSRmodular system 6 / 232 PHOENIX CONTACT 109241_en_03...

  • Page 7: For Your Safety

    – Qualified application programmers and software engineers. The users must be familiar with the relevant safety concepts of automation technology as well as applicable stan- dards and other regulations. PHOENIX CONTACT 109241_en_03...

  • Page 8: Field Of Application Of The Product

    1.3.1 Intended use Use the safety modules and safe extension modules of the PSRmodular system only in ac- cordance with the information provided in this section. PSRmodular system The intended use for the PSRmodular system is safe switch-off. Safe switch-on does not fall under the intended use.
  • Page 9 2 pairs 1105523 Configurable as signal output or EDM/reset input Standard extension modules Order Signal out- EDM/reset Item Type Inputs Outputs Test clocks Screw/ puts inputs Push-in 1105132 PSR-M-E1 Digital OUT 1105133 1105134 PSR-M-E2 Digital OUT 1105136 PHOENIX CONTACT 109241_en_03...
  • Page 10 PSRmodular system TBUS extension modules Order Number of Item Screw/ channels Push-in 1105095 PSR-M-TBUS1 1105096 1105097 PSR-M-TBUS2 1105098 Safe extension modules for motion monitoring Safety integrity in accordance with Sensor type Order Num- EN 61800-5-2 ber of Item Proxim- encod-...
  • Page 11 PSR-M-EF5 PSR-M-GW-CAN PSR-M-EF6 PSR-M-GW-ETH PSR-M-EF8 PSR-M-GW-ModTCP PSR-M-EM1 PSR-M-GW-CCLINK PSR-M-EM2 PSR-M-GW-ECAT PSR-M-EM3 PSR-M-EM4 PSR-M-EM5 PSR-M-EM6 PSR-M-EM7 For further information on the extension modules, please refer to the technical data sheets available in the Phoenix Contact E-Shop. 11 / PHOENIX CONTACT 109241_en_03...

  • Page 12: Product Changes

    In the context of the use of the PSRmodular system with the PSRmodular Software config- uration software and safe blocks, the following operations may only be carried out by qual- ified personnel: –...

  • Page 13: Electrical Safety

    For your safety Requirements Knowledge of the following topics and products is required: – The safety modules and safe extension modules of the PSRmodular system that are used – The I/O devices used (extension devices, sensors, actuators) – Operation of the PSRmodular Software configuration software –...

  • Page 14: Safety Of Machines Or Systems

    – The use of safe blocks in the safety logic You can create the safety logic with the aid of the PSRmodular Software configuration software. In order to use the PSRmodular system properly, safety-related equipment must be pro- Safety-related equipment vided on the machine.

  • Page 15: Safety When Starting Applications

    Section “System restart behavior” on page Directives and standards The standards complied with by the PSRmodular system can be found in the certificate is- sued by the approval body and in the EC declaration of conformity. These documents are available on the Internet. See phoenixcontact.net/products.

  • Page 16: Documentation

    Technical description of the safe extension modules – User documentation for I/O devices (e.g., sensors/actuators, etc.) connected to the PSRmodular modules and connected to safe blocks in the safety logic (PSRmodular Software configuration software) – Documentation for supplementary standard technology –...

  • Page 17: System Description

    System description System description PSRmodular safety system: Structure and method of operation Overall system: hardware The PSRmodular safety system consists of the following components. and software – PSR-M-B1 and/or PSR-M-B2 base modules – Optional PSR-M-EF, PSR-M-EM, PSR-M-TBUS safe extension modules or PSR-M-E standard extension modules –...
  • Page 18 The configuration data and device parameters are downloaded from the configuration PC to the base module. Configuration data refers to the application logic you created using the PSRmodular Software configuration software. See also section “Connecting to the base module” on page Safety module ...
  • Page 19 PSR-M-MEMORY, the user just needs to insert module the memory module in the new base module and switch the PSRmodular system on again. The backup configuration is automatically loaded. This keeps disruption to a minimum.

  • Page 20: Installation

    Installation 2.2.1 Safety notes Qualified personnel Assembly, removal, and electrical installation of the PSRmodular system may only be per- formed by qualified personnel. See “Qualified personnel” on page WARNING: Serious personal injury or damage to equipment Disregarding this warning may result in damage to equipment and/or serious personal in- jury.

  • Page 21: Connection Technology

    2.2.4 Mechanical attachment The modules of the PSRmodular system are attached to a 35 mm DIN rail as follows: Connect the corresponding number of rear 5-pos. TBUS connectors to match the num- ber of modules that need to be mounted.

  • Page 22: Electrical Requirements

    Figure 2-4 Mechanical attachment of a PSRmodular module to the DIN rail NOTE: Wear on the connectors A maximum of eight insertion cycles are permitted when connecting the modules via DIN rail connectors.

  • Page 23: Using The System

    The safety modules of the PSRmodular system support flexible configuration. The system includes safe blocks which are used to create the safety logic. You can therefore implement various safety functions in different safety circuits using the PSRmodular Software. Here are just some of the main options: –...

  • Page 24: Safe State

    Safe state The safe state of an output terminal point is power off mode (signal value: “0”). The PSRmodular system can enter the safe state in the following cases: Operating state (by triggering the safety function) Error detection in I/O devices...

  • Page 25: System Restart Behavior

    Implementation using safe To implement a restart inhibit, use the safety functions in the configuration software which blocks have the relevant function blocks for activating the restart inhibit. 25 / PHOENIX CONTACT 109241_en_03...

  • Page 26: Error Detection

    Diagnostics via gateways You can connect your PSRmodular system to a higher-level controller via gateways. Diag- nostic readouts are bus-specific. The gateway transmits the status of the system as well as the diagnostic information for all I/Os configured on the PSRmodular system.

  • Page 27: Password Protection

    For the ordering data for the individual gateways, please refer to the technical data sheets available in the Phoenix Contact E-Shop. Password protection The PSRmodular system and the PSRmodular Software use two passwords, thereby pro- viding double protection against unauthorized changes to the configuration and the project in the configuration software.
  • Page 28 PSRmodular system 28 / PHOENIX CONTACT 109241_en_03...

  • Page 29: Signal Description

    0, i.e., terminal points “ADR0” and “ADR1” will not be connected. Additional modules of the same type will be connected as indicated in the table. The modules must be addressed accordingly in the PSRmodular Software. – The same physical address must not be used on two modules of the same type.
  • Page 30 PSRmodular system RESTART_FBK The “RESTART_FBK” signal is not only used to check the EDM (External Device Monitor- ing) signal of the feedback (FBK) from the external contactors, it is also used to configure manual or automation operation (see all possible connections in the table below).
  • Page 31 “RESTART_FBK” input. The output is only activated in accordance with the configurations speci- Monitored fied by the PSRmodular Software if there is a logic transition from 0 --> 1 - -> 0 at the corresponding “RESTART_FBK” input. Figure 3-2...
  • Page 32 Standard signals can be transmitted to a PLC or other signal generators via the signal out- puts. When configured accordingly in the PSRmodular Software, a signal output can output the status for the following elements: – An input –...

  • Page 33: Motion Signals

    24 hours for the timely detection of errors. The proximity switches must be implemented so that at least one of the switches is always active (“interleaved”). . Figure 3-4 Implementation of two “interleaved” proximity switches 33 / PHOENIX CONTACT 109241_en_03...
  • Page 34 PSRmodular system If this is not possible due to the design, another option is to deactivate this monitoring in the PSRmodular Software (“Proximity interleaved”). WARNING: Loss of functional safety due to deactivation of “Proximity inter- leaved” Maximum achievable safety integrity taking connected sensors into consideration...

  • Page 35: Analog Signals

    0 VDC 3-WIRE SENSOR WITH VOLTAGE OUTPUT PSR-M-EF7 24 VDC 0...10 VDC +24 VDC Power supply SENSOR Negative IN S1 Positive IN S1 0 VDC Figure 3-5 Connection variants for analog sensor types to PSR-M-EF7 35 / PHOENIX CONTACT 109241_en_03...
  • Page 36 PSRmodular system 36 / PHOENIX CONTACT 109241_en_03...

  • Page 37: Psrmodular Software: Basics

    PSRmodular Software: Basics PSRmodular Software: Basics The PSRmodular Software safe configuration software is used exclusively for the configu- ration and parameterization of the PSRmodular configurable safety system. The software will support you in all the development phases of your project, from configura- tion through to startup and documentation.

  • Page 38: Basic Knowledge

    PSRmodular system Basic knowledge If installation was completed correctly, the desktop icon will be created. Double-click on the desktop icon to start the program. The following user interface appears: Figure 4-1 Start screen The user can now create their project.

  • Page 39: The Tool Bar

    PSRmodular Software: Basics 4.2.1 The tool bar The tool bar is shown below together with an explanation of the various icons. (1) Create new project (2) Change configuration (3) Change project information (4) Save project (5) Open project (6) Print circuit diagram...

  • Page 40: Creating A New Project

    Figure 4-2 PSRmodular project information The PSRmodular Software opens the configuration window for the hardware; only the PSR-M-B2 base module appears in the window. The PSR-M-B1 module can be selected via the pull-down menu below the base module by ≥...

