1. Manuals
  2. Brands
  3. ez-wheel Manuals
  4. Industrial Equipment
  5. SWD Core
  6. Instruction manual

ez-wheel SWD Core Instruction Manual

Safety drive
Hide thumbs Also See for SWD Core:
Table of Contents

Advertisement

Quick Links

Download this manual
SWD
Core
®
SAFETY DRIVE
Instruction manual
Version 1.0.x - 19/04/2022 - Translated from French

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the SWD Core and is the answer not in the manual?

Questions and answers

Related Manuals for ez-wheel SWD Core

Summary of Contents for ez-wheel SWD Core

  • Page 1 Core ® SAFETY DRIVE Instruction manual Version 1.0.x - 19/04/2022 - Translated from French...

  • Page 2: Table Of Contents

    INSTRUCTION MANUAL SWD® Core Table of Contents Preamble ................................ 7 1.1. Who is this manual for? ......................... 7 1.2. Terminology ............................7 1.3. Additional resources ..........................7 1.4. Declarations of conformity ........................7 1.5. Important information about the manual ..................... 7 1.6.
  • Page 3 Default values ............................... 42 8.9. Backup and restore of configurations ....................48 Communication settings ..........................49 Drive parameters ............................50 Parameters SWD Core® ..........................51 CiA 402: Engine Control Device Profile ......................52 9.1. State machine ............................53 6040 Controlword ............................55 6041 Statusword ............................
  • Page 4 INSTRUCTION MANUAL SWD® Core Speed limits ..............................62 Speed limit and safety features ........................64 Ramps ................................64 Ramp function control ..........................67 9.3. Configuration ............................69 6007 Abort connection option code ......................69 605A Quick stop option code ........................69 605B Shutdown option code ........................
  • Page 5 INSTRUCTION MANUAL SWD® Core 10.5. Signature .............................. 91 Calculation method ............................91 Signature of the SRDO ..........................93 Signature STO ............................... 93 Signature SLS ..............................94 Signature SDI ..............................95 10.6. Periodic inspections ..........................95 10.7. CANopen safety - SRDO ........................96 Constraints related to the calculation of system characteristics ..............
  • Page 6 INSTRUCTION MANUAL SWD® Core Figure 31 - STO Activation and Acquittal Diagram ....................88 Figure 32 - CIU Activation Diagram ........................89 Figure 33 - SLS Activation Diagram ........................90 V-EN_19042022_SWD® Core Page 6 on 97...

  • Page 7: Preamble

    The SWD® Core product is developed in accordance with regulatory requirements for marketing throughout the European Union. The SWD® Core declarations of conformity have been drawn up by ez-Wheel with the INERIS certification body for certified safety features. 1.5. Important information about the manual Important information –...

  • Page 8: Disclaimer

    The technical information included in this manual is subject to change. No responsibility is assumed for the completeness, up-to-date or accuracy of the data and illustrations provided. The textual and visual data included in this manual are the property of ez-Wheel SAS. The trademarks ez-Wheel and SWD Safety Wheel Drive are registered.

  • Page 9: Safety Instructions - Swd® Core Precautions

    INSTRUCTION MANUAL SWD® Core 2. Safety Instructions – SWD® Core Precautions Do not open. Do not expose to a heat source. Do not expose to fire. Do not insert metal parts into the connectors. Under no circumstances shall the product undergo any modifications not authorized by ez- Wheel Do not attempt to modify the technical performance of the product.

  • Page 10: Description

    INSTRUCTION MANUAL SWD® Core 3. Description 3.1. Presentation Planetary reducer BLDC engine Safety Controller Package 3.2. Technical characteristics of the engine Engine data alone, without mechanical reduction: Speed range 0 to 1800 rpm Nominal performance 185 W (S1) at 1400 rpm Starting torque 4,5 Nm The following data is shown for the standard version of the SWD®...

  • Page 11: Specificities Of The Swd® Core

    INSTRUCTION MANUAL SWD® Core 3.3. Specificities of the SWD® Core The following data is shown for the standard version of the SWD® Core equipped with the 14:1 ratio two-stage planetary gearbox. Technology BLDC Gearbox 2-stage planetary ratio 14:1 - exact value (63/17) per stage Indicative lifespan 5 000 h / 1 500 000 starts/stops Nominal speed...

  • Page 12: Product Label

    INSTRUCTION MANUAL SWD® Core 3.7. Product Label Commercial identification of the product Regulatory pictograms Identification of the manufacturer Serial Number Geographical origin of the product Engine performance Safety features 3.8. Applications The SWD® Core product is intended for speed-controlled charge movement applications, for which risk assessment justifies the implementation of safe movement monitoring.

