PowerFlex 700H AC Drive Safe Torque Off Option, User Manual
Contents
1. bow Term Bik No Signal Description X5 1 SD1 Isolated Disable input 1 24V 20 10 15 mA 2 SD1 Virtual GND 1 z 3 SD2 Isolated Disable input 2 24V 20 10 15 mA 4 D2 Virtual GND 2 I E x2 21 Digital Out 1 N C Max Resistive Load 22 Digital Out 1 Common 240V AC 30V DC 1200 VA 150 W X10 aj 23 Digital Out 1 N 0 sti cathe ae Load 10 mA aa ax Inductive Load fey ase a E na i wnmen 240V AC 30V DC 8400 VA 105 W Max Current 3 5 A Min Load 10 mA L 28 TI1 Thermistor input Ryip 2 4 0 kQ PTC 29 TI 1 This terminal block is not used as part of the Safe Torque Off function IMPORTANT The drive will not run unless a wire is installed in the hardware thermistor input X7 28 and X7 29 and the thermistor short circuit supervisor jumper X10 is installed in the OFF position Figure 1 Safe Torque Off Drive Circuitry PowerFlex 700H Control Unit Safe Off Micro Option Board controller SD1 Hardware SD1 Safe Off 1 SD2 Hardware SD2 Safe Off 2 PWM Control PowerFlex 700H LA Power Unit K Bx Rockwell Automation Publication 20C2. Input Power i GuardMaster PowerFlex 700H Trojan AC Drive I i i i 4 24VDC i ji if 24V Com i i 4 Stop Stop E Stop Latching F i Button e a Start i i 24VDC Digin Com NS need if Al 21 S11 S52 S12 S22 37 47 57 13 23 1 S33 S34 Gate Enable i i wee yA Minotaur Safe Off Option Board MSR138DP 1 SDi Sey jA at m i a2 x1 x2 xs xa v39 v40 38 Jas 58 14 T24 Y2 Y1 b gee SDE i i 3 SD2 E 2 DC 4 SD2 i Com E i i i Gate Control y Circuit i i i i i i i i i i i Ww Circuit Status Circuit shown with guard door and E stop closed and system ready for normal operation Operating Principle Opening the guard door or pressing the E stop button will switch the input circuits S11 S12 amp 21 S22 to the Minotaur monitoring safety relay unit The immediate output circuits 23 24 will issue a Stop command and the drive will follow the programmed stop configuration After the programmed delay the timed output circuits 47 48 amp 57 58 will cause the Safe Torque Off option to go to a safe state off If the motor has not stopped rotating it will coast to stop The drive can be configured to display a Gate Disable fault or alarm F59 on the HIM when the gate control circuit is disabl
3. high demand continuous mode definition 11 installation Safe Torque Off option board 14 installation checklist 22 Index L low demand mode definition 11 0 option board 24V DC digital input with analog 1 0 20C DA1 A 7 P performance definition PL d Category 3 10 performance level definition 11 definition 11 PFD data 12 PFH definition 11 PFH data 12 PL d Category 3 performance definition 10 S Safe Torque Off description 7 drive circuity diagram 17 Safe Torque Off option board installation 14 removal 23 terminals 17 wiring 16 safety considerations 9 operation verification 23 standards safety of machinery 8 stop category 0 definition 10 stop category 1 definition 10 T terminals Safe Torque Off option board 17 W wiring Safe Torque Off option board 16 Rockwell Automation Publication 20C UM001B EN P June 2011 25 Index 26 Rockwell Automation Publication 20C UM001B EN P June 2011 Rockwell Automation Support Rockwell Automation provides technical information on the Web to assist you in using its products At http www rockwellautomation com support you can find technical manuals a knowledge base of FAQs technical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make the best use of these tools For an additional level of technical phone support for installation configuration a
4. IMPORTANT Before removing connections and wires mark the connections and wires to avoid incorrect wiring during assembly 4 Open the door of the enclosure that contains the control and I O circuit boards and unplug any I O cables from the I O board in Slot B 14 Rockwell Automation Publication 20C UM001B EN P June 2011 Installation and Wiring Chapter 2 5 Remove the I O board in Slot B if present Do not remove enclosure cover Enclosure is illustrated without the cover for clarity Rockwell Automation Publication 20C UM001B EN P June 2011 15 Chapter2 Installation and Wiring Wire the Safe Torque Off Option 16 The Safe Torque Off option disables the drive s output IGBT s by disconnecting the gate control power supply see Figure 1 on page 17 The system satisfies the requirements of EN ISO 13849 1 PL d Category 3 for Safe Torque Off and protection against restart Under normal drive operation the Safe Torque Off inputs SD1 and SD2 are energized and gate control power is available to the gate control circuit If either or both of these inputs is are de energized the gate control circuit is disabled and the drive will stop as programmed coast or controlled The drive can be configured to display a Gate Disable fault or alarm F59 on the HIM when the gate control circuit is disabled Both Safe Torque Offinputs must be used to meet EN ISO 13849 1 PL d Category 3 operati