  • Page 41: Changing The Hardware Configuration

    PSRmodular Software: Basics Selection of the extension module that is to be added Select number of local bus extensions Firmware version: Module type Address selec- Disables reading of the ≥ 5.0 PSR-M-B2 selection tion (0 ... 3) PSR-M-MEMORY PSR-M-B1 < 5.0...

  • Page 42: Changing Project Information

    4.2.4 Changing project information Select the icon to change the project information. The “Project information” dialog box appears. It allows you to change the project information for an existing project. Figure 4-4 PSRmodular project information 42 / PHOENIX CONTACT 109241_en_03...

  • Page 43: Function Windows: Items - Operator - Configuration

    PSRmodular Software: Basics 4.2.5 Function windows: Items – Operator – Configuration Figure 4-5 Function windows: Items – Operator – Configuration Items function window (1) The function window contains the various function blocks. The function blocks are divided into different categories: –...

  • Page 44: Creating The Safety Logic

    PSRmodular system 4.2.6 Creating the safety logic Once the hardware configuration has been created, the user can start on the project config- uration. The safety logic is created using drag and drop. – First, the desired item (or operator) is selected from the windows described earlier (all items/operators are explained in detail in subsequent sections) and placed in the “cir-...

  • Page 45: Calling Functions In The Context Menu

    PSRmodular Software: Basics 4.2.7 Calling functions in the context menu Context menu for items – Copy/Paste – Delete – Assigned pins – Vertical and horizontal alignment with other function blocks (multiple selection) – Online help – Show/hide properties (only possible in online mode) Calling the context menu for an operator –...

  • Page 46: Project Example

    On successful validation, a sequence number is assigned to the individual items in the cir- cuit diagram. This number appears in the report as well as in the simulation and online mon- itor of the PSRmodular Software. The base module configuration can only be downloaded if the validation is passed.

  • Page 47: Resource Allocation

    The validation function only evaluates the conformity of the programming and the config- uration of the hardware in relation to the configuration rules of the PSRmodular system. This validation therefore does not guarantee that the configuration corresponds to the re- quirement specification (SRS).

  • Page 48: Project Report

    PSRmodular system 4.2.12 Project report The program function is used to print all project information, such as the circuit diagram, block parameters, and hardware configuration ( icon in the standard tool bar). CRC (signature) cir- cuit diagram Cycle time Information on the safety level...
  • Page 49 PSRmodular Software: Basics Response time of the outputs Figure 4-11 Project report, page 2 of 2 (example) 49 / PHOENIX CONTACT 109241_en_03...

  • Page 50: Connecting To The Base Module

    To determine the effective PL for the entire application and the associated parameters, the data from all devices connected to the PSRmodular system must be taken into con- sideration.

  • Page 51: Password Protection

    Changing passwords Passwords can only be changed when communication is established with the base mod- ule. Log into the PSRmodular Software with the Level 2 password and click on the icon to change the password. A window appears where you can select the password you wish to change. Enter the old password and the new password in the corresponding fields (maximum of eight characters).

  • Page 52: Establishing A Usb Connection

    PSRmodular system If an PSR-M-MEMORY is used, the new password will also be saved there. Figure 4-13 Changing passwords 4.2.15 Establishing a USB connection Once you have plugged the USB cable into the PC and the base module, the connection can be established via the icon in the standard tool bar.

  • Page 53: Figure 4-15 Log File Display

    PSRmodular Software: Basics Loading the configuration project (from the base module to the PC) To load a project that is on the base module to the PSRmodular Software, use the icon in the standard tool bar and await execution. The PSRmodular Software displays the project that is present on the base module.

  • Page 54: Figure 4-16 Display Of The System Configuration

    PSRmodular system Displaying the system configuration – To display the actual system configuration, click on the icon (Level 1 password entry required). A table appears that contains the following: – Connected modules – Firmware version of each module – Address of each module...

  • Page 55: Monitor (Status Of I/Os)

    PSRmodular Software: Basics System restart To restart the system (e.g., following project download or an error), click on the icon in the tool bar. This resets the system and restarts it. If the system detects an inconsistent hardware configuration, the base module signals an incompatibility via LEDs and restarts.

  • Page 56: Monitor Graphic

    PSRmodular system 4.2.17 Monitor graphic For the graphical representation of the I/O states in real time, enable the “Monitor graphic” function. An online view of the circuit diagram appears containing the current status in- formation. The colors used in the graphical real-time display have the following meaning:...

  • Page 57: System Test

    PSRmodular Software: Basics 4.2.18 System test NOTE: Validate the project after sending the configuration to the base module by checking that all connected sensors and actuators are working properly. To do this, perform a full function test and error simulation in accordance with EN ISO 13849-2.
  • Page 58 PSRmodular system NOTE: – To ensure the correct installation of all external sensors and actuators, follow the rel- evant installation instructions. – This check must be performed for each individual sensor and actuator. 58 / PHOENIX CONTACT 109241_en_03...

  • Page 59: Items And Operators Of The Psrmodular Software

    Items and operators of the PSRmodular Software Items and operators of the PSRmodular Software Item function blocks 5.1.1 Output item 5.1.1.1 DUAL-OUTPUT function block (safe outputs) NOTE: This block can only be used in conjunction with the PSR-M-B1 base module as well as the PSR-M-EF4 and PSR-M-EF8 extension modules.

  • Page 60: Figure 5-2: Basic Circuit Diagram Of The Outputs For The Dual-Output

    PSRmodular system Below is the basic circuit diagram of the outputs for the PSR-M-B1, PSR-M-EF8, and PSR- M-EF4 modules: Figure 5-2 Basic circuit diagram of the outputs for the DUAL-OUTPUT function block Parameters Manual Reset When this option is activated, on every signal change (1 --> 0 --> 1) at the “I ”...

  • Page 61: Figure 5-4: Correct (Left) / Incorrect (Middle And Right) Feedback Signal

    Items and operators of the PSRmodular Software External K time monitoring When this option is selected, it is possible to specify the time frame during which the exter- nal feedback signal will be monitored. – When the outputs change to the logic “1” status, the feedback signal (“FBK_RST”) must change from logic “1”...

  • Page 62: Figure 5-5: "Single/Dual-Output" Function Block (Safe Output)

    PSRmodular system Figure 5-5 “SINGLE/DUAL-OUTPUT” function block (safe output) Parameters Output Type – Single – Dual When using a PSR-M-B2, PSR-M-EF1 or PSR-M-EF5 module, the user can choose be- tween various configurations: 4 x SINGLE output (O) function block 2 x DUAL output (O) function block 2 x SINGLE output (O) function block + 1 x DUAL output (O) function block.

  • Page 63: Figure 5-6: Project Example With "Single/Dual-Output" Function Block

    Items and operators of the PSRmodular Software Figure 5-6 Project example with “SINGLE/DUAL-OUTPUT” function block Below is the basic circuit diagram for the PSR-M-B2, PSR-M-EF1, and PSR-M-EF5 mod- ules: Figure 5-7 Basic circuit diagram of the outputs for the SINGLE/DUAL-OUTPUT func-...

  • Page 64: Figure 5-8: Manual (Left) And Monitored (Right) Reset

    PSRmodular system Reset Type There are two types of reset: “Manual” or “Monitored”. If the “Manual” option is selected, only the signal transition from logic “1” to logic “0” is checked. In the case of the “Monitored” op- tion, the double transition from logic “0” to logic “1” and back to logic “0” is checked.

  • Page 65: Figure 5-10 "Monitoring-Out" Function Block

    Items and operators of the PSRmodular Software 5.1.1.3 MONITORING-OUT function block The output of the “MONITORING-OUT” function block is a non-safety-related signal output. This output is only intended to be connected for diagnostic purposes. The function block can be used to monitor any status in the configuration. To do this, the status information that is to be output is connected to the input of the “MONITORING-OUT”...

  • Page 66: Figure 5-12 Outputs With Category 1 Single Relays

    PSRmodular system 5.1.1.5 RELAY function block The safe relay output is closed when input signal “I ” is logic “1”. The relay contact is open when input signal “I ” is logic “0”. Parameters Category When making this selection, you can choose from three different categories in accordance with EN ISO 13849 (1, 2, 4): Category 1: outputs with category 1 single relays.

  • Page 67: Figure 5-13: Example With External (Left) And Internal (Right) Relay

    Items and operators of the PSRmodular Software PSR-M-B1 MOR4 PSR-M-B1 MOR4 PSR-M-B1 PSR-M-B1 CAT4 CAT1 CAT1 CAT4 CAT1 CAT1 AC/DC Figure 5-13 Example with external (left) and internal (right) relay Internal relay External relay/contactor External electromagnetically actuated valve Category 2: outputs with category 2 single relays with OTE outputs. Each PSR-M-EF6 module can have up to four outputs of this type.

  • Page 68: Figure 5-15: Example For Two Safety Functions Each In Accordance With Cat

    PSRmodular system When using category 2 in accordance with EN ISO 13849, an additional shutdown is re- quired in the event of an error. Output “O ” is normally logic “1” when no internal or external error is present. Figure 5-15...

  • Page 69: Figure 5-17: Manual (Left) And Monitored (Right) Reset

    Items and operators of the PSRmodular Software Reset Type There are two types of reset: “Manual” or “Monitored”. If the “Manual” option is selected, only the signal transition from logic “1” to logic “0” is checked. In the case of the “Monitored” op- tion, the double transition from logic “0”...