  • Page 13: Synoptic

    INSTRUCTION MANUAL SWD® Core 4. Synoptic Figure 1 - General synoptic of the product The SBC function is under development. Motor and Gearbox Security Encoder External safety brake V-EN_19042022_SWD® Core Page 13 on 97...

  • Page 14: Interfaces

    INSTRUCTION MANUAL SWD® Core 5. Interfaces 5.1. Overview Identification of mechanical parts Figure 2 - Overview of mechanical interfaces Gearbox mounting flange Brake mounting axis Brake mounting pads V-EN_19042022_SWD® Core Page 14 on 97...

  • Page 15: Connectors And Leds Identification

    INSTRUCTION MANUAL SWD® Core Connectors and LEDs identification I/O connector 24VDC connector CAN connector USB connector ETH connector (for future use only) Figure 3 - Connectors Identification LED Status LED CAN LED ETH (reserved for future use) Brake connector Figure 4 - Rear view, LEDs and brake connector identification V-EN_19042022_SWD®...

  • Page 16: Connectors

    INSafe_2 GND IN ON: Shoot at GND to put on The following cables can be used to interface the I/O connector: Compatible cables available in the ez-Wheel catalog Phoenix Contact SAC-12P-MR/ 1,5-PUR SCO – 1430572 Amphenol M12A-12BMMM-SR8AXX 24 VDC connector The 24 VDC power connector is M12 Power, 5 poles, L-coding (4+FE) type.

  • Page 17: Usb Connector

    The USB connector is a M8, 5 poles, B-coding type. It is only used for updating and diagnosing the product. Thus, it should only be used with the explicit agreement of ez-Wheel for security reasons, otherwise you will lose all warranty.

  • Page 18: Mechanical Assembly

    INSTRUCTION MANUAL SWD® Core 6. Mechanical assembly 6.1. Dimensions of the packaging and contents of the pack Depth: 170 mm Width: 150 mm Height: 306 mm Upper wedge SWD® Core product Lower hold Conditioning For all engine logistics operations alone, preferably use the original packaging. V-EN_19042022_SWD®...

  • Page 19: Overall Dimensions

    INSTRUCTION MANUAL SWD® Core 6.2. Overall dimensions *clavette = Parallel key Figure 5 - Overall dimensions, side view Figure 6 - Overall dimensions, top view V-EN_19042022_SWD® Core Page 19 on 97...

  • Page 20: Figure 7 - Overall Dimensions, Front View

    INSTRUCTION MANUAL SWD® Core Figure 7 - Overall dimensions, front view *4 mounting holes, depth 12 ±2mm, Max. tightening torque: 5 Nm Figure 8 - Overall dimensions, rear view - connectors V-EN_19042022_SWD® Core Page 20 on 97...

  • Page 21: Assembly Plan

    INSTRUCTION MANUAL SWD® Core 6.3. Assembly plan Machine implementation recommendations Interface SWD® Core Engine transmission interface Place the SWD® Core product on the machine interface until it is stopped on the flat surface. Use four M5 screws (not supplied) to tighten the product on the machine interface. NEVER use a hammer to set up the product! Installation requirements: Tightening torque of the 4 M5 screws (not supplied): 5 Nm.

  • Page 22: Restriction Of Use

    360 N Max axial load 100 N Max permanent mounting pressure 1,000 N Sealing of the product To ensure product’s life, we recommend putting caps on unplugged connectors. Compatible ones are available in ez-Wheel catalogue. V-EN_19042022_SWD® Core Page 22 on 97...

  • Page 23: Swd® Core Status Leds

    INSTRUCTION MANUAL SWD® Core 7. SWD® Core status LEDs 7.1. SWD® Core LED display mode LEDs operate according to the CiA 303-3 standard. The display modes are as shown below: LED Status Description LED on The LED is constantly on The LED is constantly turned off Sparkling LED The LED shows alternation at about 10 Hz (50 ms on / 50 ms off)

  • Page 24: Can Bus Led Display

    INSTRUCTION MANUAL SWD® Core 7.3. CAN Bus LED Display The CAN display is a two-tone red or green LED, that indicates the operational status of the SWD® Core CANopen bus: Budget CANopen LED beat LED rouge Bus Off Initialization (Ongoing) Initialization (Initialization error) Flashing LED...

  • Page 25: Can Bus And Canopen Protocol

    INSTRUCTION MANUAL SWD® Core 8. CAN Bus and CANopen Protocol 8.1. Bus feature SWD Core TCAN1043 CAN_H CAN_L Rcan 120 Ω Figure 9 - Internal electrical diagram of the CAN bus 8.2. CAN Node IDENTIFIER The CANopen node identifier (Node-ID), is used to identify the equipment on the bus. Each identifier is associated with default CAN identified messages.

