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Pilz PMC SU6 Manual

Pilz PMC SU6 Manual

Safety module
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PMC SU6 safety module
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Summary of Contents for Pilz PMC SU6

  • Page 1 Pilz PMC SU6 safety module Manual-1006910-en-US-02...

  • Page 2: Table Of Contents

    Parameter visibility ............................25 Signal sources..............................26 Non-volatile memory ............................26 Commissioning ............................. 27 PMC SU6: Assign the PROFIsafe destination address .................. 28 Recommended time settings........................... 28 DS6: Configuring the drive controller ......................29 8.3.1 Initiating the project ............................29 8.3.1.1...
  • Page 3 Parameters..............................57 Events ................................58 9.3.1 Event 50: Safety module ..........................59 9.3.2 Event 70: Parameter consistency ........................60 More information on PROFIsafe, safety functions and PMC SU6? ............61 10.1 PROFIsafe ..............................61 10.1.1 PROFIsafe telegram 30 ..........................62 10.2 Safety functions...............................
  • Page 4 Table of contents Glossary................................. 73 List of figures ..............................76 List of tables ..............................77 Manual PMC SU6 safety module Pilz | 4 1006910-en-US-02...

  • Page 5: Foreword

    In the case of SS1-t, the switch-off happens after a configurable amount of time. For a combination consisting of a drive controller and PMC SU6 safety module, the STO and SS1 safety functions are actuated via PROFINET (PROFIsafe).

  • Page 6: User Information

    Described product This documentation is binding for: Drive controllers of the PMC SC6 or PMC SI6 series in combination with the PMC SU6 safety module and DriveControlSuite (DS6) software in V 6.7-A or later and associated firmware in V 6.7-A-PN or later.

  • Page 7: Formatting Conventions

    Information Information indicates important information about the product or serves to emphasize a section in the documentation that deserves special attention from the reader. Manual PMC SU6 safety module Pilz | 7 1006910-en-US-02...

  • Page 8: Markup Of Text Elements

    Insert table Navigation to menus/submenus (path specification) 2.7.3 Mathematics and formulas The following signs are used to represent mathematical relationships and formulas. – Subtraction Addition × Multiplication ÷ Division Absolute value Manual PMC SU6 safety module Pilz | 8 1006910-en-US-02...

  • Page 9: Trademarks

    For improved understandability, the names in this documentation are standardized to the terminology of Pilz to the greatest extent possible. The correlation of Pilz names to other sources can be found in the following table.

  • Page 10: Safety Notes

    Furthermore, valid regulations, legal requirements, applicable basic rules, this documentation and the safety notes included in it must be carefully read, understood and observed. Manual PMC SU6 safety module Pilz | 10 1006910-en-US-02...

  • Page 11: Intended Use

    Safety notes Intended use The PMC SU6 safety module can be combined with Pilz drive controllers of the PMC SC6 or PMC SI6 series. If a drive controller with the integrated PMC SU6 safety module is used in a safety-related application, the safety module must be activated by a safety relay or a safety controller.

  • Page 12: Safety Module Pmc Su6

    Safety module PMC SU6 The PMC SU6 safety module adds the STO (Safe Torque Off) and SS1 (Safe Stop 1) safety functions to the drive controller. The module prevents the formation of a rotating magnetic field in the power unit of the drive controller and, in the event of an error or by external request, switches the drive controller to the STO state immediately or after a time delay (SS1-t).

  • Page 13: System Design And Function

    Fig. 1: Components of the PROFIsafe-based safety concept System components Central components of the PROFIsafe-based safety concept are: Drive controller (F-device) with integrated PMC SU6 safety module ... for implementing the STO and SS1-t safety functions Controller (F-host) with integrated F-CPU ...
  • Page 14 If the STO safety function is not active, the PMC SU6 safety module allows for the generation of a rotating magnetic field in the power unit; the connected motor can create a rotating magnetic field. If...

