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1. gt oND EEN ee UL fuses 4AUL listed table GND External or internal braking resistor Braking resistor Braking resistor GND 102 A For the installation of the safety relay see PILZ PNOZ e 1vp manuals See installation manual of the GD1 servodrives for the complete connection description In the connection diagram example above the PILZ safety relay orders the servodrive to decelerate by the ENABLE signal and after a safety delay of 0 5 s it activates the STO function of the drive Note that the behavior of the servodrive on the ENABLE signal activation has to be setup in the appropriate mode i e speed ramp deceleration prior to any stop procedure In this example diagram the user does not need to use shielded cables because the PILZ safety relay detects short circuits The output used to generate the Inhibit Enable signal does not need to be a safety one because only the STO function is safe according to EN13849 1 category 3 A light is wired with STO_OUT output to inform the drive state Chapter 3 Connections gt GD1 STO Manual gt INFRANOR SERVO DRIVES amp MOTION CONTROL Chapter 4 Appendix 4 1 ATTESTATION OF CONFORMITY After a deep analysis of the GD1 range the CETIM French Industrial and Mechanical Technical Center third party attests the compliance of the GD1 range with the EN954 1 and EN 13849 1 standards a gt ci 7 d KE d ONTORMIITY si Number A526 04
2. GD1 GD1 STO Manual o INFRANO R Content Page CHAPTER 1 GENERAL DESCRIPTION mmnneeee eee nene eee me ne na nana enma nana nana ema nana anna aaa a 3 CHAPTER 2 SPECIFICATIONS sea teaca ca an dani oa a Aaa Co vee nn aa ia a n aia tan ai i 4 2 1 FUNE TIONAL RUE E 4 2 2 COMMAND SYSTEM CONCEPTION eee aaa aaa ae 4 2 21 Safety INSUUCHONS ae carii e asaza ga tb ag a apa a barza gap ie digas 0 pa Dap iata go 4 Ree ele e WE 5 ee EE 6 2 2 4 Performance Jevel cece enma anna anna a aan aa nana aaa 7 2 2 5 Periodic inspection moufines nene nenea nana aaa anna 7 252 6 e TEE 7 CHAPTER 3 CONNECTION EXAMPLE 2 csceeeeeceeeeeeeeeseenee sense ee seeseeaneeceeeenseesseaeeeseeseeesesseeaneeeenees 8 3 1 EXAMPLE 1 STOP CATEGORY 0 ACCORDING TO EN 60204 1 COMPLYING WITH EN13849 1 CAT 3 8 3 2 EXAMPLE 2 STOP CATEGORY 1 ACCORDING TO EN 60204 1 COMPLYING WITH EN13849 1 CAT 3 9 Contenti Vi GD1 STO Manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Chapter 1 General description Safe Torque Off STO definition according to the EN 61800 5 2 standard Power that can cause the rotation of a motor or displacement in the case of a linear motor is not applied to the motor The drive will not provide energy to the motor which can generate torque or force in the case of a linear motor The STO function corresponds to an uncontrolled stopping in accordance with the stop category 0
3. Can be selected One bus interface PR Profibus DP 11 additional input output EO Encoder Output ET Ethercat 00 without 00 reserved Serial link RS 422 integrated 00 standard RS232 Chapter 4 Appendix SINFRANOR SERVO DRIVES amp MOTION CONTROL
4. a GD1 E lt a KL SINFRANOR Gem Drive Safe Torque Off Manual gb Actuator INFRANOR GD1 STO Manual CINFRANOR SERVO DRIVES amp MOTION CONTROL WARNING This is a general manual describing a series of servo drives having output capability suitable for driving AC brushless sinusoidal servo motors Please see GD1 User Guide for the operation of the drive commissioning configuration Instructions for storage use after storage commissioning as well as all technical details require the MANDATORY reading of the manual before getting the drives operational Maintenance procedures should be attempted only by highly skilled technicians having good knowledge of electronics and servo systems with variable speed EN 60204 1 standard and using proper test equipment The conformity with the standards and the CE approval is only valid if the items are installed according to the recommendations of the drive manuals Connections are the user s responsibility if recommendations and drawings requirements are not met CAUTION A Any contact with electrical parts even after power down may involve physical damage Wait for at least 10 minutes after power down before handling the drives a residual voltage of several hundreds of volts may remain during a few minutes ESD INFORMATION ElectroStatic Discharge INFRANOR drives are conceived to be best protected against electrostatic discharges However some componen