  • Page 70: Figure 5-18 Correct (Left) / Incorrect (Middle And Right) Feedback Signal

    PSRmodular system Enable Error Out When this parameter is selected, an output (“E ”) is made available which signals that RROR an error has been detected by the function block. The “E ” signal is reset in the following cases: RROR –...

  • Page 71: Input Item

    Items and operators of the PSRmodular Software 5.1.2 INPUT item 5.1.2.1 E-STOP function block (emergency stop) The E-STOP function block checks the status of the “I ” inputs of an emergency stop de- vice. If the emergency stop button is pressed, the “OUT” output is logic “0”. Otherwise, the output is logic “1”.

  • Page 72: Figure 5-20: Manual (Left) And Monitored (Right) Reset

    PSRmodular system Reset Type There are two types of reset: “Manual” or “Monitored”. If the “Manual” option is selected, only the signal transition from logic “1” to logic “0” is checked. In the case of the “Monitored” op- tion, the double transition from logic “0” to logic “1” and back to logic “0” is checked.

  • Page 73: Figure 5-21: "Guard-Monitoring (2Ch)" Function Block

    Items and operators of the PSRmodular Software 5.1.2.2 GUARD-MONITORING function block (2CH; device for movable guards) The “GUARD-MONITORING (2CH)” function block monitors the status of the “I ” inputs of a movable guard (e.g., safety door). When the movable guard is open, the “O ”...

  • Page 74: Figure 5-22: Manual (Left) And Monitored (Right) Reset

    PSRmodular system Reset Type There are two types of reset: “Manual” or “Monitored”. If the “Manual” option is selected, only the signal transition from logic “1” to logic “0” is checked. In the case of the “Monitored” op- tion, the double transition from logic “0” to logic “1” and back to logic “0” is checked.

  • Page 75: Figure 5-23 Guard-Monitoring (1Ch) Function Block

    Items and operators of the PSRmodular Software 5.1.2.3 GUARD-MONITORING function block (1CH; device for movable guards) The GUARD-MONITORING (1CH) function block monitors the status of the “I ” input of a movable guard (e.g., safety door). When the movable guard is open, the “O ”...
  • Page 76 PSRmodular system StartUp Test If this option is selected, a function test of the movable guard is required before the enable. This test requires the movable guard to be opened in order to activate the “O ” output. This check is only required on machine startup.

  • Page 77: Figure 5-25: Lock Feedback Function Block

    Items and operators of the PSRmodular Software 5.1.2.4 LOCK FEEDBACK function block The function block checks the status of the “I ” inputs of a guard locking device in connec- tion with the “GUARD LOCKING” operator. If the guard locking device is unlocked, the “O...

  • Page 78: Figure 5-26 "Enable" Function Block

    PSRmodular system 5.1.2.5 ENABLE function block The function block checks the status of the “I ” inputs of a key switch. If the switch is not ac- tivated, the “OUT” output is logic “0”. Otherwise, the output is logic “1”.

  • Page 79: Figure 5-28 Connection Examples With One Contact (Left) And Two Contacts (Right)

    Items and operators of the PSRmodular Software CONNECTION EXAMPLE (ONE CONTACT) CONNECTION EXAMPLE (TWO CONTACTS) ENABLE ENABLE INPUT n INPUT n INPUT (n+1) OUT TEST (n+1) OUT TEST n OUT TEST Figure 5-28 Connection examples with one contact (left) and two contacts (right) NOTE: Inputs at a function block must always be used in ascending order.

  • Page 80: Figure 5-29: "Espe" Function Block (Light Grid/Safety Laser Scanner)

    PSRmodular system With simultaneity / This parameter is only available if the “Double NC” option is selected. In this case, the block monitors the simultaneous switching of both input channels. Simultaneity (ms) If a signal change does not occur on both input channels within the defined synchronization time, an enable signal will not be generated at the output.

  • Page 81: Figure 5-30: Time Diagram For "Manual" Reset (Left) And "Monitored" Reset (Middle), And Connection Example (Right)

    Items and operators of the PSRmodular Software Reset Type There are two types of reset: “Manual” or “Monitored”. If the “Manual” option is selected, only the signal transition from “0” to “1” is checked. In the case of the “Monitored” option, the dou- ble transition from “0”...

  • Page 82: Figure 5-31: "Footswitch" Function Block (Safety Foot Switch)

    PSRmodular system 5.1.2.7 FOOTSWITCH function block (safety foot switch) The FOOTSWITCH function block checks the status of the “I ” inputs of a safety device with foot switch. When the foot switch is not pressed, the “OUT” output is logic “0”. Otherwise, the output is logic “1”.

  • Page 83: Figure 5-32 Time Diagram For "Manual" Reset (Left) And "Monitored" Reset (Right)

    Items and operators of the PSRmodular Software Reset Type There are two types of reset: “Manual” or “Monitored”. If the “Manual” option is selected, only the signal transition from “0” to “1” is checked. In the case of the “Monitored” option, the dou- ble transition from “0”...

  • Page 84: Figure 5-34: "Mode-Selector" Function Block (Mode Selector Switch)

    PSRmodular system Item Description A 24-character text description of the function or the name can be entered here. The text is displayed above the function block. 5.1.2.8 MODE-SELECTOR function block (mode selector switch) The “MODE-SELECTOR” function block checks the status of the “I ”...

  • Page 85: Figure 5-35: "Testable-Sensor" Function Block (Electro-Sensitive Protec- Tive Equipment)

    Items and operators of the PSRmodular Software 5.1.2.9 TESTABLE-SENSOR function block (electro-sensitive protective equip- ment) The “TESTABLE-SENSOR” function block evaluates the status of electro-sensitive protec- tive equipment. When the protective field of the electro-sensitive protective equipment is clear, the output is set to logic “1”. If the protective field is interrupted, the output is set to logic “0”.

  • Page 86: Figure 5-37: "Two-Hand" Function Block (Two-Hand Operation)

    PSRmodular system The response time of the light grid must be > 2 ms and < 20 ms. Output Test Enables the selection of a clock signal that is to be transmitted to the safety equipment. These additional diagnostics enable the detection of short circuits and cross-circuits be- tween the cables.

  • Page 87: Figure 5-38: "Network_In" Function Block (Line Emergency Stop)

    Items and operators of the PSRmodular Software Parameters Input Type – Double NO (double N/O contact channel): enables the connection of two-hand opera- tion with one N/O contact (NO) to each pushbutton (EN 574 type IIIA). – Quad NC-NO: enables the connection of two-hand operation with a pair of N/O con- tacts or N/C contacts (NO/NC) for each pushbutton (EN 574 type IIIC).

  • Page 88: Figure 5-39 "Sensor" Function Block

    PSRmodular system Parameters Input Type – Single: input “I 1” is activated by an output of another base module (PSR-M-B2). – Double: inputs “I 1” and “I 2” are activated by a 2-channel output of another base module (PSR-M-B1 or PSR-M-B2).

  • Page 89: Figure 5-40: Time Diagram For "Manual" Reset (Left) And "Monitored" Reset (Right)

    Items and operators of the PSRmodular Software Parameters Manual Reset If this option is selected, a reset must be performed manually every time the function block is activated. Otherwise, the activation of the output directly follows the state of the inputs.

  • Page 90: Figure 5-41: "S-Mat" Function Block (Safety Mat)

    PSRmodular system 5.1.2.13 S-MAT function block (safety mat) The “S-MAT” function block checks the status of the “I ” inputs of a safety mat (short-circuit principle). When someone steps onto the safety mat, the “O ” output signals logic “0”. The output is logic “1”...

  • Page 91: Figure 5-42: Time Diagram For "Manual" Reset (Left) And "Monitored" Reset (Middle), And A Connection Example

    Items and operators of the PSRmodular Software Parameters Manual Reset If this option is selected, a reset must be performed manually every time the function block is activated. Otherwise, the activation of the output directly follows the state of the inputs.

  • Page 92: Figure 5-43: "Switch" Function Block (Switch/Pushbutton)

    PSRmodular system 5.1.2.14 SWITCH function block (switch/pushbutton) The “SWITCH” function block checks the status of the “I ” input of a pushbutton or switch (not safety components). If the pushbutton is pressed, the “O ” output signals logic “1”; otherwise it is logic “0”.
  • Page 93 Items and operators of the PSRmodular Software Output Test Enables the selection of clock signals that are to be connected to the switch/pushbutton. These additional diagnostics enable the detection of short circuits and cross-circuits be- tween the cables. To activate these diagnostics, the clock signals must be configured in the “Property”...

  • Page 94: Figure 5-45: "Enable Switch" Function Block

    PSRmodular system 5.1.2.15 ENABLE SWITCH function block The “ENABLE SWITCH” function block checks the status of the “I ” inputs of an actuated enable switch. If the enable switch is not actuated (Position 1) or fully pressed (Position 3), the “O ”...
  • Page 95 Items and operators of the PSRmodular Software Simultaneity (ms) Always active (parameter cannot be deselected). Defines the maximum time (in ms) that may elapse between the switching states of the various incoming signals from the external contacts. The maximum time interval (ms) between the switching operations of the two channels can be configured in the range from 10 ms to 7000 ms.

