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Safe Limited Speed Wiring Example

1. SSS a A sa Boe HECO a oo 0 a O00000 E i EAAS fz aaa eee Y D PowerFlex 70 Side MSR57P Relay Side Terminal Signal Pin Color Signal 1 5 12V Power gt 2 Orange Vec 2 Power Return White Orange GND 3 Encoder B NOT gt 6 White Brown B1 COS1 4 Encoder B 8 Brown B1 COS1 5 Encoder A NOT gt 3 White Blue A1 SIN1 6 Encoder A 4 Blue A1 SIN1 CASE Shield 9 Bare Shield 1 Jumper selectable 5 12V is available on 20A ENC 1 Encoder Boards Publication 440R UMO004A EN P December 2008 53 Chapter3 Installation and Wiring Jumper Settings Receive Voltage Send Voltage Set the jumper according to your encoder specifications Encoder Wiring Examples These illustrations show examples of how to connect encoder power and encoder signals Encoder Power Internal Drive External Source 12V de 1 250 alia A 2 On Common Y sl Y 300 E y _ o 0 aO To Shield 5 Shield 6 External Power Source Encoder Signal Single ended Dual channel Differential Dual ch
2. Secure exposed shield under clamp for proper grounding gt Ea Z 585J M8RB 2M5 Cable IMPORTANT For detailed information in installing and connecting PowerFlex 70 drives including important wiring requirements refer to these publications e PowerFlex 70 User Manual publication 20A UM001 e DriveGuard Safe Off Option Series B for PowerFlex 40P and 70 AC Drives User Manual publication PFLEX UM003 e Wiring and Grounding Guidelines for AC Drives publication DRIVES IN001 Publication 440R UM004A EN P December 2008 Installation and Wiring Safe Off Board Terminal Block Enhanced Control Only Chapter 3 No Signal Description 1 Monitor N C Normally closed contacts for monitoring relay status 2 Common NC Maximum Resistive Load 250V ac 30V dc 50 VA 60 W Maximum Inductive Load 250V ac 30V dc 25 VA 30 W 3 24V de Connections for user supplied power to energize coil 4 24V Common Encoder Interface Terminal Block Enhanced Control Only
3. Configure RS 232 DF1 Devices Device Name AB_DF1 1 Comm Port com Device 1770 KF2 1785 KE SCANpor Feu ARES 38400 Station Number p Octal Parity None Error Checking BCC kad Stop Bits fi 7 Protocol Full Duplex v Auto Configure Use Modem Dialer OK Cancel Delete Help Choose the Comm Port to which you are connected If you are using the USB converter the comm port must be the port that was mapped when you installed the USB drivers Choose the correct baud rate for the relay If you are using the USB converter the correct communication rate is 115 200 bps Close any conflicting programs that might be using this port at this time From the Device pull down menu choose the SCANport device In the Station Number box type 01 5 Click OK Publication 440R UMO004A EN P December 2008 6 Use DriveExplorer or DriveExecutive Software Appendix D Open RSWho in RSLinx software to verify that the new driver is recognized Connect To Drive MV Autobrowse _Refresh_ a z Browsing node 24 not found Publication 440R UM004A EN P December 2008 Workstation USMEQPIMICECH2 m gs Linx Gateways Ethernet Se AB_DF1 1 Data Highway Plus ot 7 8 9 10 01 Workstation USMEQPIMICECH2 Workstation s AB_ETH 1 Ethernet a AB_MASTR 1 DF1 1395 DC Serial Comm OK Cancel Close RSLinx software
4. Cable 20 HIM A3 1585J M8RB 2M5 20 HIM H10 1203 USB AnaCANda Encoder 1 PowbrFlex Input Motor Power Cable MSR57P Relay Encoder 2 CR2 Two Contactors in MP Outputs Series r CR2 Secondary Load Side Encoder ncoder i eedback Guardlocking able Switch TLS3 GD2 Optional Neha E E E ea aera eis EER Primary Encoder HPK Series Servo Motors Publication 440R UM004A EN P December 2008 231 AppendixE Application Examples PowerFlex 700 Drive Wiring Diagram 24V DC 800FM MT44 800F MX02V Remove two internal jumpers TLS3 GD2 440G 127260 L1 L2 L3 Pulse Test Door Lock 1 Outputs Control Monitor Monitor PowerFlex 700 Drive MSR5 P Relay Isolated Diagnostics and Power SLS Faut s RL Rese Feed SIS iStop GND pet Motion SIS Status Status Output Feed t back Cmd Cmd dc PowerOut Output 24 24V DC 25 Dig Comm Reset 26 DC Comm 800FM F6MX10 27 Stop 28 Start 30 SLS Input Aux Signals to PLC 24V DC Com Li ne i 1 Proper configuration is required for Stop Start and SLS inputs digital input 4 on the PowerFlex 700 Drive od amp w a w 232 Publication 440R UM004A EN P December 2008 Kinetix 6000 or Kinetix 7000 Drives with Safe off Example
5. gt MP_Out_1 24 MP_Out_1 24 gt Reset p s34 Reset_in Auto S34 Reset_in S34 Reset_In Input Reset Feedback A2 Feedback A2 Feedback A2 First Axis Second Axis Third Axis Feedback Feedback Feedback 24V de Com Publication 440R UMO004A EN P December 2008 139 Chapter8 Slave Modes for Multi axis Cascaded Systems Safe Stop and Safe Limited Speed 5 wire Connections First Unit Multi First iddle Unit Multi Mid Last Unit Multi Last Master Slave Slave Axis 1 Axis 2 Axis 3 S12 SS_In_0 SS_Out_0 34 S12 SS_In_0 SS_Out_0 34 S12 SS_In_0 Safe Stop Input yo tgy9 ss int SS_Out_1 44 p 22 SS_In_1 SS_Out_1 44 p S22 SS_in_t P 552 SLS_In_0 SLS_Out_0 68 s52 SLS_In 0 SLS_Out_0 68 gt s52 SLS_in_0 Safe Limited Speed Input gl S62 sis in 1 SIS Ou 78 S62 SLS_In 1 SLS_0ut_1 78 gt s62 SLS_in_1 MP_Out_0 14 j gt MP_Out_0 14 MP_Out_0 14 go gt MP_Out_1 24 MP_Out_1 24 MP_Out_1 24 gt Reset t1 S34 Reset_In Auto 34 Reset_In Auto 34 Reset_In Input Reset Reset A Feedback A2 A Feedback A2 Feedback A2 First Axis Second Axis Third Axis a Feedback Feedback Feedback 24V de Com Safe Stop with Door Monitoring 3 wire Connections First Unit Multi First Middle Unit Multi Mid Last Unit Multi Last Master Slave Slave Axis 1 Axis 2 Axis 3 Safe Stop Input S i na pE a i E E E R E S12 SS_In_0
6. END Publication 440R UM004A EN P December 2008 Chapter 11 introduction Example Application 1 Configuration Examples These examples guide you through the basic steps required to program an application that uses some of the safety functions of the MSR57P Relay The remaining chapters of this manual provide detailed information on the operation of each safety function Topic Page Example Application 1 161 Example Application 2 172 This example application uses the following basic configuration in a single axis system e Safe Stop SS enabled with an E stop button e Safe Limited Speed SLS initiated with a 2NC contact switch e Door Monitoring DM of a guardlocking switch TLS 3 GD2 configured as Power to Release e A Reset button with 1 NO contact e One encoder connected with Sin Cos output signal and resolution of 1024 e A configured Safe Maximum Speed SMS limit Each of the following sections describes the settings you need to enter for each parameter group You can use a HIM or DriveExplorer or DriveExecutive software to configure the relay For information on connecting and using a HIM see Appendix C For information on connecting to a personal computer and using software for configuration see Appendix D Publication 440R UMO004A EN P December 2008 161 Chapter 11 Configuration Examples Example 1 Initial Security Group Settings Security Group Parameters HIM Screen Software Scree
7. Timing Diagram for Safe Stop 2 Stop Request I Stop Monitorin Deceleration gt Stop Delay Tolerance Delay Standstill Position and Standstill D Speed Monitoring A Standstill Speed i Time SS_In Input SS_Out Output MP_Out Output Stop_Command Output DC_Out Output 1 1 DC_Out output shown configured as Power to Release See Door Control on page 97 for more information Safe Torque Off without Standstill Checking When Safe Torque Off without Standstill Checking is initiated motion power is removed immediately and the configured Stop Delay Max Stop Time begins Door control logic is set to Unlock when the Stop Delay Max Stop Time expires regardless of speed 92 Publication 440R UM004A EN P December 2008 Safe Stop and Safe Stop with Door Monitoring Modes Chapter 6 Timing Diagram for Safe Torque Off without Standstill Checking Stop Door Control Request Output Unlock gt Safe Torque off I Stop Delay Active D o A Time SS_In Input SS_Out Output MP_Out Output Stop_Command Output DC_Out Output 1 1 DC_Out output shown configured as Power to Release See Door Control on page 97 for more information Publication 440R UMO004A EN P December 2008 TIP All Stop Types require an encoder to be connected Standstill Speed and Position Tolerance For Safe Stop Types that include Standstill Checking you set the Standstill Speed and Standstill Posit
8. 201 Appendix B Parameter Data Parameters and Settings in The table lists the configurable parameters and their valid settings in Linear List numerical order If any values other than those listed in the table are a ear LIS configured for any of the parameters an Invalid Configuration Fault occurs List of Parameters No Name Description g 1 Password Password for Lock and Unlock function Range 0 4 294 967 295 R 2 Reserved 3 4 5 Lock State Command to lock or unlock the relay configuration Default 0 Unlock R W Options 0 Unlock Lock 6 Operating Command to place the system in Program or Run mode Default 0 Program R W Mode Options 0 Program Run 2 Config flt 7 Reset Resets relay to factory defaults Options 0 No action R W Defaults Reset to factory defaults Reset Fac 8 Reserved 9 0 Signature Safety configuration identifier Range 0 4 294 967 295 R ID 11 Reserved 12 3 New 32 bit configuration password Range 0 4 294 967 295 W Password 14 Reserved 15 16 7 Password Save new password command Default 0 No action R W Command Options 0 No action 1 Change Password Change PW 2 Reset Password Reset PW 18 Security Used for Reset Password command Range 0 65 535 R Code 19 Vendor Vendor password for Reset Password command Range 0 65 535 R W Password 20 Cascaded
9. Publication 440R UM004A EN P December 2008 Publication 440R UM004A EN P December 2008 Safety Concept Chapter 1 Output Pulse Test Considerations If the pulse testing of any safety output is disabled the maximum safety rating will be up to and including SIL CL2 PL d and CAT 3 for any safety chain incorporating any input or output of the MSR57P relay Setting any of the P71 MP_Out Mode P72 SS_Out Mode P73 SLS_Out Model or P74 DC_Out Mode parameters to 1 No Pulse Test disables internal diagnostics as well as external diagnostics required to achieve higher safety ratings You must exercise the SS_In input at least once every six months You may need to disable pulse testing if the connected device does not support OSSD inputs Refer to the product documentation for your connected device Considerations for Single encoder Applications When configured correctly the MSR57P relay performs these diagnostics on the encoder e Sin Cos diagnostic e detection of open or short circuit e encoder supply voltage monitoring e detection of illegal quadrature transitions of the sine and cosine signals A safety rating up to and including SIL CL3 PL e and CAT 4 can be achieved in a single encoder application with these requirements e The motor is a permanent magnet PM brushless AC motor e The motor controller must be configured as a closed loop application with field oriented control using the single e
10. SS_Out_0 34 gt _ gt S12 SS_In_0 SS_Out_0 34 S12 SS_In_0 PEEN PEE NO ANAE E 22 SS_In_1 SS_Out_1 44 p S22 SS_In_1 SS_0ut_1 44 gt 822 SS_In_1 11 Pulse_Source_0 21 Pulse_Source_1 33 34 x A Door Monitor Input S32 DM_In_0 e saz DM_in_t i MP_Out_0 14 gt gt MP_Out_0 14 p gt MP_Out_0 14 go gt MP_Out_1 24 gt MP_Out_1 24 0 gt MP_Out_1 24 gt Reset p s34 Reset_in Auto S34 peset_In Auto S34 peset_in MT GD2 Trojan Input Reset Reset or Cadet Interlock A Feedback A2 A Feedback A2 A Feedback A2 First Axis Second Axis hird Axis Feedback Feedback Feedback 24V de Com 140 Publication 440R UMO004A EN P December 2008 Slave Modes for Multi axis Cascaded Systems Chapter 8 Safe Stop and Safe Limited Speed with Door Monitoring 5 wire Connections First Unit Multi First Middle Unit Multi Mid Last Unit Multi Last Master Slave Slave Safe Stop Input Axis 1 Axis 2 Axis 3 12 SS_In_0 S_Out_0 34 12 SS_In_0 S_Out_0 34 gt s12 s_in_0 22 SS_in_1 SS_Out_1 44 gt 22 SS_In_1 SS_Out_1 44 M 22 S _in_1 i S52 SLS_In_0 SLS_Out_0 68 s52 SLS_in_0 SLS_Out_0 68 s52 SLS_In_0 i gt s62 SLS_In_1 SLS_Out_1 78
11. Safe Maximum Acceleration Monitoring Stop Behavior P66 Max Acc Stop Typ Description Parameter 0 Use Safe Torque Off with The speed monitoring relay initiates Safe Torque Off Check for Standstill Torque Off with Check for Standstill any time an Acceleration Fault is detected while the relay is monitoring motion 1 Use Configured Stop Type The speed monitoring relay initiates the configured Safe Stp Typ Safe Stop Type any time an Acceleration Fault is detected while the relay is monitoring motion Publication 440R UM004A EN P December 2008 Safe Maximum Speed and Direction Monitoring Chapter 9 If an Acceleration Fault is detected during a Stop Monitoring Delay Stop Mon Delay and the P66 Max Acc Stop Typ parameter is configured as Use Safe Torque Off with Check for Standstill Torque Off the Stop Monitoring Delay Stop Mon Delay ends immediately and Stop Delay Max Stop Time begins If an Acceleration Fault is detected during the Stop Delay Max Stop Time and the P66 Max Acc Stop Typ parameter equals Use Configured Stop Type Safe Stp Typ and feedback signals indicate less than the maximum frequency for your encoder type then the fault occurs with no further action Deceleration Monitoring performs the safety function during the Stop Delay Max Stop Time That is if an Acceleration Fault occurs during the Stop Delay Max Stop Timel the fault is ignored and the stopping action continues Accelerat
12. Test_Out_1 S21 A2 Common Cross wiring of Test Outputs to Inputs is not allowed For example do not connect Test_Out_0 to Input 1 or Test_Out_1 to Input 0 Terminals Safe Safe Door Enabling Lock Function Stop Limited Monitoring Switch Monitoring SS_In Speed DM_In Monitoring LM_In SLS_In ESM_In Input 0 ChannelO S12 52 32 72 X32 Input 1 Channel1 S22 S62 S42 S82 X42 Short circuits of the input loop to ground or 24V will be detected For dual channel inputs cross loops will also be detected 59 Chapter 4 60 Speed Monitoring 1 0 Signals Safe Stop Input SS_In The SS_In input is intended for connection to an E Stop device The SS_In input must be active to initiate Safe Stop monitoring If the SS_In input is being monitored a transition from ON to OFF closed to open is used to request the configured Safe Stop Type In a cascaded configuration the SS_In input is connected to the Safe Stop SS_Out output of an upstream MSR57P relay Safe Limited Speed Input SLS_In The SLS_In input is used to connect to a switch whose OFF state requests Safe Limited Speed monitoring If Safe Limited Speed monitoring is configured the SLS_In input is monitored from the time of a successful Safe Stop Reset or Safe Limited Speed Reset until the time that the configured Safe Stop Type is initiated or the Safe State is entered If the SLS_In input is being monitored the OFF state
13. Values 0 Fault 1 OK 0 Unlock 1 Lock 0 Off 1 On 0 Off 1 On 0 Inactive 1 Ac 0 Inactive 1 Ac 0 Inactive 1 Ac 0 Inactive 1 Ac 0 Off 1 On 0 Off 1 On 0 Inactive 1 Ac 0 Inactive 1 Ac 0 Off 1 On 0 Inactive 1 Ac 0 Inactive 1 Ac 0 Inactive 1 Ac 1 Lock 0 Unlock 0 Off 1 On 0 Off 1 0n 0 Inactive 1 Ac 0 Off n 0 Off n 0 Inactive 1 Ac 0 0ff 1 0n 0 Inactive 1 Ac 0 Inactive 1 Ac 0 Inactive 1 Ac 1 0 1 0 ive ive ive ive ive ive ive ive ive ive ive ive ive ive Read Write Publication 440R UM004A EN P December 2008 Parameter Data Appendix B List of Parameters No Name 69 10 Diag Status Description Indicates present state of I O used for diagnostics it 0 SS_in_ch_0 status SS In Ch 0 it 1 SS_in_ch_1 status SS In Ch 1 it 2 SS_out_ch_O status SS Out Ch 0 3 SS_out_ch_1 status SS Out Ch 1 it 4 SLS_in_ch_0 status SLS In Ch 0 it 5 SLS_in_ch_1 status SLS In Ch 1 it 6 SLS_out_ch_0 status SLS Out Ch 0 it 7 SLS_out_ch_1 status SLS Out Ch 1 it 8 ESM_in_ch_0 status ESM In Ch 0 it 9 ESM_in_ch_1 status ESM In Ch 1 it 10 DM_in_ch_0 status DM In Ch 0 it 11 DM_in_ch_1 status DM In Ch 1 it 12 DC_out_ch_0 status DC Out Ch 0 it 13 DC_out_ch_1 status DC Out Ch 1 it 14 LM_in_ch_0 status LM In Ch 0 it 15 LM_in_
14. 118 Options 0 Not used 1 Dual channel equivalent 2NC 2 Dual channel equivalent 3 s 2NC 3s 3 Dual channel complementary 1NC 1NO 4 Dual channel complementary 3 s INC 1NO3s 5 Dual channel SS equivalent 3 s 2 OSSD 3s 6 Single channel equivalent 1NC Publication 440R UM004A EN P December 2008 Safe Limited Speed SLS Modes Chapter 7 SLS with Door Monitoring This example illustrates wiring for SLS with door monitoring and and Enabling Switch Monitoring Wiring Example Master Safe Limited Speed with Door Monitoring and Enabling Switch Monitoring First or Single Unit enabling switch monitoring 24V DC SLS Request 800FM KM23 Remove two internal jumpers TLS3 GD2 4406 T27260 L1 L2 L3 9 24V DC PowerFlex 70 52 Pulse lest 0 oc D ig OOF s 8 DC Comm AC Drive with Outputs Control Monitor Monitor a AEE Ti RJ45 MSR57P Relay mo l1 Stop a iM ia Isolated Diagnostics LH ah 2 Start Gate Control 1 d P z O O aa em ee eee a a ee nei eee oe aes ame eee SA i 4 SLS Input Power Supply SLS Fault Ss RE ResetiFeed SLS Stop GNp 24V Motion SLS StatusStatus Output Feed back Cmd Cmd DC PowerOut Output 4 Reset 800FM F6MX10 Control Circuit Safe Stop to next module optional Aux Signals to PLC 24V DC Com 1 For encoder wiring see Encoder Cable Spe
15. 228 PowerFlex 700 Drive without Safe Off 231 Kinetix 6000 or Kinetix 7000 Drives with Safe off Example 233 Kinetix 2000 Drive without Safe off Example 235 This application appendix provides examples of relay and drive combinations Refer to the manuals listed in the Additional Resources on page 11 for important information on installing grounding wiring and operating the devices shown in the appendix ATTENTION Implementation of safety circuits and risk assessment is the responsibility of the machine builder Publication 440R UMO004A EN P December 2008 227 AppendixE Application Examples PowerFlex 70 Drive with Safe Off Application Example E Stop Reset Run Maintenance Stopped Safe Speed Running This example is configured for Safe Stop 1 The control cabinet contains an MSR57P relay a PowerFlex 70 AC Drive with Safe Off function as well as a PanelView terminal The MSR57P relay monitors speed via an incremental encoder connected to the PowerFlex 70 drive The control panel lets the operator select Run or Maintenance speeds The door has an interlock switch with guardlocking to limit access to the machine when the machine is operating at normal Run speed A towerlight indicates machine status 228 Publication 440R UM004A EN P December 2008 Application Examples Appendix E PowerFlex 70 Drive System Layout PowerFlex 708 Dr
16. Ca Low Profile Connector 2090 K2CK D15M 20 HIM A3 Encoder Cable 1585J M8RB 2M5 20 HIM H10 PC Encoder 1 OR 1203 USB or Input _ 1203 SSSIB Motor Encoder Power Feedback MSRb P RE Cable Cable Relay Configuration Tools Start Stop Command to Logix Controller Guardlocking Switch MP Series Bulletin MPL Series Bulletin TLS3 GD2 Servo Motors Kinetix 2000 Drive Wiring Diagram L1 2 L3 24V DC SLS Request Kinetix 2000 ss 800FM KM23 aay ACDrive a Request 800F MX02V Lime E Stop 800FM MT44 800F MX02V Enable TLS3 GD2 440G T27260 internal jumpers 100S C Contactor Pulse Test DoorLock Lock Door Outputs Input Input Input Control Monitor Monitor Encoder Encoder Input Input 2 Isolated Diagnostics Sane mot and Power o i a i O A RL Reset Feed SLS Stop gpg 24V i Motion SLS Feed back Cmd Cmd OM pc Power Out Output Y32 Y30 Y31 t To Controller SLS Request COIL A2 F6MX10 Aux signals a to PLC 24V DC Com Proper configuration in RSLogix 5000 software is required To enable safety functions choose Driv
17. December 2008 217 Appendix D Use DriveExplorer or DriveExecutive Software 2 Connect the appropriate cable between the serial or USB converter and the DPI connector on the relay Using USB Converter Using Serial Converter OO 20 HIM H10 Cable Sess Sees 1202 10 Cable 4 Power Status Indicator Power Status 1203 SFC Cable W Type A to Type B USB Cable B iS M or DriveExecutive Software or DriveExecutive Software 3 Observe the status indicator to verify that the serial or USB converter has power 4 Configure communication following the steps in Using DriveExplorer Software on page 218 or Using DriveFxecutive Software on page 221 Using DriveExplorer You need to configure communication between DriveExplorer Software software and the DPI port on the relay before you can use the software to edit the relay s parameters Configure Serial Communication Follow these steps to configure communication between DriveExplorer software on your personal computer the serial or USB communication converter and the DPI port on the relay If you are using the 1203 USB converter you must install the USB drivers on your personal computer The drivers are provided on the DriveExplorer Lite CD supplied with the converter For information on installing drivers refer to the USB Converter User Manual publication DRIVES UM001 1 Launch DriveExplorer software 218 Publication 440R UM004A EN P December
18. Flying Lead Feedback Cable 2090 XXxFMP Sxx2 3 or 2090 XXNFMF Sxx non flex 4 or 2090 CFBM4DF CDAFxx continuous flex 2090 XXNFMF Sxx non flex or 2090 CFBM4DF CDAFxx continuous flex 4 2090 CFBM6DF CBAAxx 2090 XXNFMF Sxx non flex 4 or 2090 CFBM4DF CDAFxx continuous flex and continuous flex catalog number 2090 XXTFMP S xx Pinout Page 44 Page 47 Page 49 Page 50 Page 47 Page 49 n on the compatibility of specific drive and motor combinations 43 Chapter3 Installation and Wiring Flying lead Feedback Cable Pin outs Motors Using 2090 XXxFMP Sxx Feedback Cable MPL Bxxx M S MPL A5xxx M S and 1326AB Bxxx M2L S2L Motors Drive Side MSR57P Relay Side Motor Coanantat Drive MF 1585J M8RB 2M5 Cable Pin aiana Connector Pin Pin Wire Color Signal A Black Ses 1 gt 4 Blue JASNE B White Black Sine 2 gt 3 White Blue A1 SIN1 REF C Red Cos 3 gt 8 Brown B1 COS1 D White Red Cos 4 gt 6 White Brown B1 COS1 REF E Green Data 5 NC F White Green Data 10 NC K Gray EPWR_5V 14 NC L White Gray ECOM 6 gt 1 White Orange GND N Orange EPWR_9V 7 gt 2 Orange Vcc R TS 11 NC T S1 12 NC U S2 13 NC V S3 8 NC 5 Green NC 7 White Green NC gl2 Bare Shield case 1 Bayonet style connector 2 Make sure you ground th
19. Motion Power Door Publication 440R UMO004A EN P December 2008 Config Lock Stop Limited Speed firmware upgrade is in progress Yellow On The relay s configuration is locked Yellow Flashing The relay s configuration is unlocked Green On The Safe Stop SS input is closed Red On The SS input is open or pressed Red Flashing The SS input has a fault Green On The Safe Limited Speed SLS input is closed for normal Run operation Green Flashing The SLS input is open for a safe speed request to allow access to the machine Maintenance operation Off The SLS function is not configured Red Flashing The SLS input has a fault 185 Chapter 12 Troubleshoot the MSR57P Relay Nonrecoverable Faults 186 Indicator Status Description Motion Green On The Motion Power MP output is ON oN Off The MP output is OFF Red Flashing The MP output has a fault Door 2 Green On The door is closed Red On The door is open Red Flashing Door Monitor or Lock Monitor input switch has a fault Off Door monitoring is not configured Safe Speed Green On Safe Limited Speed is being actively monitored and is below the configured Safe Limited Speed value after an SLS request has been made Off Safe Limited Speed is not being monitored Red Flashing An SLS Speed Fault has occurred Standstill Green On Standstill Speed has been detected Off Speed is greater than the
20. Stop_Command Output This signal is OFF when the MSR57P is in the safe state The Stop_Command output turns OFF at the start of the Stop Delay Max Stop Time when the relay is executing the configured Safe Stop Type and the Stop Monitoring Delay Stop Mon Delay if configured has expired The Stop_Command output is turned ON by a successful reset to initiate safe speed monitoring 70 Publication 440R UM004A EN P December 2008 Speed Monitoring 1 0 Signals Chapter 4 The Stop_Command output is typically connected to the drive or standard PLC input card to request motion to stop The Stop_Command output may also be used to signal a PLC or drive that the configured Stop Delay Max Stop Time has begun SLS_ Command Output The SLS_Command output is used to signal that Safe Limited Speed monitoring operation has been requested When Safe Limited Speed monitoring is not configured or the operating mode is Disabled the SLS_Command is always OFF System Status SLS_Command State The relay is in the Safe State OFF Safe Limited Speed monitoring is configured but inactive OFF SLS_In is closed A Safe Limited Speed Monitoring Delay LimSpd Mon Delay is ON in progress Safe Limited Speed monitoring is active SLS_In is open ON The configured Safe Stop Type has been initiated Hold Last State Standstill Speed has been reached at the end of a Safe Stop OFF The SLS_Command output is turned ON by a succes
21. au Gah pee Gene Rake Gee eS 153 Configuration Signature ID aaau naaa aaa 153 Safety locker saa n ee a DYN Cee oe DUAL ESS REONY Ce 153 Set a Password o oo uaaa 154 Reset the Password nnau a aaa ooh te A aya dk Peal 155 Reset the Relay i re nya a a a a o Raine E E 155 Basics of Application Development and Testing 156 Commissioning the System i Cos ade Sse Ces doe Res 156 Specify the Safety Configuration 157 Configure the Speed Monitoring Relay 158 Project Verification Test aaau le Reha Rh ele ee Ren 159 Publication 440R UM004A EN P December 2008 Configuration Examples Troubleshoot the MSR57P Relay Publication 440R UMO004A EN P December 2008 Table of Contents Confirm the Project os 5 4 9 44 jhe Rae 8 ded ah GPR 8S eS 159 Safety Validation n o kee nd wont aok eure eo sd 159 Verify the Signature and Lock at the Speed Monitoring WRAY tg 2 te ke tee ea Ot als oe hab Oh od PIER SS Grd Po 159 Editing the Configuration 6 c05 4 a0 6460068 dred 160 Chapter 11 Jntrod cton er a5 ae Ae AE tse Alas teed a ee A ai 161 Example Application 1 kaa seus heen ee Eos OH 161 Example 1 Initial Security Group Settings 162 Example 1 General Group Settings 163 Example 1 Feedback Group Settings 164 Example 1 Stop Group Settings oonan auaa 166 Example 1 Limited Speed Group Settings 168 Example 1 Door Control Group
