LinMot C1251-MI-XC-2S-0E Series Manual
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LinMot C1251-MI-XC-2S-0E Series Manual

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NTI AG / LinMot
Bodenaeckerstrasse 2
8957 Spreitenbach, SWITZERLAND
0185-1174_E_1V1_SM_C1251-2S
Please visit http://www.linmot.com to check for the latest version of this document!
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  • Page 1 NTI AG / LinMot +41 (0)56 419 91 91 Bodenaeckerstrasse 2 +41 (0)56 419 91 92 8957 Spreitenbach, SWITZERLAND http://www.linmot.com 0185-1174_E_1V1_SM_C1251-2S Please visit http://www.linmot.com to check for the latest version of this document!
  • Page 2 NTI AG. ® LinMot is a registered trademark of NTI AG. 0185-1174_E_1V1_SM_C1251-2S / 2021-11-26 16:43 (Rev. 12500)

  • Page 3: Table Of Contents

    1.2 Purpose of Document 1.3 Applicable Documents 1.4 Referenced Documents 2 Introduction / Preface 2.1 Legal Notices 2.1.1 Warning Concept 2.1.2 Proper Use of LinMot Products 2.1.3 Read the Documentation 2.1.4 Qualified Personnel 2.1.5 Intended Use 2.1.6 Prohibited Use 2.1.7 Brands 2.1.8 Non-Safety function...
  • Page 4 7.6.2.6 Safety Parameter Checksum 7.7 Flash Card (FC) 7.7.1 Default all parameters 7.7.2 Save all parameters to FC with LinMot-Talk 7.7.3 Save all parameters to FC via ID Switches 7.7.4 Load non-safety parameters from the FC 7.7.5 Load and validate all Parameters from the FC 7.8 Safety Variables and Monitoring...
  • Page 5 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.8.1 Safety Variables on Safety Module 7.8.2 Functional Safety Variables 7.8.2.1 HW Feedbacks 7.8.2.2 Safety System State 7.8.2.3 Safety Error State 7.8.2.4 Safety Error Codes 7.8.2.5 Safety IO States 7.8.2.6 Safety Function States 7.8.2.7 Safe Velocity and Position 7.8.2.8 Safe Brake Test States 7.8.3 Safety State Diagram...
  • Page 6 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.15.3.2 Deactivation 7.15.3.3 Fault Reaction 7.15.4 Example for the use of STO 7.15.5 Verification and Validation 7.16 Safe Brake Control (SBC) 7.16.1 Parameters 7.16.2 Status Signals 7.16.3 Detailed Functional Description 7.16.3.1 Functional Description SBC 7.16.3.1.1 Goal and Function of SBC 7.16.3.1.2 Requirements for Brake 7.16.3.1.3 SBC Configuration...
  • Page 7 7.21.4 Example for the Use 7.21.5 Verification and Validation 7.22 Safe Brake on X50 8 Planning a Safety Project with LinMot Components 8.1 Identifying the risks and hazards 8.2 Determining the PLr / SIL 8.3 Specification of the safety functions 8.4 Specification of the measures...
  • Page 8 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 11 Operation and Maintenance 11.1 Operation 11.2 Maintenance 12 Appendix 12.1 Terms and abbreviations 12.1.1 Additional Abbreviations 12.2 Change History 0185-1174_E_1V1_SM_C1251-2S / 2021-11-26 16:43 (Rev. 12500) Page 8 of 150...
  • Page 9 Figure 4: Motor (Stator and Slider) Figure 5: Rotatability of Motor Connectors Figure 6: Safety related block diagram Figure 7: LinMot-Talk Login Mask Figure 8: Schematics of a safe digital input (one channel) Figure 9: Changing safety parameters Figure 10: Changed safety parameter...
  • Page 10 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG Table of Tables Table 1: Applicable Documents Table 2: Referenced Documents Table 3 Life Cycle and Safety Notes Table 4: Supported drives Table 5: Drive nomenclature Table 6: Drive physical dimension, mounting and environment Table 7: PE Connector: Protective Earth Table 8: X1 Connector: Motor Supply Table 9: X3 Connector: Motor Sensor / Non Safe Brake...
  • Page 11 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG Table 48: X17/X18 Real Time Ethernet 10/100 Mbit/s Table 49: S11 / S12: Safe Address Switches Table 50 Safe Fieldbus Parameters Table 51: Assignment of the safety control word 1 bits (S_STW1) Table 52: Assignment of the safety status word 1 bits (S_ZSW1) Table 53: X49 Connector: Safe digital inputs Table 54 Safe input level definitions...
  • Page 12 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 0185-1174_E_1V1_SM_C1251-2S / 2021-11-26 16:43 (Rev. 12500) Page 12 of 150...

  • Page 13: Scope

    1.1 Objective The NTI AG / LinMot drives are designed to control linear and rotary motors. The drives are components that are built into electrical plants or machines and can only be operated as integral components of these plants or machines.

  • Page 14: Introduction / Preface

    2.1.2 Proper Use of LinMot Products Use of LinMot-Products LinMot products may only be used for the applications described in the catalog and in the relevant technical documentation. If products and components from other manufacturers are used, these must be CAUTION recommended or approved by LinMot.

  • Page 15: Read The Documentation

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 2.1.3 Read the Documentation Read the Documentation Read the available documentation before installation and commissioning. Improper handling of the servo motor and linear actuator can cause harm to people or damage to property. The operator must therefore CAUTION ensure that all persons entrusted to work on the actuator have read and understood the manual and that the safety notices in this safety guide are observed.

  • Page 16: Brands

    2.1.7 Brands All names identified by ® are registered trademarks of LinMot / NTI AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.

  • Page 17: Standards And Regulations

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 3 Standards and Regulations 3.1 Aims Manufacturers and operating companies of equipment, machines, and products are responsible for ensuring the required level of safety. This means that plants, machines, and other equipment must be designed to be as safe as possible in accordance with the current state of the art.