  • Page 96: Figure 5-46: "Testable Safety Device" Function Block (Safety Switch)

    PSRmodular system 5.1.2.16 TESTABLE SAFETY DEVICE function block (safety switch) The “TESTABLE SAFETY DEVICE” function block checks the status of the “I ” inputs of a single or double safety switch, both NO and NC. Refer to the tables below to see the type of safety switch involved and its mode of behavior.

  • Page 97: Figure 5-47: Time Diagram For "Manual" Reset (Left) And "Monitored" Reset (Right)

    Items and operators of the PSRmodular Software Double NC Simultaneity failure* Double NC/NO Simultaneity failure* * Simultaneity failure: when changing state, the maximum time between the input signals was exceeded. Manual Reset If this option is selected, a reset must be performed manually every time the function block is activated.

  • Page 98: Figure 5-48: External Input Signal (Ei)

    PSRmodular system Output Test Enables the selection of clock signals that are to be connected to the sensor. These addi- tional diagnostics enable the detection of short circuits and cross-circuits between the ca- bles. To activate these diagnostics, the clock signals must be configured in the “Property”...

  • Page 99: Figure 5-49 False/True

    Items and operators of the PSRmodular Software 5.1.2.18 FALSE/TRUE Signal constants allow you to easily create a value that cannot be modified at an input of a function or block. Figure 5-49 FALSE/TRUE 5.1.2.19 Comments item Enables the entry of descriptive text that can be placed in any position.

  • Page 100: Speed Control

    PSRmodular system Speed control 5.2.1 General information on the “Error Out” parameter NOTE: Loss of functional safety – An external error or an external malfunction of the encoder/proximity switch does not necessarily lead to an unsafe state. – The module detects and manages errors or malfunctions in the encoder/proximity switch or the cabling and then signals them to each function block via the error output (“E...

  • Page 101: Function Blocks

    Items and operators of the PSRmodular Software 5.2.2 Function blocks 5.2.2.1 OVER-SPEED function block with SLS and SDI The “OVER-SPEED” function block checks the speed of a drive by setting the “O ” output to logic “0” if the measured speed exceeds the predefined limit value. If the speed is below this predefined limit value, the output is logic “1”.

  • Page 102: Figure 5-54: Example Of An Axis With Clockwise Rotation

    PSRmodular system Parameters Axis type Defines the type of axis monitored by the drive. – Linear: must be selected when “Monitoring a linear movement”. – Rotational: must be selected when “Monitoring a rotational movement”. Sensor Type If the selection of the previous parameter is “Linear”, the “Sensor Type” defines the sensor type that is connected to the inputs of the module, namely “Rotational”...

  • Page 103: Figure 5-55: Example With Four Thresholds

    Items and operators of the PSRmodular Software Figure 5-55 Example with four thresholds NOTE: When using several threshold values, the lowest speed level must be assigned to Speed 1. All subsequent threshold values (2 ... 8) must be assigned in ascending order.

  • Page 104: Figure 5-56 Selection Options For Proximity Switches

    PSRmodular system Setting 8 limit values: Limit values Speed 1 Speed 2 Speed 3 Speed 4 Speed 5 Speed 6 Speed 7 Speed 8 Pitch If “Linear” is selected as the axis type and “Rotational” is parameterized as the sensor type, this field can be used to enter the pitch in order to perform a conversion between the sensor revolutions and the distance traveled [mm/revolution].

  • Page 105: Figure 5-57: Overlapping Proximity Switches

    Items and operators of the PSRmodular Software Gear Ratio Use this parameter if there are two sensors on the selected axis. This parameter enables you to enter the ratio between the two sensors. If both sensors are located on the same mov- ing shaft, the ratio is 1;...
  • Page 106 PSRmodular system Axis type: Sensor type: Rotational Rotational Frequency = Speed [rpm] x Encoder resolution ƒ [Hz] = [pulses/revolution] Axis type: Sensor type: Rota- Linear tional Frequency = Speed [m/min] x 1000 x Encoder resolution ƒ [Hz] = 60 x Pitch [mm/revolu-...

  • Page 107: Figure 5-59 "Speed-Range" Function Block (Ssr, Safe Speed Range)

    Items and operators of the PSRmodular Software 5.2.2.2 SPEED-RANGE function block (SSR, safe speed range The “SPEED-RANGE” function block checks the speed of a drive by setting the “R ” ANGE output to logic “1” if the measured speed is within a predefined speed range.

  • Page 108: Figure 5-60: Selection Options For Proximity Switches

    PSRmodular system Parameters Axis type Defines the type of axis monitored by the drive. – Linear: must be selected when “Monitoring a linear movement”. – Rotational: must be selected when “Monitoring a rotational movement”. If the selection of the previous parameter is “Linear”, the “Sensor Type” defines the sensor Sensor Type type that is connected to the inputs of the module, namely “Rotational”...

  • Page 109: Figure 5-61: Overlapping Proximity Switches

    Items and operators of the PSRmodular Software Gear Ratio Use this parameter if there are two sensors on the selected axis. This parameter enables you to enter the ratio between the two sensors. If both sensors are located on the same mov- ing shaft, the ratio is 1;...
  • Page 110 PSRmodular system If the displayed threshold value is GREEN, the result of the frequency calculation is positive. If the displayed threshold value is RED, the parameters need to be modified. The hysteresis only needs to be modified if the following applies: fM = green; fm = red...

  • Page 111: Figure 5-63: "Zero-Speed" Function Block (Zero-Speed Monitoring)

    Items and operators of the PSRmodular Software 5.2.2.3 ZERO-SPEED function block (zero-speed monitoring The “ZERO-SPEED” function block checks the speed of a drive by setting the “Z ” output to logic “1” if the speed is less than the parameterized “Zero speed limit”. If the speed is greater than or equal to the parameterized “Zero speed limit”, the output is set to logic “0”.

  • Page 112: Figure 5-64: Selection Options For Proximity Switches

    PSRmodular system Measuring device Specifies the type of sensor(s) used. Selection options: – Encoder – Proximity switch – Encoder + proximity switch – Proximity switch 1 + proximity switch 2 – Encoder 1 + encoder 2 (only for PSR-M-EM5 ... 7) Pitch If “Linear”...

  • Page 113: Figure 5-65: Overlapping Proximity Switches

    Items and operators of the PSRmodular Software Overlapping proximity This option is available if a single axis is monitored by two proximity switches (proximity switch 1 + proximity switch 2). switches If the “Overlapping proximity switches” function has not been selected (default setting), an input condition where both sensor signals are simultaneously logic “0”...
  • Page 114 PSRmodular system Axis type: Sensor type: Rotational Rotational Frequency = Speed [rpm] x Encoder resolution ƒ [Hz] = [pulses/revolution] Axis type: Sensor type: Linear Rotational Frequency = Speed [m/min] x 1000 x Encoder resolution ƒ [Hz] = 60 x Pitch [mm/revolu-...

  • Page 115: Figure 5-67 "Zero-And-Over-Speed" Function Block

    Items and operators of the PSRmodular Software 5.2.2.4 ZERO-AND-OVER-SPEED function block (zero-speed monitoring and safe limited speed (SLS) in accordance with EN 61800-5-2) The “ZERO-AND-OVER-SPEED” function block checks the speed of a drive by setting the “Z ” output to logic “1” if the speed is less than the parameterized “Zero speed limit”. If the speed is greater than or equal to the parameterized “Zero speed limit”, the “Z...

  • Page 116: Figure 5-68: Example Of An Axis With Clockwise Rotation

    PSRmodular system Parameters Axis type Defines the type of axis monitored by the drive. – Linear: must be selected when “Monitoring a linear movement”. – Rotational: must be selected when “Monitoring a rotational movement”. If the selection of the previous parameter is “Linear”, the “Sensor Type” defines the sensor Sensor Type type that is connected to the inputs of the module, namely “Rotational”...

  • Page 117: Figure 5-69: Example With Four Thresholds

    Items and operators of the PSRmodular Software Thresholds number Enables the number of threshold values for the maximum speed to be entered. Changing this value increases the number of available thresholds from at least one to a maximum of (operating mode inputs) eight.

  • Page 118: Figure 5-70 Selection Options For Proximity Switches

    PSRmodular system Setting 8 limit values: Limit values Speed 1 Speed 2 Speed 3 Speed 4 Speed 5 Speed 6 Speed 7 Speed 8 Pitch If “Linear” is selected as the axis type and “Rotational” is parameterized as the sensor type, this field can be used to enter the pitch in order to perform a conversion between the sensor revolutions and the distance traveled [mm/revolution].

  • Page 119: Figure 5-71: Overlapping Proximity Switches

    Items and operators of the PSRmodular Software Gear Ratio Use this parameter if there are two sensors on the selected axis. This parameter enables you to enter the ratio between the two sensors. If both sensors are located on the same mov- ing shaft, the ratio is 1;...
  • Page 120 PSRmodular system Frequency These fields display the calculated frequencies for the previously determined (switch-off) threshold values (“fM”). The “fm” parameter, on the other hand, displays the restart value (hysteresis). The set hysteresis applies for all threshold values. If the displayed threshold value is GREEN, the result of the frequency calculation is positive.