5. 09 65 02 To the request of the Company INFRANOR SAS Avenue Jean Moulin BP 142 65100 LOURDES France A technical file and a sample of the following equipment Designation GEM DRIVE Series with safety function STO Safe torque off Brand INFRANOR servo drives and motion control Type GD1 uuu cc S1 S1 STO integrated Manufacturing year 2009 Have been examined by Daniel RENAULT CETIM PID Machines Safety taking the technical reports Nr CET0036869 dated April 16 2009 into account CETIM declares that the product described above complies with 1 Safety function STO Safe torque off according to NF EN 61800 5 2 ed 2008 Adjustable speed electrical power Part 5 2 Safety requirements 2 Performance level PI d category 3 According to NF EN ISO 13849 1 ed 2007 Safety of machinery Safety related parts of control systems Part 1 general principles for design Done in Senlis April 19 2009 The CETIM General Manager For General Manager Philippe CHODERLOS DE LACLOS Si ge social T l N Siren Code APE Chapter 4 Appendix GD1 STO Manual 4 2 ORDER CODE GD1 uuu cc PS R SI Ext Ex2 Ex3 00 RS Voltage 230 or 400 Vac Peak current Power supply inside 00 without Additional integrated braking resistor 0 without Safety integrated S1 Safe Torque Off Extensions Ex1 Ex2 Ex3 Each extension slot can receive an extension board
6. The Safe Torque Off function fulfills category 3 PLd o requirements of the EN ISO 13849 1 2006 standard PLd corresponds to SIL2 according to Table 4 Relationship between PL and SIL of the EN ISO 13849 1 2006 standard To achieve overall PL by combining safety related parts in series refer to 6 3 of 13849 1 standard SRPICS SRP CS ____ SRP CSy PL PL2 PLy PLiow Now gt PL a gt 3 gt None not allowed 3 gt a b gt 2 gt a lt 2 b c gt 2 gt b lt 2 gt c d gt 3 gt c lt 3 gt d e gt 3 gt d 3 gt e NOTE The values calculated for this look up table are based on reliability values at the mid point for each PL See attached attestation of conformity in chapter 4 2 2 5 PERIODIC INSPECTION ROUTINES The well working of the function needs to be checked at least once a year and during the validation of the machine safety functions The goal of this procedure is to verify that all subsystems of the safety function are operational The command system must integrate a checking mode reserved to an operator aware of potential risks due to a bad operation of the safety system It is highly recommended that the operator signs a register in order to sensitize him Step Input State N STO1 STO2 STO_OUT Motor Description 1 1 1 0 Powered No fault is displayed 2 0 0 1 Free STO active warning
7. of the EN 60204 1 standard The STO function may be used where power removal is required to prevent an unexpected start up In circumstances where external influences with vertical loads for example are present additional measures mechanical brakes for example may be necessary to prevent any hazard The standard output of the drive must not be considered as a safe output When using a mechanical brake it will be mandatory to introduce a safe contact from an external device in the brake actuation line The STO function cannot be considered as a safe insulation device for the motor It does not prevent from any voltage on the motor terminal block The integrated STO function fulfills the EN ISO 13849 1 2006 category 3 PLd requirements PLd corresponds to SIL2 according to Table 4 Relationship between PL and SIL of 13849 1 standard Chapter 1 General description Ki GD1 STO Manual ZINFRANOR SERVO DRIVES amp MOTION CONTROL Chapter 2 Specifications 2 1 FUNCTIONAL DIAGRAM The Safe Torque Off function allows to keep the motor shaft free by avoiding the IGBT module commutation This is achieved by means of two techniques IGBT command supply removal PWM removal GEM DRIVE POWER BOARD IGBT Module STO_OUT MONITORING EGND ae Te kf iEGND Different parts of the functional diagram are described below e The green part is the first channel of the safety function
8. PWM signals are disabled by inhibiting the optocouplers commutation The blue part is the second channel of the safety function IGBT gate signals are disabled by the power supply shut down The red part is the monitoring function which detects faults by comparing the two channel outputs If a fault is detected this function locks both channels in safe state The black part is the functional part of the drive which is not used to achieve the safety function STO_OUT output is the state feedback to facilitate the function integration This output is not safe It only has an informative function 2 2 COMMAND SYSTEM CONCEPTION 2 2 1 SAFETY INSTRUCTIONS The integration of the STO function must be the result of a risk analysis of the complete machine All control components must comply with the requirements of this risk analysis Installing and commissioning of safety functions must be performed by skilled personnel only Short circuit avoidance Install the drive in a control cabinet with a minimum IP54 protection Avoid control signals proximity Any short circuit between two control signals must be detected the short circuit will either be detected by the circuit breaking system fuse for example in this case the voltage reference is grounded and shielded pair cables must be used shield is connected to the ground or ribbon cable with all unused wires connected to the ground to prevent proximity with hot potential signals ora