  • Page 15: Technical Data

    The transport, storage and operating conditions of the safety module correspond to those of the drive controller. The technical data is part of the drive controller manual (see Further information [ 69]). The following table contains the key figures relevant to safety technology for the PMC SU6 safety module. SIL CL Category PFHD 5 ×...

  • Page 16: What You Should Know Before Commissioning

    The DriveControlSuite help in the menu bar can be reached via Help > Help for DS6 or via the [F1] key on your keyboard. When you press [F1] in an area of the program, the corresponding help topic opens. Manual PMC SU6 safety module Pilz | 16 1006910-en-US-02...

  • Page 17: Fig. 2 Ds6: Program Interface

    In the status bar, you can find the specifications of the software version and get additional information about the project file, the devices and the progress of the process during processes such as loading projects. Manual PMC SU6 safety module Pilz | 17 1006910-en-US-02...

  • Page 18: Configuring The View

    When you release the window onto another window, the two areas are merged into one window where you can use tabs to switch between the areas. Manual PMC SU6 safety module Pilz | 18 1006910-en-US-02...

  • Page 19: Navigation Using Sensitive Circuit Diagrams

    Blue text links or clickable icons indicate links within the program. These refer to the corresponding wizard pages and, as a result, allow you to reach additional helpful detail pages with a click. Manual PMC SU6 safety module Pilz | 19...

  • Page 20: Tia Portal Program Interface

    The portal selection offers you access to various portals for different tasks and functions. Portal functions Depending on the selected portal, the portal functions are available here. Project view The button lets you change to the project view. Manual PMC SU6 safety module Pilz | 20 1006910-en-US-02...

  • Page 21: Fig. 5 Tia Portal: Program Interface Of The Project View

    Task cards are available depending on the selected object and grant you access to the hardware catalog, online tools, tasks or libraries, for example. Portal view The button lets you change to the portal view. Manual PMC SU6 safety module Pilz | 21 1006910-en-US-02...

  • Page 22: Meaning Of Parameters

    Customer-specific parameters (programming) Customer-specific parameters, instance-dependent (programming) Production data for the drive controller, motor, brakes, motor adapter, gearbox and geared motor Safety (safety technology) Scope Protection functions Fault counter Tab. 3: Parameter groups Manual PMC SU6 safety module Pilz | 22 1006910-en-US-02...

  • Page 23: Parameter Types And Data Types

    Example: Actual and set values for velocity, acceleration, deceleration, jerk Parameter address Referencing of a parameter Example: In F40 AO1 source, for example, E08 n-motor filtered can be parameterized Text Outputs or messages Manual PMC SU6 safety module Pilz | 23 1006910-en-US-02...

  • Page 24: Parameter Types

    Elements of an array or record parameter (value range: 0 – 16000). Bit (optional) Selection of a single bit for complete data addressing; depends on the data type (value range: 0 – 31). Manual PMC SU6 safety module Pilz | 24 1006910-en-US-02...

  • Page 25: Parameter Visibility

    DriveControlSuite version used and the configured firmware version of the respective drive controller. Applications Applications generally differ in terms of functions and their control. For this reason, different parameters are available with each application. Manual PMC SU6 safety module Pilz | 25 1006910-en-US-02...

  • Page 26: Signal Sources

    40: Invalid data the next time it is switched on. In order to acknowledge the fault and successfully complete the saving process, the configuration must be stored again in non-volatile memory and the action must be completed. Manual PMC SU6 safety module Pilz | 26 1006910-en-US-02...

  • Page 27: Commissioning

    Some parameters are interdependent and do not become accessible to you until you have first configured certain settings. Follow the steps in the specified sequence so that you can finish the parameterization completely. Manual PMC SU6 safety module Pilz | 27 1006910-en-US-02...

  • Page 28: Pmc Su6: Assign The Profisafe Destination Address

    PMC SU6: Assign the PROFIsafe destination address In order to be able to identify the PMC SU6 safety module in the PROFIsafe network, you must assign it a unique address in the PROFIsafe network. The address is based on values from the DIP switches on the top of the drive controller that are switched to ON.