  • Page 26: Can Bus Termination Resistance

    INSTRUCTION MANUAL SWD® Core Changing the SWD® Core Node-ID has no impact on the configuration of the different messages. When configuring the SWD® Core, the user must ensure that the reconfiguration of the communication parameters (PDO, SDO, ...) are relevant. Only the "heartbeat"...

  • Page 27: Swd® Core Product Identity

    INSTRUCTION MANUAL SWD® Core Feeding RCAN_boot R Termination Initialization Figure 11 - CAN Bus Initialization Diagram value Unit Internal termination resistor Ohms Setup time of the internal resistance < 500 ms RCAN_boot configuration at startup 8.4. SWD® Core Product Identity The identification data of the SWD®...

  • Page 28: Figure 12 - Nmt State Machine Diagram Of A Canopen Device

    INSTRUCTION MANUAL SWD® Core Power on or hardware reset Initialization (14) (11) Pre-operational (13) (10) Stopped (12) Operational At Power on the NMT state initialization is entered autonomously NMT state initialization finished – enter NMT state Pre-Operational automatically NMT service start remote node indication or by local control (4), (7) NMT service enter pre-operational indication (5), (8)

  • Page 29: Pdo (Process Data Object)

    INSTRUCTION MANUAL SWD® Core 8.6. PDO (Process Data Object) PDOs are messages sent by a producer to consumers for broadcasting high-priority data. For a producer: a PDO is considered as a TPDO (T: Transmitted), and as a RPDO (R: Received) for the consumer(s). A PDO message is characterized by communication parameters that includes: its identifier on the CAN bus its methods of transmission or reception...
  • Page 30 INSTRUCTION MANUAL SWD® Core COB-ID The COB-ID entry is used to specify: The CAN-ID identity of the message on the bus Whether or not to activate the message SWD® Core supports 11-bit message IDs and does not implement sending TPDOs on RTR request. For DPI, the COB-ID format is: Frame Valid...
  • Page 31 INSTRUCTION MANUAL SWD® Core Transmission The transmission type parameter of a PDO specifies the transmission mode, as well as the trigger mode. There are three modes of triggering messages: Requested remotely The transmission is triggered by a RTR (Remote Transmission Request), from a PDO consumer. This mode is not supported by SWD®...

  • Page 32: Figure 13 - Description Des Pdo

    INSTRUCTION MANUAL SWD® Core For synchronous TPDOs (value from 0 to FE ), the transmission type also specifies the transmission speed as a factor based on the transmission period of the base SYNC object. A transmission type of 0 means that the message must be transmitted after sync appears but acyclically (not periodically), only if an event occurred before SYNC.

  • Page 33: Mapping Parameters

    INSTRUCTION MANUAL SWD® Core Mapping parameters Configuring the mapping of a PDO is used to describe the data included in the PDO, in transmission or reception. SWD® Core supports redefining PDO mapping by user configuration. The data is concatenated in the data field of the CAN message: In reception (RPDO) the mapping allows the decoding of the data from the message and the update of the data in the SWD®...

  • Page 34: Default Values

    INSTRUCTION MANUAL SWD® Core Default values Activated RPDO Default mapping  Controlword  No data  No data  Controlword & Target velocity  No data  No data  No data  No data Activated TPDO Default mapping  Statusword ...
  • Page 35 INSTRUCTION MANUAL SWD® Core RPDO 4 : Controlword & Target velocity Data Default Access Lower Upper Size in Name Unit Type Value Type Mapping Limit Limit Bytes Communication settings 1403 Number of entries 1403 COB-ID 000 0510  Transmission type 1403 ...

  • Page 36: Emcy (Emergency)

    INSTRUCTION MANUAL SWD® Core TPDO 4 : Statusword & current velocity Data Default Access Lower Upper Size in Name Unit Type Value Type Mapping Limit Limit Bytes Communication settings 1803 Number of entries 1803 COB-ID 4000 0490  Transmission type 1803 ...

  • Page 37: Error Codes

    INSTRUCTION MANUAL SWD® Core 0. After initialization, the SWD® Core enters the error-free state if no error is detected. No error messages are sent. 1. The SWD® Core detects an internal error indicated in the first three bytes of the emergency message (error code and error register).
  • Page 38 INSTRUCTION MANUAL SWD® Core Tension Description FAULT  DC surge error – Error 3211  DC Surge Error – Warning 3212  DC Power On Error - Error 3221  DC Power On Error - Warning 3222  Power error on CAN or IO connector 7100 Temperature Description...