5. System None Disable Fault Fault Fault or Alarm based on drive set up During maintenance or service there may be a need to remove the Safe Torque Off 20C DG1 option board The drive is designed to generate a non resettable fault F10 System Fault if the option board is removed The operator must manually change parameter 358 20C DG1 Remove to 1 Remove and then back to 0 Ready to clear and acknowledge the fault Once maintenance or service is completed and the 20C DG1 option card has been reinstalled the drive will recognize the option card on power up it is recommended that the safety function be checked for proper operation after any maintenance is performed Refer to Verify Operation above Rockwell Automation Publication 20C UM001B EN P June 2011 23 Chapter 2 Notes 24 Installation and Wiring Rockwell Automation Publication 20C UM001B EN P June 2011 Numerics 24V DC digital input with analog 1 0 20C DA1 A option board 7 A alarm configuration 21 C coast to stop action and emergency stop operation connection example 18 controlled stop action and emergency stop operation connection example 20 D definition high demand continuous mode 11 low demand mode 11 performance level 11 PFD 11 PFH 11 stop category 0 10 stop category 1 10 drive circuitry diagram Safe Torque Off 17 F fault configuration 21 functional proof tests 12 H
6. UM001B EN P June 2011 17 Chapter2 Installation and Wiring Figure 2 Example 1 Drive Safe Torque Off Connections with Coast to Stop Action and Emergency Stop Operation Dual Channel without External Relay AC Line Input Power PowerFlex 700H AC Drive o 24VDC GuardMaster Trojan 24V Com lel sig Stop g g Start O Start e DigIn Com AA Q Q H p E Stop Gate Enable __ Latching Button Safe Off Option Board 1 SD1 2 SD1 3 SD2 4 SD2 Gate Control CB Circuit AN Circuit Status Circuit shown with guard door and E stop closed and system ready for normal operation Operating Principle Opening the guard door or pressing the E stop button will disable the drive gate firing circuit the motor will coast to stop The drive can be configured to display a Gate Disable fault or alarm F59 on the HIM when the gate control circuit is disabled When the guard door or the E stop button is closed the drive remains in a faulted state Once the drive fault is cleared a valid start command will restart the drive 18 Rockwell Automation Publication 20C UM001B EN P June 2011 Installation and Wiring Chapter 2 Application Considerations When the hazard analysis for
7. designing the machine application timing and distance should be considered for a coast to stop Stop Category 0 or Safe Torque Off For more information regarding stop categories refer to EN 60204 1 10 Rockwell Automation Publication 20C UM001B EN P June 2011 System Performance Level and Safety Integrity Level SIL PFD and PFH Definitions Overview Chapter 1 For safety related control systems Performance Level PL according to EN ISO 13849 1 and SIL levels according to IEC 61508 and EN 62061 include a rating of the system s ability to perform its safety functions All of the safety related components of the control system must be included in both a risk assessment and the determination of the achieved levels Refer to the EN ISO 13849 1 IEC 61508 and EN 62061 standards for complete information on requirements for PL and SIL determination Safety related systems can be classified as operating in either a Low Demand mode or in a High Demand Continuous mode e Low Demand mode where the frequency of demands for operation made on a safety related system is no greater than one per year or no greater than twice the proof test frequency e High Demand Continuous mode where the frequency of demands for operation made on a safety related system is greater than once per year or greater than twice the proof test interval The SIL value for a low demand safety related system is directly related to order of magnitude rang
8. the overall machine determines the need for external mechanical brakes or other stopping means the external means shall be activated after the removal of power for Stop Category 0 When used the E stop button must utilize direct opening contacts The button must latch to an open state when the contacts open The button must be red with a yellow background Fault Detection A redundant two set of double break contacts on the Trojan gate interlock are designed to ensure that at least one signal is sent to the Safe Torque Off option board when the gate is opened A single fault detected on the safety input circuits will result in the lock out of the system to a safe state off at the next operation and will not cause loss of the safety function Each of the inputs on the Safe Torque Off option board independently monitors the status of the safety circuit and the status of the other input on the board Rockwell Automation Publication 20C UM001B EN P June 2011 19 Chapter2 Installation and Wiring Figure 3 Example 2 Drive Safe Torque Off Connections with Controlled Stop Action and Emergency Stop Operation Dual Channel with External Relay AC Line
