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SIEB & MEYER SD2 Series Translation Of The Original Instructions

Drive system, safety functions sfm / slof
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SIEB & MEYER
Drive System SD2
Safety Functions SFM / SLOF
P-TD-0000426.12
2019-08-28

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Summary of Contents for SIEB & MEYER SD2 Series

  • Page 1 SIEB & MEYER Drive System SD2 Safety Functions SFM / SLOF P-TD-0000426.12 2019-08-28...
  • Page 2 Copyright Translation of the original instructions, Copyright © 2019 SIEB & MEYER AG All rights reserved. This manual or extracts thereof may only be copied with the explicit authorization of SIEB & MEYER AG. Trademarks All product, font and company names mentioned in this manual may be trademarks or registered trademarks of their respective companies.

  • Page 3: Table Of Contents

    Chapter Overview About this Manual General Information Safe Frequency Monitor (SFM) Safe Limited Output Frequency (SLOF) Parameterization of the Limit Frequency Fieldbus Communication safety object converter OSSD Signals Connector Pin Assignment Error Messages Drive System SD2 - Safety Functions SFM / SLOF...
  • Page 4 Chapter Overview Drive System SD2 - Safety Functions SFM / SLOF...
  • Page 5 Content About this Manual ............. Illustration of Warnings ................Illustration of General Notices ..............General Information ............Safe Frequency Monitor (SFM) ........Functional Description ................Application ....................Parameters of the Safety Function SFM ........... Transmission of the Status Message ............3.4.1 Status Message via OSSD Signal .................
  • Page 6 Content 6.3.9 Delete Error ......................6.3.10 Query: Software Version ..................6.3.11 Query: Program Check Sum ................. 6.3.12 Query: COB-ID ...................... 6.3.13 Setting: Activation of the Safely Limited Rotating Field ......... 6.3.14 Query: Activation of the Safely Limited Rotating Field .......... 6.3.15 Query: Version Information ...................

  • Page 7: About This Manual

    About this Manual About this Manual This chapter descirbes symbols, signal words and abbreviations used in this manual. More documentation can be downloaded from the SIEB & MEYER website under http://www.sieb-meyer.de/downloads.html. Illustration of Warnings Depending on their degree of risk, warnings are classified into different levels. In the manual, the different levels and types of dangers are represented as follows: Risk level (signal word/warning color) Classification of the risk...

  • Page 8: Illustration Of General Notices

    About this Manual Risk symbol Description Potentially risk of injury when working on machines with open covers/ doors Risk of injury due to flying objects Destruction risk of electrostatically sensitive components Risk of property damage Illustration of General Notices Symbol Description Hint with additional, further information Tip with suggestions and useful information...

  • Page 9: General Information

    General Information General Information This document describes the optional safety functions “Safe Frequency Monitor” (SFM) and “Safe Limited Output Frequency” (SLOF) for drive amplifiers of the series SD2x. Both safety functions comply with the requirements of SIL 3 according to EN 61508-1:2010 to EN 61508-7:2010 (German versions).
  • Page 10 General Information Drive System SD2 - Safety Functions SFM / SLOF...

  • Page 11: Safe Frequency Monitor (Sfm)

    Safe Frequency Monitor (SFM) Safe Frequency Monitor (SFM) The function “Safe Frequency Monitor” (SFM) allows detecting a standstill of an electric motor. In this case a standstill corresponds to a rotating field frequency up to the para‐ meterized limit value. This safety function is used for rotating axes, e.g.
  • Page 12 Safe Frequency Monitor (SFM) The following diagram shows the timing of the SFM function: Fig. 1: Timing diagram of the SFM function Drive System SD2 - Safety Functions SFM / SLOF...

  • Page 13: Application

    Safe Frequency Monitor (SFM) Application The SFM function is used to allow access to a danger zone for maintenance and service staff. Usually, a protective door or a protective cover prevents access to the danger zone. Sequence: ▶ Control and drive operate in normal mode. ▶...