  • Page 18: Considered Standards

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 3.3 Considered Standards The following standards and regulations have to be considered: EN ISO 3849-1-2: 2008, Safety of machinery - Safety-related parts of control systems - Part 2: Validation EN IEC 61508: 2010, parts 1 to 7, Functional Safety of Electrical/Electronic/Programmable Electronic Safety- related Systems EN 61800-5-2:2007, Adjustable speed electrical power drive systems - Part 5-2: Safety requirements - Functional...

  • Page 19: Fundamental Safety Instructions

    Handle possible malfunctions by taking suitable measures, e.g. emergency stop or emergency off 4.2 Liability NTI AG (as manufacturer of LinMot linear motors and MagSpring products) excludes all liability for damages and expenses caused by incorrect use of the products. This also applies to false applications, which are caused by NTI AG's own data and notes, for example in the course of sales, support or application activities.

  • Page 20: Industrial Security

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 4.3 Industrial Security Customers are responsible for preventing unauthorized access to their plants, systems, machines and networks. Such systems, machines and components should only be connected to an enterprise network or the Internet if such a connection is necessary and only when appropriate security measures (e.g.

  • Page 21: General Safety Notes Linmot Products

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 5 General Safety Notes LinMot Products 5.1 Products and Life Cycles The following safety notes must be generally regarded to guarantee safety during all life cycles. The products covered are: Drives Motors (Slider and Stator)

  • Page 22: Overview Life Cycle, Safety Notes And Products

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 5.2 Overview Life Cycle, Safety Notes and Products The following table gives an overview over the safety notes, applicable life cycles and the products. The items are described in the following chapters separately. Specific safety instructions and warnings are also placed. Check nearby chapters, where safety products or safety functions are described.

  • Page 23: Safety Notes

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 5.3 Safety Notes This chapter contains the general safety notes. Danger to life if the safety instructions and residual risks are not observed If the safety instructions and residual risks in the associated hardware documentation are not observed, accidents involving severe injuries or death can occur.
  • Page 24 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG High Temperatures Avoid the system from high temperatures and beware from hot parts. Products: WARNING Sliders Stators Cables Drives Life Cycles: Safety measures: Avoid high temperature exposure for the sliders and stators Note, that stator / slider can become warm when working.
  • Page 25 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG Mechanical Parts and Motion Moved parts or sharp mechanical edges can be a danger. Products: DANGER Drives Stators Sliders Life Cycles: Machine Integration Operation Maintenance & Repair Safety measures: The movement of the motor can be very dynamic. Keep distance or place a protection. Loose mounting may cause unintended motion.
  • Page 26 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG Dirt, IP A housing must be adequate for the environment. Dirt, dust or liquids may cause a danger, because of electric shock or other scenarios. Products: Sliders Stators Drives Cables Life Cycles: WARNING All (except for disposal) Safety measures:...
  • Page 27 The sliders contain neodymium magnets. Make sure the magnets are disposed environmentally friendly. Sliders can also be sent back to LinMot which will recycle the goods. Lifetime, Maintenance, Wearing Out As a machine or installation is in charge and gets older, some regular maintenance is necessary to exchange worn out parts and check if the safety is still guaranteed.
  • Page 28 Components, which are broken or worn out, must be replaced instead of repaired. CAUTION Logic Supply The logic supply of the LinMot drive must be supplied with 24 VDC by an SELV/PELV power supply WARNING unit with an output voltage limit U of 36 VDC.

  • Page 29: Fundamental Safety Instructions

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 5.4 Fundamental Safety Instructions Risk minimization by using safety Safety can be used to minimize the level of risk associated with machines and plants. Machines and plants can only be operated safely when the machine manufacturer: NOTICE Precisely knows and observes this technical user documentation, including the documented limitations, safety information and residual risks.
  • Page 30 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG Parameterization of the encoder system Encoder faults are detected using different hardware and software monitoring functions. WARNING It is not permissible to disable these monitoring functions. Set the encoder configuration correctly. Converter operation despite active messages With activated safety functions, there are a number of system messages that still permit the drive to be traversed.

  • Page 31: Residual Risk

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 5.5 Residual Risk Danger due to short, limited movements If two power transistors simultaneously fail in the power unit (one in the upper and one in the lower inverter bridge), then this can cause a brief, limited movement. DANGER The maximum movement can be: Synchronous rotary motors: Max.

  • Page 32: Linmot Safety Products

    6 LinMot Safety Products LinMot provides a safety system, which consists of drives and linear motors. A linear motor consists of a stator and a slider. All components, which belong to the safety system, have the suffix “2S”. The following chapters give a list of the supported safety products and their compatibility.

  • Page 33: Drives

    -xxx: The customer-specific versions differ only from the configurations, which must be validated by the customer. Table 5: Drive nomenclature The installation guides for the drives are provided with the product or are available on the LinMot Webpage and must be carefully implemented. 0185-1174_E_1V1_SM_C1251-2S / 2021-11-26 16:43 (Rev. 12500)

  • Page 34: Supported Safety Functions

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 6.1.1 Supported Safety Functions The Drive supports the following safety functions according to EN 61800-5-2: STO: Safe Torque Off SBC: Safe Brake Control SS1: Safe Stop 1 SOS: Safe Operating Stop SS2: Safe Stop 2 SLS: Safe Limited Speed A detailed description for these safety functions can be found in chapter 7 - Safety Functions.

  • Page 35: Table 6: Drive Physical Dimension, Mounting And Environment

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG C1251 Series single axis drive Unit C1251-MI-XC-2S-0E-xxx Width mm (in) 34 (1.4) Height mm (in) 206 (8.11) Height with fixings mm (in) 246 (9.69) Depth mm (in) 131 (5.16) Weight g (lb) 1100 (2.42) Mounting Screws mm (in)

  • Page 36: Supply And Grounding

    CAUTION Signal Power Supply The logic supply of the LinMot drive must be supplied with 24 VDC by an SELV/PELV power supply unit with an output voltage limit U of 36 VDC. Failure to observe this can result in a loss of safety.