22. v2 v33 v32 v0 vat 14 24 68 78 Lt D ck Control Circuit Next Downstream Next Downstream Axis Axis MSR57P Relay MSR57P Relay Terminals S22 Terminals 1 Digital input 4 Proper configuration is required for inputs 1 2 4 and 6 on the PowerFlex 70 Drive 2 All cascaded MSR57P units must share a common ground 24V DC Com must be at the same potential as the drive common because of the encoder signal Publication 440R UMO004A EN P December 2008 133 Chapter8 Slave Modes for Multi axis Cascaded Systems This second example is configured as a cascaded last unit via the P20 Cascaded Config parameter Multi Last It has SS_In SLS_In and DM_In input connections from the previous upstream MSR57P relay but its DC_Out output is connected to a guardlocking interlock switch Slave Safe Limited Speed Last Unit Previous Upstream Axis MSR5 P Relay Terminals SS SLS ESM ot Input Input Input RIa5 Encoder ae MSR57P Relay Input 1 Input 2 and Power SLS Fault RL Reset Feed SLS Stop GND 24V StatusStatus Output Feed back Cmd Cmd DC Power Out Output Aux Signals to PLC 1 Digital input 4 Proper configuration is required for inputs 1 2 4 and 6 on the PowerFlex 70 Drive Motion SLS TLS3 GD2 440G T27260 L1 L2 L3 PowerFlex 70 AC Drive with DriveGuard 9 24V DC 8 DC Comm 7 Dig Comm 1 Stop 2 Start 4 SLS Input Con
23. 2 Dual channel equivalent 3 s 2NC 3s 3 Dual channel complementary 1NC 1NO 4 Dual channel complementary 3 s INC 1NO 3s 5 Dual channel SS equivalent 3 s 2 OSSD 3s 6 Single channel equivalent 1NC Publication 440R UM004A EN P December 2008 Safe Limited Speed SLS Modes Chapter 7 SLS with Enabling Switch This example illustrates wiring for SLS with enabling switch Monitoring Wiring Example monitoring Master Safe Limited Speed with Enabling Switch Monitoring First or Single Unit 24V DC SLS Request 800FM KM23 oer to Release Remove two internal jumpers TLS3 GD2 440G T27260 L1 L2 L3 PowerFlex 70 9 24V D PulseTest Doorlock Lock Doo i AC Drive with i i i f 1 8 DCC Outputs Control Monitor 7 Dig at DriveGuard RJ45 1 Stop Encoder Encoder Input 1 Input 2 A 2 Start 4 SLS Input SLS Fault SS RL ResetiFeed SLS Stop GND 7aV t Motion 1 SLS StatusStatus Output Feed back Cmd Cmd DC Power Out Output Reset 800FM F6MX10 Control Circuit Safe Stop to next module optional Aux Signals to PLC 1 For encoder wiring see Encoder Cable Specifications on page 42 2 Digital input 4 Proper configuration is required for inputs 1 2 4 and 6 on the PowerFlex 70 Drive 3 Lock monitoring connections are not required for Safe Limited Speed wit
24. 3 Master Safe Limited Speed Lim Speed 4 Master Safe Limited Speed with Door Monitoring Lim Speed DM 5 Master Safe Limited Speed with Enabling Switch Control Lim Speed ES 6 Master Safe Limited Speed with Door Monitor and Enabling Switch LimSpd DM ES 7 Master Safe Limited Speed Status Only Lim Spd Stat 8 Slave Safe Stop Slv Safe Stp 9 Slave Safe Limited Speed Slv Lim Spd 10 Slave Safe Limited Speed Status Only Slv Spd Stat 22 Reset Type Defines the type of reset used by the safety relay Default 2 Manual Monitored Monitored Options 0 Automatic Manual 2 Manual Monitored Monitored 23 80 Reset Loop Defines whether the Reset Loop input RL_In input is used to qualify a Safe Stop Reset Default 0 Always qualified Disable Options 0 Always qualified Disable 1 Qualified by RL_In Enable Publication 440R UM004A EN P December 2008 Parameter 24 OverSpd Response Description Configuration for the feedback interface sampling rate General Relay and Feedback Monitoring Configuration Setting Default Chapter 5 0 42ms Options 0 42ms 1 48 ms 2 60 ms 3 84ms 4 132 ms 5 228 ms 6 420 ms 25 Language Code Determines the language of the parameter display Default 0 English Options 0 English 1 French 2 Spanish 3 Italian 4 German
25. 34 Reset_In Auto 34 Reset_In TLS3 GD2 Input Reset Reset 4406 127260 A Feedback A2 A Feedback A2 A Feedback A2 asl First Axis Second Axis Third Axis Feedback Feedback Feedback 24V de Com Safe Stop with Door Monitoring Door Control and Lock Monitoring 5 2 wire Connections First Unit Multi First Middle Unit Multi Mid Last Unit Multi Last Master Slave Slave Safe Stop Input Axis 1 Axis 2 Axis 3 t S12 SS_In_0 SS_0ut_0 344 12 SS_In_0 SS_Out_0 34 12 SS_In_0 22 SS_In_1 SS_Out_1 44 22 SS_In_1 SS_Out_1 44 22 SS_In_1 1 1 1 1 ri 1 1 i 1 1 1 i 1 i 1 i i i 11 Pulse_Source_0 S21 Pulse_Source_1 To Door Panat Solenoid o o Bon oor Monitor Input p gt S32 DM_In_0 DC_Out_o 51 32 DM_In0 DC_Out_0 51 32 DM_In0 DC_Out_0 51 Moro S42 DM_Int DC_Out_1 52 42 DM_In_1 DC_Out_1 52 42 DM_In_1 DC_Out_1 52 OF Lock Monitor Input etme X32 LM_In_0 rane X42 LM_In_t Laff az MP_Out_0 14 p gt MP_Out_0 14 MP_Out_0 14 p gt i MP_Out_1 24 gt MP_Out_1 24 j gt MP_Out_1 24 gt Ol Reset 534 Reset_In ba 34 Reset_In fae 34 Reset_In 1 3 GD2 Input eset eset 440G T27260 A Feedback A2 Feedback A2 Feedback A2 Pi t a leae First Axis Second Axis Third Axis Feedback Feedback Feedback 24V de Com 142 Publication 440R UMO004A EN P December 2008 Slave Modes for Multi axis Cascaded Systems Chapter 8 Safe Stop and Safe Limited Speed with Door
26. General Parameter List 2 0 0 aaa 80 Feedback Monitoring 0 9 aisle 6 8 deal sang Sak Roath watts Gud Geet ots 81 Feedback Polarity oosa cou CLONE ESS KDR EOR onua 82 Publication 440R UM004A EN P December 2008 Safe Stop and Safe Stop with Door Monitoring Modes Safe Limited Speed SLS Modes Publication 440R UMO004A EN P December 2008 Table of Contents Single Encoder a ssrnisisrerassorinre boa h eet d 82 DUAL Encoders seci tw God SPE E nee eed oa wees 82 Feedback Voltage Monitor Rance ins oe nce eM es 85 Feedback Fault errean arteeo EEEa ee eee eG EEA 86 Feedback Parameter List onnan aaa 86 Chapter 6 Tntroduction sses el Rh Bit a a a a Ret Ak h 89 Sale Stop Mode es ote A EEE E E Re S 89 Safe Stop TYPES pe pages tose pidge Gren ges a iat 90 Standstill Speed and Position Tolerance 93 Deceleration Monitoring osaa aaae 94 Sale SiO Reset She d nia paa BG tas ESET OST ESE 84 95 Door COMMO 24 0 read EPA RS Cee eee RES 97 Lock NORIO IS Sd box ch i tn 26 be Aoi Lea wh Re Re 99 Safe Stop Parameter List oN eee YEP es CaS UK ek My 99 Safe Stop Wiring PXAMDIE 4 6 64456 044 404 Se CREO 102 Safe Stop with Door Monitoring Mode 102 LOCK MODINE Aiora Ee eD cyan hea ee Renee ks 103 DO SSCL e ohana ale hays agate rely oer 8 oar Gh na heoe EARE R 103 Safe Stop with Door Monitoring Parameter List 103 Safe Stop with Door Monitoring Wiring Example 104 Chapter 7 MAL OGUCHON s rere
27. Mon Setting 5 9 12 4 Range 4 5 5 5V 7 12V 11 14V 11 5 15V Trip Zone lt 45V lt V lt 11V lt 11 5V The encoder must be specified May Trip 45 4 75V 7 1 4N Wool aw 11 5 12 25V to operate across this complete No Trip 4 75 5 25V 7 4 11 4V 11 6 13 3V 12 25 14 75V range or larger May Trip B28 LON 11 4 12 0V 13 3 14 0V 14 75 15 5V Trip Zone gt 5 5V gt 12 0V gt 14 0V gt 15 5V Your power supply must stay within the No Trip range Publication 440R UM004A EN P December 2008 85 Chapter5 General Relay and Feedback Monitoring Configuration Feedback Fault The allowable frequency of feedback input signals is limited The speed monitoring relay monitors feedback signals whenever the relay configuration is valid and the Safety Mode is not configured as Disabled Encoder Type Maximum Frequency Sine cosine lt 100 kHz Incremental lt 200 kHz If the feedback signals indicate greater than or equal to the maximum value a Feedback_ Fault Safe State Fault occurs x equals 1 or 2 depending upon which encoder has the fault Diagnostics are performed on the encoder input signals If the encoder diagnostic tests fail a Feedback_ x Fault Safe State Fault occurs Feedback Parameter List To define the type of feedback used by the relay set these parameters Feedback Parameters Parameter Description Setting 27 Fok Mode Selects the number of encoders and the Default 0 1 encoder
28. Node 1 MSR57 1 0 Fbk Mode Single Fok 6 0 MSRS7 1 0 28 Fbk 1 Type Sine Cosine FG j Parameter eee 1 0 29 Fbk 1 Units Rev 1 0 30 Fbk 1 Polari Reversed Fbk Mode Ba SiS 1 0 31 dal 1024 PPR SRR 1 0 32 Fbk 1 Volt Mon 0 volt Fbk 1 Units General 1 0 33 Fbk 1 Speed 243 2 RPM Feedback 1 0 34 Fbk 2 Units Rev Stop 1 0 35 Fbk 2 Polarity Normal Limited Speed 1 0 36 Fbk 2 Resolution 0 PPR aay Coal 0 38 Fek 2 Speed 2 0 RPM gt 1 0 38 2 Spee er 1 0 39 Fbk Speed Ratio 0 00000 1 0 40 Fbk Speed Tol 0 0 RPM 5 1 1203 555 R5252 DF1 1 0 41 Fbk Pos Tol 0 Deg Parameter List 1 0 42 Direction Mon Neg Always Custom Views 1 0 43 Direction Tol 10 Deg Follow these steps to configure the type of feedback used by the relay 1 From the Feedback group choose the P27 Fbk Mode parameter 164 Publication 440R UM004A EN P December 2008 Configuration Examples Chapter 11 N Set the Fbk Mode parameter value to 0 default for redundant processing and cross checking of the single encoder input in a 1002 architecture 3 Choose the P28 Fbk 1 Type parameter The default value is 1 for incremental encoder input 4 Set the Fbk 1 Type parameter value to 0 for Sine Cosine and internal monitoring of the single encoder input 5 Choose the P29 Fbk 1 Units parameter 6 Set the Fbk 1 Units parameter to 0 default which equals Rotary feedback 7 Choose the P30 Fbk 1 Polarity parameter 8 Set the Fbk 1 Polarity parameter
29. Publication 440R UMO004A EN P December 2008 Speed Monitoring 1 0 Signals Chapter 4 Safe Limited Speed Output SLS_Out The safe state for this signal in all cases is OFF The SLS_Out output functionality is determined by the configured Safety Mode If the SLS_In is ON and a successful Safe Stop or Safe Limited Speed reset is performed the SLS_Out turns ON in all Safe Limited Speed modes except Safe Limited Speed Status Only For the Safe Limited Speed modes SLS the SLS_Out is used to interconnect speed monitoring relays in multi axis applications For SLS_Out to SLS_In cascaded signals the interface is a dual channel sourcing solid state safety output connected to a dual channel safety input configured as OSSD The outputs are pulse tested when the P73 SLS Out Mode parameter is configured for pulse testing If you disable pulse testing on this output the achievable SIL Category and PL ratings of your entire MSR5 P safety system are reduced For a single unit system or the last unit in a cascaded system the SLS_Out is intended to be connected to an input of a safety programmable logic controller PLC The same PLC could also control the Safe Stop function with a safe PLC output connected to the Safe Stop input SS_In For the first or middle units in a cascaded system the SLS_Out is intended to be connected to the Safe Limited Speed input SLS_In of the next relay in the cascaded system This lets one SLS switch enab
30. Single Fbk pe Ov diserepantteheeking Options 0 1 encoder Single Fbk 2 encoders Dual S P Chk 2 2 encoders speed discrepancy checking Dual Spd Chk 3 2 encoders position discrepancy checking Dual Pos Chk 28 Fbk 1 Type Selects the type of feedback for encoder Default 1 TTL Incremental i Options 0 Sine cosine 1 TTL Incremental 29 Fbk 1 Units Selects linear or rotary feedback for Default 0 Rotary Rev encoder 1 Options 0 Rotary Rev 1 Linear mm 30 Fok 1 Polarity Defines the direction polarity for encoder Default 0 Same as encoder Normal t Options 0 Same as encoder Normal 1 Reversed 31 Fbk 1 Counts Revolution Default 1024 Resolution Range 1 65 535 pulses revolution or pulses mm based on rotary or linear configuration defined by the P29 Fbk 1 Units parameter 86 Publication 440R UM004A EN P December 2008 Feedback Parameters General Relay and Feedback Monitoring Configuration Chapter 5 Parameter Description Setting 32 Fok 1 Volt Mon Encoder 1 voltage to be monitored Default 0 Voltage not monitored Options 0 Voltage not monitored 5 5V 10 9 7 12V 12 11 14V 14 11 5 15 5V 33 Fok 1 Speed Displays the output speed of encoder 1 Range 214 748 364 8 214 748 364 7 rpm or mm s based on rotary or linear configuration defined by P29 Fb
31. The default setting is 1 which equals Safe Stop 4 Set the Safety Mode parameter value to 4 for Master Safe Limited Speed with Door Monitoring mode Lim Speed DM In this mode the door is locked when the machine speed is above a configured Safe Speed Limit The door can be unlocked when the machine is at Standstill Speed or is at or below the Safe Speed Limit and the SLS_In input is OFF 5 Choose the P22 Reset Type parameter Publication 440R UMO004A EN P December 2008 163 Chapter 11 Configuration Examples 6 Set the Reset Type parameter value to 2 default which equals Manual Monitored Monitored The Manual Monitored setting requires a closing and opening of the reset circuit for a reset 7 Choose the P23 Reset Loop parameter 8 Set the Reset Loop parameter value to 0 default to disable reset qualification monitoring This setting assumes that there are no external contactors or devices connected to the system which require monitoring 9 Choose the P24 OverSpd Response parameter The default Overspeed Response time is 42 ms 10 Set the OverSpd Response parameter value to 1 which equals 48 ms See Overspeed Response Time on page 75 for details 11 Go to the next section to configure the type of feedback using the Feedback parameters group Example 1 Feedback Group Settings Feedback Group Parameters HIM Screen Software Screen 7 F amp Devices N P racontiguring Ato amp
32. Troubleshoot the MSR57P Relay Chapter 12 Description This bit is set to 1 if the configured Stop Delay Max Stop Time is active for a Safe Stop 1 or Safe Stop 2 while the relay is executing the Safe Stop This bit is not set during a Category 0 Safe Torque Off Safe Stop This bit is reset 0 when Standstill Speed is detected a Safe State Fault occurs or a SS Reset occurs 7 SS Stopped This bit is set to 1 if a successful Safe Stop has been executed and the speed is less than or equal to the Standstill Speed This bit is set to 0 by an SS Reset or the occurrence of a Stop Category Fault It is always 0 when the relay is configured for a Safe Torque Off without Standstill Speed Checking 8 SS Out This bit is set to 1 if the dual channel SS_Out output is being commanded to the ON state This bit is the commanded value not a readback value This bit is set to 0 if the SS_Out output is being commanded to the OFF state 9 SLS In This bit reflects the logical value evaluated for the dual channel SLS_In input 10 SLS Req This bit is set to 1 if the Safe Limited Speed operation has been requested while the relay is actively monitoring motion or a SLS Monitoring Delay LimSpd Mon Delay is in progress 11 SLS In Prog This bit is set to 1 when Safe Limited Speed monitoring is active 12 SLS Out This bit is set to 1 if the dual channel SLS_Out output is being commanded to the ON state This bit is the comma
33. all safety functions are disabled 24 Safe Stop The relay activates the configured Safe Stop Type upon deactivation 89 of the Safe Stop input or the occurrence of a Stop Category Fault Safe Stop with Door Monitoring In addition to monitoring for Safe Stop the 102 relay monitors the status of the door Safe Limited Speed In addition to monitoring for Safe Stop the relay monitors 105 the feedback velocity and compares it to a configurable Safe Speed Limit If the velocity exceeds the limit the relay initiates the configured Safe Stop Type Safe Limited Speed with Door Monitoring In addition to monitoring for Safe Stop 110 and Safe Limited Speed the relay monitors the status of the door Safe Limited Speed with Enabling Switch Control In addition to monitoring for 112 Safe Stop and Safe Limited Speed the relay monitors the status of the Enabling Switch input Safe Limited Speed with Door Monitor and Enabling Switch In addition to 115 monitoring for Safe Stop and Safe Limited Speed the relay monitors the status of the door and the Enabling Switch input Safe Limited Speed status only In addition to monitoring for Safe Stop the 119 relay monitors the feedback velocity and compares it to a configurable Safe Speed Limit If the velocity exceeds the limit the system status is made available as a safe output intended for a safety programmable logic controller No stopping acti
34. gt 6 White Brown B1 COS1 REF 13 Green IM 5 NC 14 White Green IM 10 NC 22 Gray EPWR_5V 14 gt 2 Orange Vcc 23 White Gray ECOM 6 gt 1 White Orange GND 15 S1 12 NC 17 S2 13 NC 19 S3 8 NC 24 Shield gt 1 White Orange GND NC NC NC 5 Green NC 7 White Green NC g1 Bare Shield case 1 Make sure you ground the shield properly to the low profile connector along with the feedback cable See the diagram on page 52 Publication 440R UM004A EN P December 2008 Integrated Axis Module Front View 2094 BC02 M02 S is shown Installation and Wiring Chapter 3 Wiring Low profile Connector Kits Low profile connector kits 2090 K6CK Dxxx are suitable for motor feedback MF auxiliary feedback AF and I O OD connections on any Kinetix 6000 IAM or AM module or on a Kinetix 7000 Drive when used with an MSR57P relay Use Low profile connector kit 2090 K2CK D15M or 2090 K2CK COMBO for Kinetix 2000 drives Kinetix 6000 Integrated Axis Module Axis Module MF connector Example ae Integrated Axis Module Side View 2094 BC02 M02 S is shown Publication 440R UMO004A EN P December 2008 Bulletin 2090 flying lead Feedback Cable with K6CK DM15Mxx Low profile Connector Kit Motor Feedback MF Connector IMPORTANT Tightening the mounting screws is essential to ensure shield integrity of the low profile connector covers wi
35. the safety related 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 accordance with relevant standards so that they can withstand expected conditions e basic safety principles shall be applied e a single fault in any of its parts does not lead to a loss of safety function e a single fault is detected at or before the next demand of the safety function or if this detection is not possible then an accumulation of faults shall not lead to a loss of the safety function e the average diagnostic coverage of the safety related parts of the control system shall be high including the accumulation of faults e the mean time to dangerous failure of each of the redundant channels shall be high e measures against common cause failure shall be applied 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 Safe Torque Off accomplishes a Stop Category 0 stop 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 e Stop Category 2 is a controlled stop with power availa
36. 000182 0 000651 0 002214 78 Publication 440R UM004A EN P December 2008 General Relay and Feedback Monitoring Configuration Chapter 5 Encoder Resolution 20 000 lines mm Speed Resolution Accuracy lines mm OverSpeed Response Time OverSpd Speed mm s Response Setting 0 01 0 1 1 10 42 002117 0 002417 0 005417 0 035417 48 001058 0 011208 0 002708 0 017708 60 000529 0 000604 0 001354 0 008854 84 000265 0 000302 0 000677 0 004427 132 000132 0 000151 0 000339 0 002214 228 000066 0 000076 0 000169 0 001107 420 000033 0 000038 0 000085 0 000553 Language Code For example an encoder resolution of 128 and OverSpeed Response Time of 42 ms results in a speed resolution accuracy of 19 865 RPM if your Safe Maximum Speed is configured for 100 0 RPM An SMS Speed Fault may occur when encoder 1 is at 80 135 RPM However the SMS Speed Fault may not occur until encoder 1 reaches 119 865 RPM 100 80 135 119 865 L No Trip E May Trip Hl Trip Zone RPM If your encoder resolution is not listed in the tables use these equations For rotary systems the conversion from Overspeed Response Time OverSpd Response to Speed Resolution in revolutions per minute is Speed Resolution 15000 r Speed RPM x 0 02 RPM OverSpd Response 36 x Feedback Resolution OverSpd Response 36 For linear systems the conversion from Over
37. 12 S22 52 s62 72 S82 51 52 X32 X42 532 S42 13 9 24VDC Powerflex 70 Pulse Test SS SLS ESM Doorlock Lock Door AC Drive with Outputs Input Input Input Control Monitor Monitor m8 DCComm DriveGuard 7 Dig Comm AAS RJ45 Slave Last MSR57P Rela mogo 1 Stop Encoder Encoder DPI i 4 i Ly T m Gate Control Isolated Diagnostics maaa tart ptt Lotz et 1 S0SandPower i i 4 SLS Input Power Supply E SLS Fault i i Feed SLS Stop p 4 24V status Status SS OUPU food tS ack Cmd Cmd OM pe i Power Out Output Safe Off Option YVL A2 Y35 Y37 34 44 Y1 S34 Y2 Y33 Y32 Y30 Y31 14 24 68 78 3 x 44 2 Aux signals 6 Enable Acad bA ont Co Circuit Remove Jumper 24V de Com Publication 440R UMO004A EN P December 2008 131 Chapter 8 Slave Safe Limited Speed Mode Slave Safe Limited Speed Slave Modes for Multi axis Cascaded Systems When properly configured for Slave Safe Limited Speed mode the speed monitoring safety relay performs the same functions as Safe Limited Speed mode as described on page 105 However the relay regards the Door Monitor input as a Door Control output from an upstream axis and performs a logical AND with its internal Door Control signal to form the cascaded Door Control output Door Monitoring Enabling Switch Monitoring and Lock Monitoring functions are not allowed in this mode For the
38. 132 See Multi axis Connections on page 137 for details on configuring slave relays Parameter Description Setting 20 Cascaded Defines whether the speed monitoring relay is a Options 2 Cascaded system middle unit Multi Mid Config single unit or if it occupies a first middle or last 3 Cascaded system last unit Multi Last position in a multi axis cascaded system 21 Safety Mode Defines the primary operating mode of the speed Option 10 Slave Safe Limited Speed Status Only monitoring safety relay Slv Spd Stat 56 Speed Provides hysteresis for SLS_Out output when Safe Default 0 Hysteresis Limited Speed monitoring is active Range 10 100 Slave Safe Limited Speed Status Only Wiring Examples Publication 440R UMO004A EN P December 2008 These examples show two different Slave Safe Limited Speed Status Only configurations The first example is configured as a cascaded middle unit via the P20 Cascaded Config parameter Multi Mid It has SS_In SLS_In and DM_In input connections from the previous upstream MSR357P relay as well as SS_Out SLS_Out and DC_Out output connections to the 135 Chapter8 Slave Modes for Multi axis Cascaded Systems next downstream MSR57P relay SLS Command and Stop Command outputs are connected to a 1791DS module The SLS_Out signals change state immediately based on the speed relative to the Safe Speed Limit if the Safe Limited Speed Monitoring Delay Lim
39. 2008 Outputs Publication 440R UMO004A EN P December 2008 Speed Monitoring 1 0 Signals Chapter 4 Reset Loop Input RL_In The RL_In input is used to monitor the normally closed contacts of the contactors that are used to remove power or to the feedback contacts from a drive Safe off circuit The signal level of the RL_In may be used to qualify a successful reset of the speed monitoring relay For feedback loop or external device monitoring and reset qualification wire the reset loop input Y2 to the 24V dc output terminal Y1 as shown The MSR57P relay has four safety control outputs and four diagnostic outputs The outputs have various output current capabilities depending on function See the specifications in Appendix A to verify your power requirements Safety Control Outputs Safe Stop Output SS_ Out The safe state for this signal is OFF These outputs are typically used in multi axis applications In multi axis applications you can use these outputs to daisy chain the master to a slave device For SS_Out to SS_In cascaded signals the interface is a dual channel sourcing solid state safety output connected to a dual channel safety input configured as OSSD The outputs are pulse tested when the P72 SS Out Mode parameter is configured for pulse testing If you disable pulse testing on this output the achievable SIL Category and PL ratings of your entire MSR5 P safety system are reduced 63 C
40. 24 Lock Monitoring nasasa Soka RE a ae ek Meo 25 Safe Maximum Speed Safe Maximum Acceleration and Safe Direction Monitoring 20 0 0005 25 Hardware Features i 6 2 hose wee ahs Wee eg wae 26 COMMON ONES 4 ey cota I let eee AES Me edd 2 Chapter 3 LOOM CHOR ee sa cen bd are goth ats Y anak Oye albumen we 4 29 General Safety Information x oh atest vee Rens RE WS eh acaed 30 Environment and Enclosure 1 6 4 04 4b kk A 31 Considerations for Reducing Noise 004 31 Dimensions aiaa aae a aa a e a aE ee 31 Spacing Requirements saaa aaa 32 Mount the MSR57P Relay cite ary BER ELE ESS Ot 32 Power Supply Requirements gt scec4 asa Ade dg OR He bE unde hE 32 Removable Terminal Blocks 0 4 ea Oe Ges Baie hE a ea 33 Table of Contents Speed Monitoring 1 0 Signals General Relay and Feedback Monitoring Configuration Girc it Didera Mes aee ipua hy pan asa Re beg Go bow ates ded 4 4 33 Terminal Connections er ease oo ke aye ite sid alae sy wie edd 34 Compatible Encoders siz dee Mite aaa 35 Connect an RUuCOders stsseo5 eS eee us Fae ees ae e eke 36 Encoder Cable Specifications n a a o ie Seed M aaice 29 42 Feedback Cable Connections for Kinetix 2000 Kinetix 6000 Kinetix 7000 and Ultra3000 Drives 0000 42 Flying lead Feedback Cable Pin outs 44 Wiring Low profile Connector Kits 51 Feedback Connections for PowerFlex 70 Drives 52 Safe Off Boar
41. 5 Reserved 6 Portuguese 7 Reserved 8 Reserved 9 Dutch 26 Max Display Spd Feedback Monitoring Determines scaling for P33 Fbk 1 Speed process display value Default 1800 Range 1 65 535 rpm or mm s The P27 Fbk Mode parameter defines whether the feedback monitoring devices are configured as a single encoder or as dual encoders When two encoders are used the P27 Fbk Model parameter also defines the type of discrepancy checking that is performed between the two encoders IMPORTANT Both feedback devices must be encoders You choose the type of feedback device either sine cosine or incremental for encoder 1 by using the P28 Fbk 1 Type parameter You also choose the feedback type resolution and polarity of both encoders Configure the feedback type as rotary or linear by using the Fbk x Units parameter Configure the resolution in lines per revolution or lines per millimeter by using the Fbk x Resolution parameter In these parameter names the x is 1 for encoder 1 and 2 for encoder 2 Publication 440R UM004A EN P December 2008 81 Chapter 5 82 General Relay and Feedback Monitoring Configuration For dual encoder configurations the resolution of the first encoder may be different than the resolution of the second encoder After discrepancy testing has passed the speed relative position and direction used by the speed monitoring relay are based on en