9. e the problem that caused this fault state The STO function has two ways to check the state of the drive the STO_OUT digital output and objects fieldbus STO active warning STO channel 1 amp 2 errors All these state feedback are provided for informative purpose and cannot be used as safe information Take care to automatic restart When the STO function is disabled the restart of the machine should only A be possible by an explicit demand to prevent unexpected automatic restart Take care to this point when the user program manages the drive start stop Used alone the STO function corresponds to an uncontrolled stop in accordance with stop category 0 of the EN 60204 1 standard So this function is suitable to machines with low inertia or high resistive torque When using high inertia or low resistive torque machines the user should initiate a controlled stop To achieve a controlled stop in accordance with stop category 1 of the EN 60204 1 standard the control system of the machine must generate the following sequences Deceleration of the load by means of the drive control When the load is at standstill or almost disabling the PWM Finally activation of the STO function STOP Deceleration ramp is controlled by the drive SPEED 1 ENABLE PWM e 24V STO1 STO2 e gt Chapter 2 Specifications GD1 STO Manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 2 4 PERFORMANCE LEVEL
10. ertia axis application low resistive torque In the following diagram only the STO integration is safe The deceleration ramp is not safe according to EN13849 1 because it uses a common drive function GD1 uuu cc PS R Low resistive torque Motor temp AOK Motor temp 31 AoK IN1 ENABLE Example of inputs b gt configuration See User manual ia J Ee SE Resolver Q 2 IN2 FC signal S 3 IN3 FC Gi 4 IN4 Index ee 24 V Ext if logic Resolver LO te reference Si outputs used 20 Ext reference GND Motor brake Motor Pd ake Motor brake 24 Vdc 1 5A GND Motor U phase Motor V phase Motor W phase N A O pl SI OTHER AXES GD1 uuu cc 00 0 Ext Ref 1 l 1 l LO LA Other axes in multiaxis A UK EM A 1 l l 1 l H l i Total power of the applicationi H l UL compliance lt 4 kW in 230 V or 1 lt 7 kW in 400 V a 1 only Dim gt o a en 4 o2 Phase i Mains o Neutral oe Se vas 24 Vdc power supply isolated gt S cno Lal are Power single phase from the 230 Vac mains SES See UL fuses relay o table GND gt gt a E pt a ie 230 Vac 4 Vac aniksa SS SCOR X12 GND UL compliance 1 15 iste Ro D i only i isolated p 24 Vdc 2 a g E L1 phase 4 E S L2phase p l Mains 3 L3 phase C IL 3x400V
11. is displayed 3 1 1 0 Powered No fault is displayed 4 0 1 0 Free STO fault is displayed 5 1 1 0 Free STO fault is displayed and must be unresetable 6 X X X X Shut down of 24V power supply to reset STO fault At each step the operator must verify that the motor provides or not torque If the drive behavior is different from the one described in the table above the drive must be replaced 2 2 6 RESIDUAL RISK In case of short circuit between two power transistors there is a residual risk of motor shaft rotation that can reach 360 2p number of motor poles 2p A Take care of electrical risks as the STO function performs the motor power removal without shutting down the power supply and there is no galvanic insulation Chapter 2 Specifications gt GD1 STO Manual CINFRANOR SERVO DRIVES amp MOTION CONTROL Chapter 3 Connection example Following diagram examples are given to make the integration of the safety function easier The integration of the STO function must be the result of a risk analysis of the complete machine 3 1 Example 1 Stop category 0 according to EN 60204 1 complying with EN13849 1 cat 3 Low inertia axis application high resistive torque GD1 uuu cc PS R Example of inputs configuration See User manual AOK 1 Motor temp AOK Motor temp IN1 ENABLE il IN2 FC IN3 FC Resolver signal ___ IN4 Index 24 V Ext if l