9. User Manual Allen Bradley PowerFlex 700H AC Drive Safe Torque Off Option Catalog Number 20C DGO1 Allen Bradley Rockwell Software Automation Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment Safety Guidelines for the Application Installation and Maintenance of Solid State Controls publication SGI 1 1 available from your local Rockwell Automation sales office or online at http www rockwellautomation com literature describes some important differences between solid state equipment and hard wired electromechanical devices Because of this difference and also because of the wide variety of uses for solid state equipment all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable In no event will Rockwell Automation Inc be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment The examples and diagrams in this manual are included solely for illustrative purposes Because of the many variables and requirements associated with any particular installation Rockwell Automation Inc cannot assume responsibility or liability for actual use based on the examples and diagrams No patent liability is assumed by Rockwell Automation Inc with respect to use of information circuits equipment or software described i
10. afety Considerations Overview Chapter 1 The system user is responsible for the set up safety rating and validation of any sensors or actuators connected to the system completing a system level risk assessment and reassessing the system any time a change is made certification of the system to the desired safety performance level project management and proof testing programming the application software and the safety option configurations in accordance with the information in this manual access control to the system including password handling analyzing all configuration settings and choosing the proper setting to achieve the required safety rating IMPORTANT When applying Functional Safety restrict access to qualified authorized personnel who are trained and experienced exit the machine if the door locks while they are in the machine ATTENTION When designing your system consider how personnel will Additional safeguarding devices may be required for your specific application Rockwell Automation Publication 20C UM001B EN P June 2011 9 Chapter 1 Overview PL d C ategory 3 To achieve PL d category 3 according to EN ISO 13849 1 the safety related Perfo rmance D efi niti on parts have to be designed such that e the safety related parts of machine control systems and or their protective equipment as well as their components shall be designed constructed selected assembled and combined in accorda
11. asacs cease rwnoy Seuniaa war eatress 10 System Performance Level and Safety Integrity Level SIL 11 PFD and PFH Detinttionsc ot etre tanet phece uate eumata heady 11 PPD and BERD a tics ete ee i nsec ants e nego dae ee meek 12 Functional ProotT estssai 3505 025 a5 ces nek Soha saeesee el eset ee ee 12 Contact Information if Safety Option Failure Occurs 12 Chapter 2 Safe Torque Off Option Board Installation 00 eee ee 14 Wire the Safe Torque Off Option inca cewanrer oho eke e deus eee 16 Fault Alarm Configuration cicts 3242 tehal ous Gh vesiedaa sateeeeiatly 21 Installation Checklist tun oss utara aetna nade U ATA 22 Verify ova gs 0 eee ee ane ee Per ee ee rene rira 23 Safe Torque Off Option Board 20C DG01 Removal 23 Oe eee See an Tn nee E eee eee 25 Rockwell Automation Publication 20C UM001B EN P June 2011 5 Table of Contents 6 Rockwell Automation Publication 20C UM001B EN P June 2011 What is the Safe Torque Off Option Rockwell Automation Publication 20C UM001B EN P June 2011 Chapter 1 Overview The PowerFlex 700H control board 24V DC Digital Input with Analog I O 20C DA1 A board and the Safe Torque Off option board 20C DG01 when used with other safety components helps provide a hardware based safe torque off to prevent torque on the motor shaft The Safe Torque Off option is just one component in a safety control system Components in the system mus