42. 65 535 deq or mm units are based on rotary or linear configuration defined by the P29 Fok 1 Units parameter 1 Read only Publication 440R UM004A EN P December 2008 87 Chapter 5 88 General Relay and Feedback Monitoring Configuration Publication 440R UM004A EN P December 2008 Introduction Safe Stop Mode Publication 440R UM004A EN P December 2008 Chapter 6 Safe Stop and Safe Stop with Door Monitoring Modes This chapter describes the Safe Stop modes of safety operation and provides a list of configuration parameters as well as wiring examples for each Safe Stop mode Topic Page Safe Stop Mode 89 Safe Stop Parameter List 99 Safe Stop Wiring Example 102 Safe Stop with Door Monitoring Mode 102 Safe Stop with Door Monitoring Parameter List 103 Safe Stop with Door Monitoring Wiring Example 104 When properly configured for Safe Stop the relay monitors the Safe Stop input SS_In and initiates the configured Safe Stop Type upon deactivation of the input The Safe Stop Type is configurable as either Safe Torque Off with or without Standstill Checking Safe Stop 1 or Safe Stop 2 The relay recognizes motion as stopped when the encoder 1 feedback signals indicate the system has reached the configured Standstill Speed Once Standstill Speed has been reached the Door Control output DC_Out is set to Unlock In addition to setting the Standstill Speed you configure both the Stop Delay Max Stop
43. An SLS_In Fault occurs if an error is detected in the SLS_In dual channel input 15 SLS Out Flt 1 0 An SLS_Out Fault occurs if an error is detected in the SLS_Out dual channel output 20 DM In Flt Faults A DM_In Fault occurs if an error is detected in the DM_In dual channel input 22 DC Out Flt A DC_Out Fault occurs if an error is detected in the DC_Out dual channel output 23 LM In Flt AnLM_In Fault occurs if an error is detected in the LM_In dual channel input 25 ESM In Flt An ESM_In Fault occurs if an error is detected in the ESM_In dual channel input 16 SLS Speed Flt The monitored speed was detected at greater than or equal to the Safe Speed Limit during Safe Limited Speed monitoring 17 SMS Spd Fit A Safe Maximum Speed Fault indicates that Safe Maximum Speed SMS monitoring is enabled and Motion the monitored speed was detected at greater than or equal to the configured Safe Max Speed 18 Accel Fit Faults An Acceleration Fault indicates that the monitored speed was detected as greater than or equal to the configured Safe Accel Rate during safe acceleration monitoring 19 Dir Flt A Direction Fault indicates that motion was detected in the restricted direction during safe direction monitoring SDM Publication 440R UM004A EN P December 2008 189 Chapter 12 Troubleshoot the MSR57P Relay Stop Category Fault Descriptions Code Display Text Description 21 Door Mon Fit If the relay is configured for Safe Limit
44. B List of Parameters No Name Description Values ze E 66 Max Acc Safe Maximum Acceleration Monitoring Stop Behavior Default 0 Use Safe Torque Off with Check for Standstill Torque Off R W Stop Typ Defines the safe stop type that will be initiated in the event Range 0 Use Safe Torque Off with Check for Standstill Torque Off of an Acceleration Fault 1 Use Configured Safe Stop Type Safe Stp Typ 67 Fault Bit encoded faults Bit 0 Combined Fault Status Combined Flt R Status Bit 1 Reserved for Core Error Core Error Bit 2 Invalid Configuration Fault Invalid Cfg Bit 3 P Out Fault MP Out Fit Bit 4 Reset On at PwrUp Fault Reset PwrUp Bit 5 Feedback 1 Fault Fbk 1 Fit Bit 6 Feedback 2 Fault Fbk 2 Fit Bit 7 Dual FB Speed Fault Dual Fbk Spd Bit 8 Dual FB Position Fault Dual Fbk Pos Bit 9 SS_In Fault SS In Fit Bit 10 SS_Out Fault SS Out Fit Bit 11 Deceleration Fault Decel Fit Bit 12 Stop Speed Fault Stop Spd Fit Bit 13 otion After Stopped Fault Mov in Stop Bit 14 SLS_In Fault SLS In Fit Bit 15 SLS_Out Fault SLS Out Fit Bit 16 SLS_Speed Fault SLS Spd Fit Bit 17 SMS_Speed Fault SMS Spd Fit Bit 18 Acceleration Fault Accel Fit Bit 19 Direction Fault Dir Flt Bit 20 DM_In Fault DM In Fit Bit 21 Door Monitoring Fault Door Mon Fit Bit 22 DC_Out Fault DC Out Fit Bit 23 LM_In Fault LM In Fit Bit 24 Lock Monitoring Fault Lock Mon Fit Bit 25 ESM_In Fault ESM In Fit Bit 26 ESM
45. Chapter3 Installation and Wiring 56 Publication 440R UM004A EN P December 2008 Introduction Inputs Publication 440R UM004A EN P December 2008 Chapter 4 Speed Monitoring 1 0 Signals This chapter describes the input and output signals of the speed monitoring relay Topic Page Inputs 57 Outputs 63 The MSR57P relay has five inputs capable of safety certified dual channel support Each dual channel input supports a specific safety function of the MSR57P relay Safe Stop Safe Limited Speed Door Monitoring Enabling Switch Monitoring and Lock Monitoring All five inputs are electrically identical and rely on the same pair of pulse test outputs Test_Out_0 S11 and Test_Out_1 S21 when not using the OSSD configuration The inputs can be configured for one of the following settings e 0 Not used e 1 Dual channel equivalent 2NC e 2 Dual channel equivalent 3 s 2NC 3s e 3 Dual channel complementary ANC 1NO e 4 Dual channel complementary 3 s ANC 1NO 3s e 5 Dual channel SS equivalent 3 s 2 OSSD 3s e 6 Single channel GNO Single channel configuration 1NC is not SIL CL3 PL e Cat 4 When configured for dual channel operation the consistency between the two channels is evaluated For dual channel equivalent configurations the active state for both channel 0 and channel 1 is ON For dual channel complementary configurations the active state for channel 0 is ON and the active state
46. Choose the P60 Lock Mon Input parameter The default value is 0 Not Used for applications that do not use an interlock switch 8 Set the Lock Mon Input parameter value to 1 for 2NC dual channel equivalent operation In this example application the Lock Monitor Input LM_In monitors the TLS 3 GD2 switch which has two normally closed 2 N C interlock monitoring contacts 9 Go to the next section to set the parameters that configure Safe Maximum Speed monitoring Example 2 Max Speed Group Max Speed Group Parameters HIM Screen Software Screen Fa Configuring Autol File Edit Explore Actions Help nn 88 510 3 a w FGJ Parameter Devices P Name value Units Max Speed Enable Node 1 MSR57 1 0 61 Max Speed Enable Enable 20 MSR57 1 0 62 Safe Max Speed 3300 RPM Max Spd Stop Typ Parameter List r ap a cfs thie Typ 10 ax Accel enable nadie z ae 1O65 Safe Accel Limit 20 Ris 1 0 66 Max Acc Stop Typ Safe Stp Typ General Feedback Stop Limited Speed Door Control Faults Follow these steps to configure Maximum Speed monitoring for the relay 1 From the Max Speed group choose the P61 Max Speed Enable parameter The default value is 0 Disabled for no maximum speed limitation 2 Set the Max Speed Enable parameter value to 1 Enabled which monitors that the encoder feedback signal does not exceed the velocity configured using the Safe Max Speed parameter
47. December 2008 Safe Stop and Safe Stop with Door Monitoring Modes Chapter 6 Safe Stop Parameters Parameter Description Setting 60 Lock Mon Input Configuration for the Lock Monitor input Default 0 Not used LM_In Options 0 Not used 1 Dual channel equivalent 2NC 2 Dual channel equivalent 3 s 2NC 3s 3 Dual channel complementary 1NC 1NQ 4 Dual channel complementary 3 s INC 1NO 3s 5 Dual channel SS equivalent 3 s 2 OSSD 3s 6 Single channel 1NC 71 MP Out Mode Defines whether the MP_Out output is Default 0 Pulse Test 1 pulse tested Options 0 Pulse test 1 No pulse test 72 SS Out Mode Defines whether the SS_Out output is Default 0 Pulse Test 1 pulse tested Options 0 Pulse test 1 No pulse test 74 Door Out Mode Defines whether the DC_Out output is Default 0 Pulse Test 1 pulse tested Options 0 Pulse test 1 No pulse test 1 If pulse testing is turned off for any output the SIL Category and PL rating is reduced for the entire MSR57P safety system Publication 440R UM004A EN P December 2008 101 Chapter6 Safe Stop and Safe Stop with Door Monitoring Modes Safe Stop Wiring Example This example illustrates safe stop wiring Master Safe Stop First or Single Unit 24V DC L1 L2 L3 Powerex 70 Pulse Test SLS Door Loc Lock Door AC Drive with Outputs Input Poe onm DriveGuard Control Moni
48. Defines whether the speed monitoring relay is a single unit Default 0 Single Unit System Single R W Config or if it occupies a first middle or last position in a multi axis cascaded system Options 0 Single Unit System Single 1 Cascaded System First Unit Multi First 2 Cascaded System Middle Unit Multi Mid 3 Cascaded System Last Unit Multi Last 202 Publication 440R UM004A EN P December 2008 Parameter Data Appendix B List of Parameters No Name Description Values ze E 21 Safety Defines the primary operating mode of the speed Default 1 Master Safe Stop Safe Stop R W Mode monitoring safety functions Options 0 Disabled 1 Master Safe Stop Safe Stop 2 Master Safe Stop with Door Monitoring Safe Stop DM 3 Master Safe Limited Speed Lim Speed 4 Master Safe Limited Speed with Door Monitoring Lim Speed DM 5 Master Safe Limited Speed with Enabling Switch Control Lim Speed ES 6 Master Safe Limited Speed with Door Monitor and Enabling Switch LimSpd DM ES 7 Master Safe Limited Speed Status Only Lim Spd Stat 8 Slave Safe Stop Slv Safe Stp 9 Slave Safe Limited Speed Slv Lim Spd 10 Slave Safe Limited Speed Status Only Slv Spd Stat 22 Reset Type Defines the type of reset used by the safety relay Default 2 Manual Monitored M
49. Door Monitoring Fault if the door is open when the reset is requested by a transition of the SLS_In input from OFF to ON A Door Monitor Fault is a Stop Category Fault which initiates the configured Safe Stop Type If an SS Reset is attempted while the SLS_In input is OFF an ESM Monitoring Fault occurs An ESM Monitoring Fault is a Stop Category Fault which initiates the configured Safe Stop Type page 108 Description Setting Defines the primary operating mode of the speed monitoring safety functions Setting To configure the relay for Safe Limited Speed with Door Monitoring and Enabling Switch Monitoring set the P58 DM Input and P54 ESM Input parameters in addition to the Safe Stop parameters listed on page 99 and the Safe Limited Speed parameters listed on 6 Master Safe Limited Speed with Door Monitor and Enabling Switch LimSpd DM ES 38 DM Input Configuration for the Door Monitor input Default 0 Not used DM_In Options 0 Not used 1 Dual channel equivalent 2NC 2 Dual channel equivalent 3 s 2NC 3s 3 Dual channel complementary 1NC 1NO 4 Dual channel complementary 3 s INC 1NO 3s 5 Dual channel SS equivalent 3 s 2 OSSD 3s 6 Single channel equivalent 1NC 54 Enable SW Input Configuration for the Enabling Switch input ESM_lIn Default 0 Not used 1 You must configure this parameter with a non zero value in this mode
50. ES modes See Safe Limited Speed with Enabling Switch Monitoring Mode on page 112 and Safe Limited Speed with Door Monitoring and Enabling Switch Monitoring Mode on page 115 for the conditions that must be true to start monitoring the ESM_In input If the ESM_In input is OFF while it is being monitored an ESM Monitoring Fault Stop Category Fault occurs and the relay initiates the configured Safe Stop Type See Chapter 12 Troubleshoot the MSR57P Relay for information on faults and how to recover from them Lock Monitor Input LM_In The LM_In input verifies that the guardlocking solenoid switch is locked It is intended to confirm the door control function The LM_In input is monitored by the first unit in multi axis systems 61 Chapter4 Speed Monitoring 1 0 Signals Reset Input Reset_In The Reset input is for reset and monitoring of the safety circuit The reset input can be configured for automatic manual or manual monitored reset types Wire the 34 reset input terminal to the 24V DC output terminal Y1 depending on the configured reset type as shown Reset Yall i C wet S34 Reset_In Reset Veal J Manual Monitored S34 Reset_In IMPORTANT If you configure the relay for automatic reset wiring of the S34 reset input terminal is not required 62 Publication 440R UM004A EN P December
51. From the Security group choose the P6 Operating Mode parameter 2 Set the Operating Mode parameter value to 1 which equals Run mode A configuration signature is generated Publication 440R UM004A EN P December 2008 183 Chapter 11 Configuration Examples 3 Choose the P10 Signature ID parameter and record the configuration signature value stored in this parameter 4 If you configured a password choose the P1 Password parameter and type the password 5 Choose the P5 Lock State parameter 6 Set the Lock State parameter value to 1 Lock to lock the configuration The Config Lock status indicator is solid yellow when the relay configuration is locked 184 Publication 440R UM004A EN P December 2008 Chapter 12 Troubleshoot the MSR57P Relay Introduction Topic Page Status Indicators 185 Nonrecoverable Faults 186 Fault Recovery 187 Input and Output Faults 187 Fault Codes and Descriptions 187 Fault Reactions 190 Status Attributes 192 Status Indicators The MSR57P relay features eight indicators to provide status information Indicator Status Description PWR Fault Green On The relay is operating normally and is in Run PWR Fault mode Red Flashing A recoverable fault has occurred Stop Red On A nonrecoverable fault has occurred Limited Speed All other indicators are OFF Red Green Flashing The configuration is being downloaded or a Standstill Safe Speed
52. Monitoring Fault ESM Mon Fit Bit 27 Encoder 1 Voltage Fault Fbk 1 V Fit Bit 28 Encoder 2 Voltage Fault Fbk 2 V Flt Bit 29 RLM Reset Fault RL Flt Bit 30 Reserved Bit 31 Reserved Publication 440R UMO004A EN P December 2008 207 Appendix B Parameter Data List of Parameters 68 208 Name Guard Status Description Bit 0 StatusOK Bit 1 Configuration_Lock Config Lock Bit 2 MP_Out_Value MP Out Bit 3 SS_In_Value SS In Bit 4 SS_Request_Status SS Req Bit 5 SS_In_Progress SS In Prog Bit 6 SS_Decelerating_Status SS Decel Bit 7 SS_Axis_Stopped_Status SS Stopped Bit 8 SS_Output_Value SS Out Bit 9 SLS_In_Value SLS In Bit 10 SLS_Request_Status SLS Req Bit 11 SLS_In_Progress SLS In Prog Bit 12 SLS_Output_Value SLS Out Bit 13 SMS_In_Progress SMS In Prog Bit 14 SMA_In_Progress SMA In Prog Bit 15 SDM_In_Progress SDM In Prog Bit 16 DC_Lock_Status DC Lock Bit 17 DC_Out_Value DC Out Bit 18 DM_In_Value DM In 9 Bit 19 DM_In_Progress DM In Prog Bit 20 LM_In_Value LM In Bit 21 ESM_In_Value ESM In Bit 22 ESM_In_Progress ESM In Prog Bit 23 Reset_In_Value Reset In Bit 24 Waiting_for_SS_Reset Wait Reset Bit 25 Waiting_for_Cycle_SS_In Wait SS Cyc Bit 26 Waiting_for_Stop_Request_Removal Wait No Stop Bit 27 SLS_Comand_Value SLS Cmd Bit 28 Stop_Command_Value Stop Cmd Bit 29 Bit 31 Reserved
53. Monitoring mode 102 Safe Torque Off with Standstill Checking 90 Safe Torque Off without Standstill Checking 92 safety certification TUV Rheinland 13 199 safety functions overview 23 safety information 30 Safety mode 24 74 slave combinations 139 safety reaction time 18 overspeed response 75 safety lock 153 serial communication DriveExecutive software 221 DriveExplorer software 218 Serial converter catalog number 217 serial converter 218 set parameters using a HIM 214 using software 217 Signature ID 153 158 159 SIL3 9 13 199 SIL 3 certification user responsibilities 14 single encoder configurations 82 single channel operation 57 Slave Safe Limited Speed mode 132 Slave Safe Limited Speed Status Only mode 135 Slave Safe Stop mode 127 SLS Reset 74 107 113 automatic 106 107 manual 107 manual monitored 107 SLS with Door Monitoring and Enabling Switch Monitoring mode 118 SLS with Door Monitoring mode 111 SLS_Command output 71 SLS_In input 60 107 SLS Reset 107 113 SLS_Out output 65 hold last state 121 SLS_Status output 71 spacing 32 specifications encoder 199 environmental 198 general 197 Speed Hysteresis 120 speed resolution 75 speed value display 80 SS Reset 74 95 96 SLS with Door Monitoring and Enabling Switch Monitoring mode 118 SS_In input 60 SS_Out output 63 Standstill Position Tolerance definition 94 Standstill Speed definition 93 status attributes 192 status indicators 185 stop category defini
54. P42 Direction Mon Parameter Description 0 Disabled Safe Direction Monitoring is disabled 1 Positive Always Safe Direction Monitoring is active any time the 2 Negative Always configuration is valid and not Disabled 3 Positive During SLS Safe Direction Monitoring is performed only when the relay is actively monitoring Safe 4 Negative During SLS Limited Speed Be sure to set the P30 Fbk 1 Polarity and P35 Fbk 2 Polarity configuration parameters properly for a consistent direction between encoder 1 and encoder 2 You may configure a position limit in encoder units tolerated in the wrong direction before a Direction Fault occurs by using the P43 Direction Tolerance parameter Publication 440R UM004A EN P December 2008 Safe Maximum Speed and Direction Monitoring Chapter 9 Positive Safe Direction Monitoring Diagram Speed Safe Direction I I 300 I I I Time Safe Direction Fault Negative Safe Direction Monitoring Diagram Safe Direction Fault Speed Time I 300 y Safe Direction I I If motion is detected in the incorrect direction while Safe Direction Monitoring is active a Direction Fault occurs If a Direction Fault is detected while the relay is monitoring motion the configured Safe Stop Type is initiated and direction monitoring is not performed during the safe stop If a Direction Fault is first detected after the initiation of the safe stop then all
55. PFH 7 04E 09 3 38E 09 14 8E 09 SFF 99 3 99 2 97 9 1 Pulse testing for outputs is configured using the following parameters P71 MP Out Mode P72 SS Out Mode P73 SLS Out Mode P74 Door Out Mode If you disable pulse testing on any of these outputs the achievable SIL Category and PL ratings of your entire MSR57P safety system are reduced See Outputs beginning on page 63 for more information The Safe State encompasses all operation that occurs outside of the other monitoring and stopping behavior defined as part of the speed monitoring safety relay In addition configuration takes place in the Safe State While the relay is in the Safe State all safety control outputs except the Door Control DC_Out output are in their safe state de energized The Door Control DC_Out output will be in either the locked state or in the de energized state depending upon the condition that resulted in the safe state The diagnostic Fault_Status output may be on in the safe state When you cycle power the relay enters the Safe State for self testing If the self tests pass and there is a valid configuration the relay remains in the Safe State until a successful request for safe speed monitoring occurs If a Safe State Fault is detected the relay goes to the Safe State This includes faults related to integrity of hardware or firmware For more information on faults see Chapter 12 Troubleshoot the MSRS57P Relay 17 C
56. Reserved 31 194 Publication 440R UM004A EN P December 2008 Troubleshoot the MSR57P Relay Chapter 12 1 0 Diagnostic Status Attributes These attributes are stored in the P69 I O Diagnostic Status parameter Each bit reflects the present state of I O signal and is used for diagnostics 0 open 1 closed 1 0 Diag Status Bit Display Text 0 SS In Ch 0 SS In Ch 1 SS Out Ch 0 SS_Out Ch 1 SLS In Ch 0 SLS In Ch 1 SLS Out Ch 0 SLS Out Ch 1 ESM In Ch 0 ESM In Ch 1 10 DM In Ch 0 11 DM In Ch 1 DC Out Ch 0 DC Out Ch 1 LM In Ch 0 LM In Ch 1 Reset In RL In SLS Cmd Stop Cmd MP Out Ch 0 21 MP Out Ch 1 Bits 22 31 are Reserved 0 anii oj CO N Dm o A j N i a i co co N o o1 A N N C When the MSR57P relay is not in Run mode the P69 I 0 Diagnostic Status parameter is not updated Publication 440R UM004A EN P December 2008 195 Chapter 12 Troubleshoot the MSR57P Relay Configuration Fault Codes Use these fault codes stored in P70 Config Flt Code to identify the reason for an Invalid Configuration Fault Value Description Display 0 No Fault No Fault 1 Password Required Password Req 2 Safety Mode 21 value not legal based on Cascaded Config 20 value P21 P20 3 Door Out Type 5
57. S high resolution 2094 BC xx Mxx S 1326AB Bxxxx M2ZL absolute or Bue OO Nae 2094 BMxx S 1326AB Bxxxx S2L single turn high resolution MPL B5xxx M S encoder MPL B6xxx M S 2099 BMxx S MPL B8xxx M S MPL B9xxx M S MPL A3xxx H 2098 DSD xxx sees Shh MPL A4xxx H Incremental encoder MPL A45xxx H MPL Axxxx V E 2093 AC05 MPx 2094 ACxx Mxx S Multi turn 2098 DSD xx 2093 AMxx 2094 AMax S oe high resolution MA absolute or MPL Bxxxx V E single turn 2098 DSD HVxxx E MPF Bxxxx M S a MPS Bxxxx M S encoder 2093 AC05 MPx 2094 ACxx Mxx S MPL A15xxx H 2098 DSD xx 2093 AMxx 2094 AMxx S MPL A2xxx H cna Incremental encoder 2094 BC xx M xx S L B1OXxXx 2098 DSD H Vxxx 2094 BMxx S _ MPL B2xxx H High resolution 2099 BMxx S HPK series encoder 2098 DSD xxx ae T pe ae TLY Axxxx H Incremental encoder 2093 ACO5 MPx 2094 ACxx Mxx S Multi turn 2098 DSD xxx 2093 AM xx 5094 AMxx S MPAS Axxxx V A high resolution absolute or BCxx Mxx single turn 2098 DSD HVxxx ernie 5 MPAS Bxxxx V A high resolution encoder 1 Refer to the Kinetix Motion Control Selection Guide publication GMC SG001 for detailed informatio 2 For Bulletin MPL motors equipped with bayonet style connectors e available as non flex catalog number 2090 XXNFMP Sxx 4 For Bulletin MPL motors equipped with DIN style connectors 3 These cables a Publication 440R UMO004A EN P December 2008
58. Safe Limited Speed monitoring is disabled when the SLS_In input is turned ON and the machine operates at its normal run speed Make sure that the SLS_In input cannot transition to ON while someone is in the hazardous area If you configure a Safe Limited Speed Monitoring Delay Lim Spd Mon Delay the delay begins when Safe Limited Speed monitoring is requested by the SLS_In transition from ON to OFF The relay begins monitoring for Safe Limited Speed when the delay times out If system speed is greater than or equal to the configured Safe Speed Limit during Safe Limited Speed monitoring an SLS Fault occurs and the relay initiates the configured Safe Stop Type Timing Diagram for Safe Limited Speed SLS Safe Limited Speed Request o 1 SLS Monitoring Safe Limited Speed Active I Delay Pi SLS Fault I I Acceptable Speed Range Time Publication 440R UM004A EN P December 2008 Publication 440R UM004A EN P December 2008 Safe Limited Speed SLS Modes Chapter 7 Safe Limited Speed Reset A Safe Limited Speed SLS Reset is a transition out of actively monitoring safe limited speed It can also occur during a Safe Limited Speed Monitoring Delay Lim Spd Mon Delay if one is configured When an SLS Reset occurs the relay no longer monitors for safe limited speed and the door is locked Speed is no longer restricted to the configured Safe Speed Limit The SLS Reset function monitors the SLS_In input If an SLS Reset i
59. Safe Stop Type While Safe Limited Speed Monitoring is active the ESM_In input is not monitored until the DM_lIn input is detected as OFF Make sure that the ESM_In input is not relied upon for safety until the DM_In input has transitioned to OFF After the DM_In input turns OFF it could turn back ON again if the door is closed behind the operator but the ESM_In input is still monitored Behavior While SLS Monitoring is Inactive If Safe Limited Speed monitoring is inactive the DM_In input must be ON door closed or a Door Monitoring Fault occurs and the relay initiates the configured Safe Stop Type The ESM_In input can be ON or OFF Behavior During SLS Monitoring Delay The status of the ESM_In input does not affect the operation of the system during a Safe Limited Speed Monitoring Delay LimSpd Mon Delay However the DM_In input must be ON door closed during the delay or a Door Monitoring Fault occurs and the relay initiates the configured Safe Stop Type 117 Chapter 7 SLS with Door Monitoring and Enabling Switch Monitoring Parameter List Parameter 21 Safety Mode Safe Limited Speed SLS Modes Safe Stop Reset SS Reset and Safe Limited Speed Reset SLS Reset The door must be closed when an SS Reset or SLS Reset is requested An SS Reset results in a Door Monitoring Fault if the door is open when the reset is requested by a transition of the SS_In input from OFF to ON An SLS Reset also results in a
60. 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 ranges 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 Publication 440R UM004A EN P December 2008 PFD and PFH Data Safe State Publication 440R UMO004A EN P December 2008 Safety Concept Chapter 1 These PFD and PFH calculations are based on the equations from Part6 of EN 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 PFD and PFH for 20 year Proof Test Interval Pulse Test ON i Single Encoder Dual Encoder Pulse Test OFF PFD 1 23E 04 5 93E 04 25 9E 04
61. Stopped Safe Speed Running Publication 440R UMO004A EN P December 2008 Application Examples Appendix E E Stop Reset Run Maintenance Kinetix drives define the positive direction for encoders as B leading A Therefore if drive polarity for the Kinetix drive is configured as positive then the P30 Fbk 1 Polarity for the MSR57P should be configured as negative This example is configured for Safe Stop 1 The control cabinet contains an MSR57P relay a Kinetix 6000 drive with Safe off function as well as a PanelView terminal The MSR57P relay monitors speed via a Sin Cos encoder connected to the Kinetix 6000 drive The control panel lets the operator select Run or Maintenance speeds The door has an interlock switch with guardlocking to limit access to the machine when the machine is operating at normal Run speed In addition an enabling switch is required to be held in the middle position while operators are within the machine environment to keep the machine running at safe speed A towerlight indicates machine status 233 AppendixE Application Examples Kinetix 6000 or Kinetix 7000 Drive System Layout Kinetix 6000 or Enabling Switch Motion Power Outputs and Kinetix 7000 Drive _ Safe nabiing wite Feedback Monitoring From the with Safe off Stop reas SLS Request MSR57P Relay to Kinetix Safe off Interface a Low Profile Co