  • Page 29: Ds6: Configuring The Drive Controller

    ð The new project is created and the configuration dialog for the first drive controller opens. ð The Drive controller button is active. Information The PMC SU6 safety module is compatible with PROFIdrive device control and applications as well as Drive Based device control and applications. Projecting the drive controller Properties tab: Establish the relationship between your circuit diagram and the drive controller to be projected in DriveControlSuite.
  • Page 30 Select the type of motor you operate with this axis. If you are working with motors from third- party suppliers, enter the accompanying motor data later. 5. Repeat the steps for axis B (only for double-axis controllers). 6. Confirm with OK. Manual PMC SU6 safety module Pilz | 30 1006910-en-US-02...

  • Page 31: Parameterizing General Profinet Settings

    (IO device) cyclically in real time. The direction of data flow is important in this data exchange. From the perspective of the drive controller, PROFINET distinguishes between receive PZD (RxPZD) and transmit PZD (TxPZD). Pilz drive controllers support a flexible assignment of the parameter values to be transmitted.

  • Page 32: Calculating Checksum F_Ipar_Crc

    PMC SU6 safety module in TIA Portal. ü You have projected the PMC SU6 safety module for the drive controller in question. 1. Select the relevant drive controller in the project tree and click on the desired projected axis in the Project menu >...

  • Page 33: Transmitting And Saving The Configuration

    5. Repeat steps 3 and 4 for all other drive controllers to which you would like to transfer your configuration. Online tab: Click Establish online connections. ð The configurations are transferred to the drive controllers. Manual PMC SU6 safety module Pilz | 33 1006910-en-US-02...
  • Page 34 4. Confirm the safety note with OK. ð The Restart (A09) window closes. ð The fieldbus communication and connection between DriveControlSuite and drive controllers are interrupted. ð The selected drive controllers restart. Manual PMC SU6 safety module Pilz | 34 1006910-en-US-02...

  • Page 35: Testing The Configuration

    Make sure that no people or objects are within the travel range. ▪ For access via remote maintenance, there must be a communication link between you and a person on site with eye contact to the axis. Manual PMC SU6 safety module Pilz | 35 1006910-en-US-02...
  • Page 36 Jog step+ and Jog step- move the axis relative to the current actual position by the increment specified in I14. Jog+ and Jog− have a higher priority than Jog step+ and Jog step−. Manual PMC SU6 safety module Pilz | 36 1006910-en-US-02...

  • Page 37: Tia Portal: Configuring The Safety Technology

    8.4.1 Installing the GSD file To be able to map the Pilz drive controllers of your PROFINET network in your TIA project, you must import and install a GSD file (general station description file) from Pilz in your TIA project. Pilz drive controllers are available in the hardware catalog of your TIA project as STOBER field devices as soon...

  • Page 38: Projecting The Profinet Network

    3. Repeat steps 1 and 2 for all drive controllers of your PROFINET network. Information To be able to project the PMC SU6 safety module and use PROFIsafe, you must project a PROFIsafe-capable drive controller. You can identify a PROFIsafe-capable drive controller in the hardware catalog by the addition of + PROFIsafe...

  • Page 39: Linking The Controller And Drive Controller Logically

    With an existing online connection, you can compare the connections you have created with your real cable connections. For more information on the topology comparison, see the documentation from Siemens or the online help in TIA Portal. Manual PMC SU6 safety module Pilz | 39 1006910-en-US-02...

  • Page 40: Configuring The Controller

    In TIA Portal, make sure that the PROFIsafe source addresses of the F-CPU match in the device configuration of the controller and in the device configuration of the drive controller (controller: Central F-source address; drive controller: F_Source_Add). Manual PMC SU6 safety module Pilz | 40 1006910-en-US-02...

  • Page 41: Configuring The F-Runtime Group

    4.2. Maximum cycle time of the F-runtime group: Define the maximum time that may pass between 2 calls of the F-runtime group before the controller enters the STOP operating state. Manual PMC SU6 safety module Pilz | 41 1006910-en-US-02...