12. ed To restart the drive the Minotaur safety relay inputs S11 S12 S21 22 must first be ready for normal drive operation the drive fault must be cleared and a valid start command must be issued to the drive Application Considerations When used the E stop button must utilize direct opening contacts The button must latch to an open state when the contacts open The button must be red with a yellow background Fault Detection A redundant two set of double break contacts on the Trojan J gate interlock are designed to ensure that at least one signal is sent to the Safe 20 Rockwell Automation Publication 20C UM001B EN P June 2011 Fault Alarm Configuration Installation and Wiring Chapter 2 Torque Off option board when the gate is opened A single fault detected on the Minotaur safety input circuits will result in the lock out of the system to a safe state off at the next operation and will not cause loss of the safety function Each of the inputs on the Safe Torque Off option board independently monitors the status of the safety circuit and the status of the other input on the board The drive s fault or alarm response to a gate circuit disable can be configured in one of four ways when using the 20C DGI option board each resulting in the drive being put into a gate disabled state when digital inputs SD 1 and SD2 are de energized 1 Gate Disable Fault 59 Configured by setting bit 10 Gate Disable of param
13. es of its average probability of failure to satisfactorily perform its safety function on demand or simply average probability of failure on demand PFD The SIL value for a High Demand Continuous mode safety related system is directly related to the probability of a dangerous failure occurring per hour PFH Rockwell Automation Publication 20C UM001B EN P June 2011 11 Chapter 1 Overview PFD and PFH Data 12 PFD and PFH calculations are based on the equations from Part 6 of IEC 61508 and show worst case values This table provides data for a 20 year proof test interval and demonstrates the worst case effect of various configuration changes on the data Table 1 PFD and PFH for 20 year Proof Test Interval Attribute Test Result PFD ay 1 52x 10 PFH 1 7 x 10 1 h calculated according to IEC 61508 MTTFp High 2172 years DCay low 66 Functional Proof Tests The functional safety standards require that functional proof tests be performed on the equipment used in the system Proof tests are performed at user defined intervals and are dependent upon PFD and PFH values IMPORTANT Your specific application determines the time frame for the proof test interval for the overall safety system Contact Information if Safety Option Failure Occurs If you experience a failure with any safety certified device contact your local Rockwell Automation distributor With this contact you can e return the device to Roc
14. eter 238 Fault Config1 If either or both digital inputs open the drive output will be disabled and the motor will stop as programmed The drive HIM will display fault 59 Gate Disable When the condition is cleared the fault can be reset and the drive can be restarted Refer to Table 3 on page 23 for a description of drive conditions and actions Gate Disable Alarm 59 Configured by setting bit 15 Gate Disable of parameter 259 Alarm Config1 If either or both digital inputs open the drive output will be disabled and the motor will stop as programmed The drive HIM will display alarm 59 Gate Disable When the condition is cleared the alarm will automatically clear in 10 seconds and the drive can be restarted Refer to Table 3 on page 23 for a description of drive conditions and actions Neither of the Gate Disable bits 10 in parameter 238 Fault Config or 15 in parameter 259 Alarm Config are set If either or both digital inputs open the drive output will be disabled and the motor will stop as programmed No fault or alarm will be displayed on the HIM but the Gate Disable status can be seen in bit 0 Gate Disable of parameter 359 20C DGI Status When the condition is cleared the drive can be restarted after 3 seconds Refer to Table 3 on page 23 for a description of drive conditions and actions Rockwell Automation Publication 20C UM001B EN P June 2011 21 Cha
15. inery Standards Certified Equipment The Safe Torque Off option is compliant with the following safety standards EN 60204 1 2006 Safety of Machinery Electrical equipment of machines Part 1 General Requirements EN ISO 13849 1 2008 Safety of Machinery Safety related parts of control systems Part 1 General Principles for Design EN ISO 13849 2 2003 Safety of Machinery Safety related parts of control systems Part 2 Validation EN 61800 5 2 2007 Adjustable Speed Electrical Power Drives Systems Part 5 2 Safety Requirements Functional EN 62061 2005 Safety of Machinery Functional safety of safety related electrical electronic and programmable electronic control systems IEC 61508 Parts 1 7 1998 and 2000 Functional Safety of electrical electronic programmable electronic control systems The Safe Torque Off option for the following PowerFlex 700H AC drives has been evaluated to meet the safety parameters for SIL 2 according to IEC 61508 and PL d category 3 according to EN ISO 13849 1 e 400 480V Frames 9 14 600 690V Frames 9 14 Note The TUV certification stamp is only included on the drive data nameplate label when the Safe Torque Off option board is factory installed Certifications Online See the Product Certifications link at http ab com for Declarations of Conformity Certificates and other certifications details Rockwell Automation Publication 20C UM001B EN P June 2011 Important S