  • Page 37: Motor Power Supply

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG Do not switch Power Supply DC Voltage! All power supply switching and E-Stop breaks should be done to the AC supply voltage of the power supply. Failure to observe these precautions may result in severe damage to the drive. WARNING 6.1.2.2.2 Motor Power Supply The calculation of the needed power for the Motor supply is depending on the application and the used motor.

  • Page 38: X1: Motor Supply

    Stripping length: 7 mm Screw thread: M3 Tightening torque: 0.5 - 0.6 N Table 8: X1 Connector: Motor Supply 6.1.2.3.3 X2/X3: Motor Connection Motor Phases LinMot Motor: 3-phase EC-Motor: Ph 1+ U Motor Phase 1+ Motor Phase U Ph 1- V...

  • Page 39: Table 9: X3 Connector: Motor Sensor / Non Safe Brake

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG Motor Phases LinMot Motor: EC Motor: Non-Safe Brake - Non-Safe Brake - Non-Safe Brake+ Non-Safe Brake+ Temp Sens+ Temp Sens+ Temp Sens- Temp Sens- +5VDC +5 VDC AGND AGND Sensor Sine Sensor Sine / Hall Switch U...

  • Page 40: X4: Logic Supply / Io Connection

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 6.1.2.3.4 X4: Logic Supply / IO Connection Logic Supply / IO Connection Diff An In- Configurable +/- 10 V differential analog Input (with X4.10) Diff An In+ Configurable +/- 10 V differential analog Input (with X4.11) An In Configurable single ended 0-10 V analog Input Dig In...

  • Page 41: X19: System

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 6.1.2.3.6 X19: System System (Do not connect) (Do not connect) RS232 RX RSGND RSGND RS232 TX (Do not connect) (Do not connect) Shield case RJ-45 Use isolated USB-RS232 converter (article number 0150-2473) for configuration over RS232 Table 12: X19: System 6.1.2.3.7 X49: Safe Digital IO Safe Digital IO...

  • Page 42: X50 Safe Brake

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 6.1.2.3.8 X50 Safe Brake Safe Brake Do not connect Do not connect Safe Brake- Safe Brake+ Spring cage connectors Use brake, which is engaged when not powered. (have to be ordered Use 24 V brake or valve. separately: see Maximal current: 0.8 A chapter 6.1.3 )

  • Page 43: Drive Ordering Information

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 6.1.3 Drive Ordering Information Drive Description Article Number C1251-MI-XC-2S-0E-000 C1251 with MI interface (72 V / 25 A) 0150-2933 C1251-MI-XC-2S-0E-C00 C1251 with MI interface, Calibrated Measuring Amplifier (72 V / 25 A) 0150-4185 Accessories DC01-C1251-2S/X1/X4/X49/X50...

  • Page 44: Motors

    E.g. standard type PL01-20x400/340-HP has article number 0150-1508 and the corresponding 2S type is PL01-20x400/340-HP-2S with article number 0150-21508. The installation guides for the motors are provided with the product or are available on the LinMot Webpage and must be carefully implemented.

  • Page 45: Environmental Conditions For Motors

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 6.2.1 Environmental Conditions for Motors The following table lists the information about the allowed environmental conditions for the safety motors. This includes safety stators and safety sliders according to table in 6.2 - Motors. Item Unit Values...

  • Page 46: Sliders

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 6.2.3 Sliders The slider is a magnetic rod, which is moved in the stator. 6.2.3.1 Slider Nomenclature Variations of Description Base type Slider for slotless motors Coating Y = Coating of the slider 1 = standard coating 2 = heavy duty coating Diameter...

  • Page 47: Motor Cable

    Three types of cables are available for linear motors. The cable attached to the stator is not a high flex cable. For moving cable applications, please use the special LinMot KS high flex (suitable for cable tracks) or KR robot cable. See table below.

  • Page 48: Rotatability Of Motor Connectors

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 6.2.3.1.2 Rotatability of motor connectors The motor connectors R and C can be rotated in both directions. See illustration below. Figure 5: Rotatability of Motor Connectors 0185-1174_E_1V1_SM_C1251-2S / 2021-11-26 16:43 (Rev. 12500) Page 48 of 150...

  • Page 49: Safety Functions

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7 Safety Functions 7.1 Safety Functions Overview and Compatibility The following table gives an overview of the available safety functions. Please be aware, that for some safety functions a safe encoder is necessary. Function Description Use with non-...

  • Page 50: General Safety Information

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.2 General Safety Information The following subchapters contain general information for the safety functions, such as characteristics, boundaries, constraints etc. 7.2.1 Boundary of the Safety Compliant System The safety parts in the 2S system contain the following: Safety related parts in the drive, such as safe digital inputs safe digital output...

  • Page 51: Safety Characteristics For All Safety Functions

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.2.3 Safety Characteristics for all Safety Functions The complete safety system (containing the drive and the motor) with all its functions has the safety characteristics listed in the following tables. The PFHd and MTTFd values are fulfilled even when all safety functions are used in parallel. Remark: Only the safe brake control (SBC) is considered.

  • Page 52: Implemented Measures Against Systematic Errors

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.2.5 Implemented Measures against Systematic Errors For the safety compliant system, for development and design, the following measures have been taken to prevent from systematic errors: implementation of tables under EN 61508-2 Appendix B implementation of tables under EN 61508-3 Appendix A 7.2.6 Used Technologies and architecture For the implementation of the safety related functions the following technologies are used.

  • Page 53: Regarded Safety Related Errors Taken Measures

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.2.7 Regarded Safety Related Errors taken Measures The following table lists safety related errors, possible error causes and the measures or advice for the handling. Fault Measures, Discussion Safe position encoder The safe position encoder is permanently checked by orbit and cross monitoring. general fault Safe encoder stuck at Safe encoder missing...