  • Page 14: Parameters Of The Safety Function Sfm

    Safe Frequency Monitor (SFM) Parameters of the Safety Function SFM The following parameters are achieved within the scope of the SFM function according to EN 61508-1:2010 to EN 61508-7:2010 (German versions): ▶ system 1oo2 ▶ SFF > 90 % ▶ −9 PFH = 1.07 ×...

  • Page 15: Status Message Via Fieldbus

    Safe Frequency Monitor (SFM) 3.4.2 Status Message via Fieldbus The following example shows the connection of the SFM function via a 2-channel OSSD signal and via fieldbus (blue): Fig. 4: Status Transmission via OSSD Signal and Fieldbus For this purpose a communication between the software modules of the safety PLC and the safety modules of the frequency monitor in the drive must be established.
  • Page 16 Safe Frequency Monitor (SFM) Drive System SD2 - Safety Functions SFM / SLOF...

  • Page 17: Safe Limited Output Frequency (Slof)

    Safe Limited Output Frequency (SLOF) Safe Limited Output Frequency (SLOF) The function “Safe Limited Output Frequency” (SLOF) allows defining a safe limit for the rotating field of a motor. The function prevents that the drive actively accelerates the connected motor to a too high frequency. WARNING External acceleration of the motor The SLOF function does not prevent exceeding the limit frequency, when an...

  • Page 18: Functional Description

    Safe Limited Output Frequency (SLOF) Functional Description The SLOF function determines the actual rotating field frequency and compares it with the parameterized limit value (see chapter 5 "Parameterization of the Limit Frequency", page 23). If the rotating field frequency is below the limit value, the drive generates the status FREQUENCY_IN_LIMITS.

  • Page 19: Application

    Safe Limited Output Frequency (SLOF) is FREQUENCY_IN_LIMITS, although the actual frequency of the motor is higher than the parameterized limit value: Fig. 6: Timing diagram of the SLOF function – wrong time point of activation WARNING Time point of function activation (SLOF) If the SLOF function is activated when the reference frequency is already below the parameterized limit frequency but the actual frequency of the motor is still above that limit value, the drive already generated the status signal...

  • Page 20: Parameters Of The Safety Function Slof

    Safe Limited Output Frequency (SLOF) Example: “Flying restart” and SLOF For information on the concept and parameterization of the function “Flying restart” refer to the documentation “SD2S Setup Instructions – V/f Opera‐ tion”. Task: A spindle is coasting to standstill when the command “Switch on” is triggered again.
  • Page 21 Safe Limited Output Frequency (SLOF) When the frequency limitation is active, the relays of the signal circuit are closed (status FREQUENCY_IN_LIMITS). If the actual frequency is not within the valid frequency range or an error occurs in the signal circuit, the relay opens. Thus, the output signal is deactivated (status FREQUENCY_OUT_OF_LIMITS), i.e.

  • Page 22: Status Message Via Fieldbus

    Safe Limited Output Frequency (SLOF) 4.4.2 Status Message via Fieldbus The following example shows the connection of the SLOF function via a 2-channel OSSD signal and via fieldbus (blue): Fig. 8: Status Transmission via OSSD Signal and Fieldbus For this purpose a communication between the software modules of the safety PLC and the safety modules of the frequency limitation in the drive must be established.

  • Page 23: Parameterization Of The Limit Frequency

    Parameterization of the Limit Frequency Parameterization of the Limit Frequency In order to use the safety functions you must specify the respective limit frequency protected against unauthorized access. There are 2 options for this purpose: Set limit frequency in the parameter file Set limit frequency via fieldbus The user must protect the parameter file against unauthorized changes.
  • Page 24 Parameterization of the Limit Frequency Percentage deviation perr Graphic display of the system-inherent deviation The deviation between the real and the measured output frequency of the converter increases with increasing output frequency, i.e. for high output frequencies, signifi‐ cantly greater reserves of speed thresholds to be monitored must be provided. The following diagram shows the system-inherent deviation of the measurable output frequencies in dependence of the real output frequency of the converter.