16. k the safety function for proper operation All information and instructions in this manual have been read understood and completed Rockwell Automation Publication 20C UM001B EN P June 2011 Verify Operation Safe Torque Off Option Board 20C DG01 Removal Installation and Wiring Chapter 2 At regular intervals during the life of the machine check the safety function for proper operation Both safety channels shall be verified How frequently the safety function is checked is dependent on the safety analysis of the machine section controlled by the drive Table 3 Gate Disable Status and Verification Protective System Status Drive In Drive In Drive In Drive Able Gate Disable Gate Disable Gate Disable To Run State State State Channel Operation SD1 terminals X5 1 amp X5 2 Bit3 1 Bit 3 0 Bit 3 1 Bit 3 0 Par 359 20C DG1 Status bit No Power Power Applied No Power Power Applied 3 No Enable CH1 Applied Applied SD2 terminals X5 3 amp X5 4 Bit4 1 Bit 4 1 Bit 4 0 Bit 4 0 Par 359 20C DG1 Status bit No Power No Power Power Applied Power Applied 4 No Enable CH2 Applied Applied Description For Verification PowerFlex 700H Drive Output Output Output Output Status Disabled Disabled Disabled Enabled Par 359 20C DG1 Status Bit0 1 Bit2 1 Bit2 1 Bit0 0 Bit 0 Gate Disable Bit 15 1 Bit 15 1 or Bits 2 Unexp In Pro and 15 Unexp HW Pro Fault or Alarm F59 Gate F10 System F10
17. kwell Automation so the failure is appropriately logged for the catalog number affected and a record is made of the failure e request a failure analysis if necessary to determine the probable cause of the failure Rockwell Automation Publication 20C UM001B EN P June 2011 Chapter 2 Installation and Wiring Installation must be in accordance with the following steps and must be carried out by suitably competent personnel The Safe Torque Off option board device is intended to be part of the safety related control system of a machine Before installation a risk assessment should be performed to determine whether the specifications of this device are suitable for all foreseeable operational and environmental characteristics of the machine to which it is to be fitted At regular intervals during the life of the machine check the safety function for proper operation How frequently the safety function is checked is dependent on the safety analysis of the machine section controlled by the drive Rockwell Automation Inc cannot accept responsibility for a failure of this device if the procedures given in this publication are not implemented or if it is used outside the recommended specifications in this publication installation Rockwell Automation Inc cannot assume responsibility for the compliance or the noncompliance to any code national local or otherwise for the proper installation of this equipment A hazard of personal injury a
18. n this manual Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Inc is prohibited Throughout this manual when necessary we use notes to make you aware of safety considerations WARNING Identifies information about practices or circumstances that can cause an explosion in a hazardous environment which may lead to personal injury or death property damage or economic loss ATTENTION Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attentions help you identify a hazard avoid a hazard and recognize the consequence SHOCK HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present BURN HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that surfaces may reach dangerous temperatures Fadl al ol IMPORTANT Identifies information that is critical for successful application and understanding of the product Allen Bradley Rockwell Software Rockwell Automation and TechConnect are trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies Summary of Changes This manual contains new and updated information New and Updated This table contains the changes made to this revi