  • Page 54: Table 24: Regarded Safety Related Errors And Taken Measures

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG Fault Measures, Discussion Memory The program code is CRC protected. On startup CRC is checked. Program memory On startup and periodically RAM test is performed. The safety parameters are CRC protected. On startup CRC is checked. EEPROM (parameter storage) Power Supply All supply voltages (external and internal) are watched, either by reset component or by...

  • Page 55: Periodic Proof Tests

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.2.8 Periodic Proof Tests The following table shows the periodic proof tests, which are either automatically performed or have to be done manually. Test Automatically Automatically Instructions for user on Startup periodically yes, <...

  • Page 56: Error Reaction Times

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.2.9 Error Reaction Times The following table provides the maximal error reaction times of the system: Item Description Time I/O Discrepancy The safe digital inputs and input are checked for consistency. If a discrepancy is present between the two 50 ms channels, which stays longer than the indicated time, an error will be generated (Safe Input Fault or Safe Output Fault).

  • Page 57: Predictable User Errors

    Error" is generated. Parameter Out of Range All parameters are checked for the allowed range. In case of a range violation, LinMot-Talk will block and the safety software on the drive checks the ranges as well. In case of an error, the message "Send data failed: Parameter error"...

  • Page 58: Data Types

    Table 29: Data types for parameters and variables 7.4 Access and Visibility to Parameters and Variables The parameters on the drive are configured via the LinMot-Talk configuration software. With this tool also variables can be monitored. Dependent on the login ID, different access levels can be reached.

  • Page 59: Safety Parameters Overview

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.5 Safety Parameters Overview All parameters, used for the configuration of the different safety functions, are displayed in the LinMot-Talk in the parameter section. There is a branch “Safety” which is colored yellow.

  • Page 60: Setting The Safety Parameters

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.6.1 Setting the Safety Parameters The parameters can be set the same way as the non-safety parameters. E.g. setting the FS Config Name: Figure 9: Changing safety parameters Select the parameter and type in the new value, then press Enter or click on the check. And the value is changed: Figure 10: Changed safety parameter Note: The value is not yet stored on the drive until the validation is completely run.

  • Page 61: Validate The Safety Parameters

    Password: The default password is “DoChange”. The default password is active, when the firmware is freshly installed, or the parameters have been defaulted from LinMot-Talk or over the ID switches S1/S2 The password can be changed by clicking the Icon A timeout of 5 minutes is active, when logged in.

  • Page 62: Verify Groups

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.6.2.2 Verify Groups When the login is correct, the “Verify Par Group” button becomes active . The parameter group shown is marked yellow and must now be verified. When everything is ok, the verify button can be clicked, the group will be marked green, and the next group will be shown and marked yellow.

  • Page 63: Print Ascii Report

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.6.2.4 Print ASCII Report The ASCII report must be printed and put together to the machine documentation. Printing can be done to a PDF file. Click to the printing button 7.6.2.5 Validate Parameters At the end, the parameters can be validated by clicking the button The password must be retyped.

  • Page 64: Flash Card (Fc)

    FC10-000 Table 30: Flash Card List The FC is used for drive exchange in the field, without the use of LinMot-Talk. The FC is used to save and reload drive configurations. The configurations are CRC protected. The access to the flash card by unauthorized persons must be limited by the end user.

  • Page 65: Default All Parameters

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG S11/S12 Positions Commands Safe Address S11: High Nibble S12: Low Nibble Load and validate the complete configuration from the FC. For the safety configuration, the file “SafetyConfig_*.lsc” is loaded. For the non-safety configuration, the file “Config_*.pvl” is loaded. Remark: Only one file of each must be on the FC, otherwise the selection is not clearly.

  • Page 66: Save All Parameters To Fc With Linmot-Talk

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.7.2 Save all parameters to FC with LinMot-Talk All parameters can be saved by the drive itself to the inserted FC. Preconditions: A valid FC must be inserted in the socked M1.

  • Page 67: Save All Parameters To Fc Via Id Switches

    In case of an error, the L3 and Error LEDs are alternating blinking at ca. 2 Hz. Possible errors: The flash card is not compatible (no LinMot-Card, wrong type, …) The flash card is not writable. The flash Card is removed during operation.

  • Page 68: Load Non-Safety Parameters From The Fc

    In case of an error, the L3 and Error LEDs are alternating blinking at ca. 2 Hz. Possible errors: The flash card is not compatible (no LinMot-Card, wrong type, …). The flash card is not writable. The flash Card is removed during operation.

  • Page 69: Load And Validate All Parameters From The Fc

    In case of an error L3/L4 LEDs are blinking red together at ca. 2 Hz. Possible errors: Flash Card not present. Flash Card is not compatible (no LinMot-Card, wrong type, wrong formatting, …). Configuration file is corrupt. Configuration is not compatible (HW and FW version).
  • Page 70 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG Steps Description Set S11 to 1 after setting S12. Set S12 to 2 CRC nibble (second least significant, e.g. 1A981C26h ) Wait until the L3/L4 LEDs show this state. Set S11 to 2 after setting S12. Set S12 to 3 CRC nibble (e.g.

  • Page 71: Table 36: Load Complete Parameters From The Fc And Validate The Safety Parameter

    L3 and Error LEDs are alternating blinking at ca. 2 Hz. This happens, when an error occurs when loading the non safety parameters. Possible errors: The flash card is not compatible (no LinMot-Card, wrong type, …) The flash card is not writable. The flash Card is removed during operation.

  • Page 72: Safety Variables And Monitoring

    7.8 Safety Variables and Monitoring The drive provides a list of variables for monitoring the safety states. All variables can be accessed via UPIDs and are shown in LinMot-Talk under \Variables\ 7.8.1 Safety Variables on Safety Module The variables related to the safety module are located under \Variables\OS Safety Module\:...

