Danfoss VACON OPTEA Manual de usuario

Operating Guide

VACON® NXP Advanced Safety Options

OPTBL, OPTBM, OPTBN

drives.danfoss.com

1.1

1.2

1.3

1.4

1.5

1.6

2.1

2.2

2.3

2.4

3.1

3.2

3.3

3.4

3.5

3.5.1

3.5.2

3.5.3

3.5.4

3.5.5

3.5.6

3.5.7

3.5.8

3.6

3.6.1

3.6.2

3.6.3

3.6.4

3.6.5

3.6.6

3.6.7

3.6.8

Contents

Introduction 9

Purpose of the Manual 9

Additional Resources 9

Manual and Software Version 10

Approvals and Certificates 12

Product Overview 15

Terms and Abbreviations 16

Safety 19

Safety Symbols 19

Danger and Warnings 19

Cautions and Notices 20

Grounding 22

Overview of the System 24

Using the Advanced Safety Options 24

The Safe State 24

Integration and Interfaces to Other Systems 25

Determining the Achieved Safety Level 25

Advanced Safety Option Variants 27

General Information 27

Input Configuration 27

Output Configuration 28

Option Board OPTBL 30

Option Board OPTBM 31

Option Board OPTBN 32

Closed-loop Control with OPTBM 33

Closed-loop Control with OPTBN 33

Speed Measurement 33

Safety Speed Sensors 33

Standard Speed Sensors and Combinations 33

Speed Discrepancy with Multiple Speed Sources 35

Encoders 35

Proximity sensors 38

Encoder Signal Verification 39

Usage of Only One Speed Sensor 39

Estimated Speed 40

Contents

VACON® NXP Advanced Safety Options

Operating Guide

3.6.9

3.6.10

3.7

3.7.1

3.7.2

3.8

3.8.1

3.8.2

3.8.3

3.8.4

4.1

4.2

5.1

5.2

5.3

5.4

5.5

5.6

5.6.1

5.6.2

6.1

6.1.1

6.1.2

6.1.3

6.1.4

6.1.5

6.1.5.1

6.1.5.2

6.1.6

6.1.7

6.2

6.2.1

6.2.2

Estimated Speed and Gear Systems 42

Estimated Speed and External Accelerative Forces 43

Storage of Parameters 43

Storing a Parameter File Backup 44

Restoring a Parameter File from Backup 44

Advanced Safety Options with the NXP Drive 44

Requirements 44

Compatibility with Drive Applications 45

Option Board Menu on the Control Panel 45

Fault Types 49

Installation 51

Installation Safety 51

Installing the Option Board 51

VACON Safe Tool 53

Functions of the VACON Safe Tool 53

The Parameter File 53

User Levels and Password Management 53

Setting the Parameters 54

Saving a Verified Parameter File to the Option Board 56

Online Monitoring 56

Viewing the State of the Option Board 56

Activity Log 56

Safety Functions 57

General Information 57

The Different Safety Functions 57

Safety Function States 57

Activation of a Safety Function 58

Violation of a Safety Function 58

Acknowledgment of a Safety Function 59

Start-up Acknowledgment 63

Reset of a Safety Function 63

Ramps 64

Safe Stopping Functions 66

Introduction to the Safe Stopping Functions 66

STO - Safe Torque Off and SBC - Safe Brake Control 67

Contents

VACON® NXP Advanced Safety Options

Operating Guide

6.2.2.1

6.2.2.2

6.2.2.3

6.2.2.4

6.2.3

6.2.3.1

6.2.3.2

6.2.3.3

6.2.3.4

6.2.3.5

6.2.4

6.2.4.1

6.2.4.2

6.2.4.3

6.2.4.4

6.2.4.5

6.2.4.6

6.2.5

6.2.5.1

6.2.5.2

6.2.5.3

6.3

6.3.1

6.3.2

6.3.2.1

6.3.2.2

6.3.2.3

6.3.2.4

6.3.2.5

6.3.3

6.3.3.1

6.3.3.2

6.3.3.3

6.3.4

6.3.4.1

6.3.4.2

6.3.4.3

6.3.4.4

Introduction to the STO and SBC Functions 67

The STO Function Used without the SBC Function 68

The STO Function Used with the SBC Function 68

The STO and SBC Signals 69

SS1 - Safe Stop 1 73

Introduction to the SS1 Function 73

Time Monitoring 74

Zero Speed Monitoring 74

Ramp Monitoring 75

The SS1 Signals 75

SS2 - Safe Stop 2 and SOS - Safe Operating Stop 78

Introduction to the SS2 and SOS Functions 78

Time Monitoring 79