  • Page 121: Analog Function Block

    Items and operators of the PSRmodular Software Analog function block 5.3.1 ANALOG INPUT function block The function block enables the acquisition of single- or two-channel analog measured val- ues (current or voltage). The function block enables the monitoring of up to two threshold values as well as range monitoring.

  • Page 122: Figure 5-76 Additional Parameters For "Redundant" Input Type

    PSRmodular system When “Redundant” is configured as the input type, additional parameters need to be spec- ified: Figure 5-76 Additional parameters for “Redundant” input type Sensors coherence (plau- – Allowed error: enables the specification of the permissible error between two channels sibility check) in a range from 0.1 ..

  • Page 123: Figure 5-77 Measured Value Error For Two-Channel Sensors

    Items and operators of the PSRmodular Software Figure 5-77 Measured value error for two-channel sensors S1, S2 Sensor measurement channel 1 and channel 2 Error between the sensor measurements within the tolerance range Maximum permissible error between the sensor measurements...

  • Page 124: Figure 5-78: Diagram Of A Pair Of Sensors With Identical (Left) And Differ

    Entry of the upper scale value for the variable to be measured based on the standard signals 20 mA or 10 V. The PSRmodular Software assumes that the sensors connected to the PSR-M-EF7 exten- sion module perform a linear monitoring function and therefore automatically calculates the slope and offset based on the values entered by the user.

  • Page 125: Figure 5-79: Parameters For The "Window Comparator" Option

    Items and operators of the PSRmodular Software Window comparator Figure 5-79 Parameters for the “Window comparator” option When the “Window comparator” option is selected, values need to be selected for the “High threshold”, “Low threshold”, and “Hysteresis” parameters. The logic value output with output “O 1”...

  • Page 126: Figure 5-80 Measured Value Representation With "Window Comparator

    PSRmodular system UT - H LT - H Figure 5-80 Measured value representation with “Window comparator” Upper threshold UT - H Upper threshold - hysteresis Low threshold LT - H Low threshold - hysteresis Measured value outside the permissible range (status “O ”)

  • Page 127: Figure 5-82: Function Example Of The Comparator With Threshold

    Items and operators of the PSRmodular Software The logic value output with output “O 1” depends on the value of the active measurement as well as the parameterized “Hysteresis”. The entered “Hysteresis” must be in the range from 0.1 ... 6550.0 [...].

  • Page 128: Figure 5-83 Selection Options For "Samples Per Second

    PSRmodular system Samples per second This parameter enables the selection of the sampling rate for the analog-to-digital converter. (2.5 ... 4000) Lower values correspond to slower yet better measurements in relation to noise. Higher values make the system more sensitive to measured value changes.
  • Page 129 Items and operators of the PSRmodular Software Current input Voltage input Minimum sampling rate [Hz] Maximums signal frequency [Hz] 0,08 0,15 10,5 800 - 4000 Reaction time of the analog input function block relative to the sampling rate Sampling rate [Hz]...

  • Page 130: Figure 5-84 "Current Limits" Parameter

    PSRmodular system Current limits This parameter enables the specification of a permissible current value range for current sensors. – Minimum current (2.5 ... 3.9 mA) – Maximum current (20.1 ... 23.0 mA) If the measurements are outside of this range, an error message will be generated. The “E ”...

  • Page 131: Figure 5-87: Function Block For "Analog Output" Option

    Function block for “Analog Output” option When the “Analog Output” option is selected, the function block gets an additional “Analog” output in the circuit diagram. The PSRmodular Software generates a numerical value at this output, which corresponds to the value measured by the sensor.

  • Page 132: Figure 5-88: Example Circuit Diagram For "Analog Output

    PSRmodular system NOTE: In the event of an impermissible error between two channels (plausibility violation), the value of the first channel will still be output at the “A ” output. In this case, the “E NALOG ” output will be set to logic “1”.

  • Page 133: Operator Function Blocks

    Items and operators of the PSRmodular Software Operator function blocks The various inputs of each operator can be negated (logical “NOT”). To do this, right-click on the corresponding terminal point. A negation point then appears at the operator. The ne- gation point disappears again the next time it is clicked.

  • Page 134: Figure 5-91 "Nand" Operator

    PSRmodular system 5.4.1.2 NAND The “NAND” logical operator results in logic “0” in the output if all “I ” inputs are at logic “1”. Figure 5-91 “NAND” operator Parameters Inputs number Enables the entry of the number of inputs from 2 ... 8.

  • Page 135: Figure 5-93 "Or" Operator

    Items and operators of the PSRmodular Software 5.4.1.4 The “OR” logical operator results in logic “1” at the output if at least one “I ” input is at logic “1”. Figure 5-93 “OR” operator Parameters Inputs number Enables the entry of the number of inputs from 2 ... 8.

  • Page 136: Figure 5-94 "Nor" Operator

    PSRmodular system Figure 5-94 “NOR” operator Parameters Inputs number Enables the entry of the number of inputs from 2 ... 8. 5.4.1.6 A logical “XOR” generates an output in the logic “0” state if an even number of inputs are in the logic “1”...

  • Page 137: Figure 5-96 "Xnor" Operator

    Items and operators of the PSRmodular Software 5.4.1.7 XNOR The “XNOR” operator generates an output in the logic “1” state if an even number of inputs are in the logic “1” state or if all inputs are in the logic “0” state.

  • Page 138: Figure 5-97: "Logical Macro" Operator

    PSRmodular system 5.4.1.8 LOGICAL MACRO This operator enables two or three logical operators to be grouped. It is intended for a max- imum of eight inputs. The result of the two operators is included in a third operator, whose result is represented by the “O ”...

  • Page 139: Figure 5-99 "Multiplexer" Operator

    Items and operators of the PSRmodular Software Select logic 1, logic 2, log- Enables the selection of the operator type. Selection options: AND, NAND, OR, NOR, XOR, XNOR, SR FLIP-FLOP (“SR FLIP-FLOP” only for Operator 3). ic 3 Disabled Out If this parameter is selected, the output of Operator 3 is disabled, which means that Logic 1 and Logic 2 can only be used on activation of the corresponding outputs.

  • Page 140: Figure 5-100: "Digital Comparator" Operator (Comparison With Constant)

    PSRmodular system 5.4.1.10 DIGITAL COMPARATOR (PSR-M-B2) The digital comparator enables the comparison (in binary form) of one signal group with a constant or of two signal groups. Parameters Signals comparator (deac- tivated)/comparison with constant Figure 5-100 “DIGITAL COMPARATOR” operator (comparison with constant) In order to perform a comparison with a constant, the “Signals comparator”...

  • Page 141: Figure 5-101: "Digital Comparator" (Signals Comparator)

    Items and operators of the PSRmodular Software Operation (comparator) < Less than: the “O ” output is logic “1” as long as the value of the inputs is below the dec- imal value entered as the constant. The “O ” output is set to logic “0” if the value of the in- puts is above or equal to the decimal value entered as the constant.
  • Page 142 PSRmodular system Operation (comparator) Depending on the value of the inputs and the selected operation, the following results are achieved: < Less than: the “O ” output is logic “1” as long as the value of the A inputs is below the value of the B inputs.

  • Page 143: Memory Operators

    Items and operators of the PSRmodular Software 5.4.2 MEMORY operators The MEMORY operators enable the user to save signal states (logic “1” or logic “0”) that have been generated by other function blocks or operators. The status changes correspond to the truth tables.

  • Page 144: Figure 5-103 "T Flip-Flop" Operator

    PSRmodular system 5.4.2.2 T FLIP-FLOP The “T FLIP-FLOP” operator changes output Q on every rising edge at input “T” from logic “0” to logic “1” or from logic “1” to logic “0”. Figure 5-103 “T FLIP-FLOP” operator Parameters Enable Clear When this option is selected, the storage process can be reset.

  • Page 145: Figure 5-105: "Manual Reset" Operator

    Items and operators of the PSRmodular Software 5.4.2.4 MANUAL RESET The “MANUAL RESET” operator enables the reset signal to be saved in accordance with the following truth table. Restart Request Reset LEAR Type 1 Type 2 Initial value 0 Flashing at...

  • Page 146: Figure 5-106: "Monitored Reset" Operator

    PSRmodular system 5.4.2.5 MONITORED RESET The “MONITORED RESET” operator enables the reset signal to be saved in accordance with the following truth table. Restart Request Reset LEAR Type1 Type2 Initial value 0 Flashing at 1 Hz Falling edge Figure 5-106 “MONITORED RESET”...

  • Page 147: Figure 5-107: "Macro Manual Reset" Operator

    Items and operators of the PSRmodular Software 5.4.2.6 MACRO MANUAL RESET The “MACRO MANUAL RESET” operator enables the “Restart” to be triggered with param- eterizable logic functions in accordance with the following truth table. Out Input Out Restart Restart LEAR...

  • Page 148: Figure 5-108: "Macro Monitored Reset" Operator

    PSRmodular system Enable Out If this option is selected, an output containing the result of the calculation performed by the input logic is enabled. Restart Request If this parameter is selected, a “R ” output is made available to demand a restart.