  • Page 25: Fieldbus Communication

    Fieldbus Communication Fieldbus Communication The safety PLC communicates via several layers with the drives. The PLC program sends the reference data via fieldbus interface to each SD2 drive amplifier. The actual values are transmitted in reverse direction. The SD2 software detects the following errors: ▶...

  • Page 26: Data Structure

    Fieldbus Communication For data input the safety objects 467 and 468 are required. For the reply the safety objects 469 and 470 are required. Index Object name Meaning SAFE_SPEED_MONITOR_DEMAND_DATA_OBJECT Input of parameter value SAFE_SPEED_MONITOR_DEMAND_CTRL_OBJECT Input of control parameters including check sum SAFE_SPEED_MONITOR_REPLY_DATA_OBJECT Return value SAFE_SPEED_MONITOR_REPLY_STATUS_OBJECT...

  • Page 27: Data Array

    Fieldbus Communication Data structure: ▶ data array (4 bytes) ▶ address (1 byte) ▶ index (1 byte) ▶ pattern (1 byte) ▶ check (1 byte) Byte Bits Name Meaning 0 … 3 0 … 31 Data array Parameter value 0 … 6 Module ID Drive of the module: ▶...

  • Page 28: Subindex 1: Limit Value For Speed Zero

    Fieldbus Communication The data array of the next response telegram will contain zero. Read: Repeat telegram Sending the telegram is repeated to get a response telegram. 6.2.3.2 Subindex 1: Limit Value for Speed Zero Write: Reference value for speed zero limit If you parameterize the limit value zero, standstill monitoring (SFM function) is deactivated.

  • Page 29: Subindex 4: Software Version

    Fieldbus Communication Byte Name Meaning StatusFlags Meaning Processor ready Reference values received Speed zero detected Sector 0 or 7 detected Safe Limited Output Frequency detected Error occurred Control of output stage released Speed lower than frequency limit Error code Error code LevelBits Meaning Status of MxON output for drive A...

  • Page 30: Subindex 5: Cob-Id

    Fieldbus Communication Set value: Value Meaning Version number Program check sum Response version number: Byte Name Meaning Build number Number of the test version Incremented within test phase Patch level Revision number Incremented with bug-fix Minor release Secondary version number Incremented with functional extension Major release Main version number...

  • Page 31: Subindex 6: Activation Of Safe Limited Output Frequency

    Fieldbus Communication Module COB-ID Drive Controller Address 0x7F 0xFF 6.2.3.7 Subindex 6: Activation of Safe Limited Output Frequency This subindex is available for software version s01001v09004 and higher. Write Presetting of the activation channel and the activation. Byte Meaning 0 = activation via OSSD hardware 1 = activation via the bus system In case of activation via the bus system: 0 = deactivate monitoring of the rotating field...

  • Page 32: Pattern

    Fieldbus Communication Default value Response Exemplary data Time (00HHMMSS) 0x000B1E01 = 11:31:01 “s01001v09003” File name [3..0] 0x30313073 = “010s” File name [7..4] 0x30763130 = “0v10” File 0x33303039 = “3009” name [11..8] “SFM/SLOF” Comment [3..0] 0x2F4D4653 = „/MFS“ Comment [7..4] 0x464F4C53 = „FOLS“ Comment [63..6 6.2.4 Pattern...

  • Page 33: Setting: Limit "Speed Zero" = 10 Hz

    Fieldbus Communication 6.3.1 Setting: Limit “Speed Zero” = 10 Hz Set value for drive A in processor M0: Index Hexadecimal value Decimal value 0x0000000A 0x74008100 1946190080 0x0000000A 0x73018100 1929478400 Set value for drive A in processor M1: Index Hexadecimal value Decimal value 0x0000000A 0xF4008180...