12. ogic e outputs used Resolver 2AN Ext reference reference L d ei GND EE Motor brake Motor any Motor brake EEE brake d E 24 Vdc 1 5A GND CAN L Motor U phase CAN GND Motor V phase Motor W phase OTHER AXES I i GD1 uuu cc 00 0 H I CON Oe o P Gab Other axes in multiaxls tt TEE TIT 24 Vdc power supply isolated from the 230 Vac mains H I i Total power of the applicationi i lt 4 KW in 230 V or I lt 7 kW in 400 V 230 Vac Nde A A UL listed 1 only f0Ambx 4 15 _ 2 Phase l Mains isolated p S L f 4 o gt amp Neutral 7 ae ce ae ee ean a single phase z Ig R GND See UL fuses Power ee GND J a E 3 table relay brake a S S OR X12 GND UL compliance p 24Vde MH 2 only i brake 5 L1 phase E L2 phase eg j Mains L3 phase GND 3 400Vac fl l 3x400V Lg See UL fuses table GND External or Braking resistor internal braking resistor Braking resistor GND 102 Please note that the motor control must be disabled before activating the STO function In the example the digital input IN1 enable is used to disable the PWM control A light is wired with STO_OUT output to inform the drive state gt Chapter 3 Connections GD1 STO Manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 3 2 Example 2 Stop category 1 according to EN 60204 1 complying with EN13849 1 cat 3 High in
13. short circuit detection device must be integrated Take care that as the STO function performs the motor power removal without shutting down the power supply electrical risks remain unchanged when the STO function is active or inactive In applications with vertical axes additional measures mechanical brake may be necessary Refer to the EN13849 2 standard for any complementary information gt Chapter 2 Specifications GD1 STO Manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 2 2 STO CONNECTION 2 2 2 1 X2 Connector Weidmuller D 32 pins male Section 0 25 mm AWG22 X2 N SIGNAL DESCRIPTION 19 24V external External 24 V supply wired if the STO_OUT output is used 20 GND external Voltage reference of the STO1 STO2 inputs and STO_OUT output 21 Channel 1 input for the STO function inhibition STOI 5 High level releases the enabling 23 Channel 2 input for the STO function inhibition STO2 High level releases the enabling 26 STO_OUT Digital output for state feedback non safe During the installation take care to avoid proximity between any STO signal and high potential 2 2 2 2 Specifications of inputs Logic input OV external These optocoupled inputs operate in negative logic The input voltage corresponding to level 1 must be between 18 V and 30 V 2 2 2 3 Specifications of output 8 Ts 424V external 24V ex
14. ternal 1 330 0 Driver gt oy OV external L gt External supply 24 V 18 V lt U lt 30 V gt Maximum voltage drop 2 V gt Protection against overload 2 Available output current per output mA I Number of activated outputs Cycle ratio 100 70 50 30 2 200 mA 200 mA 200 mA 200 mA 4 100 mA 150 mA 200 mA 200 mA E E Chapter 2 Specifications gt GD1 STO Manual CINFRANOR SERVO DRIVES amp MOTION CONTROL 2 2 3 TIMINGS The STO function has an activation release response time of 15ms 2ms max However an additional delay of 6 5 ms after STO inputs are high is necessary before the enable inhibit signal activation as mentioned on the following chronogram STO1 i t lt 50ms t lt 50ms i gt 50ms STO2 gt aa S 25ms i 1ms i STO_OUT i E ae 15ms 2ms i jms 50ms Drive we i 2 pp a state Safe Warning STO active displayed J STO fault channels 1 amp 2 locked 0x3024 0 bitO 0x3022 1 bit4 0x3022 2 bit23 6 5ms A functional incoherence state between channels 1 and 2 is allowed during 50ms The response time of the monitoring part is 100ms to 200ms If the monitoring part detects incoherence between channel 1 and 2 it locks both channels in the safe state The STO fault cannot be reset This state can only be exited by shutting down the 24V power supply At this moment the user must find and solv
15. ts are particularly sensitive and may be damaged if the drives are not properly stored and handled STORAGE The drives must be stored in their original package When taken out of their package they must be stored positioned on one of their flat metal surfaces and on a dissipating or electrostatically neutral support Avoid any contact between the drive connectors and material with electrostatic potential plastic film polyester carpet HANDLING Ifno protection equipment is available dissipating shoes or bracelets the drives must be handled via their metal housing Never get in contact with the connectors ELIMINATION In order to comply with the 2002 96 EC directive of the European Parliament and of the Council of 27 January 2003 on waste electrical and electronic equipment WEEE all INFRANOR devices have got a sticker symbolizing a crossed out wheel dustbin as shown in Appendix IV of the 2002 96 EC Directive This symbol indicates that INFRANOR devices must be eliminated by selective disposal and not with standard waste INFRANOR does not assume any responsibility for any physical or material damage due to improper handling or wrong descriptions of the ordered items Any intervention on the items which is not specified in the manual will immediately cancel the warranty INFRANOR reserves the right to change any information contained in this manual without notice INFRANOR June 2009 All rights reserved Issue 1 1

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