62. Web to assist you in using its products At http support rockwellautomation com 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 and troubleshooting we offer TechConnect support programs For more information contact your local distributor or Rockwell Automation representative or visit http support rockwellautomation com Installation Assistance If you experience a problem within the first 24 hours of installation please review the information that s contained in this manual You can also contact a special Customer Support number for initial help in getting your product up and running United States 1 440 646 3434 Monday Friday 8 a m 5 p m EST Outside United Please contact your local Rockwell Automation representative for any States technical support issues 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 see phone number above to obtain one to your dis
63. aborted 107 Chapter 7 Safe Limited Speed Parameter List Safe Limited Speed SLS Modes To configure the relay for Safe Limited Speed monitoring set these parameters in addition to the Safe Stop parameters listed beginning on page 99 Parameter Description Setting 21 Safety Mode Defines the primary operating mode of the Setting 3 Master Safe Limited Speed Lim Speed speed monitoring safety functions 52 Lim Speed Input Configuration for the Safe Limited Speed input Default g Not usedl SLS_In Options 0 Not used 1 Dual channel equivalent 2NC 2 Dual channel equivalent 3 s 2NC 3s 3 Dual channel complementary 1NC 1NQ 4 Dual channel complementary 3 s 1NC 1NO 3s 5 Dual channel SS equivalent 3 s 2 OSSD 3s 6 Single channel 1NC 53 LimSpd Mon Defines the Safe Limited Speed Monitoring Default 0 Delay Delay between the SLS_In ON to OFF transition R 0 65535 and the initiation of the Safe Limited Speed anger Me as SLS monitoring 55 Safe Speed Defines the speed limit that will be monitored Default 0 Limit in Safe Limited Speed SLS mode Range 0 65535 mpm ormm s based on rotary or linear configuration defined by the encoder 1 feedback configuration P29 Fbk 1 Units parameter 73 SLS Out Mode Defines whether the SLS_Out output is Default 0 Pulse Test 1 pulse tested Options 0 Pulse test 1 No pulse test 1 If pulse testing is turne
64. configured using the Safe Max Speed parameter 170 Publication 440R UM004A EN P December 2008 Configuration Examples Chapter 11 3 Choose the P62 Safe Max Speed parameter The default value is 0 rpm or mm s Enter a value from 0 6553 5 4 Type the maximum allowable rpm value for velocity The speed is calculated in rpm based on the Fbk 1 Units parameter setting 0 Rotary feedback entered previously 5 Choose the P63 Max Spd Stop Typ parameter 6 Set the Max Spd Stop Typ parameter value to 0 default which equals Use Safe Torque Off with Standstill Checking Torque Off With this configuration if speed exceeds the configured Safe Max Speed the relay initiates a Safe Torque Off with Standstill Checking type of Safe Stop regardless of the configured Safe Stop Type 7 Go on to the next section to put the relay into Run mode and lock the configuration Example 1 Final Security Group Settings This example only includes the steps for entering a configuration using the HIM module or software program You must also follow the requirements described in Chapter 10 Safety Configuration and Verification operational startup of any safety related system ATTENTION You must verify the configuration and validate the entire system including a complete functional test before the A Only authorized specially trained personnel experienced in the commissioning and operation of safety related systems may con
65. deceleration monitoring is being performed the speed limit monitored during the Stop Delay Max Stop Time must be less than the Deceleration Monitoring Value or a Deceleration Fault occurs A Deceleration Fault places outputs in the faulted state but allows the door to be unlocked when the feedback signals indicate Standstill Speed has been reached Safe Stop Reset The Safe Stop Reset SS Reset is a reset from the Safe State or from a stopping condition to actively monitoring motion The reset is successful if the SS_In input is ON no faults are present and if reset qualification P23 Reset Loop is configured the qualification is met For all types of reset automatic manual or manual monitored if a reset of the Safe Stop or Safe Limited Speed functions can result in machine operation the other speed monitoring functions must be configured to detect and prevent dangerous motion ATTENTION gt The Safe Stop Reset does not provide safety related restart according to EN 60204 1 Restart must be performed by external measures if automatic restart could result in a hazardous situation You are responsible for determining whether automatic restart could pose a hazard ATTENTION gt Chapter 6 96 Safe Stop and Safe Stop with Door Monitoring Modes When an SS Reset is requested all diagnostic tests that can be performed prior to outputs being energized are performed prior to a successful SS Reset If
66. detected after the system is stopped and the door has been unlocked e speed greater than the configured Standstill Speed e a position change greater than the configured Standstill Position limit 27 Fbk 1 V Fault An Encoder 1 Voltage Fault occurs if the encoder voltage at encoder 1 is detected as out of range 28 Fbk 2 V Fault An Encoder 2 Voltage Fault occurs if the encoder voltage at encoder 2 is detected as out of range 188 Publication 440R UM004A EN P December 2008 Troubleshoot the MSR57P Relay Fault While Stopping Faults Chapter 12 Code Display Text Description 11 Decel Fit A Deceleration Fault occurs if the speed is detected at greater than the limit specified for the configured Stop Delay Max Stop Time when the configured Safe Stop Type is Safe Stop 1 or 2 12 Stop Spd Fit A Stop Speed Fault occurs when the relay is configured for a Safe Stop Type that includes Standstill Speed checking Safe Stop 1 or 2 and Safe Torque Off with Standstill Speed Checking and the detected speed is greater than the configured Standstill Speed at the end of the configured Stop Delay Max Stop Time Stop Category Fault Descriptions Code Display Text Description 9 SS In Fit An SS_In Fault occurs if an error is detected in the SS_In dual channel input 10 SS Out Fit An SS_Out Fault occurs if an error is detected in the SS_Out dual channel output 14 SLS In Fit
67. door to unlock all axes must be below safe limited speed TIP Only the middle and last relays in a multi axis system can be configured for slave modes To configure the relay for Slave Safe Limited Speed monitoring set these parameters in addition to the Slave Safe Stop parameters listed Parameters on page 127 See Multi axis Connections on page 137 for details on configuring slave relays Parameter Description Setting 20 Cascaded Defines whether the speed monitoring relay is a Options 2 Cascaded middle unit Multi Mid Config single unit or if it occupies a first middle or last 3 Cascaded last unit Multi Last position in a multi axis cascaded system 21 Safety Mode Defines the primary operating mode of the speed Option 9 Slave Safe Limited Speed Slv Lim Spd monitoring safety functions 52 Lim Speed Input Configuration for the Safe Limited Speed input Option 5 Dual channel SS equivalent 3 s 2 OSSD 3s SLS_In 53 LimSpd Mon Defines the Safe Limited Speed Monitoring Delay Default 0 Delay between the SLS_In ON to OFF transition and the R 0 65535 initiation of the Safe Limited Speed SLS angee Sis 29 monitoring 55 Safe Speed Defines the speed limit that will be monitored Default 1 Limit during the Safe Limited Speed SLS mode Range 0 6553 5 rom or mm s 1 You must configure a value greater than zero for this parameter in this mode 132 based on rotary or linear c
68. e or Cat 4 system should be carried out by the system integrator or a user trained and Development and Testing experienced in safety applications The developer must follow good design practices e Use functional specifications including flow charts timing diagrams and sequence charts e Perform a configuration review e Perform configuration validation Commissioning the System The flowchart shows the steps required for commissioning a Speed Monitoring safety system The items in bold are explained in the following sections Specify the Safety Configuration Configure the System Configuration Signature ID Generated Project Verification Test Tests Passed Ye S Confirm the Project Record the Configuration Signature ID Configuration Signature ID Generated Make Required Modifications Lock the Configuration Verify Signature ID and Lock Status 156 Publication 440R UM004A EN P December 2008 Safety Configuration and Verification Chapter 10 Specify the Safety Configuration You must create a specification for the system configuration that addresses the safety requirements identified by a risk assessment of your application Use the specification to verify that the configuration is selected correctly and that it fully addresses your application s functional and safety control requirements The specification must be a detailed description that may include if applicable e a sequen
69. equal to the Low Threshold Speed Hysteresis 100 x Safe Speed Limit The SLS_Out output is held in its last state when the speed is less than the configured Safe Speed Limit and the speed is greater than or equal to the Low Threshold Speed Hysteresis 100 x Safe Speed Limit To configure the relay for Safe Limited Speed Status Only monitoring set these parameters in addition to the Safe Stop parameters listed on page 99 Parameter Description Setting 21 Safety Mode Defines the primary operating mode of the Setting 7 Master Safe Limited Speed Status Only speed monitoring safety functions Lim Spd Stat 52 Lim Speed Input Configuration for the Safe Limited Speed Default 9 Not usedl input SLS_In Options 0 Not used 1 Dual channel equivalent 2NC 2 Dual channel equivalent 3 s 2NC 3s 3 Dual channel complementary 1NC 1NOQ 4 Dual channel complementary 3 s INC 1NO 3s 5 Dual channel SS equivalent 3 s 2 OSSD 3s 6 Single channel equivalent 1NC 53 LimSpd Mon Defines the Safe Limited Speed Monitoring Default 0 Delay Delay between the SLS_In ON to OFF transition and the initiation of the Safe Range 0 6553 5 s Limited Speed SLS monitoring 55 Safe Speed Defines the speed limit that will be monitored Default 0 Limit during the Safe Limited Speed SLS mode Range 0 6555 3 rpm or mm s based on rotary or linear configuration defined by the encoder 1 feedback con
70. for channel 1 is OFF Any time both channels are not active the input pair is evaluated as OFF 57 Chapter 4 58 Speed Monitoring I 0 Signals When both channels are active if one channel s input terminal transitions from active to inactive and back to active while the other channel s input terminal remains active both channel must go inactive at the same time before the evaluated status may return to ON This condition is called cycle inputs required cycle inputs required Channelo 2t ve in active active Channel 1 in active Eval dS un valuated Status OFF If inputs are configured with the following dual channel settings an Input fault occurs if the inputs are discrepant for longer than 3 seconds or if a cycle inputs required condition exists lor longer than 3 seconds e 2 Dual channel equivalent 3 s 2NC 3s e 4 Dual channel complementary 3 s INC 1NO 3s e 5 Dual channel SS equivalent 3 s 2 OSSD 3s If inputs are configured with one of the following dual channel settings which have no limit on the length of time that inputs can be discrepant an Input fault will not occur for any discrepant condition or for any cycle inputs required condition e 1 Dual channel equivalent 2NC e 3 Dual channel complementary INC 1NO For all input settings except Dual channel SS equivalent 3 s 2 OSSD 3s if one or two channels are connected to a 24V DC source other tha
71. in the wrong Default 10 R W Tol direction when Safe Direction Monitoring is active Range 0 65 535 deg or mm 204 based on rotary or linear configuration defined by the P29 Fbk 1 Units parameter Publication 440R UM004A EN P December 2008 Parameter Data Appendix B List of Parameters No Name Description Values ze E 44 Safe Stop Configuration for Safe Stop input SS_In Default 1 Dual channel equivalent 2NC R W Input Options 0 Not used 1 Dual channel equivalent 2NC 2 Dual channel equivalent 3 s 2NC 3s 3 Dual channel complementary 1NC 1NO 4 Dual channel complementary 3 s 1NC 1NO 3s 5 Dual channel SS equivalent 3 s 2 OSSD 3s 6 Single channel 1NC 45 Safe Stop Safe operating stop type selection This defines the type of Default 0 Safe Torque Off with Standstill Checking Torque Off R W Type Safe Stop that is performed if the Safe Stop function is f initiated by a stop type condition Options 0 Safe Torque Off with Standstill Checking Torque Off 1 Safe Stop 1 2 Safe Stop 2 3 Safe Torque Off without Standstill Checking Trq Off NoCk 46 Stop Mon Defines the monitoring delay between the request and the Default 0 R W Delay Stop Delay Max Stop Time when the request for a Safe Stop 1 or a Safe Stop 2 is initiated by an SS_In input ON to Range 0 6553 5 s OFF transition If the S
72. maximum frequency for your encoder type the fault is reported but no further action is taken Deceleration monitoring performs the safety function during the Stop Delay Max Stop Time That is if an SMS Speed Fault occurs during the Stop Delay Max Stop Time the fault is ignored and the stopping action continues 1 100 kHz for Sin Cos or 200 kHz for Incremental 146 Publication 440R UM004A EN P December 2008 Safe Maximum Speed and Direction Monitoring Chapter 9 SMS Speed Fault When P63 Max Spd Stop Typ Set to Use Configured Stop Type Safe Stp Typ Stop Request l SMS Speed Fault y SOP l O p l Monitoring l Stop Delay l A Delay 1 Safe Max m I Speed Limit a L Deceleration Tolerance Standstill Speed Time If an SMS Speed Fault is detected during the Stop Delay Max Stop Time and the P63 Max Spd Stop Typ parameter equals Use Safe Torque Off with Check for Standstill Torque Off the SMS Speed Fault is reported and the MP_Out output is set to OFF The Stop Delay Max Stop Time continues with standstill checking enabled SMS Speed Fault When P63 Max Spd Stop Typ Set to Use Safe Torque Off with Check for Standstill Torque OFF Stop Request SMS Speed I Stop Delay I I Safe Max pl T Unlock Door Standstill Speed k Time SS_In an i Serre EE as SS_Out oe eae cia 3 Stee casa MP_Out eee er cee et ae Dei ee ee ees i For more inform
73. or Incremental Motor with Embedded Encoder 1 Sin Cos 1 Terminate shield to functional earth at drive end See page 52 In this example feedback from both encoders is monitored by the drive Publication 440R UMO004A EN P December 2008 4 Chapter 3 Encoder Cable Specifications Feedback Cable Installation and Wiring Connections for Kinetix 2000 Kinetix 6000 Kinetix 7000 and Ultra3000 Drives Connection Option Connector Kit To connect the MSR57P use the 1585J M8RB 2M5 cable available from Rockwell Automation 1585J M8RB 2M5 Cable RJ45 5cm p 2 in p 1cm 0 4 in 2 5 m Cable Connection to Drive Catalog Number MSR57P Relay Encoder or Power Supply 1585J M8RB 2M5 Flying leads 1585J M8RB 2M5 Flying Lead Wires Pin Number Wire Color Signal 1 White Orange GND 2 Orange Vcc 3 White Blue A1 SIN1 REF 4 Blue A1 SIN1 5 Green NC 6 White Brown B1 COS1 REF 7 White Green NC 8 Brown B1 COS1 3 Bare Shield case 1 Terminate encoder shield to functional earth at the drive To connect your MSR57P relay to a Kinetix drive review the connector options and compatible cable and motor types listed in the following tables Connector Options for Connecting Motor and Auxiliary Feedback Using this Type of Cable Catalog Number 2090 K6CK D15M Description Motor feedback connector kit Refer to the table of
74. or change the password choose the P13 New Password parameter The default value is 0 Enter a value from 0 4 294 967 295 8 Type the new password value 162 Publication 440R UMO004A EN P December 2008 Configuration Examples Chapter 11 9 Choose the P17 Password Command parameter 10 Set the Password Command parameter value to 1 which equals Change Password Change PW 11 Go to the next section to set the parameters found in the General parameters group Example 1 General Group Settings General Group Parameters HIM Screen Software Screen Fa Configuring Autol File Edit Explore Actions Help RPM ce bel EE S a e 2A Ps FGM Parameter Devices S N P P Name value Cascaded Config Node 1 MSR57 1 0 20 Cascaded Config Single 3 0 MSRS7 1 0 21 Safety Mode Safe Stop Reset Type Parameter List 1 0 22 Reset Type Monitored S Paranekora 1 0 23 Reset Loop Disable Security 1 0 24 OverSpd Response 42 msec 1 0 25 Language Code English 1 0 26 Max Display Spd 1800 Feedback 1 0 71 MP Out Mode Pulse Test Stop 1 0 72 55 Out Mode Pulse Test Limited Speed 1 0 73 SLS Out Mode Pulse Test Door Control Max Speed Faults Follow these steps to configure the general operation of the relay 1 From the General group choose the P20 Cascaded Config parameter 2 Set the Cascaded Config parameter to 0 default to configure the relay as a Single unit 3 Choose the P21 Safety Mode parameter
75. outputs go to their faulted state For more information about faults see Fault Reactions on page 190 Max Speed Max Accel Set these parameters to configure Safe Maximum Speed Safe PP Maximum Acceleration and Safe Direction Monitoring and Direction Monitoring R Parameter List Parameter Description Setting 30 Fbk 1 Polarity Defines the direction polarity for encoder 1 Default 0 Same as encoder Normal Options 0 Same as encoder Normal 1 Reversed 35 Fbk 2 Polarity Defines the direction polarity for encoder 2 Default 0 Same as encoder Normal Options 0 Same as encoder Normal 1 Reversed Publication 440R UM004A EN P December 2008 151 Chapter9 Safe Maximum Speed and Direction Monitoring Parameter Description Setting 42 Direction Mon Defines the allowable direction if Safe Default 0 Disabled Direction Monitoring is enabled Options 0 Disabled 1 Positive always Pos Always 2 Negative always Neg Always 3 Positive during safe limited speed monitoring Pos in SLS 4 Negative during safe limited speed monitoring Neg in SLS 43 Direction Tol The position limit in encoder units tolerated in Default 10 Coa Safe Direction Range 0 65 535 deg or mim l based on rotary or linear configuration defined by P29 Fbk 1 Units parameter 61 Max Speed Enable Safe Maximum Speed Monitoring Default 0 Disabled enable Optio
76. s62 SLS_In_1 SLS_Out_1 78 s62 SLS_In_1 ry Safe Limited Speed Input 1 i ri ia i 11 Pulse_Source_0 21 Pulse_Source_1 BL 34 S AT 3 Door Monitor Input ote S32 DM_In_0 Ltr 2 fs S42 DM_In_t MP_Out_0 14g MP_Out_0 14 p MP_Out_0 1 MP_Out_1 24 gt MP_Out_1 24 gt MP_Out_1 2 Reset w S34 Reset_in saat 34 Reset_In se S34 Reset_In MT GD2 Trojan Input ee ee or Cadet Interlock A Feedback A2 A Feedback A2 Feedback A2 First Axis Second Axis Third Axis Feedback Feedback Feedback 24V de Com Safe Stop Safe Limited Speed and Enabling Switch with Door Monitoring 5 wire Connections First Unit Multi First Middle Unit Multi Mid Last Unit Multi Last Master Slave Slave Safe Stop Input Axis 1 Axis 2 Axis 3 12 SS_In_0 SS_Out_0 34 S12 SS_In_0 S_Out_0 34 12 SS_In_0 22 SS_In_1 SS_Out_1 44 22 S_In_1 SS_Out_1 44 c 822 SS_In_1 52 SLS_In_0 SLS_Out_0 68 S52 SLS_In_0 SLS_Out_0 68 52 SLS_In_0 62 SLS_In_1 SLS_Out_1 78 s62 SLS_In_1 SLS_Out_1 78 H s62 SLS_In_1 72 ESM_In_0 82 ESM_In_1 Li l 11 Pulse_Source_0 21 Pulse_Source_1 33 34 Oo Door Monitor Input Jor a 32 DM_In_0 Thr S42 OM_In_t oO MP_Out_0 14 MP_Out_0 14 j gt MP_Out_0 14 i MP_Out_1 24 gt MP_Out_1 24 MP_Out_1 24 Reset Auto Auto es
77. 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 device 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 ATTENTION When designing your system consider how personnel will exit the machine if the door locks while they are in the machine Additional safeguarding devices may be required for your specific application A HIM module may be used to configure and monitor the MSR5 P speed monitoring safety relay However the stop A button on the HIM does not have safety integrity and must not be used to execute a safe stop The stop button setting is not maintained through a power cycle Do not use the stop button in conjunction with an Automatic Reset configuration Unintended motion could result Publication 440R UM004A EN P December 2008 Publication 440R UM004A EN P December 2008 Safety Concept Chapter 1 Safety Category 4 Performance Definition To achieve Safety Category 4 according to ISO 13849 1 2006
78. with PowerFlex or Kinetix drives Doing so may cause permanent damage to the A drive The following illustrations show simple examples of how to connect an MSR57P relay with an encoder with or without a drive Single Encoder without a Drive et i Encoder Power Supply 1 ae i Encoder 1 Sin Cos or Incremental Terminal Blocks Wa 0000 0000 MSR57P Contig Lock Encoder Cable 1585J M8RB 2M5 1 Refer to your encoder specifications to determine power supply requirements 5V 9V 12V or 24V Publication 440R UM004A EN P December 2008 Installation and Wiring Chapter 3 Two Encoders without a Drive A Encoder 1 a Sin Cos or Incremental Encoder Power Supply 1 Terminal Blocks Encoder 2 a Sin Cos or are 0000 0000 Incremental ii ene ae a MSR57P cwis 1 Encoder Cables Encoder Power Supply 1585J M8RB 2M5 S72 82 X32 X42 YI Y2 S34 Y3 Y3 Y32 Y33 Y30 68 78 Y35 AZ Terminal Blocks 1 Refer to your encoder specifications to determine power supply requirements 5V 9V 12V or 24V Single Encoder with PowerFlex Drive PowerFlex Drive ara Encoder 1 Incremental 1 ETE E EE ETEEN Sn S21 s252 mo siS MSR57P Encoder Cable h pe i 1585J M8RB 2M5 aetna 8 V37 Yat Vaz vsi vso 68 me Y3
79. 00 lines mm Speed Resolution Accuracy lines mm OverSpeed Response Time OverSpd Speed mm s Response Setting 0 01 0 1 1 10 100 400 42 0 083 0 084 0 087 0 117 0 417 1 417 48 0 042 0 042 0 043 0 058 0 208 0 708 60 0 021 0 021 0 022 0 029 0 104 0 354 84 0 010 0 010 0 011 0 015 0 052 0 177 132 0 005 0 005 0 005 0 007 0 026 0 089 228 0 003 0 003 0 003 0 004 0 013 0 044 420 0 001 0 001 0 001 0 002 0 007 0 022 Encoder Resolution 1000 lines mm Speed Resolution Accuracy lines mm OverSpeed Response Time OverSpd Speed mm s Response Setting 0 01 0 1 1 10 100 200 42 0 042 0 042 0 045 0 075 0 375 0 708 48 0 021 0 021 0 023 0 038 0 188 0 354 60 0 010 0 011 0 011 0 019 0 094 0 177 84 0 005 0 005 0 006 0 009 0 047 0 089 132 0 003 0 003 0 003 0 005 0 023 0 044 228 0 001 0 001 0 001 0 002 0 012 0 022 420 0 001 0 001 0 001 0 001 0 006 0 011 Encoder Resolution 5000 lines mm Speed Resolution Accuracy lines mm OverSpeed Response Time OverSpd Speed mm s Response Setting 0 01 0 1 1 10 40 42 0 008367 0 008667 0 011667 0 041667 0 141667 48 0 004183 0 004333 0 005833 0 020833 0 070833 60 0 002092 0 002167 0 002917 0 010417 0 035417 84 0 001046 0 001083 0 001458 0 005208 0 017708 132 0 000523 0 000542 0 000729 0 002604 0 008854 228 0 000261 0 000271 0 000365 0 001302 0 004427 420 0 000131 0 000135 0
80. 0f Decel Rer Speed 52 Lim Speed Configuration for the Safe Limited Speed input SLS_In Default 0 Notused R W Input Options 0 Not used 1 Dual channel equivalent 2NC 2 Dual channel equivalent 3 s 2NC 3s 3 Dual channel complementary 1NC 1NQ 4 Dual channel complementary 3 s INC 1NO 3s 5 Dual channel SS equivalent 3 s 2 OSSD 3s 6 Single channel 1NC 53 LimSpd Defines the Safe Limited Speed Monitoring Delay between Default 0 R W Mon Delay the SLS_In ON to OFF transition and the initiation of the Safe Limited Speed SLS monitoring Range 0 6553 5 s 54 Enable SW Configuration for the Enabling Switch input ESM_In Default O Notused R W Input Options 0 Not used 1 Dual channel equivalent 2NC 2 Dual channel equivalent 3 s 2NC 3s 3 Dual channel complementary 1NC 1N0 4 Dual channel complementary 3 s INC 1NO 3s 5 Dual channel SS equivalent 3 s 2 OSSD 3s 6 Single channel 1NC Publication 440R UMO004A EN P December 2008 205 Appendix B Parameter Data List of Parameters No Name Description Values ze HE 55 Safe Speed Defines the speed limit that will be monitored in Safe Default 0 R W Limit Limited Speed SLS mode Range 0 6553 5 rpm or mm s based on rotary or linear configuration defined by P29 Fbk 1 Units parameter 56 Speed Provides hysteresis for SLS_Out output when Safe Limited Defa
81. 118 DPI port 213 217 218 221 DriveExecutive software catalog number 217 configure communication 221 connect to 217 interface 224 set parameters 224 version 27 217 DriveExplorer software catalog number 217 configure communication 219 connect to 217 interface 219 set parameters 219 version 27 217 dual channel operation 57 dual encoder configurations 82 resolution 82 dual feedback position discrepancy tolerance definition 83 dual feedback speed discrepancy tolerance definition 84 dual feedback speed ratio definition 83 E edit the configuration 158 160 emergency shutdown systems 13 EN 60204 1 15 EN 62061 13 16 197 199 enclosure 31 237 Index 238 encoder connecting 36 40 resolution 75 specifications 199 ESM_lIn input 61 113 European norm definition 9 failure contact information 22 fault Door Monitoring 118 fault codes configuration faults 196 Fault While Stopping Faults 189 Safe State Faults 188 Stop Category Faults 189 fault history queue 187 DriveExplorer software 220 HIM 215 fault recovery 187 Fault While Stopping Faults 189 191 Fault_Status output 70 features 26 feedback device types 81 fault 86 parameters 86 polarity 82 resolution 81 type 81 feedback monitoring 81 87 G Guard Status attributes 192 H HIM module catalog number 27 set parameters 214 hold last state SLS_Out output 121 I 1 0 Diagnostic Status attributes 195 IEC 61508 13 16 197 199 inputs 57 I
82. 14 24 SLS outputs 68 78 24V DC 2 A short circuit protected SS outputs 34 44 24V DC 100 mA short circuit protected SLS_Status output Y35 Fault_Status output Y37 24V DC 50 mA short circuit protected Door control outputs 51 52 24V DC short circuit protected e 1 5A bipolar Power to Release Power to Lock configuration e 20 mA per output cascading 2Ch Source configuration Stop_Command output Y32 24V DC 100 mA short circuit protected SLS_Command output Y33 24V DC 100 mA short circuit protected Output Y1 24V DC 20 mA short circuit protected Pulse outputs 11 S21 24V DC 100 mA short circuit protected Pulse inputs 12 22 32 42 52 S62 72 82 X32 X42 11 mA per input max Inputs 34 Y2 11 mA per input max Input ON Voltage min 111V Input OFF Voltage max 5V Input OFF Current max 2 mA 197 AppendixA Specifications Environmental Specifications 198 Attribute Input to output response time SS_In SLS_In DM_In ESM_In LM_In Value 20 ms Overspeed Response Time User configurable Power on delay max 3s Pollution degree 2 Enclosure protection IP40 Terminal protection IP20 Wire Type Use copper that will withstand 60 75 C 140 167 F Conductor size 0 2 2 5 mm 12 24 AWG Terminal screw torque 0 6 0 8 Nm 5 7 Ib in Case material Polyamid