  • Page 149: Figure 5-109: "Pre-Reset" Operator

    Items and operators of the PSRmodular Software Reset Select Logic Enables the selection of the operator type for the Reset logic. Selection options: AND, NAND, OR, NOR, XOR, XNOR. Enable Clear If this option is selected, it is possible to reset storage.
  • Page 150 PSRmodular system Time This parameter monitors the time that elapses between pressing the “P ” button and RERESET the actual reset button. The monitoring time can be parameterized between 6 and 120 s. The time starts on a falling edge of the “P ”...

  • Page 151: Guard-Locking Operator

    Items and operators of the PSRmodular Software 5.4.3 GUARD-LOCKING operator The “GUARD-LOCKING” operator is designed to monitor an electromechanical guard lock- ing device in various application scenarios. The user demands the activation of the guard locking device via the “U ”...
  • Page 152 PSRmodular system Input “G ” The input monitors the position of the safety door (closed/open). This signal is generated by the “GUARD-MONITORING” function block and applied to the “G ” input. The position of the safety door is detected externally via signal B1 (11-12) using the “GUARD-MONITORING”...

  • Page 153: Figure 5-112: Guard-Locking Example In Operating Mode Without Position Monitoring Of The Safety Door

    Items and operators of the PSRmodular Software Operating mode without position monitoring of the safety door Figure 5-112 GUARD-LOCKING example in operating mode without position monitoring of the safety door In this case, the user must select the “Gate not present” parameter.

  • Page 154: Figure 5-113 Guard-Locking Example In Operating Mode Without Position Monitoring Of The Safety Door

    PSRmodular system The guard locking device used in the example remains in the locked position if the electro- magnet is not energized, which is why the “Interlock Spring” option must be selected. Figure 5-113 GUARD-LOCKING example in operating mode without position monitoring...

  • Page 155: Figure 5-115: "Guard-Locking" Example In Operating Mode With Position Monitoring Of The Safety Door

    Items and operators of the PSRmodular Software The user demands the enabling of the guard locking device. The “U ” signal changes from logic “0” to logic “1”, while the “O ” signal changes from logic “1” to logic “0”.

  • Page 156: Figure 5-116: "Guard-Locking" Example In Operating Mode With Position Monitoring Of The Safety Door

    PSRmodular system The “O ” signal can also assume the value logic “0” if error conditions are present (e.g., door open when interlock is blocked, feedback time is above the maximum permissible time, etc.). As soon as the “U ” enable signal is present, the “L ”...
  • Page 157 Items and operators of the PSRmodular Software SIGNALS OCK_FBK OCK_CMD Time (ms) 0 1000 1500 2000 2500 3000 3500 4000 4500 5000 Figure 5-117 Signal behavior in the example for the “GUARD-LOCKING” function block in operating mode with position monitoring of the safety door The user demands the enabling of the guard locking device.

  • Page 158: Figure 5-118 "Guard-Locking" Example In "Mandatory Safety Door Opening" Operat- Ing Mode

    PSRmodular system “Mandatory safety door opening” operating mode Figure 5-118 “GUARD-LOCKING” example in “Mandatory safety door opening” operat- ing mode – In this case, the user must select the “Mandatory Gate opening” parameter. – In this operating mode, the safety door (“G ”) must always be opened after the de-...

  • Page 159: Figure 5-117: Signal Behavior In The Example For The "Guard-Locking

    Items and operators of the PSRmodular Software Application example for In this example, the user enables the guard locking device with the “SWITCH” function block created by a button. The “L ” signal controls the output for controlling the guard lock- “Mandatory safety door...
  • Page 160 PSRmodular system The user demands the enabling of the guard locking device. The “U ” signal changes from logic “0” to logic “1”, while the “O ” signal changes from logic “1” to logic “0”. The guard locking device is controlled as parameterized with the “U ”...

  • Page 161: Figure 5-121: Signal Behavior In The Example For The "Guard-Locking" Function Block In "Mandatory Safety Door Opening" Operating Mode With Error (Door Is Not Opened Despite Request)

    Items and operators of the PSRmodular Software In the “Mandatory safety door opening” operating mode, the “GUARD-LOCKING” operator indicates an error if it does not detect the opening of the safety door (“G ”) after a signal change of the “L ”...
  • Page 162 PSRmodular system UnLock Time (s) Time that elapses between the activation of the “U ” command and the actual control of the guard locking device (“L ” output): – 0 ms ... 1 s (in 100 ms increments) – 1.5 s ... 10 s (in 0.5 s increments) –...

  • Page 163: Counter Operators

    Items and operators of the PSRmodular Software 5.4.4 COUNTER operators 5.4.4.1 COUNTER The “COUNTER” operator is a pulse counter that sets output “Q” to logic “1” as soon as the desired counter value is reached. Figure 5-123 “COUNTER” operator Parameters Ck down Counting down is activated when this option is selected.

  • Page 164: Figure 5-124 Example Pulse Diagram For "Counter" With "Automatic" Counter Type

    PSRmodular system Example with “Automatic” Only available if the “Enable Clear” option has not been selected. As soon as the set counter value is reached, the counter generates a pulse, the duration of which is twice the counter type cycle time (2 x Tcycle).

  • Page 165: Figure 5-127: "Counter Comparator" Operator

    Items and operators of the PSRmodular Software Counter value If this parameter is selected, the current count value can be forwarded to “COUNTER COM- PARATOR” operators. 5.4.4.2 COUNTER COMPARATOR This operator enables the value at the “C ” input to be compared with the entered OUNTER threshold value.

  • Page 166: Timer Operators

    PSRmodular system 5.4.5 TIMER operators The “TIMER” operators enable a signal (logic “1” or logic “0”) to be generated during a time period defined by the user. 5.4.5.1 MONOSTABLE operator The “MONOSTABLE” operator generates the logic “1” state of an output that is activated by a rising edge at input “I...

  • Page 167: Figure 5-130: Time Diagram For "Monostable" Operator When "Rising Edge" Parameter Is Not Selected

    Items and operators of the PSRmodular Software If the “Rising Edge” parameter is deactivated, the logic is inverted. Output “Q” is set to logic “0” as soon as a falling edge is detected at the “I ” input and remains in this state for the pa- rameterized time, even in the event of a signal change at the input.

  • Page 168: Figure 5-132: Time Diagram For "Monostable_B" Operator When "Rising Edge" Parameter Is Selected

    PSRmodular system Rising Edge If this parameter is selected, the “O ” output is set to logic “1” on a rising edge at the “I ” input and remains in this state for the parameterized time, even in the event of a signal change at the input.

  • Page 169: Figure 5-135: Time Diagram For "Passing Make Contact" Operator

    Items and operators of the PSRmodular Software < T < T < T Figure 5-135 Time diagram for “PASSING MAKE CONTACT” operator Parameters A delay between 10 ms and 1098.3 s can be entered. Time Scale – 0.01 s ... 60.0 s (in 10 ms increments) –...

  • Page 170: Figure 5-138: Time Diagram For "Delay" Operator When "Rising Edge" Pa- Rameter Is Selected

    PSRmodular system Parameters Time A delay between 10 ms and 1098.3 s can be entered. Scale – 0.01 s ... 60.0 s (in 10 ms increments) – 60.1 s ... 1098.3 s (in 100 ms increments) Retriggerable If this parameter is selected, the time is reset to zero on every status change of the “I ”...

  • Page 171: Figure 5-140 "Long Delay" Operator

    Items and operators of the PSRmodular Software 5.4.5.5 LONG DELAY operator The “LONG DELAY” operator enables the “O ” output signal to be delayed by the param- eterized time value depending on the “I ” input signal (switch-on delay or switch-off delay).

  • Page 172: Figure 5-142 Time Diagram For "Long Delay" Operator When "Rising Edge" Parameter Is Not Selected

    PSRmodular system If the “Rising Edge” option is not selected, the logic is inverted: the output is set to logic “1” on a rising edge at the input and the delay begins on a falling edge at the input. The delay starts with a falling edge of the input signal. After the delay time has elapsed, the output only changes to the logic “0”...

  • Page 173: Figure 5-144 "Delay Line" Operator

    Items and operators of the PSRmodular Software Parameters Threshold A threshold value between 0.5 s and 54915 s can be entered. Scale – 0.5 s ... 3000.0 s (in 0.5 s increments) – 3005 s ... 52910 s (in 5 s increments) 5.4.5.7...

  • Page 174: Figure 5-146: "Long Delay Line" Operator

    PSRmodular system 5.4.5.8 LONG DELAY LINE operator This operator adds a delay to a signal and sets the “OUT” output to “0” after the time entered for the final limit of the “IN” signal has elapsed. If “I ” returns to “1” before the entered time has elapsed, the “O ”...

  • Page 175: Figure 5-148: "Clocking" Operator

    Items and operators of the PSRmodular Software 5.4.5.9 CLOCKING operator This operator provides a clock signal at the output with the set period if the “I ” input is at logic “1”. The “CLOCKING” operator has up to seven inputs for generating the duty cycle in the out- put.

  • Page 176: Figure 5-149: Duty Cycle Examples For High To Low

    PSRmodular system Duty cycle choice Up to seven inputs can be selected for seven different duty cycles of the output signal. Depending on the active input, the clock signal has a corresponding duty cycle at “O ”. The “I ” input must always be set to logic “1”. The table below shows the method of opera- tion of the “CLOCKING”...