Zero Speed Monitoring 79

Ramp Monitoring 80

The SOS Safety Function 80

The SS2 and SOS Signals 80

SQS - Safe Quick Stop 84

Introduction to the SQS Function 84

The SQS Modes 85

The SQS Signals 85

Safe Monitoring Functions 89

Introduction to the Safe Monitoring Functions 89

SLS - Safe Limited Speed 90

Introduction to the SLS Function 90

Time Monitoring 90

Ramp Monitoring 91

The Speed Limit Selection of the SLS Function 91

The SLS Signals 92

SMS - Safe Maximum Speed 96

Introduction to the SMS Function 96

The Maximum Speed Monitoring 96

The SMS Signals 97

SSR - Safe Speed Range 99

Introduction to the SSR Function 99

Time Monitoring 99

Ramp Monitoring 100

The SSR Signals 101

Contents

VACON® NXP Advanced Safety Options

Operating Guide

6.3.5

6.3.5.1

6.3.5.2

6.3.5.3

6.3.5.4

6.4

7.1

7.1.1

7.1.2

7.1.3

7.1.4

7.1.5

7.1.5.1

7.1.5.2

7.1.5.3

7.1.6

7.1.6.1

7.1.6.2

7.1.6.3

7.1.6.4

7.1.6.5

7.1.6.6

7.1.6.7

7.1.6.8

7.1.6.9

7.1.6.10

8.1

8.1.1

8.1.2

8.1.3

8.1.4

8.1.5

8.2

8.2.1

8.3

SSM - Safe Speed Monitor 103

Introduction to the SSM Function 103

Speed Monitoring 104

The SSM Safe Output 104

The SSM Signals 105

Combinations of Safety Functions 109

Safe Fieldbuses 111

PROFIsafe 111

Introduction to PROFIsafe 111

The Requirements and Restrictions 111

Overview of the PROFIsafe System 112

The PROFIsafe Frame 112

Parameterization for PROFIsafe 113

General Information on Parameterization 113

PROFIsafe Watchdog Time 114

The PROFIsafe Safety Function Response Time (SFRT) 115

PROFIdrive on PROFIsafe 115

General Information on PROFIdrive on PROFIsafe 115

PROFIsafe over PROFIBUS 116

PROFIsafe over PROFINET 117

Data Mapping for PROFIdrive on PROFIsafe 117

Safety Control Word 1 (S_STW1) 117

Safety Status Word 1 (S_ZSW1) 118

Safety Control Word 2 (S_STW2) 119

Safety Status Word 2 (S_ZSW2) 120

VACON Safety Control Word (VS_CW) 122

VACON Safety Status Word (VS_SW) 123

Parameter List 125

General Parameters 125

Parameter File Parameters 125

Common Safety Function Parameters 125

Speed Measurement Parameters 125

Ramp Parameters 126

Estimated Speed Parameters 127

Safe I/O Parameters 127

Digital Input/Output Parameters 127

Safe Fieldbus Parameters 129

Contents

VACON® NXP Advanced Safety Options

Operating Guide

8.3.1

8.4

8.5

8.6

8.7

8.8

8.9

8.10

8.11

8.12

9.1

9.1.1

9.1.2

9.2

9.3

9.4

9.5

10.3

10.4

10.5.1

10.6

10.7

10.8

11.1

11.2

11.3

11.4

11.5

12.1

12.2

12.3

PROFIsafe Parameters 129

STO and SBC Parameters 129

SS1 Parameters 130

SS2 and SOS Parameters 130

SQS Parameters 131

SLS Parameters 132

SMS Parameters 132

SSR Parameters 133

SSM Parameters 133

Validation Parameters 134

Commissioning and Validation 135

Preparing for Commissioning 135

Procedures Before the First Start-up of the System with the Option 135

Doing the First Start-up After the Installation of the Option Board 136

Validating the Parameter File 137

Checklist before Taking the System into Use 137

Bypassing Safety Features 137

Operation and Maintenance 139

Resetting the Password 141

Factory Reset 141

Updating the Firmware 142

Replacing the Option Board 143

Replacement of Other Components of the Safety System 143

Disposal 144

Technical Data 145

Safety Data 145

Safe Input/Output Data 145

Speed Measurement Data 147

Safe Fieldbus Data 149

Environmental Data 149

Fault Tracing 150

Presentation of Faults on the Control Board 150

Fault Codes 151

OPTAF STO and ATEX Option Board Fault Information 172