  • Page 42: Configuring The Drive Controller

    PROFINET network. Then, project and configure the process data transmission between the controller and drive controller. Then, project the PMC SU6 safety module and configure the PROFIsafe addresses and the times for the SS1 delay and PROFIsafe watchdog for it. Then, assign meaningful names for the two lowest- value bits of the PROFIsafe control word and PROFIsafe status word.

  • Page 43: Projecting Pzd Transmission

    5. If you are using a double-axis controller, repeat the process for the second axis and slot 2. ð The input and output addresses of the drive controller are generated automatically. Information For the project configuration of the PMC SU6 safety module, proceed as described Configuring PROFIsafe settings [ 46].
  • Page 44 A96 (TxPZD). Elements [0] to [11] are used for axis A parameters and elements [12] to [23] for axis B parameters. A data length of 12 bytes each is available for the receive and transmit process data. Manual PMC SU6 safety module Pilz | 44 1006910-en-US-02...

  • Page 45: Configuring Pzd Transmission

    1.92 seconds. Information The application-dependent cycle time of the drive controller can be read off in parameter A150 Cycle time in DriveControlSuite. Manual PMC SU6 safety module Pilz | 45 1006910-en-US-02...

  • Page 46: Setting A Drive Controller Synchronously

    8.4.4.5.1 Projecting the PMC SU6 safety module Project the PMC SU6 safety module for the drive controller in order to then be able to configure the safety-related settings. ü You are in the TIA network view; the hardware catalog is open.
  • Page 47 Commissioning 8.4.4.5.2 Configuring the PROFIsafe addresses Configure the PROFIsafe destination address for the PMC SU6 safety module and store the PROFIsafe source addresses of the controller. ü You are in the TIA device view of the drive controller. 1. Select the safety module in the device overview of the drive controller.
  • Page 48 TIA Portal when configuring the safety module. If you make changes to the SS1 delay time, you must recalculate F_iPar_CRC store it in the device configuration of the safety module in TIA Portal. Manual PMC SU6 safety module Pilz | 48 1006910-en-US-02...
  • Page 49 If you make changes to the SS1 delay time, you must also recalculate F_iPar_CRC with the changed value and store it in the device configuration of the safety module in TIA Portal. Manual PMC SU6 safety module Pilz | 49 1006910-en-US-02...

  • Page 50: Configuring The Control

    Bits 2–7 of PROFIsafe control word S_STW1 are reserved for internal functions of the safety module. ▪ Make sure that bits 2–7 of PROFIsafe control word S_STW1 have the value 0. Manual PMC SU6 safety module Pilz | 50 1006910-en-US-02...

  • Page 51: Transmitting The Configuration

    Parameter A272 in DriveControlSuite provides information about the submodules projected in TIA Portal (display format: XXX YYY ZZZ; XXX = submodule ID (telegram no.), YYY = TxPZD data length in bytes, ZZZ = RxPZD data length in bytes). Manual PMC SU6 safety module Pilz | 51 1006910-en-US-02...

  • Page 52: Testing Communication

    The safety technology configuration is completed. Continue by starting the programming of the safety program (main safety block). Then, check the safety functions and document the results in a test report. Manual PMC SU6 safety module Pilz | 52 1006910-en-US-02...

  • Page 53: Checking Safety Functions

    Commissioning Checking safety functions The PMC SU6 safety module is a safety component in the sense of the Machinery Directive in accordance with Annex V. It guarantees functional safety, e.g. protection against errors in the hardware and firmware. However, it does not guarantee the safety of the entire process or the safety of the configuration.

  • Page 54: Diagnostics

    Connection is set up to controller Single blink, inverse Controller activates DHCP signal service Flashing Existing connection to controller; data exchange expected Existing connection to controller Tab. 7: Meaning of the green LED (Run) Manual PMC SU6 safety module Pilz | 54 1006910-en-US-02...