  • Page 34: Set Value: Limit "Safe Limited Output Frequency" = 200 Hz

    Fieldbus Communication Query to drive B in processor M0: Index Hexadecimal value Decimal value 0x00000000 0xFD000101 4244635905 0x0000000A 0xF2010101 4060152065 Query to drive B in processor M1: Index Hexadecimal value Decimal value 0x00000000 0x7D000181 2097152385 0x0000000A 0x72010181 1912668545 6.3.3 Set Value: Limit “Safe Limited Output Frequency” = 200 Hz Set value for drive A in processor M0: Index...

  • Page 35: Query: Limit "Safe Limited Output Frequency

    Fieldbus Communication 6.3.4 Query: Limit “Safe Limited Output Frequency” Query to drive A in processor M0: Index Hexadecimal value Decimal value 0x00000000 0xFD000200 4244636160 0x000000C8 0x34010200 872481280 Query to drive A in processor M1: Index Hexadecimal value Decimal value 0x00000000 0x7D000280 2097152640 0x000000C8...

  • Page 36: Query: Address Of The Faulty Ram Cell

    Fieldbus Communication Index Hexadecimal value Decimal value 0x00000087 0xF4010380 4093707136 Query to drive B in processor M0: Index Hexadecimal value Decimal value 0x00000000 0xFB000301 4211081985 0x000039A7 14759 0x1A010301 436273921 Query to drive B in processor M1: Index Hexadecimal value Decimal value 0x00000000 0x7B000381 2063598465...

  • Page 37: Query: Test Pattern Of The Faulty Ram Cell

    Fieldbus Communication Query to drive B in processor M1: Index Hexadecimal value Decimal value 0x00000001 0x7A000381 2046821249 0x200006F8 536872696 0x5C010381 1543570305 6.3.7 Query: Test Pattern of the Faulty RAM Cell Depending on the states of the drives and the processors the return value in object 469 and the corresponding status bytes in object 470 can differ from the values given below.

  • Page 38: Delete Error

    Fieldbus Communication Query to drive A in processor M0: Index Hexadecimal value Decimal value 0x00000003 0xF9000300 4177527552 0x55555554 1431655764 0xA8010300 2818638592 Query to drive A in processor M1: Index Hexadecimal value Decimal value 0x00000003 0x79000380 2030044032 0x55555554 1431655764 0x28010380 671155072 Query to drive B in processor M0: Index Hexadecimal value...

  • Page 39: Query: Software Version

    Fieldbus Communication Delete error in drive B in processor M0: Index Hexadecimal value Decimal value 0x00000001 0x7A008301 2046853889 0x000000C7 0xB3018301 3003220737 Delete error in drive B in processor M1: Index Hexadecimal value Decimal value 0x00000001 0xFA008381 4194337665 0x000000C7 0x33018381 855737217 6.3.10 Query: Software Version Depending on the software version the return value in object 469 and the correspon‐...

  • Page 40: Query: Program Check Sum

    Fieldbus Communication 6.3.11 Query: Program Check Sum Depending on the check sum the return value in object 469 and the corresponding status bytes in object 470 can differ from the values given below. Query to drive A in processor M0: Index Hexadecimal value Decimal value...

  • Page 41: Setting: Activation Of The Safely Limited Rotating Field

    Fieldbus Communication Index Hexadecimal value Decimal value 0x7A000580 2046821760 0x00000000 0x79010580 2030110080 Query to drive B in processor M0: Index Hexadecimal value Decimal value 0x00000000 0xF9000501 4177528065 0x00000000 0xF8010501 4160816385 Query to drive B in processor M1: Index Hexadecimal value Decimal value 0x00000000 0x79000581...