  • Page 177: Muting Operators

    Items and operators of the PSRmodular Software 5.4.6 MUTING operators The muting function implements a temporary, automatic override of the electro-sensitive protective equipment, for example to enable material flow to pass through the protection zone. The electro-sensitive protective equipment must be able to accurately distinguish be- tween a user in a potentially hazardous situation and the material.

  • Page 178: Figure 5-151 "Muting "Con"" Operator

    PSRmodular system Figure 5-151 “MUTING “Con”” operator The “MUTING” operator with “concurrent” logic enables the muting of the “I ” input sig- NPUT nal to be performed via the input of sensors “S1”, “S2”, “S3”, and “S4”. Prerequisite: the muting cycle can only begin when all sensors are at logic “0” and “Input”...
  • Page 179 Items and operators of the PSRmodular Software Direction The order in which the sensors are occupied can be parameterized. When BIDIR is set, the sensors can be occupied in both directions: from S1&S2 to S3&S4 and from S3&S4 to S1&S2. If “Up” is selected, the direction is only from S1&S2 to S3&S4, and if “Down”...

  • Page 180: Figure 5-152 Sensor Arrangement For "Muting "L

    PSRmodular system 5.4.6.2 MUTING “L” operator Figure 5-152 Sensor arrangement for “MUTING “L”” S1, S2 Muting sensor pair, arranged in the danger zone S, R Transmitter (S) and receiver (R) of the safety equipment (light grid) Transport goods (material flow from right to left)
  • Page 181 Items and operators of the PSRmodular Software The muting function is activated following the interruption of sensors “S1” and “S2” (the order is not important) in the user-defined time period between 2 s and 5 s. The muting cycle ends when the protective field of the electro-sensitive protective equip- ment is clear (after enabling passage).

  • Page 182: Figure 5-154 Sensor Arrangement For "Muting "Seq

    PSRmodular system 5.4.6.3 MUTING “Seq” operator Figure 5-154 Sensor arrangement for “MUTING “Seq”” First muting sensor before the safety equipment Second muting sensor before the safety equipment Third muting sensor after the safety equipment Fourth muting sensor after the safety equipment...
  • Page 183 Items and operators of the PSRmodular Software The muting function is activated following the sequential interruption of sensors “S1” and “S2”, then sensors “S3” and “S4” (no time limit). If the transport goods are traveling in the opposite direction, the correct sequence is: “S4”, “S3”, “S2”, “S1”.
  • Page 184 PSRmodular system CURTAIN (electro-sensitive protective equipment) NPUT UTING quence Muting active 10th 11th SENSOR NPUT UTING quence Muting active 10th 11th Blind Time Only for “Muting Closing” with “CURTAIN” (electro-sensitive protective equipment): The “Blind Time” parameter should be activated if, at the end of the muting cycle, objects may protrude which occupy the light grid and set “I...

  • Page 185: Figure 5-156 Sensor Arrangement For "Muting "T

    Items and operators of the PSRmodular Software 5.4.6.4 MUTING “T” operator Figure 5-156 Sensor arrangement for “MUTING “T”” S1, S2 Muting sensors S, R Transmitter (S) and receiver (R) of the safety equipment (light grid) Danger zone Figure 5-157 MUTING “T” operator The MUTING operator with “T”...

  • Page 186: Figure 5-158: "Muting Override" Operator

    PSRmodular system With Enable If this parameter is selected, it is possible to activate or deactivate the muting function. Oth- erwise, the muting function is always activated. Enable Type There are two options for the enable type: “Enable/Disable” or “Enable Only”.

  • Page 187: Figure 5-159: Manual (Left) And Monitored (Right) Reset

    Items and operators of the PSRmodular Software Reset Type There are two types of reset: “Manual” or “Monitored”. If the “Manual” option is selected, only the signal transition from logic “1” to logic “0” is checked. In the case of the “Monitored” op- tion, the double transition from logic “0”...

  • Page 188: Figure 5-160 "Muting Override" Application Example

    PSRmodular system With Request Enables the activation of a signal output (activated if logic “1”) which signals that the “MUT- ING OVERRIDE” function can be activated. Figure 5-160 “MUTING OVERRIDE” application example 188 / PHOENIX CONTACT 109241_en_03...

  • Page 189: Analog Operators

    Items and operators of the PSRmodular Software Analog operators 5.5.1 ANALOG COMPARATOR The operator compares an analog variable at its “A ” input with the parameterized NALOG value. Figure 5-161 “ANALOG COMPARATOR” operator The “A ” input can be connected to analog outputs of the following function blocks: NALOG –...

  • Page 190: Equality Check

    PSRmodular system The signals must contain the same physical variable and come from sensors of the same type (4 ... 20 mA, 0 ... 20 mA or 0 ... 10 V), but can have different scales. Parameters Inputs number –...
  • Page 191 Items and operators of the PSRmodular Software Parameters Allowed error Selection of the permissible error between the two analog signals (±0.1 ... ±100.0). Force output FALSE on This option sets output “O” to logic “0” if a sensor malfunction is detected at the analog in- anomaly puts.

  • Page 192: Miscellaneous

    PSRmodular system Miscellaneous 5.6.1 Other operators 5.6.1.1 SERIAL OUTPUT The “SERIAL OUTPUT” function transmits the status of a maximum of eight inputs and pro- vides the information to the “O ” output using a serial signal. Figure 5-164 “SERIAL OUTPUT” operator...

  • Page 193: Figure 5-166: "Synchronous Synchronization" Mode Selection

    Items and operators of the PSRmodular Software “Synchronous” mode The “O ” and “C ” outputs are logic “0” in the idle state. LOCK selection Transmission of n bits with the status of the inputs using “O ” as data and “C ”...
  • Page 194 PSRmodular system Operating principle: The “N ” input must be linked to the “O ” output of the “NETWORK_IN” ETWORK function block (see section “NETWORK_IN function block”). The 1- or 2-channel inputs of the “N ” block are linked to the 1- or 2-channel ETWORK outputs of the base module in the emergency stop chain.

  • Page 195: Figure 5-168 Circuit Diagram Application Example Of The "Network" Function Block For Category 2 (Iso 13849-1)

    Items and operators of the PSRmodular Software NOTE: The RESET controlling devices must be installed outside of all danger zones, for example at points where the danger zones and the entire working area are clearly visible. – A maximum of ten base modules can be networked.

  • Page 196: Figure 5-169: Data Flow Network Diagram For The "Network" Application Ex

    PSRmodular system Emergency Stop Emergency Stop PSR-M-B2 PSR-M-B2 Reset Reset n°1 n°2 Net_in Net_out Net_in Net_out Network signal Emergency Stop Emergency Stop PSR-M-B2 PSR-M-B2 Reset Reset n°4 n°3 Net_out Net_in Net_out Net_in Network signal Figure 5-169 Data flow network diagram for the “NETWORK” application example for...

  • Page 197: Figure 5-171: Circuit Diagram Application Example Of The "Network" Func

    Items and operators of the PSRmodular Software Figure 5-171 Circuit diagram application example of the “NETWORK” function block for category 4 (ISO 13849-1) Emergency Stop Emergency Stop PSR-M-B1 PSR-M-B1 Reset Reset n°1 n°2 Net_in Net_out Net_in Net_out Network signal Emergency Stop...

  • Page 198: Figure 5-173: Logic Block Diagram Of The Network Safety Function

    PSRmodular system Network parameters for calculating the PL Architecture: Cat. 4 Diagnostic coverage: DC = 99% Probability of dangerous failure for PSR-M-B1: = 6.86 E-09 (hours PSR-M-B2 PSR-M-B2 PSR-M-B2 PSR-M-B2 INPUT OUTPUT LOGIC (NET) Figure 5-173 Logic block diagram of the network safety function...

  • Page 199: Figure 5-174: Emergency Stop Example For A Network With Four Base Mod- Ules

    Items and operators of the PSRmodular Software Maximum response time for line emergency stop r Base r Base r Base r Base module 1 module 2 module 3 module 4 PSR-M-B1 11.3 ms 186.6 ms 362.0 ms 537.2 ms PSR-M-B2 12.7 ms...

  • Page 200: Figure 5-175 "Reset" Operator

    PSRmodular system 5.6.1.3 RESET (PSR-M-B1, PSR-M-B2) This operator generates a system reset if a double OFF-ON-OFF transition occurs at the corresponding input with a duration of less than 5 s. Figure 5-175 “RESET” operator t < 5 s Figure 5-176 Time diagram for reset generated by the “RESET”...

  • Page 201: Figure 5-178: Example Of A Safe Output With Correct Feedback Signal (Left) / Incorrect Feedback Signal (Middle And Right)

    Items and operators of the PSRmodular Software OUTPUT OUTPUT OUTPUT t_fbk t_fbk t_fbk RROR RROR RROR Figure 5-178 Example of a safe output with correct feedback signal (left) / incorrect feed- back signal (middle and right) Parameters External K delay Specification of the time period in which the “F...

  • Page 202: Figure 5-180 "Connector" Variable

    PSRmodular system 5.6.1.5 Connector In/Out If the circuit diagram is very large and a connection is required between two items/operators that are some distance apart, the “Connector” variable can be used Connector Out Connector In Figure 5-180 “Connector” variable The “Connector Out” variable must have the same connection name as the “Connector In”...