  • Page 39: 1001 H : Error Register

    INSTRUCTION MANUAL SWD® Core 1001 : Error Register This object indicates the error classes that are currently active. Each bit corresponds to a class: Meaning Generic error Current Tension Temperature Communication error Device specific Reserved Manufacturer-specific Refer to the error code table for the class of an error. Data Default Access...

  • Page 40: Srdo (Safety-Relevant Data Object)

    INSTRUCTION MANUAL SWD® Core EMCY COB-ID description table: Bit(s) Value Description Valid (or existing) EMCY valid Invalid (or non-existent) EMCY Reserved (always 0 CAN-ID (base frame) on 11 valid bits frame CAN-ID (extended frame) on 29 valid bits 29-bit CAN-ID CAN-ID of the 29-bit extended CAN frame 11-bit CAN-ID CAN-ID of the base 11-bit CAN frame...

  • Page 41: Data Consistency Check

    INSTRUCTION MANUAL SWD® Core The figure below illustrates the timing relationship: Data consistency check The data contained in the 2 messages of an SRDO must be consistent with each other. The first message contains the security data The second message contains the bit-to-bit add-in of this data. Communication settings: Index Sub-index...

  • Page 42: Default Values

    INSTRUCTION MANUAL SWD® Core Default values Activated SRDO Direction Mapping  Safety control word 1 (6620 0108  Safety status word 1 to 8 (6621 0108 -> 6621 0808 3..8 Reserved for future use CIA 402 Safety control word 2 (6620 0208 Safe position actual value i32 (6611 0020 ) + Safe velocity actual value i32 (6613 0020...
  • Page 43 INSTRUCTION MANUAL SWD® Core SRDO 2 TX Data Default Access Lower Upper Size in Name Unit Type Value Type Mapping Limit Limit Bytes Communication settings Number of entries Information Directorate 1 (TX) 0 ou 1 (TX)  Refresh time / SCT ...
  • Page 44 INSTRUCTION MANUAL SWD® Core SRDO 9 RX (inactive) Data Default Access Lower Upper Size in Name Unit Type Value Type Mapping Limit Limit Bytes Communication settings Number of entries Information Directorate 0 (inactive) 0 or 2 (RX)  Refresh time / SCT ...
  • Page 45 INSTRUCTION MANUAL SWD® Core SRDO 11 RX (inactive) Data Default Access Lower Upper Size in Name Unit Type Value Type Mapping Limit Limit Bytes Communication settings Number of entries Information Directorate 0 (inactive) 0 or 2 (RX)  Refresh time / SCT ...
  • Page 46 INSTRUCTION MANUAL SWD® Core SRDO 13 RX (inactive) Data Default Access Lower Upper Size in Name Unit Type Value Type Mapping Limit Limit Bytes Communication settings Number of entries Information Directorate 0 (inactive) 0 or 2 (RX)  Refresh time / SCT ...
  • Page 47 INSTRUCTION MANUAL SWD® Core SRDO 15 RX (inactive) Data Default Access Lower Upper Size in Name Unit Type Value Type Mapping Limit Limit Bytes Communication settings Number of entries Information Directorate 0 (inactive) 0 or 2 (RX)  Refresh time / SCT ...

  • Page 48: Backup And Restore Of Configurations

    INSTRUCTION MANUAL SWD® Core 8.9. Backup and restore of configurations SWD® Core supports saving user settings and restoring factory settings. The backup of the user parameters is carried out when receiving the 'save' command in the object 'Store Parameter' (1010 Signature /ISO8859/ character The saved settings are divided into several groups.

  • Page 49: Communication Settings

    INSTRUCTION MANUAL SWD® Core Communication settings Communication parameters 1005 COB ID SYNC message 1017 Producer Heartbeat Time 1200 SDO server parameter 1400 RPDO 1 communication parameter 1401 RPDO 2 communication parameter 1402 RPDO 3 communication parameter 1403 RPDO 4 communication parameter 1600 RPDO 1 mapping parameter 1601...

  • Page 50: Drive Parameters

    INSTRUCTION MANUAL SWD® Core Drive parameters List of configurable data related to CiA 402: Drive Configuration Velocity mode 6046 vl_velocity_min_max_amount 6048 vl_velocity_acceleration 6049 vl_velocity_deceleration 604A vl_velocity_quick_stop 604B vl_set_point_factor 604C vl_dimension_factor CiA 402 6007 Abort_connection_option_code 605A quick_stop_option_code 605B shutdown_option_code 605C disable_operation_option_code 605D halt_option_code 605E...