19. nce with relevant standards so that they can withstand expected conditions e well tried safety principles shall be applied e a single fault in any of its parts does not lead to a loss of safety function e some but not all faults will be detected e the accumulation of undetected faults can lead to loss of safety function e short circuits in the external wiring of the safety inputs is not one of the faults that can be detected by the system therefore according to EN ISO 13849 2 these cables must be installed so as to be protected against external damage by cable ducting or armor e whenever reasonably practical a single fault shall be detected at or before the next demand of the safety function e the average diagnostic coverage of the safety related parts of the control system shall be low to medium e the mean time to dangerous failure of each of the redundant channels shall be medium to high Stop Category Definitions The selection of a stop category for each stop function must be determined by a risk assessment e Stop Category 0 is achieved with immediate removal of power to the actuator resulting in an uncontrolled coast to stop See Description of Operation Example 1 on page 17 e Stop Category 1 is achieved with power available to the machine actuators to achieve the stop Power is removed from the actuators when the stop is achieved See Description of Operation Example 2 on page 18 IMPORTANT When
20. nd or equipment damage exists if codes are ignored during installation ATTENTION The following information is merely a guide for proper Rockwell Automation Publication 20C UM001B EN P June 2011 13 Chapter2 Installation and Wiring Safe Torque Off Option Board Installation A ATTENTION To avoid an electric shock hazard verify that the voltage on the bus capacitors has discharged completely before servicing Check the DC bus voltage at the Power Terminal Block by measuring between the DC and DC terminals between the DC terminal and the chassis and between the DC terminal and the chassis The voltage must be zero for all three measurements Remove power before making or breaking cable connections When you remove or insert a cable connector with power applied an electrical arc may occur An electrical arc can cause personal injury or property damage by e sending an erroneous signal to your system s field devices causing unintended machine motion e causing an explosion in a hazardous environment Electrical arcing causes excessive wear to contacts on both the module and its mating connector Worn contacts may create electrical resistance 1 Turn off and lock out input power Wait five minutes 2 Verify that there is no voltage at the drive s input power terminals 3 Measure the DC bus voltage at the DC amp DC terminals on the Power Terminal Block The voltage must be zero
21. nd troubleshooting we offer TechConnect support programs For more information contact your local distributor or Rockwell Automation representative or visit http www rockwellautomation com support Installation Assistance If you experience a problem within the first 24 hours of installation review the information that is contained in this manual You can contact Customer Support for initial help in getting your product up and running United States or Canada 1 440 646 3434 Outside United States or Use the Worldwide Locator at http www rockwellautomation com support americas phone_en html or contact Canada your local Rockwell Automation representative New Product Satisfaction Return Rockwell Automation tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures United States Contact your distributor You must provide a Customer Support case number call the phone number above to obtain one to your distributor to complete the return process Outside United States Please contact your local Rockwell Automation representative for the return procedure Documentation Feedback Your comments will help us serve your documentation needs better If you have any suggestions on how to improve this document complete this form publication RA DU002 available at http www r
22. ockwellautomation com literature Rockwell Otomasyon Ticaret A S Kar Plaza Is Merkezi E Blok Kat 6 34752 erenk y stanbul Tel 90 216 5698400 www rockwellautomation com Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation NV Pegasus Park De Kleetlaan 12a 1831 Diegem Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Publication 20C UM001B EN P June 2011 Supersedes Publication 20C UM001A EN P March 2009 Copyright 2011 Rockwell Automation Inc All rights reserved Printed in the U S A
23. on and must be energized in order to run the drive Refer to the wiring examples on the following pages for details The Safe Torque Off activation delay time is less than 20 ms When the drive is enabled there is a delay time of 1 second before a valid start command can be issued PowerFlex 700H drives containing the Safe Torque Off option board will only accept an edge sensitive start command when the drive is in a ready state IMPORTANT By itself the Safe Torque Off option initiates a coast to stop action If coasting to a stop is not desired additional protective measures must be taken See Figure 3 on page 20 for a controlled stop wiring example Important points to remember about wiring Always use copper wire 0 5 mm 20 AWG 3 conductor shielded cable is required e Wire with an insulation rating of 600V or greater is recommended e Control and signal wires should be separated from power wires by at least 0 3 m 1 ft e According to EN 60204 1 part 13 5 The voltage drop from the supply point to the load should not exceed 5 e Due to electromagnetic disturbances the cable length should be limited to 200 m 656 ft maximum In a noisy environment the length of the cable should be less than 200 m 656 ft Rockwell Automation Publication 20C UM001B EN P June 2011 Installation and Wiring Chapter 2 Table 2 Safe Torque Off Option Board Terminal Descriptions