Contents

VACON® NXP Advanced Safety Options

Operating Guide

13.1

13.2

13.3

13.4

13.5

13.6

13.7

13.8

13.9

Configuration Examples 173

General Information 173

Emergency Stop Using the STO Function 173

SS1 Used with STO(+SBC) 174

SS1 Without a Direct Support of the Drive Application 176

Light Curtain Control of SLS 177

SLS without a Direct Support of the Drive Application 180

Using an Output of the Option Board to Control the Access to an Area 182

PROFIdrive over PROFIsafe Using the PROFIBUS or PROFINET Option Board 185

A Proximity Sensor for Speed Measurement 187

Contents

VACON® NXP Advanced Safety Options

Operating Guide

•

1 Introduction

1.1 Purpose of the Manual

This manual describes the VACON®Advanced Safety Options (OPTBL, OPTBM, or OPTBN). The VACON®Advanced Safety Options can

be used with the VACON®NXP AC drive.

The operating guide is intended for use by qualified personnel, who are familiar with the VACON®drives and functional safety.

To use the product safely, read and follow the operating instructions.

1.2 Additional Resources

Resources Available for the Drive and Optional Equipment

VACON®NX OPTAF STO Board Manual

VACON®NX All in One Application Guide - information on working with parameters and many application examples

VACON®OPTE3/E5 PROFIBUS DP User Guide

VACON®NX I/O Boards User Manual

VACON®OPTEA/OPTE9 Ethernet Board User Guide

VACON®Ethernet Option Boards Installation Guide

VACON®RS485 and CAN Bus Option Boards Installation Guide

VACON®NXP Advanced Safety Options Quick Guide

The Operating Guide of the AC drive provides the necessary information to get the drive up and running.

Supplementary publications and manuals are available from drives.danfoss.com/knowledge-center/technical-documentation/.

Standards, specifications, and official recommendations

EN IEC-62061 – Safety of machinery – Functional safety of safety-related electrical, electronic and programmable electronic con-

trol systems, 2005

IEC 61784-3 – Industrial communication networks – Profiles – Part 3: Functional safety fieldbuses - General rules and profile defi-

nitions, 2010

EN ISO 13849-1 – Safety of machinery – Safety-related parts of control systems – Part 1: General principles for design, 2015

EN IEC 60204-1 – Safety of machinery – Electrical equipment of machines – Part 1: General requirements, 2006

EN IEC 61800-5-2 – Adjustable speed electrical power drive systems – Part 5-2: Safety requirements – Functional, 2007

IEC 61508 – Functional safety of electrical/electronic/programmable electronic safety related systems, 2010

EN ISO 12100 – Safety of machinery -- General principles for design -- Risk assessment and risk reduction, 2010

ISO 14121-1 – Safety of machinery -- Risk assessment -- Part 1: Principles, 2007

Amendment – PROFIdrive on PROFIsafe Interface for functional safety; Technical Specification for PROFIBUS and PROFINET rela-

ted to PROFIdrive – Profile Drive Technology V4.1, Version 3.00.4, April 2011, Order No.: 3.272

PROFIsafe – Profile for Safety Technology on PROFIBUS DP and PROFINET IO, Version 2.4, March 2007, Order No: 3.192b

Recommendation of Use CNB/M/11.050, rev 05; European co-ordination of Notified Bodies for Machinery, 2013

BGIA Report 2/2008e Functional safety of machine controls – Application of EN ISO 13849 –, 2009

Software and Configurations Files

The firmware for the Advanced Safety Option, https://www.danfoss.com/en/service-and-support/downloads/dds/fieldbus-firm-

ware/.