  • Page 55: Profisafe Status

    9.1.2 PROFIsafe status If the drive controller includes the PMC SU6 safety module, the STO and SS1 safety functions are activated via PROFIsafe. In this case, an LED on the front of the device provides information about the status of PROFIsafe communication. This information can also be read out in parameter S40 PROFIsafe state.

  • Page 56: Profinet Network Connection

    Network connection exists Tab. 9: Meaning of the green LEDs (Link) Yellow LED Conduct Description No data exchange Flashing Active data exchange with controller Tab. 10: Meaning of the yellow LEDs (Act.) Manual PMC SU6 safety module Pilz | 56 1006910-en-US-02...

  • Page 57: Parameters

    S44 PROFIsafe data bus turnaround time S45 PROFIsafe diagnosis S46 PROFIsafe watch dog time S47 PROFIsafe SS1-time S130 Run time Information In DriveControlSuite, the diagnostic parameters for the PMC SU6 safety module are provided at a glance by PROFINET wizard > Monitoring: PROFIsafe. Manual PMC SU6 safety module...

  • Page 58: Events

    Information To make it easier for control system programmers to set up the human-machine interface (HMI), you can contact Pilz Support at support@pilz.com for a list of events and their causes. Manual PMC SU6 safety module...

  • Page 59: Event 50: Safety Module

    PROFIsafe control word Check the configuration and Error S42, bits 2–7 ≠ 0 programming in TIA Portal and correct it if necessary; value must be 0 Tab. 11: Event 50 – Causes and actions Manual PMC SU6 safety module Pilz | 59 1006910-en-US-02...

  • Page 60: Event 70: Parameter Consistency

    PZD timeout (condition: PROFIsafe watchdog time > PZD timeout + PROFIsafe data bus runtime + 26 ms; S46 > A109 + S44 + 26 ms) Tab. 12: Event 70 – Causes and actions Manual PMC SU6 safety module Pilz | 60 1006910-en-US-02...

  • Page 61: More Information On Profisafe, Safety Functions And Pmc Su6

    More information on PROFIsafe, safety functions and PMC SU6? More information on PROFIsafe, safety functions and PMC SU6? This chapter summarizes the important terms, relationships and measures regarding PROFIsafe, the STO and SS1 safety functions and the PMC SU6 safety module. 10.1 PROFIsafe A safety protocol known as...

  • Page 62: Profisafe Telegram 30

    More information on PROFIsafe, safety functions and PMC SU6? 10.1.1 PROFIsafe telegram 30 For PROFIsafe communication between the controller and drive controller, PROFIsafe telegram 30 is used. Input data consists of 7 bytes and output data of 7 bytes, of which the first 2 bytes are assigned by the PROFIsafe control word (S_STW1) and PROFIsafe status word (S_ZSW1).

  • Page 63: Safety Functions

    10.2 Safety functions The PMC SU6 safety module supports the Safe Torque Off (STO) and Safe Stop 1 (SS1-t) safety functions. In order to move the axis, the safety controller must set both the STO and SS1 control bit of the drive controller.

  • Page 64: Safe Stop 1 - Ss1-T

    More information on PROFIsafe, safety functions and PMC SU6? 10.2.2 Safe Stop 1 – SS1-t Speed T_SS1 Torque on Motor SS1 State STO State Fig. 10: SS1-t function principle in accordance with ETG.6100.2 SS1 activation STO activation T_SS1 SS1 delay time SS1 in accordance with EN 61800-5-2 corresponds to stop category 1 in accordance with EN 60204-1.
  • Page 65 More information on PROFIsafe, safety functions and PMC SU6? Information Be aware that the drive controller continues to follow the set values of the controller during the SS1 delay time, which enables controlled stopping in multi-axis applications. The SS1 delay time T_SS1 is a safety-related parameter. The value of T_SS1 is transmitted from the safety controller to the drive controller during the initialization of communication.