  • Page 51: Parameters Swd Core

    66FA ezw_safety_word_ssw_mapping_sw3 66FB ezw_safety_word_ssw_mapping_sw4 66FC ezw_safety_word_ssw_mapping_sw5 66FD ezw_safety_word_ssw_mapping_sw6 66FE ezw_safety_word_ssw_mapping_sw7 66FF ezw_safety_word_ssw_mapping_sw8 Parameters SWD Core® List of configurable data related to the SWD® Core product: Configuration SWD® Core 2050 cia402_use_intenal_brake 2155 motctrl_speed_pid_p 2156 motctrl_speed_pid_i 2157 motctrl_speed_pid_d V-EN_19042022_SWD® Core Page 51 on 97...

  • Page 52: Cia 402: Engine Control Device Profile

    INSTRUCTION MANUAL SWD® Core 9. CiA 402: Engine Control Device Profile The CiA 402 profile manages the motors (power, braking, ...) according to different modes of operation (position, velocity, torque, ...). This management involves selecting the expected mode, configuring the specific parameters, and then starting the CiA 402 profile state machine.

  • Page 53: State Machine

    INSTRUCTION MANUAL SWD® Core 9.1. State machine The CiA 402 profile state machine allows you to control the operation of the drive integrated into the SWD® Core. Start Not ready to switch on Switch on Fault disabled Ready to Fault reaction switch on active Transition 13...
  • Page 54 INSTRUCTION MANUAL SWD® Core Transition Events Actions Automatic transition after power-on or reset Drive device self-test and/or self -initialization application shall be performed. Automatic transition Communication shall be activated. Shutdown command from control device or None local signal Switch on command received from control The high-level power shall be switched on, if device or local signal possible.

  • Page 55: 6040 H Controlword

    INSTRUCTION MANUAL SWD® Core Supported functions include: Active brake, according to config. Powered on board Active motor control Allowed configuration Their states will be either ON, OFF or ON/OFF if both states are possible. FSA states Not ready Fault Function Switch on Ready to Switched...

  • Page 56: 6041 H Statusword

    INSTRUCTION MANUAL SWD® Core Bits of the controlword Command Transitions Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Shutdown 2, 6, 8 Switch on Switch on + enable 3 + 4 (NOTE) operation Disable voltage 7, 9, 10, 12 Quick stop 7, 10, 11 Disable operation...

  • Page 57: Startup Example

    INSTRUCTION MANUAL SWD® Core Ila - internal limit active The drive sets the 'Ila' bit to 1, if the speed setpoint is outside the speed range allowed for the product. (cf. 6046 - vl_velocity_min_max_amount) Data Default Access Lower Upper Size in Name Unit Type...

  • Page 58: Modes Of Operation

    INSTRUCTION MANUAL SWD® Core Present Not present 2050 00 Brake by ENGINE DC 2050 00 USE_INTERNAL_BRAKE = 'if present' is a configurable USE_INTERNAL_BRAKE = false true Mechanical mounting Brake not mounted or not External brake and connection to the connected ‘brake’...

  • Page 59: How 'Velocity Mode' Works (Vl)

    INSTRUCTION MANUAL SWD® Core The input "Request operating mode" (6060 ) allows the choice of mode, the input "Current operating mode" (6061 ) allows to know the mode in which the SWD® Core is located. The value of these objects is described in the table below: Value Definition...

  • Page 60: Figure 20 - 'Speed Control' Interface

    INSTRUCTION MANUAL SWD® Core Configuration (Access: RWS) vl velocity min/max amount (6046 Status (Access: RO) vl dimension factor (604C vl velocity acceleration (6048 statusword bit 11 vl velocity deceleration (6049 (Internal limit active) vl velocity quick stop (604A Velocity vl velocity actual value mode (6044 Command (Access: RW)

  • Page 61: Figure 22 - Positive Direction Of Rotation (+)

    INSTRUCTION MANUAL SWD® Core 6042 : Speed instruction The speed instruction is stored in the dictionary object 'vl_target_velocity' (6042 By default, speeds are expressed at the motor shaft in RPM (Rotation Per Minute), regardless the mechanical reducer ratio. The unit of speed used depends on the configuration of ‘ vl_dimension_factor’ (604C 6064 : Position The position is expressed in motor encoder increments, and it is stored in the dictionary object 'position_value'...

  • Page 62: Speed Limits

    INSTRUCTION MANUAL SWD® Core The polarity object does not impact the positive direction of rotation used for the SDIp and SDIn security functions. 604C : Conversions It is possible to apply a dimension factor on the expression of velocities so that they are expressed in another unit.

  • Page 63: Figure 23 - Managing Speed Limits

    INSTRUCTION MANUAL SWD® Core vl_target_velocity 6042 00 6046 02 + velocity max amount 6046 01 + velocity min amount 6046 01 - velocity min amount 6046 02 - velocity max amount vl_velocity_demand 6043 00 6046 02 + velocity max amount 6046 01 + velocity min amount 6046 01...