  • Page 73: Figure 18: Safety Variables And States

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.8.2 Functional Safety Variables All variables related to the functional safety are located under \Variables\Functional Safety\ Figure 18: Safety Variables and States 7.8.2.1 HW Feedbacks The STO is realized by two channels, which both must be active to enable the power stage (to leave the STO state). Both enables are monitored, the monitoring signals are HW STO feedback 1 and HW STO feedback 2.

  • Page 74: Table 39: Safety System States

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.8.2.2 Safety System State Name UPID Value / Bit Significance Comments Type Safety 1A01h Power Up The safety module is not started. System State Enum8 Start Up The safety module is starting up. This will be present, while the connection to the safe fieldbus starts up.
  • Page 75 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.8.2.4 Safety Error Codes Name UPID Value / Significance Comments Type Safety Error Code 1A03h No Error No error is present. Enum8 Safe Input Fault An error on the safe inputs is detected. Possible faults: wiring, discrepancy between the two channels, disturbances, etc.

  • Page 76: Table 41: Safety Board Error Codes States

    A nonspecific IO fault has been detected. IO fault Recommended actions: Report error to provider. FS Task less The safety task needs too much calculation time. Contact LinMot support. Calc Time FS Task Period The safety task period time error. Contact LinMot support...

  • Page 77: Table 42: Safety Io States

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.8.2.5 Safety IO States The safety IO states give information about the evaluation and monitoring of safe digital IO signals, wired to X49a/b. Name UPID Value / Bit Significance Comments Type Safety IO State 1A05h Bit 0 Safe Input 1...
  • Page 78 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.8.2.6 Safety Function States This section contains the variables related to the safety functions. Name UPID Value / Significance Comments Type Safety Fn 1A06h Bit 0 STO active Same as UPID 1A10h State Word UInt32 Bit 1...
  • Page 79 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG Name UPID Value / Significance Comments Type Set if the SS1 safety function is active. The activation may be a result from a demand of the Safety Application Process, of a fault reaction from a fault in the Safety Fn 1A11h safety fault buffer or a demand from the PROFIdrive on PROFIsafe Safety Function...

  • Page 80: Table 43: Safety Function States

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG Name UPID Value / Significance Comments Type The safety module has detected a request for SOS, this can also be an internal Safety Fn 1A1Bh State SOS SOS selected event. Bool Selected This bit can also be accessed via UPID 1A06h bit 11.

  • Page 81: Table 44: Safe Velocity And Position

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.8.2.7 Safe Velocity and Position This section contains the variables related to the safety functions on the system board. Name UPID Unit Comments Type Safe Velocity 1A28h 1um/s This variable contains the actual motor velocity, evaluated by the safety board. SInt32 Safe Position 1A29h...

  • Page 82: Table 45: Sbt Monitoring

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.8.2.8 Safe Brake Test States Name UPID Value / Bit Significance Comments Type SBT IO Request 1A60h Request via IO This value represents the IO request for SBT. On X4, the digital inputs can Bool be configured to “Req SBT”.

  • Page 83: Figure 19: Safety State Diagram

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.8.3 Safety State Diagram The lower part of the following diagram shows the system states from startup to normal operation. Parallel to theses states the monitoring functions are active. In the upper part, the state transitions in case of errors are shown. Figure 19: Safety state diagram 7.8.3.1 Safe State The safe state consists of the following points:...
  • Page 84 The state “Internal Failure” is reached if a HW failure is detected. If this occurs the HW has normally to be replaced. In this state the communication is still active and the failure is displayed with the LinMot-Talk. The internal failures can only be acknowledged by a reboot (reset, or power cycle).
  • Page 85 The state internal fatal failure is active when the system cannot guarantee a controlled processing. The safe state becomes active. The communication is stopped, in LinMot-Talk the Safety Panel is disabled and does not show the state anymore. The internal fatal failures can only be acknowledged by a reboot (reset, or power cycle).

  • Page 86: Table 46: Failure Classification And Reaction

    Internal FS Task less calc The safety task needs too much calculation time. failure 18A6h time Safe State Recommended action: Contact LinMot support. Fatal FS Task period Internal The safety task period time takes too long. 19A6h time too high...

  • Page 87: Table 47: General Settings Parameters

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.9 General Safety Settings 7.9.1 General Settings parameters The parameters for the general settings are located under \Parameters\Safety\General Settings\ Name UPID Description Typical Type Unit FS Parameter 47A0h This parameter shows the parameter version of the safety parameters. The safety 0100h Version UInt16...
  • Page 88 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.10.2 Safe Fieldbus Address The safe fieldbus address must be set via the S11 and S12 switches. The safe address is a 16 bit value and consists of "CDh" in the high byte (this value comes from the Vendor ID) and in the low byte is the position of S11 and S12. The same address has to be configured on the PLC side.
  • Page 89 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.10.4.1 PROFIsafe control word (S_ STW1) Meaning Value Significance Comments Deselect STO Set to 1 if the STO safety function is deactivated immediately if there is no other constraint for STO (Fault entry in Safety Fault Buffer with error response STO or other safety function active with sub state STO).
  • Page 90 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.10.4.2 PROFIsafe Status word (S_ ZSW1) Meaning Value Significance Comments STO active The STO safety function is active and torque/force is removed from the drive. The activation may be a result from a demand of the Safety Application Process (S_STW), of a fault reaction from a fault in the safety fault buffer or a demand from the PROFIdrive on PROFIsafe Safety Function State Machines.
  • Page 91 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.11 Safe Digital Inputs 7.11.1 Description The drive supports two safe digital inputs, which are located on the safe I/O connector X49. Digital Inputs Wiring The wiring of the digital inputs shall be done such, that short circuits between the two channels of a single input are excluded or detected by the driving safe output (for example from the safety PLC).