VACON®Safe, https://www.danfoss.com/en/service-and-support/downloads/dds/vacon-safe/.

The GSD/GSDML file, https://www.danfoss.com/en/service-and-support/downloads/dds/fieldbus-configuration-files/.

For US and Canadian markets:

NOTE! Download the English and French product guides with applicable safety, warning and caution information from https://

www.danfoss.com/en/service-and-support/.

REMARQUE Vous pouvez télécharger les versions anglaise et française des guides produit contenant l'ensemble des informations

de sécurité, avertissements et mises en garde applicables sur le site https://www.danfoss.com/en/service-and-support/.

Introduction

VACON® NXP Advanced Safety Options

Operating Guide

•

1.3 Manual and Software Version

This manual is regularly reviewed and updated. All suggestions for improvement are welcome.

The original language of this manual is English.

Always make sure that you use the latest or correct revision of the manual when assessing the behavior of the Advanced safety

option board.

Table 1: Manual and Software Version

Manual ver-

sion

New features

Firmware ver-

sion

Hardware ver-

sion

DPD01798B

The first published version of this manual.

DPD01798C

PROFIsafe over PROFINET information added. Chapter Safe fieldbuses

and throughout the manual.

Version history table added.

Table linking option board names to option board codes. Chapter 3.5.1

General Information.

Images edited. Chapters VACON Advanced Safety Option variants and

Configuration examples.

Warning added. Chapter 6.1.4 Violation of a Safety Function.

Fault settings table added. Chapter 3.8.3 Option Board Menu on the

Control Panel.

Safety bypass procedure updated. Chapter 9.5 Bypassing Safety Fea-

tures.

Fault codes edited. Chapter Fault codes.

New configuration example on SLS without drive application support

added. Chapter 13.6 SLS without a Direct Support of the Drive Applica-

tion.

Configuration examples numbered. Chapter Configuration examples.

Other minor updates. Throughout the manual.

DPD01798D

Safety function acknowledgment and reset descriptions updated to

match new behavior. Chapters 6.1.5.1 Acknowledgment of a Safety

Function and 6.1.6 Reset of a Safety Function.

Example of system level calculations updated. Chapter 3.4 Determining

the Achieved Safety Level.

Encoder terminals updated. Chapters 3.5.5 Option Board OPTBM and

3.5.6 Option Board OPTBN.

Option board installation instructions updated. Chapter 4.2 Installing

the Option Board.

Extended slot support and example configuration updated. Chapter 3.1

Using the Advanced Safety Options.

Comment on closed-loop control added. Chapter 3.6.7 Usage of Only

One Speed Sensor.

Old parameters edited and new added. Chapter 3.8.3 Option Board

Menu on the Control Panel.

Watchdog times updated. Chapter 7.1.5.2 PROFIsafe Watchdog Time.

Technical details updated. Chapter 11.1 Safety Data.

Fault codes updated. Chapter Fault codes.

Images edited. Chapters 3.1 Using the Advanced Safety Options, 3.6.8

Estimated Speed, 6.2.3.5 The SS1 Signals, 6.3.4.2 Time Monitoring,

6.3.4.3 Ramp Monitoring, 13.3 SS1 Used with STO(+SBC), 13.5 Light Cur-

FW0281V001

or later

70CVB01938 F

(141X4588) or

later,

70CVB01957 F

(141X4608) or

later,

70CVB01958 E

(141X4610) or

later

Introduction

VACON® NXP Advanced Safety Options

Operating Guide

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