  • Page 42: Query: Activation Of The Safely Limited Rotating Field

    Fieldbus Communication For axis B in the processor M1: Index Hexadecimal value Decimal value 0x00000003 0xF5008681 4110452353 0x00000003 0xF4018681 4093740673 6.3.14 Query: Activation of the Safely Limited Rotating Field Depending on the activation status the return value in object 469 and the correspon‐ ding status bytes in object 470 can differ from the values given below.
  • Page 43 Fieldbus Communication Query of the creation date (01.08.2016) for the axis A in the processor M0: Index Hexadecimal value Decimal value 0x00000002 0xF6000700 4127196928 0x07E00801 132122625 0x07010700 117507840 Query of the creation time (11:31:01) for the axis A in the processor M0: Index Hexadecimal value Decimal value...
  • Page 44 Fieldbus Communication Drive System SD2 - Safety Functions SFM / SLOF...

  • Page 45: Safety Object Converter

    safety object converter safety object converter safety object converter is available in drivemaster2 version 1.18 and higher. The tool Using this tool you can trigger the communication with the safety controllers manually. This way you can read data from the controllers for analyzing purposes or send settings to the controllers.
  • Page 46 safety object converter Click the button “Send” to send the data to the selected controller. Fig. 12: safety object converter: data were sent Sent data have a green background. The answer of the controller is displayed in the objects 469 and 470. Drive System SD2 - Safety Functions SFM / SLOF...

  • Page 47: Ossd Signals

    OSSD Signals OSSD Signals With the aid of OSSD signals malfunction and errors can be detected. For this purpose dynamic signals are used instead of static output and input signals. The following errors can be determined: ▶ short circuits ▶ cross circuits ▶...

  • Page 48: Ossd Self Test

    OSSD Signals Each channel includes 2 relays connected in series and 1 measuring device to monitor the self tests. This internal measuring device is made up of a 3-fold RC-combination. In combination with the internal resistance of the relays the measuring device affects the current consumption and the voltage drop.

  • Page 49: Ossd Monitoring By Plc

    OSSD Signals Test procedure To execute the self test the respective relay must be switched. In addition, the input contact of the relay must be connected to 24 V. The test is started by opening the respective relay and starting a time monitor. Thus, a falling edge occurs at the output contact of the relay.

  • Page 50: Ossd Monitoring: Speed Zero

    OSSD Signals ▶ Short circuit against GND or VCC: Safety is ensured because the output signal is permanent. The PLC cannot detect pulsing anymore. 8.2.1 OSSD Monitoring: Speed zero The signal for “Speed zero” is a status signal. The PLC makes the signal active HIGH. By closing the relay the signal chain is closed and the PLC receives its signal.

  • Page 51: Conducted Measurements

    OSSD Signals Conducted Measurements 8.3.1 Measurements at SFM/SLOF Connectors The measurements described in the following were conducted at the SFM/SLOF connectors (X66/X67) of an SD2 drive amplifier. Notes on the measurements: ▶ The internal measuring device, that is made up of a 3-fold RC-combination, moni‐ tors the test pulses of the drive and also affects the current consumption and the voltage drop.

  • Page 52: Chain Of Ossd Channels

    OSSD Signals 8.3.2 Chain of OSSD Channels 8.3.2.1 Test Setup The test setup is made up of 4 single-axis drives and 4 double-axis drives of the device type SD2 with the integrated safety functions SFM and SLOF. Fig. 17: Device overview of the test setup in drivemaster2 8.3.2.2 Oscilloscope Plots The test signals at the connector X66 / pin 10 (OSSD1) and the connector X67 / pin 10...
  • Page 53 OSSD Signals The following plot shows the offset between the test signals OSSD1 and OSSD2: Fig. 18: Offset of OSSD test signals The following plot shows the incoming OSSD signals that are passed to the end of the signal chain (OSSD1: yellow / blue and OSSD2: pink / green). The test pulses in- between are generated asynchronously by the drives, when they switch the relays (blue and green): Fig.
  • Page 54 OSSD Signals The following plot shows a self test pulse of the drive followed by an OSSD pulse: Fig. 20: Drive pulse and OSSD pulse The following plot shows 2 successive self test pulses of the drive: Fig. 21: 2 drive pulse Drive System SD2 - Safety Functions SFM / SLOF...