24. pter2 Installation and Wiring Installation Checklist 22 4 Both Gate Disable bits 10 in Fault Config and 15 in Alarm Config are set The Gate Disable fault takes precedence The following items must be completed when installing and configuring the Safe Torque Off option for PowerFlex 700H drives Item Description A risk assessment has been performed to determine whether the specifications of this device are suitable for all foreseeable operational and environmental characteristics of the machine to which it is to be fitted v Complete The safety switch and or safety relay used is EN ISO 13849 1 PL d Category 3 and EN60947 5 1 1997 annex K compliant The reset function is edge sensitive In an IGBT fault situation the safety system has been designed to allow the shaft of the permanent magnet motor to rotate up to 360 degrees pole of the motor The cabling has been installed to be EMC compliant The safety system has been designed so that enabling the drive through the Safe Torque Off inputs will not lead to an unexpected start of the drive Only an approved PowerFlex 700H drive s and safety components have been used in this installation The PowerFlex 700H control board VB00561 revision H or newer is installed in the drive see label on control board Revision 2 001 or higher of firmware is installed in the drive Regular intervals have been planned to chec
25. sion Information Topic Page All instances of the term Safe Off are changed to the term Safe Throughout Torque Off manual Added applicable machinery safety standards to Safety and 8 Machinery Standards Ico Removed Safety Certificate Examples and provided new link to online certificates Added new Important Safety Considerations section Is Added new PL d Category 3 Performance Definition section ls Added new Stop Category Definitions section Added new System Performance Level and Safety Integrity Level SIL section Added new PFD and PFH Definitions section Added new PFD and PFH Data section Added an Index R X Rockwell Automation Publication 20C UM001B EN P June 2011 3 Summary of Changes 4 Rockwell Automation Publication 20C UM001B EN P June 2011 Summary of Changes Overview Installation and Wiring Index Table of Contents New and Updated Information 5 023 4420 2s cen eh ets ede e 3 Chapter 1 What is the Safe Torque Off Option 0 cece cece ee eee eee 7 Safety of Machinery Standards 5 0 14 550334 94 vate neve sree disse 8 Certified Equipiient sbre ereti aan we r EE a EN E A 8 Ceritific tions Online sit aiet a Aa aie cine S TAN 8 Important Safety Considerations ica ieseaieatnn lt oiaahonde das oceans 9 PL d Category 3 Performance Definition lt ive deduntnas ee ckaes 10 Stop Category Definitions can
26. t be chosen and applied appropriately to achieve the desired level of operator safeguarding The Safe Torque Off option is designed to safely remove power from the gate firing circuits of the drive s output power devices IGBT s This helps prevent the drive s output power devices from switching in the sequence necessary to generate torque in the motor IMPORTANT This option is suitable for performing mechanical work on the drive system or affected area of a machine only It does not provide electrical safety This option should not be used as a control for starting and or stopping the drive ATTENTION Electrical Shock Hazard Verify that all sources of AC and DC power are de energized and locked out or tagged out in accordance with the requirements of ANSI NFPA 70E Part Il ATTENTION To avoid an electric shock hazard verify that the voltage on the bus capacitors has discharged completely before servicing Check the DC bus voltage at the Power Terminal Block by measuring between the DC and DC terminals between the DC terminal and the chassis and between the DC terminal and the chassis The voltage must be zero for all three measurements ATTENTION In Safe Torque Off mode hazardous voltages may still be present at the motor To avoid an electric shock hazard disconnect power to the motor and verify that the voltage is zero before performing any work on the motor gt gt gt Chapter 1 Overview Safety of Mach
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