  • Page 92: Figure 20: Schematics Of A Safe Digital Input (One Channel)

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG Figure 20: Schematics of a safe digital input (one channel) 7.11.2 Parameters The safe digital inputs have the following parameters for configuration. Name UPID Description Type Safe Input 1 47A6h Selects the state of a safety function, which is provided at the safe digital output. UInt8 The following selection can be done: Safe Input 2...

  • Page 93: Figure 21: Schematics Of The Acknowledge Input

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.12 Acknowledge Input 7.12.1 Description The drive supports a non-safe acknowledge input on the safe I/O connector X49. The X49 connector has the following signal layout: Safe Digital IO X49A SafeDigIn 1A- (safe digital input 1 channel A negative) SafeDigIn 1B- (safe digital input 1 channel B negative) SafeDigIn 2A- (safe digital input 2 channel A negative) SafeDigIn 2B- (safe digital input 2 channel B negative)
  • Page 94 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.12.2 Parameters The acknowledge input is not configurable and has no parameters. 7.13 Safe Digital Output 7.13.1 Description The drive supports one safe digital output, which is located on the safe I/O connector X49. The X49 connector has the following signal layout: Safe Digital IO X49A...

  • Page 95: Figure 22: Schematics Of The Safe Digital Output (One Channel)

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG Term Description Value This time is measured from the request to activate the output in the software to Maximal output delay 4 ms the output not providing any more power to a resistive load Within this time, the wrong state of the digital output is detected and the drive has Maximal fault reaction time 50 ms...
  • Page 96 The encoder type must be configured in the parameter section. Sensor Wiring The wiring to the sensor shall use the original NTI AG (LinMot) cable with a dedicated shielding. WARNING The configuration parameters are located under: \Parameters\Safety\Encoder\ 7.14.2 Parameters...

  • Page 97: Figure 23: Sto Timing

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.15 Safe Torque Off (STO) The STO function is defined according to EN 61800-5-2 When activating the STO signal, the motor is disabled and no or no reasonable motor current is driven. The STO is also possible for non-safe position encoders.
  • Page 98 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.15.2 Status Signals The following variables contain the status information about the STO function. Name UPID Value Significance Comments Type / Bit Safety Fn State 1A06h Bit 0 STO active Same as UPID 1A10h Word UInt32 Bit 13...
  • Page 99 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG When a brake is configured, the drive will close the brake first on a STO request. The safety module will then wait the configurable time 47D5h “SBC STO_Delay” for closing the brake before activating the STO. The drive also supports to activate the brake together with the STO outputs when parameter 47D5h “SBC STO_Delay”...
  • Page 100 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.16 Safe Brake Control (SBC) The SBC function is defined according to EN 61800-5-2. The SBC function supplies a safe output signal to control a holding brake. On the drive, there is one output for the safe brake implemented, it is located on X50 Pin 1 (Brake+) and Pin 2 (Brake -). The SBC can also be used with non-safe position encoders.
  • Page 101 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG Activating the SBT can have different sources: Digital input (non-safe): any digital input on X4 can be mapped to the SBT request. PROFIbus: the SBT request can be set with telegram 701 Fieldbus: The variable SBT Request (UPID 1A61), see table above.
  • Page 102 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.16.3 Detailed Functional Description The functionality discussed in this chapter is divided in SBC and SBT. 7.16.3.1 Functional Description SBC 7.16.3.1.1 Goal and Function of SBC The main goal of the SBC is to switch off safely the current for the motor brake. This is realized by a two-channel hardware implementation with feedback signals.
  • Page 103 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.16.3.1.5 Error Reaction In case of an error, the brake output fault will be generated STO will be activated. Name UPID Value / Significance Comments Type Safety Error State 1A02h No Failure No failure is detected Enum8 IO-Failure...
  • Page 104 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.17 Safe Brake Test (SBT) With the SBT test, a sequence is started, where the brake efficiency is tested. Therefore the motor will produce a force or torque and the brake must hold the motor in position. The following figure shows the sequence: Figure 25: SBT The SBT sequence is processed in the drive automatically when it is requested.
  • Page 105 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.17.1 SBT Parameters Name UPID Description Typical Type Unit Brake attached 47D4h Defines if a brake is attached or not. Not Attached UInt8 00h: Not Attached (Default) 01h: Attached SBC STO_Delay 47D5h Defines the delay between brake and STO, this value is 60 s 1 ms...
  • Page 106 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.17.2 Status Signals Name UPID Value Significance Comments Type / Bit Safety Fn State 1A06h Bit 0 STO active Same as UPID 1A10h Word UInt32 Bit 13 Error active Same as UPID 1A1Dh Bit 14 Acknowledge is Same as UPID 1A1Eh...
  • Page 107 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG Name UPID Value Significance Comments Type / Bit SBT IO Request 1A60h Request via IO This value represents the IO request for SBT. On X4, the digital inputs can Bool be configured to “Req SBT”. Make sure maximal one input is configured to request SBT.
  • Page 108 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.17.3.2 SBT Configuration All parameters concerning the SBT are described under 7.17.1 - SBT Parameters. Prerequisite is an attached and enabled brake on connector X50. The following parameters can be set: Configure a safe or non-safe brake. Set the maximal force or torque.
  • Page 109 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.17.3.5 Starting SBT When the drive is in the Op. Main State "Ready to Switch On", any SBT request will start the brake test. The SBT request can be done from different sourced: Non-safe digital input: any digital input on X4 Profibus: telegram 701 Fieldbus or any other source: by setting SBT Request (UPID 1A61)
  • Page 110 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.17.3.6 SBT Sequence The brake test is performed autonomous on the drive. The brake keeps blocking all the time. The motor is powered producing a force in both directions. During all the time the position of the motor is watched. The test is passed, if the motor does not move more than SBT Motion Limit (UPID 47D9h) allows.
  • Page 111 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG Name UPID Value / Significance Comments Type Idle SBT is in idle state. Enable Power The power stage becomes active and the motor current can be driven. Stage The current is setting up to the defined brake test force or torque. Set Positive The force is defined with UPID 47D6h.