  • Page 64: Speed Limit And Safety Features

    INSTRUCTION MANUAL SWD® Core Speed limit and safety features Additional limitations are applied to the setpoint because of the security features. The setpoint limitation is not a safety function itself, but takes into account the constraints related to the safety functions. Active function Throttling output policy The setpoint is forced to 0...

  • Page 65: Figure 24 - Management Of Acceleration /Deceleration Ramps (1/2)

    INSTRUCTION MANUAL SWD® Core vl_target_velocity 6042 00 0x6049:1 – delta_speed 0x6048:1 – delta_speed vl_velocity_demand 6043 00 0x6048:2 – delta_time 0x6049:2 – Figure 24 - Management of acceleration /deceleration ramps (1/2) When inverting setpoint direction, the nominal ramp deceleration is used for returning to zero speed, then the acceleration ramp is used to reach the new setpoint.

  • Page 66: Figure 25 - Management Of Acceleration /Deceleration Ramps (2/2)

    INSTRUCTION MANUAL SWD® Core vl_target_velocity 6042 00 vl_velocity_demand 6043 00 acceleration Nominal deceleration Figure 25 - Management of acceleration /deceleration ramps (2/2) V-EN_19042022_SWD® Core Page 66 on 97...

  • Page 67: Ramp Function Control

    INSTRUCTION MANUAL SWD® Core Ramp function control Controlling function ramp is possible from given bits of the controlword. Bit 5 Run ramp function generator Lock Bit 6 Limit function output Bit 4 Ramp input Ramp output Ramp value value function generator Velocity demand...

  • Page 68: Figure 27 - Controller Synoptic

    INSTRUCTION MANUAL SWD® Core Acceleration ramp Size Non- Data Default Access Lower Upper Name Unit volatile Type Value Type Mapping Limit Limit Bytes storage Deceleration_delt r.min 6049 10000 a_speed Acceleration_delt 6049 a_time Ramp deceleration 'Quick stop' Size Non- Data Default Access Lower Upper...

  • Page 69: Configuration

    INSTRUCTION MANUAL SWD® Core Data Default Lower Upper Size in Name Access Type Unit Type Value Mapping Limit Limit Bytes motctrl_speed_ 42949672 2155  pid_p motctrl_speed_ 4294967 2156  pid_i motctrl_speed_ 4294967 2157  pid_d 9.3. Configuration The configuration related to the motor drive is considered when switching to the 'Operation enable' state. Thus, in 'Operation enable', 'Quick stop active' and 'Fault reaction active' states, new configurations are not considered.

  • Page 70: 605B H Shutdown Option Code

    INSTRUCTION MANUAL SWD® Core Value Definition Slow down on slow down ramp and transit into switch on disabled Slow down on quick stop ramp and transit into switch on disabled Slow down on slow down ramp and stay in quick stop active Slow down on quick stop ramp and stay in quick stop active 605B Shutdown option code...

  • Page 71: 605E H Fault Reaction Option Code

    INSTRUCTION MANUAL SWD® Core 605E Fault reaction option code It is possible to define the required action when detecting an internal error in the PDS (Power Drive System). Value Definition Disable drive function, motor is free to rotate Slow down on slow down ramp Slow down on quick stop ramp V-EN_19042022_SWD®...

  • Page 72: Security Features

    Security features in the SWD® Core The SWD® Core includes safe engine shutdown features, as well as advanced safe speed monitoring features. This exclusive integrated solution developed by ez-Wheel simplifies the machine architecture by avoiding the need for external supervisory bodies and safety logics.

  • Page 73: Figure 28 - Use Of Security Features

    INSTRUCTION MANUAL SWD® Core brake Figure 28 - Use of Security Features V-EN_19042022_SWD® Core Page 73 on 97...

  • Page 74: Summary Of Security Levels

    INSTRUCTION MANUAL SWD® Core 10.2. Summary of security levels ISO 13849-1:2015 EN IEC 61508 IEC 62061 IEC 61800-5-2 NF EN 60204-1 PFHD PFDAVG Safety function Category COAMING SIL CL COAMING Category / years STOP safety functions Safe Torque Off (STO) Category 4 PL e 2.23E-8...

  • Page 75: Control Of Security Functions

    INSTRUCTION MANUAL SWD® Core 10.3. Control of security functions The activation of safety functions results from an indirect mechanism of the CiA 402-4 norm. It synthesis several safety commands sent by the SWD® Core. Security functions are triggered by: The status of a security input on the I/O connector A security controlword in the CANopen dictionary A reaction from an internal error of the SWD®...