83. 14 NC 0 White Gray ECOM 6 gt 1 White Orange GND 11 Orange EPWR_9V 7 gt 2 Orange Vcc 13 TS 11 NC 5 S1 12 NC 16 S2 13 NC 7 S3 8 NC 5 Green NC 7 White Green NC gl2 Bare Shield case 1 DIN Connector 2 Make sure you ground the shield properly to the low profile connector along with the feedback cable See the diagram on page 52 47 Chapter3 Installation and Wiring MPL A15xxx V E MPL A2xxx V E MPF MPS A3xx M S MPF MPS A4xx M S MPF MPS A45xx M S MPS A5xx M S Motors and MPAS Axxxx VxxSxA Linear Stages Drive Side MSR57P Relay Side 1585J M8RB 2M5 Cable MEDIN Connecter Sianal Connector Pin a a einai 1 Black Sine 1 gt 4 Blue A1 SIN1 2 White Black Sine 2 gt 3 White Blue A1 SIN1 REF 3 Red Cos 3 gt 8 Brown B1 COS1 4 White Red Cos 4 gt 6 White Brown B1 COS1 REF 5 Green Data 5 NC 6 White Green Data 10 NC 9 Gray EPWR_5V 14 gt 2 Orange Vcc 10 White Gray ECOM 6 gt 1 White Orange GND 11 Orange EPWR_9V 7 NC 13 TS 11 NC 15 S1 12 NC 16 S2 13 NC 17 S3 8 NC 5 Green NC 7 White Green NC gl Bare Shield case 1 Make sure you ground the shield properly to the low profile connector along with the feedback cable See the diagram on page 52 48 Publication 440R UM004A EN P December 2008 Publicati
84. 182 Publication 440R UMO004A EN P December 2008 Configuration Examples Chapter 11 3 Choose the P62 Safe Max Speed parameter The default value is 0 rpm or mm s Enter a value from 0 6553 5 4 Type the maximum allowable rpm value for velocity The speed is calculated in rpm based on the Fbk 1 Units parameter setting 0 Rotary feedback entered previously 5 Choose the P63 Max Spd Stop Typ parameter 6 Set the Max Spd Stop Typ parameter value to 1 which equals Use Configured Safe Stop Type Safe Stp Typ With this configuration if speed exceeds the configured Safe Max Speed the relay initiates the configured Safe Stop Type 7 Go on to the next section to put the relay into Run mode and lock the configuration Example 2 Final Security Group Settings This example only includes the steps for entering a configuration using the HIM module or software program You must also follow the requirements described in Chapter 10 Safety Configuration and Verification You must verify the configuration and validate the entire system including a complete functional test before the A operational startup of any safety related system Only authorized specially trained personnel experienced in the commissioning and operation of safety related systems may configure test and confirm the project Follow these steps to put the relay into Run mode generate a configuration signature and lock the configuration 1
85. 2008 Use DriveExplorer or DriveExecutive Software Appendix D Publication 440R UMO004A EN P December 2008 2 From the Explore menu choose Connect and Configure Communication 3 On the Configure Communication dialog choose the serial port to which you are connected and type the baud rate If you are using the USB converter the communication port must match the port that was mapped when you installed the USB drivers and the communication rate must be set to 115 200 bps When communication is established DriveExplorer software maps your relay Successful uploading of your relay parameters results in an MSR57P relay parameter display Edit Parameters in DriveExplorer Software In DriveExplorer software you can choose parameters from the linear list or by using the file and group The left pane of the DriveExplorer software interface shows the connected devices and the right pane lists the parameters available DriveExplorer MSR57P Parameter Display i S S O Ss S 719 Name Cascaded Config Devices Node 1 MSR57 0 MSR57 Value Single Safety Mode Safe Stop Parameter List bea hit Mortara eset Loop isable E P t eee ee OverSpd Response 42 msec sa tA Language Code English Max Display Spd 1800 Feedback MP Out Mode Pulse Test Stop 55 Out Mode Pulse Test Limited Speed SLS Out Mode Pulse Test Door Control Max Speed Faults mi 12023 ISR ISR ka MDT DriveExplorer Software Par
86. 203 USB converter PowerFlex Smart Self powered Serial Converter User Manual publication 20C0MM UM001 Provides detailed information on installing configuring and troubleshooting the 1203 SSS series B serial converter PowerFlex 700S Phase II Drive User Manual publication 20D UMO006 Provides detailed information on installing wiring programming and troubleshooting PowerFlex 700S Phase II drives PowerFlex 700 Series A User Manual publication 20B UM001 Provides detailed information on installing wiring programming and troubleshooting PowerFlex 700 Series A drives PowerFlex 700 Series B User Manual publication 20B UM002 Provides detailed information on installing wiring programming and troubleshooting PowerFlex 700 Series B drives PowerFlex 70 User Manual publication 20A UM001 Provides detailed information on installing wiring programming and troubleshooting PowerFlex 70 drives PowerFlex Reference Manual publication PFLEX RM001 Provides specifications and dimensions as well as detailed information about drive operation DriveGuard Safe Off Option Series B for PowerFlex 40P and 70 AC Drives User Manual publication PFLEX UM003 Provides detailed information installing wiring and operating PowerFlex 70 AC drives with the Safe Off option The manual also includes certification information for the Safe Off option Kinetix 6000 Multi axis Servo Drive User Manual publicati
87. 233 Kinetix 2000 Drive without Safe off Example 235 Index Publication 440R UM004A EN P December 2008 Preface About This Publication Who Should Use This Manual This manual explains how the Guardmaster MSR57P Speed Monitoring Safety Relay can be used in Safety Integrity Level SIL 3 Performance Level PL e or Category CAT 4 applications It describes the safety requirements including PFD and PFH values and application verification information and provides information on installing configuring and troubleshooting the relay Use this manual if you are responsible for designing installing configuring or troubleshooting safety applications that use the MSR57P Speed Monitoring Safety Relay You must have a basic understanding of electrical circuitry and familiarity with relay logic You must also be trained and experienced in the creation operation and maintenance of safety systems Conventions In this manual configuration parameters are listed by number followed by the name in brackets For example P24 OverSpd Response Terminology The following table defines terms used in this manual Terminology Abbreviation Full Term Definition 1002 One out of Two Refers to the behavioral design of a dual channel safety system CAT Category DC Door Control DM Door Monitoring EN European Norm The official European Standard ESM Enabling Switch Monitoring ESPE Electro sensitive Pr
88. 6 Speed Hysteresis value not legal based on P21 Safety ode value 0 P62 Safe Max Speed value not legal based on P31 Fbk 1 Resolution value 1 P42 Direction Mon value not legal based on P21 Safety ode value 2 P59 Lock Mon Enable value not legal based on P21 Safety ode value 3 P36 Fbk 2 Resolution value not legal based on P27 Fok ode value 4 P35 Fbk 2 Polarity value not legal based on P27 Fbk Mode value 5 P39 Fbk Speed Ratio value not legal based on P27 Fbk ode value 6 P41 Fbk Pos Tol value not legal based on P27 Fok Mode value 7 P40 Fbk Speed Tol value not legal based on P27 Fok Mode value 8 P44 Safe Stop In Typ value not legal based on P21 Safety ode value 9 P52 Lim Speed Input value not legal based on P21 Safety ode value 20 I P58 DM Input Type value not legal based on P20 Cascaded Config and P21 Safety Mode value 21 P54 Enable SW In Typ value not legal based onP21 Safety ode value 22 P60 Lock Mon In Type value not legal based on P21 Safety ode value and P59 Lock Mon Enable value 23 Illegal P20 Cascaded Config value 24 Illegal P22 Reset Type value 25 Illegal P23 Reset Loop value 26 Illegal P4 27 Illegal P51 Stop Decel Tol value 28 Illegal P27 Fbk Mode value 29 Illegal P28 Fbk 1 Type value 30 Illegal P31 Fbk 1 Resolution value 31 Illegal P32 Fbk1 Vol
89. 7 value not legal based on Cascaded Config 20 value P57 P20 4 Stop Mon Delay 46 value not legal based on Safe Stop Type 45 value P46 P45 5 Decel Ref Spd 50 value not legal based on Fbk 1 Resolution 31 value P50 P31 6 Standstill Speed 48 value not legal based on Cascaded Config 20 value P48 P20 7 LimSpd Mon Delay 53 value not legal based on Safety Mode 21 value P53 P21 8 Safe Speed Limit 55 value not legal based on Safety Mode 21 and Fbk 1 Resolution 31 value P55 P21 P31 9 Speed Hysteresis 56 value not legal based on Safety Mode 21 value P56 P21 10 Safe Max Speed 62 value not legal based on Fbk 1 Resolution 31 value P62 P31 11 Direction Mon 42 value not legal based on Safety Mode 21 value P42 21 12 Lock Mon Enable 59 value not legal based on Safety Mode 21 value P59 P21 13 Fbk 2 Resolution 36 value not legal based on Fbk Mode 27 value P36 P27 14 Fbk 2 Polarity 35 value not legal based on Fbk Mode 27 value P35 P27 15 Fbk Speed Ratio 39 value not legal based on Fbk Mode 27 value P39 P27 16 Fbk Pos Tol 41 value not legal based on Fok Mode 27 value P41 P27 17 Fok Speed Tol 40 value not legal based on Fok Mode 27 value P40 P27 18 Safe Stop In Typ 44 value not legal based on Safety Mode 21 value P44 P21 19 Lim Speed Input 52 value not legal based on Safety Mode 21 value P52 P21 20 DM Input Type 58 value not legal based on Casca
90. 78 127 78 142 78 292 79 792 94 792 244 792 60 39 063 39 071 39 146 39 896 47 396 122 396 84 19 532 19 535 19 573 19 948 23 698 61 198 132 9 766 9 768 9 786 9 974 11 849 30 599 228 4 883 4 884 4 893 4 987 5 924 15 299 420 2 441 2 442 2 447 2 493 2 962 7 650 Encoder Resolution 128 lines rev Speed Resolution Accuracy RPM OverSpeed Response Time OverSpd Response Speed RPM Setting 1 10 100 1000 10 000 93 750 42 19 535 19 565 19 865 22 865 52 865 332 031 48 9 767 9 782 9 932 11 432 26 432 166 016 60 4 884 4 891 4 966 5 716 13 216 83 008 84 2 442 2 446 2 483 2 858 6 608 41 504 132 1 221 1 223 1 242 1 429 3 304 20 752 228 0 610 0 611 0 621 0 715 1 652 10 376 420 0 305 0 306 0 310 0 357 0 826 5 188 Encoder Resolution 1000 lines rev Speed Resolution Accuracy RPM OverSpeed Response Time OverSpd Response Speed RPM Setting 1 10 100 1000 10 000 12 000 42 2 503 2 533 2 833 5 833 35 833 42 500 48 1 252 1 267 1 417 2 917 17 917 21 250 60 0 626 0 633 0 708 1 458 8 958 10 625 84 0 313 0 317 0 354 0 729 4 419 5 313 132 0 156 0 158 0 177 0 365 2 240 2 656 228 0 078 0 079 0 089 0 182 1 120 1 328 420 0 039 0 040 0 044 0 091 0 560 0 664 76 Publication 440R UM004A EN P December 2008 General Relay and Feedback Monitoring Configuration Chapter 5 Encoder Resolution 1024 lines rev Speed Resolution Accuracy
91. A2 1 Terminate shield to functional earth at drive end See page 53 Encoder power 5V or 12V sourced from the drive Publication 440R UMO004A EN P December 2008 37 Chapter3 Installation and Wiring Two Encoders with PowerFlex Drive PowerFlex Drive aie Encoder 1 Incremental 2 Encoder 2 0000 0000 00o 0000 Incremental e j oe Sa MSR57P Encoder Power Supply Encoder Cables 1585J M8RB 2M5 siz sta x32 xa Yi Y2 su Y37 Ya Ys2 Y33 V30 68 78 Y3 AZ Terminal Blocks Al Q Q 12 r2 Al 2 IZ r2 1 Refer to your encoder specifications to determine power supply requirements 5V 9V 12V or 24V 2 Terminate shield to functional earth at drive end See page 53 Encoder power 5V or 12V sourced from the drive 38 Publication 440R UMO004A EN P December 2008 Publication 440R UMO004A EN P December 2008 Installation and Wiring Single Encoder with a Kinetix 6000 or Kinetix 7000 Drive Kinetix 6000 or mz Kinetix 7000 Drive Logix Platform Motor Feedback ControlLogix Controller Shown i Connector Kit 2090 K6CK D15M Sin Cos Encoder Cable 1585J M8RB 2M5 Enea cee Customer provided 1 0 cable for standard 1 0 connections such as Start Stop SLS Request 1 Terminate shield to functio
92. Australian Radiocommunications Act compliant with AS NZS CISPR 11 Industrial Emissions TUV TUV Certified for Functional Safety up to SIL CL3 according to IEC 61508 and EN 62061 up to Performance Level PL e and Category 4 according to EN ISO 13849 1 when used as described in this Guardmaster MSR57P Speed Monitoring Safety Relay User Manual publication 440R UM004 1 When product is marked See the Product Certification link at http ab com for Declarations of Conformity Certificates and other certifications details Encoder Specifications Type Parameter Description TTL incremental encoder support 5V differential A quad B alone Differential input voltage AM and BM 1 0 7 0V Input signal frequency AM and BM 200 kHz max Generic AM BM differential input voltage p p 0 6 1 2V Sin Cos AM BM input frequency 100 kHz max Stegmann AM BM differential input voltage p p 1V 10 Sin Cos AM BM input frequency 100 kHz max Publication 440R UMO004A EN P December 2008 199 AppendixA Specifications 200 Publication 440R UM004A EN P December 2008 Appendix B Parameter Groups Parameter Data Parameters are organized into both a linear list by parameter number and into device specific files and groups Parameters for the speed monitoring safety relay appear in the groups Security General Feedback Stop Limited Speed Door Control Max Speed and Faults MSR57P Param
93. Bak AMe 1 gt 4 Bue MSNA B White Black AM 2 gt 3 White Blue A1 SIN1 REF C Red BM 3 gt 8 Brown B1 COS1 D White Red BM 4 gt amp White Brown B1 COS1 REF E Green IM 5 NC F White Green IM 10 NC Gray EPWR_5V 14 gt 2 Orange Vcc L White Gray ECOM 6 gt 1 White Orange GND N Orange EPWR_9V 7 NC R TS 11 NC T S1 12 NC U S2 13 NC V S3 8 NC 5 Green NC 7 White Green NC g2 Bare Shield case 1 ITT Cannon connector 2 Make sure you ground the shield properly to the low profile connector along with the feedback cable See the diagram on page 52 46 Publication 440R UM004A EN P December 2008 Publication 440R UMO004A EN P December 2008 Installation and Wiring Chapter 3 Motors Using 2090 XXNFMF Sxx or 2090 CFBM4DF CDAFxx Feedback Cable MPL B15xxx V E MPL B2xxx V E MPF MPS Bxxx M S MPF A5xx M S Motors and MPAS Bxxxx VxxS xA Linear Stages Drive Side MSR57P Relay Side Mator Connector Drive MF 1585J M8RB 2M5 Cable Pin mana Connector Pin Pin Wire Color Signal a Bak Sines 1 o Ble Masne 2 White Black Sine 2 gt 3 White Blue A1 SIN1 REF 3 Red Cos 3 gt 8 Brown B1 COS1 4 White Red Cos 4 gt 6 White Brown B1 COS1 REF 5 Green Data 5 NC 6 White Green Data 10 NC 9 Gray EPWR_5V
94. Chapter 7 Master Safe Limited Speed Status Only First Unit 24V DC SLS Request 800FM KM23 C outo E Out 1 800F MX02V C out 2 C out3 3 O Out 4 a O Out 5 4 N L outs Door Monitor O Out 7 3 L w an i and Power RE Reset Feed SLS Stop ND may Motion SLS StatusStatus ree Feed back Cmd Cmd 9 DC Power Out Output n7 24V DC 2 ROG LA OA ow 52 S62 Next Downstream Axis 2 C B00FM F6MX10 MSR57P Relay Terminals 2 m n1 L 0 Aux Signals to PLC 24V DC Com 1 For encoder wiring see Encoder Cable Specifications on page 42 2 Power supply may or may not be isolated 3 24V DC Com must be at the same potential as the drive common because of the encoder signal Publication 440R UM004A EN P December 2008 123 Chapter 7 Safe Limited Speed SLS Modes This example assumes that a programmable safety controller is monitoring all MSR57P relay functions and controlling the relay The SS_In and SLS_In inputs are connected to the I O module however standard safety component inputs could also be used These functions are not performed by the MSR57P in the this scenario e Guardlocking switch inputs e Door locking e Door status open or closed e Enabling switch Safe Limited Speed Status Only with Programmable Controller Monitoring 24V DC Pulse Test Door Outputs Monitor wo B 45 a Encoder Encoder B Input 11 Inpu
95. D 3s 6 Single channel 1NC 45 Safe Stop Type Safe operating stop type selection This Default 0 Safe Torque Off with Standstill Checking Torque Off defines the type of Safe Stop that is oa ae performed if the Safe Stop function is Options A a ae Off with Standstill Checking Torque Off initiated by a stop type condition 2 Safe Stop 2 3 Safe Torque Off without Standstill Checking Trq Off NoChk 46 Stop Mon Delay Defines the monitoring delay between Default 0 the request for a Safe Stop and the start of the Stop Delay Max Stop Time when the request for a Safe Stop 1 or a Safe Stop 2 is initiated by an SS_In input ON Range 0 6553 5 s to OFF transition If the Safe Stop Type is Safe Torque Off with or without Speed Checking the Stop Monitoring Delay must be 0 or a Invalid Configuration Fault occurs Publication 440R UMO004A EN P December 2008 99 Chapter 6 Safe Stop Parameters Safe Stop and Safe Stop with Door Monitoring Modes Parameter Description Setting 47 Max Stop Time Stop Delay Default 0 Defines the maximum stop delay time Range 0 6553 5 s that is used when the Safe Stop function is initiated by a stop type condition 48 Standstill Speed Defines the speed limit that is used to Default 0 001 perlereimoton as stopped Range 0 001 65 535 rpm or mm s l based on rotary or linear configuration defined by Seer Ah Torque Off wi
96. DM_in_1 DC_Out1 52 p s42 DM_In_1 DC_Out1 52 OF Lock Monitor Input SPP gt X32 LM_In_O ares gt X42 LM_In_t MESHES 24V DC MP_Out_0 14 9 gt MP_Out 0 14 gt MP_Out_0 14 iq MP_Out_1 24 gt MP_Out_1 24 gt MP_Out_1 24 gt I j Ol pP 534 Reset_In Auto 34 Reset in Auto 534 Reset in TLS3 GD2 Manual Reset Reset Reset 440G T27260 Feedback A2 Feedback A2 Feedback A2 Power to First Axis Second nist Third Axis Release Feedback eedbac Feedback Feedback 24V DC Com 126 The inputs from the safety switches are monitored by the first relay which is the master A Safe Limited Speed Reset detected by the first relay is cascaded to the subsequent relays via the SLS_Out to SLS_In chain Although all MSR57P units can be configured for any reset type we recommend using automatic reset in all slave units to follow the master units reset type Any fault or transition of the SS_In input to OFF is detected by the first relay and initiates the configured Safe Stop Type to all of the relays via the SS_Out to SS_In chain Any fault in a slave relay only initiates the configured Safe Stop Type to that relay and to slave relays further down the chain IMPORTANT Safe Stop monitoring is not initiated for non faulted relays earlier in the cascaded chain IMPORTANT The safety reaction time for a cascaded system includes the sum of the reaction times of each relay in the chai
97. Dual channel equivalent 3 s 2NC 3s 3 Dual channel complementary 1NC 1NQ 4 Dual channel complementary 3 s INC 1NO 3s 5 Dual channel SS equivalent 3 s 2 OSSD 3s 6 Single channel 1NC 61 Max Speed Enable Safe Maximum Speed Monitoring Default 0 Disable R W Enable Options 0 Disable 1 Enable 62 Safe Max Defines the maximum speed limit that will be tolerated if Default 0 R W Speed Safe Maximum Speed monitoring is enabled Range 0 65 535 rpm or mm s based on rotary or linear configuration defined by the P29 Fbk 1 Units parameter 63 Max Spd Safe Maximum Speed Monitoring Stop Behavior Default 0 Use Safe Torque Off with Check for Standstill Torque Off R W Stop Typ i soaa petines e sate Stop type that will be initiated in the event Options 0 Use Safe Torque Off with Check for Standstill Torque Off of a SMS Speed Fault 1 Use Configured Safe Stop Type Safe Stp Typ 64 Max Accel Enable Safe Maximum Acceleration Monitoring Default 0 Disable R W Enable Options 0 Disable 1 Enable 65 Safe Accel Defines the Safe Maximum Acceleration Limit relative to Default 0 R W Limit encoder 1 for which the system is being monitored Range 0 65 535 rev s2 or mm s based on rotary or linear configuration defined by the P29 Fbk 1 Units parameter 206 Publication 440R UM004A EN P December 2008 Parameter Data Appendix
98. Fault or an ESM Monitoring Fault the SS_In input must turn OFF and ON again to reset the Wait SS Cyc bit before a successful SS Reset can occur Door Control The status of door control logic Lock or Unlock and the Door Monitor Input DM_In along with the relay s location in the system Cascaded Config and Door Control Output Type Door Out Type determine whether the Door Control output DC_Out is locked or unlocked during normal operation When the DC_Out output has no faults the relay is configured for Safe Stop and the relay is monitoring motion the door control logic state is Locked It remains locked while a Safe Stop is being executed For all Safe Stop Types except Safe Torque Off without Standstill Checking door control logic is set to Unlock only when Standstill Speed has been reached If the Safe Stop Type is Safe Torque Off without Standstill Checking door control logic is set to Unlock when the Stop Delay Max Stop Time has elapsed regardless of speed Configuration You configure the type of door control for each speed monitoring safety relay in the system Configure Door Control Output Type P57 Door Out Type Settings DC_Out Status and Lock State Single and Last Units First and Middle Units 0 Power to Release Not valid ON Door is unlocked OFF Door is locked 1 Power to Lock Not valid ON Door is locked OFF Door is unlocked 2 Cascading 2 Cascading ON Door is unlocked 2 Ch Sourci
99. Guardmaster MSR5 P Speed Monitoring Safety Relay User Manual Catalog Number 440R S845AER NNL Rockwell 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 literature rockwellautomation com 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 desc
100. Limited Speed Resets TIP See Safe Stop Reset input does not require wiring for automatic reset configurations Reset on pages 95 and 103 and Safe Limited Speed Reset on pages 107 111 and 113 for details on how the Reset Type affects Safe Stop and Safe Limited Speed operation For all types of reset automatic manual or manual monitored if a reset of the Safe Stop or Safe Limited Speed functions can A result in machine operation the other speed monitoring functions must be configured to detect and prevent dangerous motion The Safe Stop Reset does not provide safety related restart A according to EN 60204 1 Restart must be performed by external measures if automatic restart could result in a hazardous situation You are responsible for determining whether automatic restart could pose a hazard Publication 440R UM004A EN P December 2008 Reset Qualification Overspeed Response Time Publication 440R UMO004A EN P December 2008 General Relay and Feedback Monitoring Configuration Chapter 5 Reset qualification can be configured for Safe Stop Resets If reset qualification is configured the MSR57P relay checks the feedback path to make sure it is a closed circuit before the reset can occur The P23 Reset Loop parameter indicates whether the Reset Loop input RL_In is used to qualify a successful Safe Stop Reset If the P23 Reset Loop parameter equals Qualified by RL_In the RL_in inp
101. MSR57P relay single encoder application when the relay is used in conjunction with a properly configured PowerFlex 700S or PowerFlex 755 drive and any motor encoder combination that meets the single encoder application requirements on page 19 20 Publication 440R UMO004A EN P December 2008 Publication 440R UMO004A EN P December 2008 Safety Concept Chapter 1 For example to properly configure a PowerFlex 700S drive to meet the single encoder application requirements listed on page 19 make these parameter settings Parameter Parameter Required Drive Addresses Single encoder Number Name Parameter Setting Requirement P485 Motor Ctrl Mode 2 Pmag Motor The motor controller must be configured as a closed loop application with field oriented P222 Mtr Fdbk Sel Pri 5 FB Opt PortO control using the single encoder for commutation P153 bit 16 Control Options OFF Auto Tach Sw The controller is not configured for auto transition to encoderless commutation in the event of encoder failure You must make sure that a Sin Cos feedback option is installed in the drive The drive must be commissioned according to the normal startup procedure for proper operation in your system The MSR57P is suitable for SIL CL3 Cat 4 applications when connected to drives which also support Cat 4 applications Some applications may require an external contactor to meet Cat 4 requirements Refer to your drive manual for detai
102. Monitoring Door Control and Lock Monitoring 7 2 wire Connections First Unit Multi First Middle Unit Multi Mid Last Unit Multi Last Master Slave Slave Axis 1 Axis 2 Axis 3 r e q r S12 SS_In_0 SS_Out_0 34 gt 12 SS_in_0 SS_Out_0 34 S12 SS_In_0 SS_0ut_0 34 p Sate Stop INPUT L L l s22 ss int SS Out 1 44 c s22 _In_1 S_Out_1 44 c s22 s _In_t SS_Out_1 44 Va bale enn oe ene ne a peme 52 SLS_In_0 SLS_Out_0 68 52 SLS_In_0 SLS_Out_O 68 S52 SLS_In_0 SLS_Out_0 68 c tN _ m _ In l k Safe Limited Speed Input p sez SLS_In_1 SLS_Out_1 78 gt s62 SLS_In_1 SLS_Out_1 78 H s62 SLS_In_1 SLS_Out_1 78 1 1 i Mi 1 i wi l Pulse_Source_0 Pulse_Source_1 To Door F Solenoid Door Monitor Input S32 DM_In_0 DC_Out_0 51 gt 32 DM_In_o DC_Out_0 51 S32 DM_In_0 DC_Out_0 51 S42 DM_In_1 DC_Out_1 52 gt s42 DM_In_1 DC_Out_1 52 p S42 DM_In_1 DC_Out_1 52 Lock Monitor Input vas tia nt X42 LM_In_t MP_Out_0 14 gt MP_Out_0 14 g MP_Out_0 14 p gt MP_Out_1 24 S gt MP_Out_1 24 gt MP_Out_1 24 gt Reset s s34 Reset_In Auto S34 peset_In Auto S34 Reset_in TLS3 GD2 Input Reset Reset 440G 127260 A Feedback A2 A Feedback A2 Feedback A2 Power to Release First Axis Second Axis hird Axis Feedback Feed