  • Page 112: Figure 26: Sbt Oscilloscope Shot

    Configure complete drive inclusive the safe brake, set also SBT force torque. Validate the parameters on the drive. Startup the drive Test if brake is locking. Setup the oscilloscope in LinMot-Talk trigger on Safety Fn State SBT runs (UPID 1A22h) monitor Actual Position (UPID 1B8Ah) monitor Demand Current (UPID 1B93h) Request the brake test.

  • Page 113: Figure 27: Ss1 Timing

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.18 Safe Stop 1 (SS1) The SS1 function is defined according to EN 61800-5-2. The SS1 function allows a fast braking of the motor to zero speed and afterwards goes into STO. The controlled braking of the motor with SS1 reduces the risk, increases the productivity of a machine and allows to reduce the safety clearance within the machine.
  • Page 114 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.18.1 Parameters Name UPID Description Typical Type Unit SS1 Stop Source 47E0h Specifies if the stop is generated in the drive or by the Internal UInt8 external setpoint generator: Quick Stop 00h: Internal Quick Stop (Default): With this selection the drive itself initiates the stop function (Quick Stop) 02h: External Stop: With this selection the stop...
  • Page 115 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.18.2 Status Signals The following variables contain the status information about the SS1 function: Name UPID Value / Significance Comments Type Safety Fn State 1A06h Bit 0 STO active Same as UPID 1A10h Word UInt32 Bit 1...
  • Page 116 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.18.3 Detailed Functional Description 7.18.3.1 Activation and timing SS1 is activated if one of following request sources is active: SS1 request on safe fieldbus SS1 request on safe digital input SS1 request as fault reaction The SS1 reaction time to a request over a safe digital input, safe fieldbus or as internal request is less than 10ms.
  • Page 117 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.18.3.3 Fault Reaction STO is the end state of SS1. As STO is the most basic safety function, there is no fault reaction. The system stays with STO active. 7.18.4 Examples for the Use Example Possible Solution An emergency stop button is pressed and the connected drive...

  • Page 118: Figure 28: Sos Timing

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.19 Safe Operating Stop (SOS) The SOS function is implemented according to EN 61800-5-2 The function SOS holds the motor with zero speed on its position. The position is controlled and safely monitored No mechanical components are necessary to keep the motor against an eventual counterforce in position.
  • Page 119 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.19.1 Parameters Name UPID Description Typical Type Unit SOS Activation Delay 47E1h The time the drive may take to slow down before 60 s (t3 in figure) UInt16 activating SOS 1 ms SOS Position 47E2h The limit within the position is accepted.
  • Page 120 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.19.2 Status Signals The following variables contain the status information about the SOS function. Name UPID Value Significance Comments Type / Bit Safety Fn State 1A06h Bit 2 SOS active Same as UPID 1A12h Word UInt32 Bit 13...
  • Page 121 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.19.3 Detailed Functional Description 7.19.3.1 Activation and timing SOS is activated if one of following request sources is active: SOS request on safe fieldbus SOS request on safe digital input SOS request in SS2 sequence SOS request as fault reaction The SOS reaction time to a request over a safe digital input, safe fieldbus or as internal request is less than 10ms.
  • Page 122 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.19.5 Verification and Validation The verification for the SOS function follows these steps: Configure complete drive inclusive the SOS source, SOS Activation Delay (UPID 47E1h), SOS Position Tolerance (UPID 47E2h) and SOS Fault Reaction (47E3h). Validate the parameters on the drive.

  • Page 123: Figure 29: Ss2 Timing

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.20 Safe Stop 2 (SS2) The SS2 function is implemented according to EN 61800-5-2 The SS2 function allows a fast braking of the motor to zero speed and afterwards goes into SOS. In the case of an error during deceleration, the SOS state cannot be reached.
  • Page 124 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG If SS2 shall be requested by a safe digital input, the configuration must be set accordingly, see 7.11.2 - Parameters If the SS2 state shall be displayed with the safe digital output, the configuration must be set accordingly, see 7.13.2 - Parameters If SS2 shall be requested via safe fieldbus, the safe fieldbus must be activated, see 7.10.3 - Safe Fieldbus Configuration.
  • Page 125 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.20.3 Detailed Functional Description 7.20.3.1 Activation and timing SS2 is activated if one of following request sources is active: SS2 request on safe fieldbus SS2 request on safe digital input SS2 request as Fault reaction The SS2 reaction time to a request over a safe digital input, safe fieldbus or as internal request is less than 10ms.
  • Page 126 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.20.4 Example for the Use Example Possible Solution For handling in a machine, the protective door must be opened Configure the SS2 in the drive only if the motor is in the safe standstill state. After braking, the drive activates the SOS and the protective door can be opened.

  • Page 127: Figure 30: Sls Timing

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.21 Safe Limited Speed (SLS) The SLS function is implemented according to EN 61800-5-2 The SLS function monitors the speed of the motor and ensures that it stays below a certain limit. The SLS function can reduce stand still times or make set-up procedures easier or even faster.
  • Page 128 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.21.1 Parameters for SLS Name UPID Description Typical Type Unit SLS Ramp Down 47F8h The maximum time for the ramp down. After this time, the SLS 2 ms 60 s 0.5 s Time UInt16 monitoring becomes active.
  • Page 129 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG If SLS shall be requested by a safe digital input, the configuration must be set accordingly, see 7.11.2 - Parameters If the SLS state shall be displayed with the safe digital output, the configuration must be set, see 7.13.2 - Parameters . If SLS shall be requested via safe fieldbus, the safe fieldbus must be activated, see 7.10.3 - Safe Fieldbus Configuration.
  • Page 130 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG Name UPID Value Significance Comments Type / Bit Safety Fn State Error 1A1Dh Error active This flag is set if an error on the safety module is active. Bool Cleared if no error is active. This bit can also be accessed via UPID 1A06h bit 13.
  • Page 131 No error must occur. Check the recorded safety speed to check the margin to the limit. Setup the oscilloscope in LinMot-Talk to check the safety speed margin to the limit. monitor Safe Speed Limit (UPID 1A2Ah) monitor Safe Velocity (UPID 1A28h) optionally monitor Safe Position (UPID 1A29h) 0185-1174_E_1V1_SM_C1251-2S / 2021-11-26 16:43 (Rev.