  • Page 55: Summary

    OSSD Signals The following plot shows an OSSD pulse followed by 2 self test pulses of the drive: Fig. 22: OSSD pulse an 2 drive pulses 8.3.2.3 Summary ▶ The measuring device, that monitors the self test, causes a voltage drop of approx.
  • Page 56 OSSD Signals Drive System SD2 - Safety Functions SFM / SLOF...

  • Page 57: Connector Pin Assignment

    Connector Pin Assignment Connector Pin Assignment X66 – Safe Frequency Monitor (SFM) Connection of the safety function SFM via 2-channel OSSD signal 10-pole Mini-Combicon connector, suitable for mating connector MC 1,5/ 10-ST-3,5 (Phoenix) Mating connector Function Name Meaning Drive A SFM_IN_1 OSSD input signal (1st channel) SFM_OUT_1...

  • Page 58: Spring-Cage Connection

    Connector Pin Assignment 10-pole Mini-Combicon connector, suitable for mating connector MC 1,5/ 10-ST-3,5 (Phoenix) Mating connector Function Name Meaning Drive A SLOF_IN_1 OSSD input signal (1st channel) SLOF_OUT_1 OSSD output signal (1st channel) (coded) SLOF_IN_2 OSSD input signal (2nd channel) SLOF_OUT_2 OSSD output signal (2nd channel) Drive B...

  • Page 59: Error Messages

    Error Messages Error Messages The error messages for the safety functions SFM and SLOF are combined in error E46. The error messages are described in this chapter and in the hardware documentation of your drive. 10.1 List of the Operating States Code Description Ready to switch on...
  • Page 60 Error Messages Code Error message Error reaction Possible reason Hiperface / EnDat OEM data No "Ready" for startup ▶ Number of motor pole pairs in (0x109) incorrect EnDat/Hiperface encoder does not match the parameter set. drive-setup-tool heartbeat Motor is stopped by quick stop ▶...
  • Page 61 Error Messages Code Error message Error reaction Possible reason Motor load too high (Motor I²t) Motor is stopped by error ramp ▶ Average motor load is too high due (0x31D) to mechanical problems and current limitation. ▶ Wrong dimensioning of the motor Power output stage load too high Motor is stopped by error ramp ▶...
  • Page 62 Error Messages Code Error message Error reaction Possible reason Overvoltage in DC link Drive is immediately disabled, ▶ No ballast resistor is connected or (0x52A) motor coasts to standstill. ballast resistor is dimensioned too small, i.e. X41/X63 not connected Undervoltage in DC link Drive is immediately disabled, ▶...

  • Page 63: List Of Warning Messages

    Error Messages Code Error message Error reaction Possible reason Timeout of monitoring func‐ Safety function SFM/SLOF: error tions in according hardware components Monitoring of OSSD signals Safety function SFM/SLOF: and output stage enable ▶ wrong OSSD signals ▶ defective OSSD relay ▶...

  • Page 64: Message Of The Quick Stop Functions

    Error Messages Code Description Digital input 'Quick stop' active Digital input 'Positive limit switch' active Digital input 'Negative limit switch' active Voltage of mains supply not OK Power output stage load greater than parameterized warning threshold W04 (power output stage I²t) Motor load greater than parameterized warning threshold W05 (motor I²t) Power output stage temperature greater than parameterized warning threshold W06 Motor temperature greater than parameterized warning threshold W07...
  • Page 65 Error Messages Code Description Digital input "Speed Enable" Drive System SD2 - Safety Functions SFM / SLOF...
  • Page 66 Error Messages Drive System SD2 - Safety Functions SFM / SLOF...

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