103. Motor Feedback Cables for Low profile connectors for Kinetix 6000 and 2090 UXBK D15xx 15 pin panel mounted breakout board kit Specific Motor Feedback Combinations Kinetix 7000 Drives 2090 K6CK D15F Auxiliary feedback connector kit User supplied flying lead cable 2090 K2CK D15M Motor feedback connector kit Low profile connectors for Kinetix 2000 Drives 2090 K2CK COMBO Motor auxiliary and 1 0 feedback connector kit Refer to the table of Motor Feedback Cables for Specific Motor Feedback Combinations 2090 UXBK D15xx 15 pin panel mounted breakout board kit Flying lead cable at 2090 UXBB DM15 15 pin drive mounted breakout board Ultra3000 drive end with 2090 UXBK D15xx 15 pin panel mounted breakout board kit Refer to the table of Motor Feedback Cables for Specific Motor Feedback Combinations one of these three kits 2090 UXCK D15 15 pin high density D shell drive connector kit 42 Publication 440R UM004A EN P December 2008 Installation and Wiring Chapter 3 Motor Feedback Cables for Specific Motor Feedback Combinations Compatible Drives Motor Series Feedback Type Ultra3000 Kinetix 2000 Kinetix 6000 Kinetix 7000 2093 AC05 MPx 2094 ACxx Mxx S 2098 DSD xxx 2093 AM xx 2094 AM xS MPL Axxxx M S 2098 DSD HVxxx 209 BL es MPL Bxxxx M S Multi turn 2094 BMxx
104. NOQ 4 Dual channel complementary 3 s 1NC 1NO 3s 5 Dual channel SS equivalent 3 s 2 OSSD 3s 6 Single channel equivalent 1NC 1 You must configure this parameter with a non zero value in this mode Publication 440R UMO004A EN P December 2008 111 Chapter 7 Safe Limited Speed SLS Modes SLS with Door Monitoring This example illustrates wiring for SLS with door monitoring Wi iring Example Master Safe Limited Speed with Door Monitoring First or Single Unit 24V DC SLS Request 800FM KM23 Power to Release Remove two internal jumpers TLS3 GD2 440G 127260 L1 L2 L3 PowerFlex 70 Pulse Test Door Lock AC Drive with Outputs Input Control Monitor3 Monitor DriveGuard RJ45 RJ45 MSR57P Relay Encoder Encoder l Input 1 Input 2 Isolated Diagnostics P and Power i SLS Fault RL Reset Feed TS Stop iGnp 240r Motion i SLS StatusStatus Sen Feed back Cmd Cmd DC Power Out Output Reset 800FM F6MX10 Control Circuit Safe Stop to next module optional Aux Signals to PLC 24V DC Com 1 For encoder wiring see Encoder Cable Specifications on page 42 2 Digital input 4 Proper configuration is required for inputs 1 2 4 and 6 on the PowerFlex 70 Drive 3 Lock monitoring connections are not required for Safe Limited Speed with Door Monitoring mode oper
105. Open DriveExecutive software Advance to Drive Selection and choose Connect to Drive Choose your workstation 01 in the preceding diagram and click OK DriveExecutive software connects with the relay and begins to upload its parameters A parameter upload initially occurs followed by a file group upload Each upload displays in a separate dialog 223 Appendix D Use DriveExplorer or DriveExecutive Software Edit Parameters In DriveExecutive software you can choose parameters from the linear list or by using the file and group 3 Drivetxecutive AB_ETH 1 10 99 14 234 MSRS7 1 PWRFLEX lt MSRS7 gt Fle Edt View Crie fereheral Tools Window Help DE USR 04 0 0 tm AB_ETH 1 10 91 14 234 MSRS7 1 PWRFLEX lt MSR57 gt Node 10 91 14 2 y oas EA irer ue CaP umete aga Wrak No Action gt NONAS o Mation v z5 eyeosyoo eas 3 Pame color descrpuons Changeable un Read Only Seed Only Linked The left pane of the DriveExecutive software dialog shows the connected devices and the right pane lists the parameters available DriveExecutive Parameter Information Column Description of Contents Parameter number Parameter Name Short name of the parameter Value Current value of the parameter Units Units of measurement for this parameter Internal values are unscaled values used by the device and by controllers Internal Value that communicate with the device
106. Out_1 24 MP_Out_1 240 MP_Out_1 24 gt Auto p S34 Reset_in Auto 34 Reset_in Auto 34 Reset_In TLS3 GD2 Reset Reset Reset 440G T27260 x Feedback A2 Feedback A2 Feedback A2 Power to Tet ais Second Axis Third Axis Release beupae Feedback Feedback 24V de Com This example shows reset control performed by the SmartGuard 600 controller Any fault on any axis shuts down the entire system The reset is controlled by the SmartGuard 600 controller Publication 440R UMO004A EN P December 2008 Introduction Safe Maximum Speed SMS Monitoring Chapter 9 Safe Maximum Speed and Direction Monitoring Topic Page Safe Maximum Speed SMS Monitoring 145 Safe Maximum Acceleration SMA Monitoring 148 Safe Direction Monitoring SDM 150 Max Speed Max Accel and Direction Monitoring 151 Parameter List Configure Safe Maximum Speed monitoring by setting the P61 Max Speed Enable parameter to Enable When configured Safe Maximum Speed monitoring is active any time the relay configuration is valid and Safety Mode is not Disabled When you configure the relay for Safe Maximum Speed the feedback velocity is monitored and compared against a user configurable limit You set the Safe Max Speed Limit which is relative to encoder 1 If the monitored speed is greater than or equal to the configured Safe Max Speed Limit an SMS Speed Fault Stop Category Fault occurs Safe Max Speed Timing Diagra
107. P Rela t 1 Stop Encoder Encoder DPI i CF 4 ios Gate Control Input 1 Input 2 i Isolated Diagnostics oo 2 Start P Suppl pagantan i and Power an l Lll 4 SLS Input Power Supply i SLS Fault g Feed SLS Stop 124v Motion SLS Status Status SS OUP reg back Cmd Cmd i C9 De Power Out Output 1 Safe Off Option Uw A2 Y35_ Y37 34 44 Y1 S34 Y2_ 33 Y32 Y30 Y31 14 24 68 78 3 CE SAT 44 2 Reset Gate B00FM F6MX10 6 Enable T Control 27 Gale Circuit ad Aux signals Remove Jumper to PLC 24V de Com 24V de L1 L2 L3 A1 S11 S21 12 22 S52 S62 72 82 51 52 X32 X42 532 S42 13 fant Powerflex 70 1 PulseTest SS SLS ESM Doorlock Lock Door 8 DCC AC Drive with i Outputs Input Input Input Control Monitor Monitor n omm DriveGuard as H 7 Dig Comm RJ45 RJ45 Slave Middle MSR57P Relay mo po H 1 Stop Encoder Encoder DPI h Ly T k e i Isolated Diagnostics oo fart Input J Input Fe ee tes 1 Pand Power jane AR 4 SLS Input Power Supply i SLS Fault i RL i Feed SLS Stop 124V status Status SS Output raeg Set back Cmd Cmd P4 pe Power Out Output 4 _Safe Off Option Ww A2 Y35 Y37 34 44 Y1 S34 Y2 33 Y32 Y30 Y31 14 24 68 78 3 al H4 2 Gate Aux signals 6 Enable Control to PLC cas Circuit 7 Remove Jumper Motor lt 24V de Com 24V de TT L1 L2 13 A1 S11 S21
108. P Relay The DC_Out output may be used as a bipolar output in Power to Release or Power to Lock configurations or it may be configured as Cascading 2Ch Sourcing When the Door Control output is configured as cascading 2Ch Sourcing the dual channel bipolar output acts as two sourcing outputs capable of driving the OSSD Door Monitor input DM_In of the next speed monitoring safety relay in the cascaded chain The DC_out output can also be used as a source for general purpose inputs In this configuration the current is limited to 20 mA 67 Chapter4 Speed Monitoring 1 0 Signals Door Control Cascading Outputs MSR57P Master DC_Out_ChO DC_Out_Ch1 51 52 32 42 DM_In_ChO DM_In_Ch1 MSR5 P Slave Only these wiring configurations shown below are supported for the Door Control output Door Control Output Wiring No Bi polar Single ended 2 Channel Load Load Load Source O Door Control Sourcing Output 6 61 Door Control Sinking Output 6 52 24V DC Common 1 When wired as a source for a safety input current is limited to 20 mA per output Input Circuit Input Circuit 2 For example SmartGuard 600 controller Guard 1 0 Short circuits of the output loop to ground or 24V will be detected For cascaded outputs cross loops will also be detected The outputs are pulse tested when the P74 Door Out Mode parameter is c
109. P relay Topic Page Environment and Enclosure 31 General Safety Information 30 Dimensions 31 Spacing Requirements 32 Mount the MSR5 7P Relay 32 Power Supply Requirements 32 Removable Terminal Blocks 33 Circuit Diagram 33 Terminal Connections 34 Compatible Encoders 35 Connect an Encoder 36 Encoder Cable Specifications 42 Feedback Cable Connections for Kinetix 2000 Kinetix 6000 Kinetix 7000 42 and Ultra3000 Drives Feedback Connections for PowerFlex 70 Drives 52 Feedback Connections for PowerFlex 700S Drives 55 Connect a Configuration Device 55 should be performed to determine whether the specifications of this device are suitable for all foreseeable operational and environmental characteristics for the system to which it is to be installed ATTENTION This device is intended to be part of the safety related control system of a machine Before installation a risk assessment Publication 440R UMO004A EN P December 2008 29 Chapter 3 Installation and Wiring General Safety Information A Use this product for its intended applications This equipment must not be used for unintended applications nor in ways that do not conform to appropriate safety standards and good practices The safety functions may not operate properly or at all if this equipment is not used for the intended purposes Use within specified operating limits This product and the equipment on which it is installed persons handling the product and the e
110. P40 Fbk Speed Tol parameter defines the discrepancy that will be tolerated for a difference in speed between encoder 1 and encoder 2 This speed is relative to encoder 1 This discrepancy checking is only performed while the Feedback Mode is equal to one of the following values Feedback Mode P27 Fbk Mode Parameter Setting 1 Dual encoder with speed and position 2 Dual encoder with speed discrepancy checking 84 Publication 440R UM004A EN P December 2008 General Relay and Feedback Monitoring Configuration Chapter 5 For rotary systems the value is specified in revolutions per minute For linear systems the value is specified in mm per second Feedback Mode P27 Fbk Mode Dual Feedback Speed Discrepancy Values Tolerance P40 Fbk Speed Tol 0 One encoder 0 1 Dual encoder with speed and 0 1 6553 5 in rev min rotary encoders or position discrepancy checking mm s linear encoders 2 Dual encoder with speed 0 1 6553 5 in rev min rotary encoders or discrepancy checking mm s linear encoders 3 Dual encoder with position 0 discrepancy checking If an illegal value is detected an Invalid Configuration Fault occurs and the relay remains in the Safe State Feedback Voltage Monitor Range Use the P32 Fbk 1 Volt Mon and P37 Fbk 2 Volt Mon parameters to set the feedback voltage monitoring range The monitoring ranges help define the trip zone for encoder 1 and encoder 2 respectively
111. Project Verification Test To check that the speed monitoring relay s configuration adheres to the application specification you must generate a suitable set of test cases covering the application The set of test cases must be filed and retained as the test specification You must include a set of tests to prove the validity of the safety configuration parameters You must perform a complete functional test of the entire system before the operational startup of a safety related system Confirm the Project You must check each parameter to make sure it is set to the correct value according to your system configuration specification Safety Validation An independent third party review of the safety system may be required before the system is approved for operation An independent third party certification is required for IEC 61508 SIL CL3 Verify the Signature and Lock at the Speed Monitoring Relay To meet SIL CL3 PL e Cat 4 requirements you must verify that the correct configuration is locked in the speed monitoring relay To verify the configuration Signature ID view the contents of the P10 Signature ID parameter and make sure that it matches the configuration Signature ID you recorded as part of the configuration process on page 158 To verify the lock status you can view the Config Lock status indicator on the speed monitoring relay The Config Lock indicator is solid yellow when the configuration is locked and flashi
112. RPM OverSpeed Response Time OverSpd Response Speed RPM Setting 1 10 100 1000 10 000 11 718 75 42 2 445 2 475 2 775 5 775 35 775 41 504 48 1 222 1 237 1 387 2 887 17 887 20 752 60 0 611 0 619 0 694 1 444 8 944 10 376 84 0 306 0 309 0 347 0 722 4 472 5 188 132 0 153 0 155 0 173 0 361 2 236 2 594 228 0 076 0 077 0 087 0 180 1 118 1 297 420 0 038 0 039 0 043 0 090 0 559 0 648 Encoder Resolution 3000 lines rev Speed Resolution Accuracy RPM OverSpeed Response Time OverSpd Response Speed RPM Setting 1 10 100 1000 4000 42 0 837 0 867 1 167 4 167 14 167 48 0 418 0 433 0 583 2 083 7 083 60 0 209 0 217 0 292 1 042 3 542 84 0 105 0 108 0 146 0 521 1 771 132 0 052 0 054 0 073 0 260 0 885 228 0 026 0 027 0 036 0 130 0 443 420 0 013 0 014 0 018 0 065 0 221 Encoder Resolution 5000 lines rev Speed Resolution Accuracy RPM OverSpeed Response Time OverSpd Response Speed RPM Setiny 1 10 100 1000 2400 42 0 503 0 533 0 833 3 833 8 500 48 0 252 0 267 0 417 1 917 4 250 60 0 126 0 133 0 208 0 958 2 125 84 0 063 0 067 0 104 0 479 1 063 132 0 031 0 033 0 052 0 240 0 531 228 0 016 0 017 0 026 0 120 0 266 420 0 008 0 008 0 013 0 060 0 133 Publication 440R UM004A EN P December 2008 77 Chapter5 General Relay and Feedback Monitoring Configuration Speed Resolution Accuracy for Linear Systems Encoder Resolution 5
113. SO 13849 1 13 15 16 197 199 K keypad 215 L language display options 79 LED Indicators 185 LM_In input 61 Lock Monitoring 25 99 wiring 67 lock status 153 low profile connector kits wiring 51 low threshold 120 121 See also Speed Hysteresis manual monitored reset 74 SLS Reset 107 SS Reset 96 manual reset 74 SLS Reset 107 SS Reset 96 Max Display Speed 80 Max Stop Time definition 89 motors feedback pin outs 44 mounting 32 MP_Out output 69 wiring 69 70 multi axis configuration 137 139 connections 126 138 139 Door Control 138 139 wiring 64 65 0 outputs 63 OverSpd Response 75 P parameter list all parameters 202 210 feedback 86 general 80 Max Speed and Direction Monitoring 151 Safe Limited Speed 108 Publication 440R UMO004A EN P December 2008 Safe Limited Speed Status Only 121 Safe Stop 99 Safe Stop with Door Monitoring 103 Slave Safe Limited Speed 132 Slave Safe Limited Speed Status Only 135 Slave Safe Stop 127 SLS with Door Monitoring 111 SLS with Door Monitoring and Enabling Switch Monitoring 118 SLS with Enabling Switch Monitoring 114 parameters complete list 202 configure 158 edit 158 160 groups 201 password change 154 new 154 reset 155 PFD definition 10 16 PFH definition 10 16 pin outs motor PL eedback connector 44 definition 10 PL e 9 13 199 polarity 82 power supply 32 Power to Lock 97 Power to Release 97 probability of failure on d
114. Safe Torque Off with Standstill Checking the type of Safe Stop that is performed if the Safe Torque Off Stop function is initiated by a stop type condition Options 0 Safe Torque Off with Standstill Checking Torque Off 1 Safe Stop 1 2 Safe Stop 2 3 Safe Torque Off without Standstill Checking Trq Off NoChk 46 Stop Mon Delay Defines the monitoring delay between the request Default 0 for a Safe Stop and the start of the Stop Delay Max Stop Time when the request for a Safe Stop Range 0 6553 5 s 1 or a Safe Stop 2 is initiated by an SS_In input ON to OFF transition If the Safe Stop Type is Safe Torque Off with or without Speed Checking the Stop Monitoring Delay must be 0 or an Invalid Configuration Fault occurs 47 Max Stop Time Defines the maximum stop delay time that is used Default 0 when the safe stop function is initiated by a stop type condition Range 0 6553 5 s 48 Standstill Speed Defines the speed limit that is used to declare Default 0 001 matian as stopped Range 0 001 65 535 rpm or mm s Not valid for Safe Torque Off without Standstill based on rotary or linear configuration defined by Speed Checkin encoder 1 feedback configuration p 9 P29 Fbk 1 Units parameter Publication 440R UM004A EN P December 2008 127 Chapter 8 Slave Modes for Multi axis Cascaded Systems Slave Safe Stop Parameters Parameter 4g Standstill Pos Description Standstill Position Window De
115. Settings 169 Example 1 Max Speed Group 004 170 Example 1 Final Security Group Settings 171 Example Application 22 s a are ava ax suse Ye Aa ae alate Gk Gea vee 172 Example 2 Initial Security Group Settings 173 Example 2 General Group Settings 2 0 04 6 06044045 174 Example 2 Feedback Group Settings 175 Example 2 Stop Group Settings 177 Example 2 Limited Speed Group Settings 179 Example 2 Door Control Group Settings 181 Example 2 Max Speed Group wesc 6 oes ta why ws naa arcs 182 Example 2 Final Security Group Settings 183 Chapter 12 Introduction erana arrea Ph woke Se Gas aa eb cane ae 185 Stat s Indicatots oy ceri r Fok scala dt Ae den ah bub da oe ale as 185 Nonrecoverable Faults rca Sek he Bees a 186 PAU RECOV arpapi its be toh bay Ue OSs Bans 187 Input and Output Faults pag see y eet any ap a 187 Fault Codes and Descriptions 005 187 PAG REACLIONS 3 4a ie goes oak IE eS Paw Staats Bee 190 Safe State Faults oben a Raa ele ed 8 me Bes 190 Stop Category Faults and Fault While Stopping Faults 191 Status Attributes yas Sates ae ot ae a E E ee as 192 Guard Status Attributes oaaao Pe dias YAS hs 192 I O Diagnostic Status Attributes 4 195 Configuration Fault Codes oi a ai aaao aaua aaa 196 7 Table of Contents Specifications Parameter Data Using a HIM
116. Spd Mon Delay is set to zero See SLS Status Only Wiring Examples starting on page 122 for an example of a first master unit Slave Safe Limited Speed Status Only Middle Relay Previous Upstream Axis MSR57P Relay Terminals Pulse Test Outputs Input Monitor RJ45 RJ45 MSR57P Relay Encoder Encoder N Isolated Diagnostics Input 1 Input 2 and Power r SLS Fault RL Reset Feed SLS 1 Stop GND a Motion SLS StatusStatus n Feed back Cmd Cmd DC Power Out Output 880 X8al SCL6Z1 2av Dc Next Downstream Axis Revi Downstream MSR57P Relay Terminals 12 Axis MSR57P Relay S22 Terminals These signals could be connected to the 1 0 module or to a drive 24V DC Com 1 Power supply may or may not be isolated 2 24V DC Com must be at the same potential as the drive common because of the encoder signal 136 Publication 440R UM004A EN P December 2008 Slave Modes for Multi axis Cascaded Systems Chapter 8 This second example is configured as a cascaded last unit via the P20 Cascaded Config parameter Multi Last It has SS_In SLS_In and DM_In input connections from the previous upstream MSR357P relay but its SS_Out SLS_Out and Door Lock Control outputs are connected to a 1791DS module Slave Safe Limited Speed Status Only Last relay 24V DC Previous eee Axis MSR57P Relay Terminals egg H Pulse Test ESM Door L
117. Speed monitoring is requested by a transition of the SLS_In input from ON to OFF If you configure a Safe Limited Speed Monitoring Delay the delay begins when Safe Limited Speed monitoring is requested by the SLS_In input transition from ON to OFF The relay begins monitoring for Safe Limited Speed when the delay times out The SLS_Out output is ON if Safe Limited Speed monitoring is active and the speed is below the configured Safe Speed Limit considering hysteresis Timing Diagram for Safe Limited Speed Status Only Safe Limited Speed SLS Request _ I Safe Limited Speed I Active I 8 l LS Monitoring ad amp I Delay I Low Threshold Time SLS_In 1 Low Threshold Speed Hysteresis 100 x Safe Speed Limit Speed Hysteresis The P56 Speed Hysteresis parameter provides hysteresis for the SLS_Out output when the relay is configured for SLS Status Only and Safe Limited Speed monitoring is active The SLS_Out output is turned ON if the speed is less than the Low Threshold which equals Speed Hysteresis 100 x Safe Speed Limit The SLS_Out output is turned OFF Publication 440R UM004A EN P December 2008 SLS Status Only Parameter List Safe Limited Speed SLS Modes Chapter 7 when the speed is greater than or equal to the configured Safe Speed Limit The SLS_Out output remains OFF if Safe Limited Speed monitoring begins when the detected speed is less than the configured Safe Speed Limit but greater than or
118. The information in this field provides the scaling information to calculate the internal value from a scaled value Comment Displays comments previously entered Default Displays the default setting Min The minimum value is the lowest possible value for this parameter Max The maximum value is the highest possible value for this parameter Alias Displays an alias or alternative name previously entered 224 Publication 440R UMO004A EN P December 2008 Use DriveExplorer or DriveExecutive Software Appendix D Follow these steps to edit a parameter 1 Expand the MSR57P relay 2 Choose either Parameter List or expand the Parameter file under the MSR57P relay to display the parameter groups 3 Edit a parameter by double clicking it and typing the new value 4 Follow the procedure in Configure the Speed Monitoring Relay on page 158 to configure the MSR57P relay After you edit parameters you can upload them and save them to a file on you personal computer You can then use this file as a backup print it or download it to another MSR57P relay For detailed information on using DriveExecutive software consult online help Publication 440R UMO004A EN P December 2008 225 Appendix D Use DriveExplorer or DriveExecutive Software 226 Publication 440R UM004A EN P December 2008 Appendix E Application Examples Introduction Topic Page Powerflex 70 Drive with Safe Off ApplicationExample
119. The locked or unlocked state is also indicated by the Config Lock status indicator on the front of the relay Flashing yellow is unlocked solid yellow is locked If the relay is locked Lock State parameter value equals 1 set the Lock State parameter value to 0 If an error occurs a password has been configured to protect the relay configuration Choose the P1 Password parameter Type the password Choose the P6 Operating Mode parameter The default value is 0 which equals Program If the relay is in Run mode Operating Mode parameter equals 1 set the Operating Mode parameter to 0 to enable you to enter a new configuration If you want to configure a password or change the password choose the P13 New Password parameter The default value is 0 Enter a value from 0 4 294 967 295 Type the new password value 173 Chapter 11 Configuration Examples 9 Choose the P17 Password Command parameter 10 Set the Password Command parameter value to 1 which equals Change Password Change PW 11 Go to the next section to set the parameters found in the General parameters group Example 2 General Group Settings General Group Parameters HIM Screen Software Screen Fa configuring lAutol File Edit Explore Actions Help RPM O a te esssS 5038 0 FGj Parameter Devices 5 N P P Name Value Cascaded Config Node 1 MSRS7 1 0 20 Cascaded Config Single Safety Mode 0 MSRS7 Fe os eR
120. Time the period during which deceleration occurs after a Safe Stop is initiated and an optional Stop Monitoring Delay Stop Mon Delay which is a delay between the action that requests the Safe Stop and the initiation of the configured Safe Stop Type A Stop Monitoring Delay can only be configured for Safe Stop 1 or Safe Stop 2 When properly configured for Safe Stop mode the relay also monitors for faults and initiates the appropriate reaction If the fault is a Safe State Fault the relay enters the Safe State If the fault is a Stop Category Fault the relay initiates the configured Safe Stop Type 89 Chapter 6 90 Safe Stop and Safe Stop with Door Monitoring Modes Safe Stop Types Use the P45 Safe Stop Type parameter to configure the type of stop that the system executes when a Safe Stop is initiated A Safe Stop can be initiated by a transition of the SS_In input from ON to OFF or by the occurrence of a Stop Category Fault While the relay executes the configured Safe Stop Type it continues to monitor the system If a Stop Category Fault is detected the relay sets the outputs to a faulted state but allows for the door control logic to be set to Unlock if the feedback signals indicate the configured Standstill Speed has been reached Safe Torque Off with Standstill Checking This Safe Stop Type lets you access the hazard area immediately after motion is detected as stopped rather than waiting until a specific time has
121. Use DriveExplorer or DriveExecutive Software Application Examples Appendix A TAU OGUCHON eS esra opi Se ae ae Hen eet wes eda G 197 General Specifications o aoaaa ae Yea iadce a a 197 Environmental Specifications 0 0 66 ae 198 Certificat Ons ore E re uia E a ph Walk Boek bho A A IR eR 199 Encoder Specifications 5 204 24 4 28 22 7h Rh SPE TS SSR oe 199 Appendix B Parameter GroupS aoaaa aaa eee 201 Parameters and Settings in a Linear List 202 Appendix C TMTOGUCHONA e e Kinga hye an gee EONS BSS On DM Pee ES 213 Connect a HIM Module ea Cages ope tinhum a ee beans 213 Setting Parameters with a HIM Module 214 Accessing the Fault History Queue 4 215 Appendix D Tntrod con weed gsn aaien ase T pIE Dan EEEE Ses 217 Connect a Personal Computer ooa aaa aaea 217 Using DriveExplorer Software soci kd 34 Sas ae os 218 Configure Serial Commiunication i646 4 5 8 44 Bas 218 Edit Parameters in DriveExplorer Software 219 Access the Fault History Queue 5 220 Using DriveExecutive Software sc ase oars Yow sok 221 Configure Serial Communication 221 Edit Parameters sa V4 accede fh ed he ee ieie hae 224 Appendix E INGOAUCHOR hs oreo oh ea SEA Re eee ao es 227 PowerFlex 70 Drive with Safe Off Application Example 228 PowerFlex 700 Drive without Safe Off 231 Kinetix 6000 or Kinetix 7000 Drives with Safe off Example
122. a diagnostic test can only be performed when outputs are energized the test is performed immediately following the SS Reset IMPORTANT An SS Reset is not attempted if the Wait No Stop attribute is set 1 indicating that the HIM stop button was pressed or a stop command was issued from DriveExecutive or DriveExplorer software The Wait No Stop attribute is bit 26 of the P68 Guard Status parameter IMPORTANT An SS Reset is not attempted if the Wait SS Cyc attribute is set 1 indicating that an error occurred The Wait SS Cyc attribute is bit 25 of the P68 Guard Status parameter Automatic If the SS Reset is configured as automatic the relay always attempts a reset if it is in the Safe State or has initiated a Safe Stop Type The reset is attempted when the SS_In input transitions from OFF to ON or if SS_In is ON at power up Manual If the SS Reset is configured as manual the reset occurs when the SS_In input is ON and the Reset_In input is ON Manual Monitored A manual monitored reset requires an OFF to ON to OFF transition of the Reset_In input Fo te If at any time before the closing and opening of the Reset_In input the SS_In input transitions from ON to OFF the reset is aborted Publication 440R UM004A EN P December 2008 Publication 440R UM004A EN P December 2008 Safe Stop and Safe Stop with Door Monitoring Modes Chapter 6 Faults If a fault occurs other than an Invalid Configuration