  • Page 66: Pmc Su6: Assign The Profisafe Destination Address

    PROFIsafe destination address to it from the address range 1–254 using the S12 DIP switches on the top of the drive controller. Addresses 0 and 255 are invalid, i.e. when address 0 or 255 is assigned, the value is ignored and the PMC SU6 safety module remains in the STO state. Information The drive controller must be switched off before you assign the address for the PMC SU6 safety module using the S12 DIP switches.

  • Page 67: Safety System Time

    Activates the safety function and deactivates it, if necessary (STO switch-off time); this process is divided as follows: • Processing in the control unit • Transmission of the data packet to the PMC SU6 safety module • PMC SU6: Evaluation of the data packet • Switch-off time of the power unit 10.5...

  • Page 68: Appendix

    11.1 Standard telegrams 11.1.1 Standard telegram 30: Process data The following tables show the structure of PROFIsafe standard telegram 30 of the PMC SU6 safety module. The mapping of the process data is specified by the controller. Information More information about PROFIsafe telegram 30 can be found in the chapter PROFIsafe telegram 30 [ 62].

  • Page 69: Further Information

    SC6, PMC SI6 detailed information The standards listed below are relevant for the PMC SU6 safety module described in this documentation: PROFIBUS Nutzerorganisation e. V. (PNO), 2019. Amendment PROFIdrive on PROFIsafe – Interface for functional safety. Technical specification for PROFIBUS and PROFINET. Version 3.1.0, February 2019.
  • Page 70 Standard. Version 5.0, April 2019. IEC 61784-1:2019 : Industrial communication networks – Profiles – Part 2: Additional fieldbus profiles for real-time networks based on ISO/IEC/IEEE 8802-3. Standard. Version 4.0, April 2019. Manual PMC SU6 safety module Pilz | 70 1006910-en-US-02...

  • Page 71: Formula Symbols

    Appendix 11.3 Formula symbols Symbol Unit Explanation – Number of pole pairs Year, a Mission time from production date until decommissioning Manual PMC SU6 safety module Pilz | 71 1006910-en-US-02...

  • Page 72: Abbreviations

    SRECS Safety-Related Electrical Control System SRP/CS Safety-Related Part of a Control System Safe Stop 1 SS1-t Safe Stop 1-time Safe Torque Off Totally Integrated Automation TxPZD Transmit PZD (transmit process data) Manual PMC SU6 safety module Pilz | 72 1006910-en-US-02...
  • Page 73 – e (lowest – highest PL). The higher the PL, the safer and more reliable the function in question is. The PL can be assigned to a specific SIL. A reversed inference from a SIL to a PL is not possible. Manual PMC SU6 safety module Pilz | 73 1006910-en-US-02...
  • Page 74 STO function if the motor speed falls below a specified limit value (SS1-d), or b) triggering and Process data sent by a node. monitoring the motor delay variable within defined limits and triggering the STO function if the motor Manual PMC SU6 safety module Pilz | 74 1006910-en-US-02...
  • Page 75 If the watchdog time is exceeded without a data exchange taking place, the watchdog is triggered. Worst case response time Maximum time span required in order to switch off the actuator in the event of an error. Manual PMC SU6 safety module Pilz | 75 1006910-en-US-02...
  • Page 76 STO function principle in accordance with ETG.6100.2................Fig. 10 SS1-t function principle in accordance with ETG.6100.2 ................Fig. 11 PMC SU6 – S12 DIP switches ........................Fig. 12 Reaction times and safety system time....................... Manual PMC SU6 safety module Pilz | 76...
  • Page 77 List of tables List of tables Tab. 1 Correlation of Pilz terminology to PROFINET and PROFIsafe ..............Tab. 2 PMC SU6 – Key safety-related figures......................Tab. 3 Parameter groups............................Tab. 4 Parameters: Data types, parameter types, possible values ................ Tab. 5 Parameter types ............................
  • Page 78 We are represented internationally. Please refer to our homepage www.pilz.com for further details or contact our headquarters. Headquarters: Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, E-Mail: info@pilz.com, Internet: www.pilz.com...

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