  • Page 203: Simulator Features

    EN ISO 13849-2: Validation or EN IEC 62061: Chapter 8 – Vali- dation of the safety-related electrical control system. – The safety-related parameters can be found in the PSRmodular Software report. Meaning of the simulator The user can start simulation mode by selecting the “Simulation”...

  • Page 204: Figure 5-183 Simulation Icons In The Tool Bar

    PSRmodular system The icons in the tool bar are used for control and information purposes by the user: Play Pause Single step Restart Time Time factor Step Simulation icons Figure 5-183 Simulation icons in the tool bar – “Play” starts the simulation.

  • Page 205: Figure 5-184 Button In Function Blocks For Activating The Output

    Items and operators of the PSRmodular Software Figure 5-184 Button in function blocks for activating the output Figure 5-185 Pop-up window for entering a frequency value 205 / PHOENIX CONTACT 109241_en_03...

  • Page 206: Figure 5-186 Display Of Results In A Simulation Graphic

    PSRmodular system Dynamic simulation Click the icon to start the Dynamic Simulation. The Dynamic Simulation enables the graphical representation of the time characteristic of the signals. The user must first define trigger signals in a text file template, i.e., they must specify the time characteristic of the signals used (logic “1”...

  • Page 207: Figure 5-188 Template Text File Before (Left) And After (Right) Editing

    Items and operators of the PSRmodular Software Load Simulation Enables an existing text file template to be loaded and then starts the simulation. A graph containing the resulting signals is shown at the end of the simulation. Create Template Enables the template text file to be saved with the desired name and at the relevant storage location.

  • Page 208: Figure 5-189 Signal Selection

    PSRmodular system Signals Enables the selection of signals to be displayed in the simulation graphic. The button launches a pop-up window as shown in the figure below, where signals can be added to the simulation graphic or removed. Figure 5-189 Signal selection Signals that can be added to the simulation graphic are displayed on the left-hand side.

  • Page 209: Figure 5-190 Safety Program Of The Application Example For A Dynamic Simulation

    Items and operators of the PSRmodular Software Application example for The following example relates to the use of a press inside a safety zone. The press drive may only be activated if two conditions are simultaneously met: the gate to the safety zone dynamic simulation is closed and the command to switch on the drive is issued.

  • Page 210: Figure 5-192 Simulation Graphic For The Application Example

    PSRmodular system Result of the dynamic simulation The relevant signals are highlighted in the simulation graphic: – At time 2000 ms, the “safe area” signal (Input 1) is set to logic “1” and signals that the gate is closed. –...

  • Page 211: Installation And Startup

    Installation and startup Installation and startup Qualified personnel Only qualified personnel may install and start up the PSRmodular system. See “Qualified personnel” on page Example for installation and startup For detailed information, please refer to the sections specified and the help for the PSRmodular Software configuration software.
  • Page 212 PSRmodular system 212 / PHOENIX CONTACT 109241_en_03...

  • Page 213: Diagnostics

    Phoenix Contact E-Shop. System diagnostics 7.2.1 PSRmodular error codes In the event of internal and external errors, the PSRmodular system is able to transmit the error code to the PSRmodular Software. To read the error code, proceed as follows: –...
  • Page 214 PSRmodular system Error code Meaning Possible solutions ± 136D The duty cycle must have the following values: 50% 15% of PSR-M-EM1 ... EM7 error: encoder input (Encoder1) the period (HTL, TTL). The phase shift must have the follow- signals outside the permissible range have ±...

  • Page 215: Error History

    7.2.2 Error history An error history can be loaded in the PSRmodular Software from the base modules with the icon. A table appears containing the last five errors logged since the date the circuit di- agram was downloaded from the PSRmodular Software to the base module or since the date the error history was deleted ( icon).
  • Page 216 PSRmodular system 216 / PHOENIX CONTACT 109241_en_03...

  • Page 217: Maintenance, Repair, Decommissioning, And Disposal

    It is prohibited for the user to carry out repair work or make modifications to the module. The housing must not be opened. If the housing is opened, the function of the PSRmodular mod- ules can no longer be ensured.
  • Page 218 PSRmodular system 218 / PHOENIX CONTACT 109241_en_03...

  • Page 219: A Technical Appendix

    A Technical appendix Response times of the PSRmodular system For the individual response time, observe the results of the project report in the PSRmodular Software. Verify the results stated in the project report by performing practical measurements for the entire safety function.
  • Page 220 PSRmodular system A 1.2 Estimated response times – PSR-M-B2 base module Configuration Response time [ms] Number of extension Base module + modules 12.75 ... 14.75 13.83 ... 37.84 14.91 ... 40.00 15.99 ... 42.16 17.07 ... 44.32 18.15 ... 46.48 19.32 ...

  • Page 221: B Appendix For Document Lists

    Figure 2-2: PSR-M-MEMORY slot ................ 18 Figure 2-3: Screw connections (left) and Push-in connections (right) ....21 Figure 2-4: Mechanical attachment of a PSRmodular module to the DIN rail ...................... 22 Figure 2-5: Application example with PSR-M-B1 ..........24 Section 3...
  • Page 222 PSRmodular system Figure 4-13: Changing passwords ................52 Figure 4-14: Level 2 password entry for USB connection ........52 Figure 4-15: Log file display ..................53 Figure 4-16: Display of the system configuration ............ 54 Figure 4-17: Example error display for configuration errors ........54 Figure 4-18: Example monitor display for the I/Os ..........
  • Page 223 “ENABLE SWITCH” function block ............. 94 Figure 5-46: “TESTABLE SAFETY DEVICE” function block (safety switch) .... 96 Figure 5-47: Time diagram for “Manual” reset (left) and “Monitored” reset (right) ....................97 Figure 5-48: External input signal (EI) ..............98 223 / PHOENIX CONTACT 109241_en_03...
  • Page 224 PSRmodular system Figure 5-49: FALSE/TRUE ..................99 Figure 5-50: Comments item ................... 99 Figure 5-51: Title item ..................... 99 Figure 5-52: Example of an “OVER-SPEED” function block with activated “Error” output ..................100 Figure 5-53: “OVER-SPEED” function block with SLS .......... 101 Figure 5-54: Example of an axis with clockwise rotation ........
  • Page 225 “PRE-RESET” operator ..............149 Figure 5-110: “GUARD-LOCKING” operator ............151 Figure 5-111: Example of position detection for the guard locking pin in ac- cordance with the closed-circuit principle as well as safety door monitoring ................. 151 225 / PHOENIX CONTACT 109241_en_03...
  • Page 226 PSRmodular system Figure 5-112: GUARD-LOCKING example in operating mode without position monitoring of the safety door ............153 Figure 5-113: GUARD-LOCKING example in operating mode without position monitoring of the safety door ............154 Figure 5-114: Signal behavior in the example for the “GUARD-LOCKING”...
  • Page 227 “MUTING OVERRIDE” application example ........188 Figure 5-161: “ANALOG COMPARATOR” operator ..........189 Figure 5-162: “ADDER” operator for sum calculation (left) and difference cal- culation (right) ................... 189 Figure 5-163: “Equality Check” operator ..............190 227 / PHOENIX CONTACT 109241_en_03...
  • Page 228 PSRmodular system Figure 5-164: “SERIAL OUTPUT” operator ............. 192 Figure 5-165: “Asynchronous synchronization” mode selection ......192 Figure 5-166: “Synchronous synchronization” mode selection ....... 193 Figure 5-167: “NETWORK” operator ............... 193 Figure 5-168: Circuit diagram application example of the “NETWORK” func- tion block for category 2 (ISO 13849-1) ..........
  • Page 229 List of figures Section 6 Figure 6-1: Function diagram ................211 Section 7 Figure 7-1: Error history table of a PSRmodular base module ......215 229 / PHOENIX CONTACT 109241_en_03...
  • Page 230 PSRmodular system 230 / PHOENIX CONTACT 109241_en_03...

  • Page 231: C Revision History

    Change of the maximum achievable safety integrity table in 3.1 2020-11-05 Section 5.3.1, paragraph “Minimum required sampling rate and maximum permissible sensor signal frequency”: Maximum signal frequency for cur- rent input changed in the corresponding table 229 / PHOENIX CONTACT 109241_en_03...
  • Page 232 PSRmodular system 230 / PHOENIX CONTACT 109241_en_03...
  • Page 233 The receipt of technical documentation (in particular user documentation) does not constitute any further duty on the part of Phoenix Contact to furnish information on modifications to products and/or technical documentation. You are responsible to verify the suitability and intended use of the products in your specific application, in particular with regard to observing the applicable standards and regulations.
  • Page 234 Should you have any suggestions or recommendations for improvement of the contents and layout of our manuals, please send your comments to: tecdoc@phoenixcontact.com 232 / 232 PHOENIX CONTACT GmbH & Co. KG • Flachsmarktstraße 8 • 32825 Blomberg • Germany phoenixcontact.com...
  • Page 236 PHOENIX CONTACT GmbH & Co. KG Flachsmarktstraße 8 32825 Blomberg, Germany Phone: +49 5235 3-00 Fax: +49 5235 3-41200 E-mail: info@phoenixcontact.com phoenixcontact.com...

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