  • Page 76: Figure 29 - Example Of Canopen Configuration Of Safety Controls

    INSTRUCTION MANUAL SWD® Core 6620 00 : controlword Index Object SDI n SLS 2 SLS 1 … … … 66F0 : controlword mapping 6632 Ack Command … … … 6640 0000 6640 STO command … … … 6690 0100 6690 SLS [1] Command 6690 0200 6690...
  • Page 77 INSTRUCTION MANUAL SWD® Core Default values Safe controlword 1 Data Default Access Lower Upper Size in Name Unit Type Value Type Mapping Limit Limit Bytes 66F0 Number of entries 6640 0000 66F0 Command 1  STO command Command 2 66F0 0000 0000 ...
  • Page 78 INSTRUCTION MANUAL SWD® Core Safe statusword 1 Data Default Access Lower Upper Size in Name Unit Type Value Type Mapping Limit Limit Bytes 66F8 Number of entries 6644 0000 66F8 Status 1  STO status Status 2 66F8 0000 0000 ...

  • Page 79: Configuring Commands Associated With Security Entries

    INSTRUCTION MANUAL SWD® Core Configuring commands associated with security entries The list of the commands that can be used in a mapping is: Code Commande commande 2620 00 : safe_in controlword 6632 0000 Ack. PIN# Safe Safe Safe Safe 6640 0000 Sig.

  • Page 80: Activation Of The Sto By Emergency Stop Via The I/O Connector Interface, Compliance Up To Sil3 / Ple / Cat4

    INSTRUCTION MANUAL SWD® Core Default values Safe_in controlword In its default configuration, the security entries on the connector are not associated with a command. The configuration must be carried out by the manufacturer of the machine according to its architecture and the safety functions to be assigned.

  • Page 81: Rearming The Sto By Pressing The 1No Button Connected To The Insafe_1 Input, Holds Up To 100H

    INSTRUCTION MANUAL SWD® Core Rearming the STO by pressing the 1NO button connected to the INSafe_1 input, Holds up to 100h E-Stop 1. CAN H 2. INSafe_4 3. CAN L 4. 24 VDC 5. STO_1 6. GND 7. INSafe_1 8. STO_2 9.
  • Page 82 INSTRUCTION MANUAL SWD® Core Safety Relais de sécurité device Safety relay with avec réarmement reset 1. CAN H Out_1 2. INSafe_4 Out_2 3. CAN L 4. 24 VDC 5. STO_1 6. GND 7. INSafe_1 8. STO_2 9. INSafe_3 24 VDC 10.

  • Page 83: Activation Of A Software Safety Function By 2 Nc Switch, Compliance Up To Sil2 / Pld / Cat3

    INSTRUCTION MANUAL SWD® Core In this configuration the controlword safe_in is configured as follows: Code Commande commande 2620 00 : safe_in controlword 6632 0000 Ack. PIN# Safe Safe Safe Safe 6640 0000 Sig. IN 4 IN 3 IN 2 IN 1 6690 0100 SLS [1] n [1]...

  • Page 84: Permanent Deactivation Of The Sto, Activation Of Another Function By 2Nc Switch, Compliance Up To Sil2 / Pld

    INSTRUCTION MANUAL SWD® Core Configuring commands associated with security entries. Permanent deactivation of the STO, activation of another function by 2NC switch, compliance up to SIL2 / 1. CAN H 2. INSafe_4 3. CAN L 4. 24 VDC 5. STO_1 6.

  • Page 85: Use Of Single Inputs, Compliance Up To Sil2 / Pld

    INSTRUCTION MANUAL SWD® Core Use of single inputs, compliance up to SIL2 / PLd CAN H CAN H BP 1NC INSafe_4 INSafe_4 3. CAN L 3. CAN L BP 1NC 24 VDC 24 VDC STO_1 STO_1 6. GND 6. GND INSafe_1 INSafe_1 STO_2...

  • Page 86: Deferring Safety Inputs In A System Using Multiple Swd® Core Drives

    INSTRUCTION MANUAL SWD® Core Deferring safety inputs in a system using multiple SWD® Core drives The status information of the security entries is available in the CANopen dictionary. This information is stored in dictionary objects, in the form of an object and its inverse, allowing the use of an SRDO message as Safe Control Word.