  • Page 132: Figure 31: Sls Oscilloscope Shot: This Shot Shows The Margin Of The Safety Velocity

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG Figure 31: SLS Oscilloscope Shot: This shot shows the margin of the safety velocity If the monitored safe velocity may be disturbed by different effects: fast changing motor current (worse if higher) monitoring Speed Computation Time (UPID 47A3h) (worse if shorter) position sensor specific non-idealities The margin between the monitored safe velocity and the safe speed limit should be at least 30%.
  • Page 133 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 7.22 Safe Brake on X50 The connector X50 provides the link to the safe brake. If a brake is configured, it is monitored by the SBC (safe brake control) function. The following table gives information about the pinout and the requirements for the safe brake. The brake can be connected directly or a brake control unit can be used in between.
  • Page 134 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 8 Planning a Safety Project with LinMot Components This chapter provides an overview of the general planning process for a safety project using LinMot products. Machinery Directive This description applies only to machines as defined by the Machinery Directive.
  • Page 135 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 8.3 Specification of the safety functions For each safety function identified, it is necessary to specify how the risk should be reduced in accordance with the EN ISO 12100 strategy for risk reduction. Risks and hazards whose residual risk is to be reduced by inherently safe design or user information must be specified but are not part of this description.
  • Page 136 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 8.7 Validation of the safety functions Extract from EN ISO 13849-2:2013, Chapter 4.1: validation guidelines. The purpose of the validation procedure is to confirm that the design of the safety-related parts of the control system (SRP/CS) supports the specification of the safety requirements of the machines.
  • Page 137 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG I/O Check of the safe inputs and outputs Verification of the parameterization of all safety components (watchdog times, sensor tests, safe fieldbus address, etc.) Check of the safety functions during normal operation. Check of the safety functions in the event of an error.
  • Page 138 9 Commissioning This chapter guides through the commissioning of a safety application. Precondition is that the safety application is planned and verified according to chapter 8 - Planning a Safety Project with LinMot Components Planning a Safety Project with LinMot Components.

  • Page 139: Figure 32: Safety Module Values

    2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 9.2 FW Installation Install a valid firmware and check if the installation is done correctly. The firmware installation is done with LinMot-Talk. The following FW releases are certified for the use in the functional safety context:...
  • Page 140 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 9.3.2 Using no Configuration All parameters and setting on the drives must be done. This can be done with LinMot-Talk, its manual can be found in [6]. Setup the following parts: Start the motor wizard, which guides through the configuration of the motor and its application (load, mounting, cable length, friction, …).
  • Page 141 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 10 Acceptance Tests and Protocols Responsibilities The machine manufacturer is responsible for carrying out and documenting the acceptance test. WARNING 10.1 Introduction According to the EC Machinery Directive and DIN EN ISO 13849-1 it is necessary to check the safety-related functions and machine parts after commissioning.
  • Page 142 Report of the acceptance test results. Report of the settings of the safety functions (ASCII report) and configuration of safe address switches. Complete drive configuration (readout by LinMot-Talk) The documentation must be signed by the person who carried out the acceptance test.
  • Page 143 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 10.2 Acceptance Tests The following list contains points which are required for the acceptance of the safety project. This list is not exhaustive. These points must be checked after the initial start-up and after each configuration modification: Implementation or changes must only be done by qualified personnel.
  • Page 144 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 10.3 Complete Acceptance Test 10.3.1 Documentation Documentation of the machine and of safety functions Machine description (with overview) Specification of the used safety components (such as drive, stator, slider) Function table: Active monitoring functions depending on the operating mode and the protective door. Other sensors with protective functions The table is part or is the result of the configuring work.
  • Page 145 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 10.4 Partial Acceptance Test 10.4.1 Documentation Documentation of the machine and of safety functions Extending/changing the hardware data Extending/changing the software data (specify version) Extending/changing the function table: Active monitoring functions depending on the operating mode and the protective door. Other sensors with protective functions The table is part or is the result of the configuring work.
  • Page 146 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 10.4.3 Functional testing of actual value acquisition Axis movement during the acceptance test The operation causes the machine to move. WARNING Take suitable measures to ensure that nobody is in the danger zone during the acceptance test. General testing of actual value acquisition After exchanging the component, initial activation and brief operation in both directions.
  • Page 147 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 10.5 Test Scope for Specific Measures A complete acceptance test is required when first commissioning of the safety functionality on a machine or major modifications have been made. Major modifications mean functional changes, not only replacing components with the same functionality (which is typically for maintenance).
  • Page 148 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 11 Operation and Maintenance To keep a machine as safe as possible, it is necessary to perform tests regularly. Some of them can be done during operation, others have to be done during the maintenance window. Problems detected during operation must be evaluated if the safe operation can still be guaranteed.
  • Page 149 2S Drive Systems / 0185-1174_E_1V1_SM_C1251-2S / NTI AG 11.2 Maintenance A periodic maintenance has to be planned. The interval is dependent on the application and has to be evaluated during the development of the safety project. Maintenance should be done at least once a year. The maintenance has to be documented.
  • Page 150 12.1.1 Additional Abbreviations Abbreviation Description Flash Card, Memory Card Functional Safety Firmware Hardware Fault Tolerance LinMot-Talk Performance Level Programmable Logic Controller Safety Function SM02 Safety Module or Safety Board. Responsible for monitoring the safety functions. UPID Unique Parameter ID, is an unambiguous identification of a parameter or variable. The number for the UPID is displayed as a 16 bit hex value, e.g.

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