123. a high inertia machine may take a long time to stop Preventing access to the hazard until a safe speed has been detected may be the safest condition The lock monitoring feature is used to verify the operation of the door locking mechanism Lock monitoring can be enabled on single units or on the first unit in a multi axis system If the Lock Monitor input LM_In indicates that the door is unlocked when the Door Control output DC_Out is in the locked state or if the Lock Monitor input indicates locked when the Door Monitor input DM_In transitions from closed to open the configured Safe Stop Type is initiated Safe Maximum Speed Safe Maximum Acceleration and Safe Direction Monitoring Three additional safety functions Safe Maximum Speed SMS Safe Maximum Acceleration SMA and Safe Direction Monitoring SDM operate independent of the other modes relying on the Safe Stop function When you configure the relay for Safe Maximum Speed the feedback velocity is monitored and compared against a user configurable limit If the measured velocity is greater than or equal to the limit the configured Safe Stop type is executed When Safe Acceleration Monitoring is enabled the relay monitors the acceleration rate and compares it to a configured Safe Maximum Acceleration Limit If acceleration is detected as greater than or equal to the Safe Maximum Acceleration Limit an Acceleration Fault occurs If an Acceleration Fault is detected while
124. afe Stop Reset Discrepancy checking is performed only while the Feedback Mode Fbk Mode is equal to one of the following values Feedback Mode P27 Fbk Mode Parameter Setting 1 Dual encoder with speed and position discrepancy checking 3 Dual encoder with position discrepancy checking 83 Chapter5 General Relay and Feedback Monitoring Configuration This table defines the legal values for each Feedback Mode value Feedback Mode P27 Fbk Mode Dual Feedback Position Discrepancy Values Tolerance P41 Fbk Pos Tol Legal Values 0 One encoder 0 1 Dual encoder with speed and 1 65 535 in degrees rotary encoders or mm position discrepancy linear encoders relative to the resolution of encoder 1 2 Dual encoder with speed 0 discrepancy checking 3 Dual encoder with position 1 65 535 in degrees rotary encoders or mm discrepancy checking linear encoders relative to the resolution of encoder 1 If an illegal value is detected an Invalid Configuration Fault occurs and the relay remains in the Safe State IMPORTANT When setting discrepancy tolerances consider that configuring B a high gear ratio between encoder 1 and encoder 2 will result in a very small movement of encoder 2 translating into a very large movement from the encoder 1 perspective This could lead to unexpected dual feedback position faults Dual Feedback Speed Discrepancy Tolerance The Dual Feedback Speed Discrepancy Tolerance
125. afe Stop Type is Safe Torque Off with or without Standstill Speed Checking the Stop Monitor Delay must be 0 or an Invalid Configuration Fault occurs 47 Max Stop Stop Delay Default 0 R W Time Defines the maximum stop delay time that is used when the A Safe Stop function is initiated by a stop type condition Pange 10 0993 9 8 48 Standstill Defines the speed limit that is used to declare motion as Default 0 001 R W Speed stopped i eee 7 i ange 0 001 65 535 rpm or mm s Not valid for Safe Torque Off without Standstill Checking based on rotary or linear configuration defined by the P29 Fbk 1 Units parameter 49 Standstill Standstill Position Window Default 10 R W Pos SAER A Ase Defines the position limit window in encoder 1 degrees or Range 0 65 535 degrees 360 1 revolution or mm based on rotary or mm that will be tolerated after a safe stop condition has linear configuration defined by the P29 Fbk 1 Units parameter been detected Not valid for Safe Torque Off without Standstill Checking 50 Decel Ref Deceleration Reference Speed Default 0 R W Speed Determines deceleration rate to monitor for Safe Stop 1 or Range 0 65 535 rpm or mm s Safe Stop 2 based on rotary or linear configuration defined by the P29 Fbk 1 Units parameter 51 Stop Decel Decel Tolerance Default 0 R W Tol at This is the acceptable tolerance above the deceleration rate 9 set by the P50 Decel Ref Speed parameter Ranger 0 1007
126. afe Stp Typ Publication 440R UM004A EN P December 2008 The relay continues to execute the configured Safe Stop Type and monitor for faults If outputs are already in a faulted state due to a previous fault and a subsequent Stop Category Fault or Fault While Stopping Fault occurs outputs remain in a faulted state door control logic can be set to Unlock if feedback signals indicate that Standstill Speed has been reached and the relay continues to monitor for faults 191 Chapter 12 Troubleshoot the MSR57P Relay If a Stop Category Fault or Fault While Stopping Fault occurs after Standstill Speed has been reached and the relay has set door control logic to Unlock the relay goes to the Safe State If a fault occurs after Standstill Speed has been reached door control logic may remain unlocked A A Safe State Fault may set the Door Control output DC_Out to OFF Status Attributes For diagnostic purposes only you can view status attributes by Guard Status accessing the P68 Guard Status parameter and the P69 IO Diag Status parameter from a HIM or via DriveExplorer or DriveExecutive software The status attributes are only valid when the MSR57P relay is in Run mode If the MSR57P relay is in Program mode or has an Invalid Configuration Fault the status attributes are not updated Guard Status Attributes These attributes are stored in the P68 Guard Status parameter Each bit corresponds to a differen
127. affected by these parameters e Dual Feedback Speed Ratio P39 Fbk Speed Ratio e Dual Feedback Position Tolerance P41 Fbk Pos Tol e Dual Feedback Speed Discrepancy Tolerance P40 Fbk Speed Tol Dual Feedback Speed Ratio The Dual Feedback Speed Ratio P39 Fbk Speed Ratio parameter defines the ratio of the expected speed of encoder 2 divided by the expected speed of encoder 1 This parameter configures the anticipated gearing between encoder 1 and encoder 2 If P27 Fbk Mode equals 0 Cone encoder the only legal value for P39 Fbk Speed Ratio parameter is 0 0 If P27 Fbk Mode is greater than 0 the range of legal values for P39 Fbk Speed Ratio is from 0 0001 10 000 0 For example if encoder 2 s speed is expected to be 1000 revolutions per second while encoder 1 s speed is expected to be 100 revolutions per second then the P39 Fbk Speed Ratio should be configured as 10 0 The units used to measure encoder speed could be either rotary rev or linear mm Any combination of rotary and linear units for the two encoders is allowed Dual Feedback Position Discrepancy Tolerance The Dual Feedback Position Discrepancy Tolerance P41 Fbk Pos Tol parameter defines the cumulative position discrepancy that will be tolerated between encoder 1 and encoder 2 The position discrepancy is defined as position change relative to encoder 1 IMPORTANT The relative position discrepancy difference is reset to zero at each S
128. ameter Information Column Description of Contents S Status R Read only Editable N The node number of the device on the network N PP P The port number 0 if a device i P The parameter number associated with a specific programming parameter Name The item name Value The present value of the item Units The unit of measurement for the item 219 Appendix D Use DriveExplorer or DriveExecutive Software Follow these steps to edit a parameter 1 Expand the MSR57P relay 2 Choose either Parameter List or expand the Parameter file to display the parameter groups The configuration can only be edited when the MSR5 P relay is TIP unlocked and in Program mode 3 You can edit a parameter by double clicking it and entering the new value 4 Follow the procedure in Configure the Speed Monitoring Relay on page 158 to configure the MSR57P relay After you edit parameters you can upload them and save them to a file on you personal computer The file can be used as a backup printed or downloaded to another MSR57P relay For detailed information on using DriveExplorer software consult online help Access the Fault History Queue Follow these steps to view the contents of the fault history queue 1 From the DriveExplorer menu choose Explore gt Device Properties 2 Click the Faults tab on the device dialog x General Details Status Feedback Faults Diagnostics Language Help No Fa
129. and 6 on the PowerFlex 70 Drive 3 Lock monitoring connections are not required for Safe Stop with Door Monitoring mode operation 4 24V DC Com must be at the same potential as the drive common because of the encoder signal 104 Publication 440R UMO004A EN P December 2008 Chapter 7 Safe Limited Speed SLS Modes Introduction This chapter describes the Safe Limited Speed SLS modes of safety operation and provides a list of configuration parameters along with wiring examples for each mode Topic Page Safe Limited Speed SLS Mode 105 Safe Limited Speed Parameter List 108 Safe Limited Speed Wiring Example 109 Safe Limited Speed with Door Monitoring Mode 110 SLS with Door Monitoring Parameter List 111 SLS with Door Monitoring Wiring Example 112 Safe Limited Speed with Enabling Switch Monitoring Mode 112 SLS with Enabling Switch Monitoring Parameter List 114 SLS with Enabling Switch Monitoring Wiring Example 115 Safe Limited Speed with Door Monitoring and Enabling Switch 115 Monitoring Mode SLS with Door Monitoring and Enabling Switch Monitoring 118 Parameter List SLS with Door Monitoring and Enabling Switch Monitoring Wiring 119 Example Safe Limited Speed Status Only Mode 119 SLS Status Only Parameter List 121 SLS Status Only Wiring Examples 122 Safe Limited Speed SLS When properly configured for Safe Limited Speed the relay performs Safe Limited Speed SLS monitori
130. and one of the following e EN60950 SELV Safety Extra Low Voltage e ENG60204 PELV Protective Extra Low Voltage e IEC 60536 Safety Class III SELV or PELV e UL 508 Limited Voltage Circuit To meet EN60204 PELV 24V DC 10 20 has to be supplied by a power supply that complies with IEC EN60204 and IEC EN 61558 1 32 Publication 440R UM004A EN P December 2008 Installation and Wiring Chapter 3 Such a power supply meets the electrical safety requirements and maintains minimum power of 19 2V DC during 20 ms even in the event of voltage dips For planning information refer to the guidelines in Industrial Automation Wiring and Grounding Guidelines Allen Bradley publication 1770 4 1 Removable Terminal To remove an upper terminal block insert a screwdriver into the slot Blocks a as shown and push down b to disconnect the terminal block For the lower terminal blocks reverse the direction of the action Circuit Diagram S11 21 S12 S22 52 S62 S72 S82 S32 S42 X32 X42 Al 13 Enabling Door Monitor p Switch Monitor Encoder ESM_In DM_In LM_In RS Encoder 1 Isolated Outputs Encoder 2 Door Lock Control DC_Out Motion SS_Out SLS_Out Bipolar Power Cascade Cascade MP_Out 1 Door Lock Control I DC_Out Cascade Stop_Command SLS_Command GND Fault_Status 2 OSSD Y33 Y30 Y35 Y37 78151 52 jA2 Publication 440R UMO004A EN P December 2008 33 Chapt
131. annel To Power Supply Common 1 1 To Shield 2 2 B NOT A 4 N 4 Hi A NOT Hi 5l a a slo An 6 6 Ai y To Shield 54 Publication 440R UM004A EN P December 2008 Installation and Wiring Chapter 3 Feedback Connections for Use the terminal connection information in the table to connect your PowerFlex 700S Drives MSR57P relay to a PowerFlex 700S drive PowerFlex 700S Side MSR57P Relay Side Terminal Signal Pin Color Signal 12 Power Common 1 White Orange GND Ar N 11 POWER 2 Orange Vcc 10 REFSIN 3 White Blue A1 SIN1 a g SIN 4 Blue A1 SIN1 i 8 REFCOS 6 White Brown B1 COS1 7 COS 8 Brown B1 COS1 e 6 Shield 9 Bare Shield 5 Shield a R 4 NC NC a 3 NC NC 2 DATA RS 485 NC 1 DATA RS 485 NC IMPORTANT For detailed information in installing and connecting PowerFlex 700S drives including important wiring requirements refer to the PowerFlex 700S Phase II Drive User Manual publication 20D UM006 Connecta Configuration If you are using a HIM to configure the relay see Appendix C for Devi information on connecting a HIM and setting parameters with the evice keypad If you are using software to configure the relay see Appendix D for information on connecting to a personal computer and using the software Publication 440R UMO004A EN P December 2008 55
132. arameter value to 2 default which equals Manual Monitored Monitored The Manual Monitored setting requires an closing and opening of the reset circuit for a reset 7 Choose the P23 Reset Loop parameter 8 Set the Reset Loop parameter value to 0 default to disable reset qualification monitoring This setting assumes that there are no external contactors or devices connected to the system which require monitoring 9 Choose the P24 OverSpd Response parameter The default Overspeed Response time is 42 ms 10 Set the OverSpd Response parameter value to 0 which equals 42 ms See Overspeed Response Time on page 75 for details 11 Go to the next section to configure the type of feedback by using the Feedback parameters group Example 2 Feedback Group Settings Feedback Group Parameters HIM Screen Software Screen Fa configuring lAutol File Edit Explore Actions Help s xe en ye 42Ss E 8S8 7 FG Parameter Devices 5 N P P Name Value Units Fbk Mode Node 1 MSRS7 1 0 27 Fk Mode Single Fbk Fbk 1 Type 0 MSR57 T02 Fbk 1 Type Sine Cosine Fbk 1 Units Parameter List gt X A ited as 4 10 olarity Everse ee 1 0 31 Fbk1 Resolution 1024 PPR ecu 1 0 32 Fbk1 Volt Mon 12 Volt General R 1 0 33 Fbk1 Speed 105 5 RPM Feedback 1 10 34 Fbk 2 Units Rev Stop 1 0 35 Fbk 2 Polarity Normal Limited Speed 1 0 36 Fbk 2 Resolution 0 PPR Door Control 1210 37 Fbk 2 volt Mon 0 vol
133. ary Motors Any motor with SHS 170 Stegmann encoder Any motor with SCS 60 Stegmann encoder Any motor with SRS 60 Stegmann encoder Any motor with SRM 60 Stegmann encoder Any motor with SCS Kit 101 Stegmann encoder Any motor with SRS660 Stegmann encoder Refer to the product documentation for your specific motor to determine the encoder type Linear Actuators 1 Maximum cable length MP Series Integrated Linear Stages or encoders is 90 m 295 ft Publication 440R UMO004A EN P December 2008 Refer to the Kinetix Motion Control Selection Guide publication GMC SGO001 for more information on these actuators 35 Chapter3 Installation and Wiring Connect an Encoder 36 Use twisted pair individually shielded cable to connect encoders and drives Refer to your encoder or drive manual for proper cable type and maximum length The drive or encoder and the MSR5 P power supply reference must be the same IMPORTANT The MSR57P relay has an internal resistance of 60082 on each of the encoder signals to achieve an equivalent load resistance of 100Q if used with a drive that has 120Q internal terminating resistors Your encoder may require that the equivalent load resistance be 100Qor greater Refer to your encoder user manual to make sure the equivalent termination resistance does not exceed the encoder signal loading specification ATTENTION Do not use external terminating resistors
134. ation 4 24V DC Com must be at the same potential as the drive common because of the encoder signal Safe Limited Speed with When properly configured for Safe Limited Speed with Enabling Enabling Switch 112 Switch Monitoring the relay performs Safe Limited Speed SLS 8 monitoring functions as described in Safe Limited Speed SLS Mode onitoring Mode on page 105 in addition to the Safe Stop functions as described in Safe_ Stop Mode on page 89 In addition the relay monitors the Enabling Switch Monitor input ESM_In after the Safe Limited Speed Monitoring Delay LimSpd Mon Delay times out The ESM_In input must be ON when the delay times out and Safe Limited Speed monitoring begins or an ESM Monitoring Publication 440R UM004A EN P December 2008 Publication 440R UMO004A EN P December 2008 Safe Limited Speed SLS Modes Chapter 7 Fault occurs An ESM Monitoring Fault is a Stop Category Fault which initiates the configured Safe Stop Type IMPORTANT When Safe Limited Speed Monitoring is inactive the ESM_In input is not monitored Safe Stop Reset SS Reset and Safe Limited Speed Reset SLS Reset If an ESM Monitoring Fault occurs due to the ESM_In input turning OFF enabling switch is released perform an SLS Reset cycle the SS_In input to reset the relay and begin monitoring for Safe Limited Speed again This is the only case where the SS_In input does not need to be cycled to reset the relay following a f
135. ation about faults see Fault Reactions on page 190 Publication 440R UM004A EN P December 2008 147 Chapter9 Safe Maximum Speed and Direction Monitoring Safe Maximum Acceleration SMA Monitoring 148 Configure Safe Maximum Acceleration monitoring by setting the P64 Max Accel Enable parameter to Enable When configured Safe Maximum Acceleration Monitoring is active any time the relay configuration is valid and Safety Mode is not set to Disabled The resolution accuracy of the acceleration monitoring in revolutions second is equal to the speed resolution in RPM x 2 60 OverSpd Response 36 1000 seconds The resolution accuracy of the acceleration monitoring in mm second is equal to the speed resolution in mm s x 2 OverSpd Response 36 1000 seconds Acceleration is measured within the Overspeed Response Time P24 OvrSpd Response When you configure the relay for Safe Maximum Acceleration the relay monitors the acceleration rate and compares it to a configured Safe Maximum Acceleration Limit P65 Safe Accel Limit If the acceleration is greater than or equal to the configured Safe Maximum Acceleration Limit an Acceleration Fault Stop Category Fault occurs Safe Max Acceleration Timing Diagram Acceleration Safe Max Acceleration Limit Time You define the Safe Stop Type initiated by the relay in the event of an Acceleration Fault by using the P66 Max Acc Stop Typ parameter
136. ault While Safe Limited Speed is being monitored after the SLS Monitoring Delay LimSpd Mon Delay times out if the SLS_In input is ON and an SLS Reset occurs the ESM_In is not monitored Make sure that the SLS_In input cannot transition to ON while someone is in the hazard area A Use appropriate procedures when selecting safe limited speed to prevent other users from changing the mode while personnel are in the machine area If you attempt an SS Reset when the SLS_In input is OFF and the ESM_In input is OFF an ESM Monitoring Fault occurs An ESM Monitoring Fault is a Stop Category Fault which initiates the configured Safe Stop Type 113 Chapter 7 SLS with Enabling Switch Monitoring Parameter List Safe Limited Speed SLS Modes To configure the relay for Safe Limited Speed with Enabling Switch Monitoring set the P54 Enable SW Input parameter in addition to the Safe Stop parameters listed on page 99 and the Safe Limited Speed parameters listed on page 108 Parameter Description Setting 21 Safety Mode Defines the primary operating mode of the Setting 5 Master Safe Limited Speed with Enabling speed monitoring safety functions Switch Control Lim Speed ES 54 Enable SW Input Configuration for the Enabling Switch input Default 9 Not usedl ESM_In Options 0 Not used 1 You must configure this parameter with a non zero value in this mode 114 1 Dual channel equivalent 2NC
137. back Feedback 24V de Com Safe Stop Safe Limited Speed and Enabling Switch with Door Monitoring Door Control and Lock Monitoring 7 2 wire Connections First Unit Multi First Master Door Monitor Input Lock Monitor Input TLS3 GD2 440G 127260 Power to Release Reset Input First Axis Feedback 24V de Com Axis 1 12 22 52 62 72 82 ESM_In_0 ESM_In_1 SS_In_0 SS_Out_0 34 gt SS_In_1 SS_Out_1 44 j SLS_In_0 SLS_Out_0 68 gt SLS_In_1 SLS_Out_1 78 gt Middle Unit Multi Mid 11 Pulse_Source_0 21 Pulse_Source_1 32 DM_In_0 DC_Out_0 51 _ __ gt 42 DM_In_1 DC_Out_1 52 ______p X32 LM_In_0 X42 LM_In_1 MP_Out_0 14 gt MP_Out_1 24 i 34 Reset_In Auto Reset Feedback Second Axis Feedback Last Unit Multi Last Slave Slave Axis 2 Axis 3 12 SS_In_0 S_Out_0 34 S12 SS_In_0 SS_Out_0 34 22 SS_In_1 S_Out_1 44 P S22 SS_In_1 SS_Out_1 44 52 SLS_In_O SLS_Out_0 68 gt 52 Sis_in0 SLS_Out_0 68 62 SLS_In_1 SLS_Out_ 78 P S62 SLS_In_1 SLS_Out_1 78 To Door Solenoid 32 DM_In_0 DC_Out_O 51 p 832 DM_In_0 DC_Out_O 51 42 DM_In_1 DC_Out_1 52 cp 42 DMni DC_Out_1 52 MP_Out_0 14 MP_Out_0 14 gt gt MP_Out_1 24 gt MP_Out_1 24 gt 34 R
138. ble to the machine actuators The stop is followed by a holding position under power IMPORTANT When 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 15 Chapter 1 Safety Concept Functional Proof Tests PFD and PFH Definitions Performance Level and Safety Integrity Level SIL 3 For safety related control systems Performance Level PL according to 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 ISO 13849 1 EN 61508 and EN 62061 standards for complete information on requirements for PL and SIL determination See Chapter 10 Safety Configuration and Verification for more information on the requirements for configuration and verification of a safety related system containing the MSR57P Speed Monitoring Safety Relay 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
139. c B pee 1 0 48 Standstill Speed 1 000 RPM RSS Standstill Pos 10 Deg Stop Mon Delay General 10 50 Decel Ref Speed 0 RPM Feedback 1 0 51 Stop Decel Tol 0 Limited Speed Door Control Max Speed Faults amp 1 1203 SSS RS232 DF1 Parameter List Custom Views Follow these steps to configure the Stop operation of the relay 1 From the Stop group choose the P44 Safe Stop Input parameter 2 Set the Safe Stop Input parameter value to 1 default for 2NC dual channel equivalent operation In this example application the Safe Stop input SS_In monitors an E Stop button with two normally closed 2NC contacts 3 Choose the P45 Safe Stop Type parameter 4 Set the Safe Stop Type parameter value to 0 default which equals Safe Torque Off with Standstill Speed Checking Torque Off Safe Torque Off with Standstill Speed Checking Torque Off switches off motion power immediately after an E Stop command and sets door control to Unlock when the Standstill Speed is detected 5 Choose the P47 Max Stop Time parameter The default value is 10 s but you can enter a value from 0 6553 5 s 166 Publication 440R UMO004A EN P December 2008 Publication 440R UM004A EN P December 2008 10 11 Configuration Examples Chapter 11 Type the value of the expected coast to stop time plus a reasonable tolerance after the Safe Stop command is initiated If the machine s speed is not below the Standstill Speed with
140. caded first relays are system masters See Chapter 8 Slave Modes for Multi axis Cascaded Systems for more information on cascaded configurations 73 Chapter5 General Relay and Feedback Monitoring Configuration Safety Mode Reset Type 74 The relay can Safety Modes supports The be configured to operate in one of 11 user selectable based on combinations of the safety functions the relay modes except for Disabled are described in detail in subsequent chapters of this manual For These Modes See Master Safe Sto p Safe Stop Chapter 6 Safe Stop and Safe Master Safe Sto p with Door Monitoring Safe Stop DM TE Door Monitoring Master Safe Lim ited Speed Lim Speed Master Safe Lim Lim Speed DM ited Speed with Door Monitoring Master Safe Lim Lim Speed ES ited Speed with Enabling Switch Control Chapter 7 Safe Limited Speed SLS Modes Master Safe Lim Enabling Switch LimSpd DM ES ited Speed with Door Monitor and Master Safe Lim ited Speed Status Only Lim Spd Stat Slave Safe Stop Slv Safe Stp Slave Safe Limited Speed Slv Lim Spd Chapter 8 Slave Modes for Multi axis Cascaded Systems Slave Safe Limited Speed Status Only Slv Spd Stat The Reset Type can be configured as automatic manual or manual monitored The default is manual monitored The configured Reset Type applies to both Safe Stop and Safe
141. ce of operations e flow and timing diagrams e sequence charts e a configuration description of each parameter e documented descriptions of the steps with step conditions and actuators to be controlled e input and output definitions e I O wiring diagrams and references e a theory of operation e a matrix or table of stepped conditions and the actuators to be controlled including sequence and timing diagrams e a definition of marginal conditions for example operating modes The I O portion of the specification must contain the analysis of field circuits that is the type of sensors and actuators e Sensors Digital or Analog Signal in standard operation dormant current principle for digital sensors sensors OFF means no signal Determination of redundancies required for SIL levels Discrepancy monitoring and visualization including your diagnostic logic e Actuators Position and activation in standard operation normally OFF Safe reaction positioning when switching OFF or power failure Discrepancy monitoring and visualization including your diagnostic logic Publication 440R UM004A EN P December 2008 157 Chapter 10 Safety Configuration and Verification Configure the Speed Monitoring Relay You configure the relay using a HIM catalog number 20 HIM A3 to set the configuration parameters You can also use DriveExplorer software version 5 02 or later or DriveExecutive software v
142. ceed 0 25 Standstill Speed mm s x Encoder 1 Resolution Deceleration Monitoring Deceleration monitoring takes place during the configured Stop Delay Max Stop Time when the Safe Stop Type is configured as Safe Stop 1 or Safe Stop 2 The deceleration start speed is captured at the beginning of the Stop Delay Max Stop Time and used to calculate the deceleration profile These parameters define the deceleration profile e Deceleration Reference Speed P50 Decel Ref Speed e Deceleration Tolerance P51 Stop Decel Tol e Stop Delay P47 Max Stop Time The Deceleration Reference Speed is relative to encoder 1 The P51 Stop Decel Tol parameter defines the percentage of the Deceleration Reference Speed that will be tolerated above the calculated deceleration profile Publication 440R UM004A EN P December 2008 the Stop Delay Max Stop Time Safe Stop and Safe Stop with Door Monitoring Modes Chapter 6 Deceleration Monitoring Av Deceleration Tolerance x Deceleration Reference Speed Stop Delay e 0 0 0 Actual speed measured at the start of gt g 0 0 0 0 D ol 0 a o 0 AL a 6 0 D a t 0 Time r TIP To account for system overshoot and drive delay choose Av and Publication 440R UM004A EN P December 2008 set P50 Decel Ref Speed to the highest normal operating speed to calculate the Deceleration Tolerance Remember that P51 Stop Decel Tol parameter is a percentage When