  • Page 87: Connecting To A Canopen Safety Calculator

    INSTRUCTION MANUAL SWD® Core Connecting to a CANopen safety calculator Safety PLC SWD® Core Application Application relative à la sécurité (fonctionnel) CANopen CANopen Safety CAN interface driver CANopen Safety (SRDO) CAN bus CANopen (SDO, PDO, …) Safety PLC / autre SWD® Linux PC SWD®...
  • Page 88 INSTRUCTION MANUAL SWD® Core Figure 31 - STO Activation and Acquittal Diagram The rearmament mode is set via the 0x6641 register, a False value engages an automatic rearmament when the STO signal disappears, and a True value requires an Acknowledge acknowledgment to rearm. In the case of acknowledge rearmament, the status 0x6633 is active in the high state as long as an acquittal is expected.

  • Page 89: Activating Idw

    INSTRUCTION MANUAL SWD® Core Activating IDW Two SDIp and SDIn commands can be activated in the low state to prohibit the positive and negative direction of rotation of the motor respectively (see Setting the direction of rotation). The two commands each have two indexes to enable two different tolerance threshold levels nZero_SDI (speed in rpm) in the SDI trigger mechanism.

  • Page 90: Enabling Sls

    INSTRUCTION MANUAL SWD® Core Data Default Access Lower Upper Size in Name Unit Type Value Type Mapping Limit Limit Bytes BOOL 66D0 SDIp Commands BOOL 66D1 SDIn Commands SDI velocity zero 66D5  window BOOL 66DE SDIp statuses BOOL 66DF SDI statuses The SDI safety function is guaranteed from 50 rpm (rotations per minute) at the motor shaft.

  • Page 91: Signature

    INSTRUCTION MANUAL SWD® Core The STATUS SLS State 6697 0x , also according to the indexes [01..08], is active in the high state when the speed monitoring triggered by the SLS 6690 0xh command is activated. Defau Non- Access Upper Size in Name Data Type...
  • Page 92 INSTRUCTION MANUAL SWD® Core 0x3653u, 0x2672u, 0x1611u, 0x0630u, 0x76d7u, 0x66f6u, 0x5695u, 0x46b4u, 0xb75bu, 0xa77au, 0x9719u, 0x8738u, 0xf7dfu, 0xe7feu, 0xd79du, 0xc7bcu, 0x48c4u, 0x58e5u, 0x6886u, 0x78a7u, 0x0840u, 0x1861u, 0x2802u, 0x3823u, 0xc9ccu, 0xd9edu, 0xe98eu, 0xf9afu, 0x8948u, 0x9969u, 0xa90au, 0xb92bu, 0x5af5u, 0x4ad4u, 0x7ab7u, 0x6a96u, 0x1a71u, 0x0a50u, 0x3a33u, 0x2a12u, 0xdbfdu, 0xcbdcu, 0xfbbfu, 0xeb9eu, 0x9b79u, 0x8b58u, 0xbb3bu, 0xab1au, 0x6ca6u, 0x7c87u, 0x4ce4u, 0x5cc5u, 0x2c22u, 0x3c03u, 0x0c60u, 0x1c41u, 0xedaeu, 0xfd8fu, 0xcdecu, 0xddcdu, 0xad2au, 0xbd0bu, 0x8d68u, 0x9d49u,...

  • Page 93: Signature Of The Srdo

    INSTRUCTION MANUAL SWD® Core Signature of the SRDO There is a signature for each of the SRDO configurations. Signatures are stored in the 'Safety configuration checksum' 13FF object at the Sub-index corresponding to the SRDO: Sub for storing the signature in Index of communication Index of mapping the object 13FF...

  • Page 94: Signature Sls

    INSTRUCTION MANUAL SWD® Core 66F9 01 to 08 Security Statusword 2 4 bytes for each sub-index 66FA 01 to 08 Security Statusword 3 4 bytes for each sub-index 66FB 01 to 08 Security Statusword 4 4 bytes for each sub-index 66FC 01 to 08 Security Statusword 5...

  • Page 95: Signature Sdi

    INSTRUCTION MANUAL SWD® Core Signature SDI There is a signature for each of the 2 SDI functions. Signatures are saved in entry 66D6 0x , with the x subindex for the SDI configuration number. The data to be considered are, in order: Index Sub-Index Name...

  • Page 96: Canopen Safety - Srdo

    INSTRUCTION MANUAL SWD® Core 10.7. CANopen safety - SRDO Application engineers in this Part shall provide a safety manual containing at least the following information: (a) the safety manual to inform users of the constraints associated with the calculation of system characteristics (see 9.4).

  • Page 97: Reaction Time

    INSTRUCTION MANUAL SWD® Core Reaction time The security function response time (SFRT) represents the most unfavorable time from an SR event, considered an input to the system or a defect within the system, until the moment the system is in the security state. To be able to determine the most unfavorable SFRT of any SR control loop, the user must sum up all the most unfavorable safety reaction times of each subsystem of the SR control loop (see definitions in EN 61784-3).

Table of Contents