143. ch_1 status LM In Ch 1 it 16 Reset_In status Reset In 17 RL_In status RL In 18 SLS_command status SLS Cmd 19 Stop_command status Stop Cmd 20 MP_Out_Ch_0 status MP Out Ch 0 21 MP_Out_Ch_1 status MP Out Ch 1 22 Reserved 0 23 Reserved 0 24 Reserved 0 25 Reserved 0 26 Reserved 0 27 Reserved 0 w 28 Reserved 0 29 Reserved 0 30 Reserved 0 31 Reserved 0 Publication 440R UM004A EN P December 2008 Values 0 Open 1 Closed IMPORTANT When the MSR57P relay is not in the Run mode the P69 IO Diag Status parameter is not updated Read Write 209 Appendix B Parameter Data List of Parameters No Name Description Values ze 25 70 Config Flt Configuration Fault Code Options 0 No Fault R Code 1 Password Required Password Req 2 P21 Safety Mode value not legal based on P20 Cascaded Config value 3 P57 Door Out Type value not legal based on P20 Cascaded Config value 4 P46 Stop Mon Delay value not legal based on P45 Safe Stop Type value 5 P50 Decel Ref Speed value not legal based on P31 Fbk 1 Resolution value 6 P48 Standstill Speed value not legal based on P20 Cascaded Config value 7 P53 LimSpd Mon Delay value not legal based on P21 Safety ode value 8 P55 Safe Speed Limit value not legal based on P21 Safety ode and P31 Fbk 1 Resolution value 9 P5
144. cifications on page 42 2 Digital input 4 Proper configuration is required for inputs 1 2 4 and 6 on the PowerFlex 70 Drive 3 Lock monitoring connections are not required for Safe Limited Speed with Door Monitoring and Enabling Switch Monitoring mode operation 4 24V DC Com must be at the same potential as the drive common because of the encoder signal Safe Limited Speed Status When properly configured for Safe Limited Speed Status Only the Only Mode relay provides Safe Limited Speed status information in addition to the y Safe Stop functions as described in Safe Stop Mode on page 89 When the Safe Limited Speed input SLS_In is OFF the feedback velocity is monitored and compared against a configurable Safe Speed Limit If the measured velocity exceeds the limit no stopping action Publication 440R UM004A EN P December 2008 119 Chapter 7 Safe Limited Speed SLS Modes 120 Safe Speed Limit takes place Instead the system status is made available as a safe output intended for a safety programmable logic controller PLC You can program an optional Safe Limited Speed Monitoring Delay Lim Spd Mon Delay to delay the start of Safe Limited Speed monitoring In this mode Door Monitoring and Enabling Switch Monitoring are not available When the relay is properly configured for Safe Limited Speed Status Only mode it will not automatically initiate a Safe Stop in the event of an overspeed condition Safe Limited
145. coder 1 IMPORTANT The resolution of encoder 1 should always be equal to or higher than the resolution of encoder 2 Feedback Polarity Configure the direction of polarity to be the same as the encoder or reversed by using the P30 Fbk 1Polarity parameter The relay defines the normal positive direction for encoders as A leading B To use encoders where B leads A you must enter 1 for the P30 Fbk 1 Polarity parameter Set the P35 Fbk 2 Polarity parameter so that the resulting speed direction is of the same polarity as encoder 1 Single Encoder If the P27 Fbk Mode parameter is set to one encoder the single encoder input is processed redundantly and crosschecked in a 1002 architecture The speed direction and stopped status are derived from the single encoder by the 1002 architecture Dual Encoders If the P27 Fbk Mode parameter is set to two encoders each encoder input is processed by a single channel and crosschecked in a 1002 architecture Discrepancy checking is performed between the two encoders After the discrepancy checks have passed the speed direction and stopped status are derived from encoder 1 IMPORTANT All monitoring functions are based on the speed of encoder 1 The encoder 2 signal is used for fault diagnostics Publication 440R UM004A EN P December 2008 Publication 440R UM004A EN P December 2008 General Relay and Feedback Monitoring Configuration Chapter 5 Speed and direction checks are
146. configured Standstill Speed Red Flashing Motion has been detected after stopped condition or a Stop Speed Fault has occurred 1 PWR Fault green indicator and Config Lock indicator flash in synch when the relay is in Program mode 2 In cascading applications the status of the door is only indicated by the Door indicator on the master unit The Door status indicators on middle and last units remain OFF 3 When the relay is configured for Slave SLS Status Only mode the Safe Speed indicator is solid green when the monitored speed of an individual MSR5 P unit is below the Safe Speed Limit following hysteresis The Safe Speed indicator is OFF when the monitored speed is above the configured safe speed limit In this mode the SLS_In value does not affect the state of the Safe Speed indicator When you apply power to the relay the red green indicators flash alternate colors and the Config Lock indicator flashes on and off twice before all indicators except for the PWR Fault indicator turn off The PWR Fault indicator remains flashing until the relay enters Run or Program mode In addition to the reportable faults described in this chapter the relay also generates nonrecoverable faults when a problem with the relay hardware is detected These faults are Safe State Faults If a Safe State Fault occurs all safety control outputs are set to their safe state To clear a nonrecoverable fault cycle power If the nonrecoverable fault persi
147. d Faults B 1 1203 SSS RS232 DF 1 Parameter List Custom Views Follow these steps to configure the Safe Limited Speed operation 1 From the Limited Speed group choose the P52 Lim Speed Input parameter The default value is 0 Disabled for applications without Safe Limited Speed control 2 Set the Lim Speed Input parameter value to 1 for 2NC dual channel equivalent operation In this example application the Safe Limited Speed input SLS_In monitors a switch with two normally closed 2NC contacts If the NC contacts are open and speed exceeds the configured Safe Limited Speed the relay initiates the configured Safe Stop Type When the relay is actively monitoring Safe Limited Speed and the machine s speed is at or below the configured Safe Speed Limit the gate interlock is released and the door can be opened 3 Choose the P55 Safe Speed Limit parameter The default value is 0 rpm or mm s The valid range is from 0 6553 5 4 Type the maximum allowable rpm value for safe reduced velocity The speed is calculated in rpm based on the Fbk 1 Units parameter setting 0 Rotary feedback entered previously 5 Go to the next section to set the parameters that configure Door Control operation 168 Publication 440R UM004A EN P December 2008 Configuration Examples Chapter 11 Example 1 Door Control Group Settings Door Control Group Parameters HIM Screen Software Screen Fa Configuri
148. d Lock Monitoring 24V de TLS3 GD2 440G 127260 0o Ss a SoD a er pee sa j Release E Stop EE EEE a a BOOFM MT44 f E TPP Poo ae 800F MX02V L1 L2 13 Ez At S11 S21 12 22 52 62 572 s82 51 52 X32 x42 32 42 13 9 24VDC Powerflex 70 gt PulseTest SS SL ESM Doorlock Lock Door AC Drive with t Outputs Input Input Input Control Monitor Monitor j8 OC Comm DriveGuard sede ag eta a 77 Dig Comm a IT RUA5 RUS A m Master MSR57
149. d Terminal Block nhanced Control Only oaoa aaa aaa 53 Encoder Interface Terminal Block nhanced Control Only oaaao aaaea 53 Feedback Connections for PowerFlex 700S Drives 55 Connect a Configuration Device 0 00005 55 Chapter 4 Introduces e e A E D OCA EER E EDD 57 PUS a enee ee aa tod a a a a Ge See HOM de ARAM erate Ge i 57 Safe Stop Input SS_In o oo anaa aaa mae ed 60 Safe Limited Speed Input SLS_In 60 Door Monitor Input DM_In anaana aaaea 60 Enabling Switch Monitor Input ESM_In 61 Lock Monitor Input IM Da asic tte awit yw ea haha ats 61 Reset Input CReset lat s3c6 steiatte eee ELEM ES ae 62 Reset Loop Input RLN aoaaa Godoy Gb Be bs Gunde dae d 63 GTS eree scale Rass get ip ie Givin cea ea Gide ks eate ve ett ae ds nek 63 Safety Control Outputs Zakk ek Panta ad od ees cas oe 63 Diagnostic Outputs 0 0 ee 70 Chapter 5 TMTOUUCHON LS srant Se dace Bis eh a Grae Sed E eee bat OT eee Sx 73 Cascaded Configuration fw Mos MaRS Oe e De ed 73 Safety ModE sna Mem ay a e Poe a r E E RES Aye 74 Rese Cy pee sen ea d e aaae thle arara a aaa fad 74 Reset Qualification nonan aaa a 75 Overspeed Response Time 5 iid gee na tar A ANS 75 Speed Resolution Accuracy for Rotary Systems 76 Speed Resolution Accuracy for Linear Systems 78 Lang ge Goden bo lt i mene rae aks Fee aa DANE E K a A Ta 79 Max Display Speed Jase grer eoir reie ASAR 80
150. d off for any output the SIL Category and PL rating is reduced for the entire MSR57P safety system 2 You must configure this parameter with a non zero value in this mode 108 Publication 440R UM004A EN P December 2008 Safe Limited Speed SLS Modes Chapter 7 Safe Limited Speed Wiring This example illustrates safe limited speed wiring Example Master Safe Limited Speed First or Single Unit 24V DC SLS Request 800FM KM23 L1 L2 13 9 24V DC PowerFlex 70 AC Drive with DriveGuard Pulse Test SLS Door Lock Lock Outputs Input Control Monitor Monitor 8 DC Comm encoder Encoder Ka Input 1 Input 2 and Power SLS Fault SS RL Reset Feed SLS Stop GNp 24V r Motion SLS StatusStatus Output Feed back Cmd Cmd DC Power Out Reset 800FM F6MX10 Safe Stop to next module optional Aux Signals to PLC 1 For encoder wiring see Encoder Cable Specifications on page 42 2 Digital input 4 Proper configuration is required for inputs 1 2 4 and 6 on the PowerFlex 70 Drive 3 24V DC Com must be at the same potential as the drive common because of the encoder signal Publication 440R UMO004A EN P December 2008 109 Chapter 7 Safe Limited Speed SLS Modes Safe Limited Speed with Door Monitoring Mode 110 When properly configured for Safe Limited Speed with Door Monitoring the relay performs Safe Limited Speed SLS
151. ded Config 20 and Safety Mode 21 value P58 P 20 P21 21 Enable SW In Typ 54 value not legal based on Safety Mode 21 value P54 P21 22 Lock Mon In Type 60 value not legal based on Safety Mode 21 value and Lock Mon Enable 59 P60 P21 P59 value 23 Illegal Cascaded Config 20 value P20 24 Illegal Reset Type 22 value P22 25 Illegal Reset Loop 23 value P23 26 Illegal Safe Stop Type 45 value P45 27 Illegal Stop Decel Tol 51 value P51 28 Illegal Fok Mode 27 value P27 29 Illegal Fok 1 Type 28 value P28 30 Illegal Fok 1 Resolution 31 value P31 31 Illegal Fbk1 Volt Mon 32 value P32 32 Illegal Fok 2 Volt Mon 37 value P37 33 Illegal OverSpd Response 24 value P24 34 Illegal MP_Out Mode 71 value P71 35 Unknown error Unknown Err 196 Publication 440R UM004A EN P December 2008 Appendix A Introduction General Specifications Publication 440R UMO004A EN P December 2008 Specifications Topic Page General Specifications 197 Environmental Specifications 198 Certifications 199 Encoder Specifications 199 Attribute Value Standards IEC EN60204 1 ISO12100 IEC 61508 IEC 61800 5 2 Safety category Cat 4 and PL e per EN ISO 13849 1 SIL CL3 per IEC 61508 and EN 62061 Power supply 24V DC 0 8 1 1 x rated voltage PELV or SELV Aggregate current of MSR57P 10 4 A max terminal A1 13 Power consumption 5 W MP outputs
152. dule You can set the MSR57P parameters by using a HIM module or a personal computer running DriveExplorer or DriveExecutive software Connect the 20 HIM A3 module to the relay by using a 20 HIM H10 cable 20 HIM A3 Module 32 42 S52 S62 13 14 24 Al S11 S21 S12 S22 34 44 51 52 MSR57P Co nfig Lock 72 S82 X32 X42 Y1 Y2 S34 Y37 Y31 Y32 Y33 Y30 68 78 Y35 AZ OOOOPOOSO 20 HIM 10 Cable eeee 0000 Publication 440R UM004A EN P December 2008 213 Appendix Using a HIM Setting Parameters with a HIM Module 214 A HIM module displays only one parameter at a time The keypad lets you scroll through the HIM menu structure to find the parameters you need to set Once the HIM module is connected to the safety relay follow these steps to set parameters 1 If necessary configure the HIM module to display parameters by logical groups a Press G amp D b Press O or v to select File Group Par from the Param Dspy Item menu and press Fa Configuring Autol RPM Main Menu Diagnostics Parameter Device Select 2 In the Main Menu press CA or GP to scroll to Parameter and press lt f Fal Configuring Autol RPM WGP File 3 Press e to choose the Parameter file and display the groups Fa Configuring Autol RPM WGP Group Security Feedback in that file 4 Scroll to the desired group and press e to display the parameters in that group Fa Co
153. e 34 Reset_In Reset 34 Reset_In Reset 34 Reset_In MT GD2 Trojan Input or Cadet Interlock Feedback A2 Feedback A2 Feedback A2 First Axis 7 Second Axis Paj Third Axis a Feedback Feedback Feedback 24V de Com Publication 440R UMO004A EN P December 2008 141 Chapter8 Slave Modes for Multi axis Cascaded Systems Safe Stop with Door Monitoring and Door Control 5 2 wire Connections First Unit Multi First Middle Unit Multi Mid Last Unit Multi Last Master Slave Slave Safe Stop Input Axis 1 Axis 2 Axis 3 12 SS_In_0 SS_Out_0 34 gt _ S112 SS_In_0 SS_Out_0 34 _ S12 SS_In_0 22 SS_In_1 SS_Out_1 44 gt S822 SS_In_1 SS_Out_1 44 gt 822 SS_In_1 11 Pulse_Source_0 21 Pulse_Source_1 To Door Door Monitor Input Solenoid 32 DM_In_0 DC_Out_0 51 __ s32 DM_In_0 D_Out_o 51 __ 32 DM_in_o D_Out_0 51 42 DM_In_1 DC_Out_1 52s s42 DM_In_1 DC_Out_1 52 s42 DMni DC_Out_1 52 X32 LM_In_0 if X42 LM_In_1 mnf MP_Out_0 14 p gt MP_Out_0 14 p gt MP_Out_0 14 g gt _ MP_Out_1 24 j gt MP_Out_1 24 gt MP_Out_1 24 5 gt D Reset w s34 Reset_In Auto
154. e Enable Input Checking on the Drive Motor tab in the Axis Properties dialog of the drive For more information refer to the Kinetix 2000 Multi axis Servo Drive User Manual publication 2093 UM001 Publication 440R UMO004A EN P December 2008 235 Appendix E Application Examples 236 Publication 440R UM004A EN P December 2008 Symbols PL e 16 Numerics 1203 SSS 217 1203 USB 217 1203 USB converter configure communication 218 1585J M8RB 2M5 cable 42 2 Channel Sourcing 97 20 HIM A3 module 27 213 20 HIM H10 cable 213 A access hazardous area 116 automatic reset 74 SLS Reset 107 SS reset 96 C cable pinout 42 cascaded config 73 125 138 cascaded connections 64 65 68 CAT 413 Cat4 9 performance definition 15 certifications 199 clearance 32 commission the system 156 159 commutation 21 Config Lock indicator 154 159 configuration lock 153 signature See Signature ID specification 157 Configuration Lock bit 154 159 configure parameters 158 confirm the configuration 159 connect feedback cable 42 HIM module 213 personal computer 217 Publication 440R UM004A EN P December 2008 Index D DC_Out output 66 wiring 67 68 deceleration monitoring 91 94 95 dimensions 31 DIN rail 32 Disabled mode 24 discrepancy checking encoders 82 DM_In input 60 Door Control 97 98 multi axis systems 138 139 wiring 67 Door Control output fault conditions 98 See also DC_Out output Door Monitoring Fault
155. e PA 6 6 Mounting 35 mm DIN rail Weight approx 350 g 0 77 Ib 1 Refer to Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 2 Safety outputs need additional fuse for reverse voltage protection of the control circuit Install a 6 A slow blow or 10 A fast acting fuse Attribute Value Temperature operating 5 55 C 23 131 F Relative humidity 90 RH noncondensing Vibration 10 55 Hz 0 35 mm displacement Shock operating 10 g 16 ms 100 shocks ESD immunity 4 kV contact discharges 8 kV air discharges Radiated RF immunity 10 V m from 80 1000 MHz 3 V m from 1 4 2 0 GHz 1V m from 2 0 2 7GHz EFT B immunity Power dc 2 kV 1 0 signal lines 1 kV Surge transient immunity Power dc 0 5 kV line line and 0 5 kV line earth 1 0 signal lines 1 kV line earth Conducted RF immunity 10V rms from 150 kHz 80 MHz Radiated Emissions Group 1 Class A Publication 440R UM004A EN P December 2008 Certifications Certification c UL us Specifications Appendix A Value UL Listed certified for US and Canada CE European Union 2004 108 EC EMC Directive compliant with e EN 61000 6 4 Industrial Emissions e EN 61131 2 Programmable Controllers Clause 8 Zone A amp B e EN 61326 3 1 Meas Control Lab Industrial Requirements e EN 61000 6 2 Industrial Immunity C Tick
156. e ore Parameter List Ba eset lype oncore Reset Type S Parameters 1 0 23 Reset Loop Disable S it 1 0 24 OverSpd Response 42 msec ocun y 1 0 25 Language Code English 1 0 26 Max Display Spd 1800 Feedback 1 0 71 MP Out Mode Pulse Test Stop 1 0 72 55 Out Mode Pulse Test Limited Speed 1 0 73 SLS Out Mode Pulse Test Door Control Max Speed Faults Follow these steps to configure the general operation of the relay 1 From the General group choose the P20 Cascaded Config parameter 2 Set the Cascaded Config parameter to 0 default to configure the relay as a Single unit 3 Choose the P21 Safety Mode parameter The default setting is 1 which equals Safe Stop 4 Set the Safety Mode parameter value to 6 for Master Safe Limited Speed with Door Monitoring and Enabling Switch Monitoring mode Lim Speed DM ES In this mode the door is locked when the machine speed is above a configured Safe Speed Limit The door can be unlocked when a stop has been requested and the machine is at Standstill Speed The door can also be unlocked when Safe Limited Speed monitoring SLS_In input OFF and the speed is below the configured Safe Speed Limit When the enabling switch is held in the middle position the door can be opened while the machine is running below the Safe Speed Limit 174 Publication 440R UMO004A EN P December 2008 Configuration Examples Chapter 11 5 Choose the P22 Reset Type parameter 6 Set the Reset Type p
157. e shield properly to the low profile connector along with the feedback cable See the diagram on page 52 44 Publication 440R UM004A EN P December 2008 Installation and Wiring Chapter 3 MPL A3xxx M S MPL A4xxx M S and MPL A45xxx M S Motors Drive Side MSR57P Relay Side Motor Contactos Drive MF 1585J M8RB 2M5 Cable Pin signal Connector Pin Pin Wire Color Signal A Black snme 1 gt 4 Bue At SING B White Black Sine 2 gt 3 White Blue A1 SIN1 REF C Red Cos 3 gt 8 Brown B1 COS1 D White Red Cos 4 gt 6 White Brown B1 COS1 REF E Green Data 5 NC F White Green Data 10 NC K Gray EPWR_5V 14 gt 2 Orange Vcc L White Gray ECOM 6 gt 1 White Orange GND N Orange EPWR_9V 7 NC R TS 11 NC T S1 12 NC U S2 13 NC V 3 8 NC 5 Green NC 7 White Green NC g2 Bare Shield case 1 Bayonet style connector 2 Make sure you ground the shield properly to the low profile connector along with the feedback cable See the diagram on page 52 Publication 440R UMO004A EN P December 2008 45 Chapter3 Installation and Wiring MPL A3xxx H MPL A4xxx H and MPL A45xxx H Motors Drive Side MSR57P Relay Side Motor Connactot Drive MF 1585J M8RB 2M5 Cable Pin me Connector Pin Pin Wire Color Signal A
158. ed Speed SLS but SLS monitoring is not active the DM_In input must be ON door closed or a Door Monitoring Fault occurs A Door Monitoring Fault occurs if the door is open DM_In input is OFF when an SS Reset or SLS Reset is requested SLS_In transitions to ON If a configured SLS Monitoring Delay Lim Spd Mon Delay is in progress prior to Safe Limited Speed monitoring being active and the DM_In input is OFF door open a Door Monitoring Fault occurs If the relay is configured for door monitoring and enabling switch monitoring and is actively monitoring safe limited speed a Door Monitoring Fault occurs if the DM_In input transitions from ON to OFF door is opened while the ESM_In input is OFF 26 ESM Mon Fit If the relay is configured for enabling switch monitoring and is actively monitoring safe limited speed the ESM_In input must be ON or an ESM Monitoring Fault occurs If the relay is configured for enabling switch monitoring only and a configured SLS monitoring delay Lim Spd Mon Delay is in progress the ESM_In input must be ON when the delay times out or an ESM Monitoring Fault occurs Monitor Fault If the ESM_In input is ON while the relay is actively monitoring safe limited speed the door can be opened DM_In transitions from ON to OFF if no Lock Monitoring Fault exists However if the ESM_lIn input transitions to OFF after the door has been opened an ESM Monitoring Fault occurs If you attempt an SS Reset wh
159. eface 12 Publication 440R UM004A EN P December 2008 Introduction Safety Certification Publication 440R UM004A EN P December 2008 Chapter 1 Safety Concept This chapter describes the safety performance level concept and how the MSR57P Speed Monitoring Safety Relay can meet the requirements for SIL CL3 PL e or CAT 4 applications Topic Page Safety Certification 13 Functional Proof Tests 16 PFD and PFH Definitions 16 PFD and PFH Data 17 Safe State 17 Safety Reaction Time 18 Considerations for Safety Ratings 18 Contact Information if Device Failure Occurs 22 The MSR57P Speed Monitoring Safety Relay is certified for use in safety applications up to and including SIL CL3 according to IEC 61508 and EN 62061 Performance Level PL e and CAT 4 according to ISO 13849 1 Safety requirements are based on the standards current at the time of certification The TUV Rheinland group has approved the MSR57P Speed Monitoring Safety Relay for use in safety related applications where the de energized state is considered to be the safe state All of the examples related to I O included in this manual are based on achieving de energization as the safe state for typical Machine Safety and Emergency Shutdown ESD systems 13 Chapter 1 Safety Concept Important Safety Considerations The system user is responsible for the set up safety rating and validation of any sensors or actuators connected to the
160. elapsed When Safe Torque Off with Standstill Checking is initiated power is removed from the Motion Power output MP_Out immediately and the configured Stop Delay Max Stop Time begins If the configured Standstill Speed is detected any time after the Safe Stop has been initiated and before the end of the configured Stop Delay Max Stop Time door control logic is set to Unlock If the Standstill Speed is not detected by the end of the configured Stop Delay Max Stop Time a Stop Speed Fault occurs and the door control logic remains set to Lock until Standstill Speed is detected A Stop Speed Fault removes power from the Motion Power output MP_Out immediately Timing Diagram for Safe Torque Off with Standstill Checking Stop Request Door Control ee Output Unlock I Stop Delay 1 Time Stop_Command Output SS_In Input SS_Out Output MP_Out Output DC_Out Output 1 1 DC_Out output shown configured as Power to Release See Door Control on page 97 for more information Publication 440R UM004A EN P December 2008 Publication 440R UM004A EN P December 2008 Safe Stop and Safe Stop with Door Monitoring Modes Chapter 6 Safe Stop 1 and Safe Stop 2 When Safe Stop 1 or 2 is initiated by a transition of the SS_In input from ON to OFF the relay does not initiate the configured Stop Delay Max Stop Time until after the optional Stop Monitoring Delay Stop Mon Delay expires unless a Stop Category Fault occur
161. emand See PFD probability of failure per hour See PFH proof tests 16 pulse test outputs 57 recover from fault 187 remove terminal blocks 32 reset device configuration 155 password 155 qualification 75 See also SS Reset SLS Reset or Reset Type reset input 62 wiring 62 Publication 440R UM004A EN P December 2008 Index Reset Loop input wiring 63 reset qualification 75 reset type 74 Reset_In input 107 risk assessment 29 157 RSLinx software 217 221 version 27 S Safe Accel Limit See Safe Maximum Acceleration Limit Safe Direction Monitoring 150 negative 151 overview 25 positive 151 Safe Limited Speed mode 105 Safe Limited Speed Monitoring Delay 106 117 120 Safe Limited Speed Reset See SLS Reset Safe Limited Speed Status Only mode 119 Safe Limited Speed with Door Monitoring and Enabling Switch Monitoring mode 115 Safe Limited Speed with Door Monitoring mode 110 Safe Limited Speed with Enabling Switch Monitoring mode 112 Safe Max Acceleration Monitoring overview 25 Safe Max Speed 145 Safe Maximum Acceleration Limit 148 Safe Maximum Acceleration Monitoring overview 25 Safe Maximum Acceleration monitoring 148 150 Safe Maximum Speed Monitoring overview 25 Safe Maximum Speed monitoring 145 147 Safe Speed Limit 105 117 121 Safe State Faults 186 188 190 Safe Stop 1 91 Safe Stop 2 91 Safe Stop mode 89 Safe Stop Reset See SS Reset Safe Stop Types 90 92 239 Index 240 Safe Stop with Door
162. ember 2008 Configuration Publication 440R UMO004A EN P December 2008 About the MSR5 P Speed Monitoring Safety Relay Chapter 2 Configure the MSR57P relay by setting the configuration parameters using a HIM module catalog number 20 HIM A3 You can also use DriveExplorer software version 5 02 or later or DriveExecutive software version 4 01 or later All of these configuration tools let you save the configuration and download it to another MSR57P relay Only DriveExecutive software lets you edit the configuration offline When the relay configuration is complete it can be safety locked to prevent unauthorized changes to the safety configuration If you set a password to protect the safety configuration you must enter the password before you can lock or unlock the configuration If you are using a HIM to configure the relay see Appendix C for information on connecting a HIM and setting parameters with the keypad If you are using software to configure the relay see Appendix D for information on connecting to a personal computer and using the software 1 RSLinx software version 2 50 00 or later is required for DriveExecutive software 27 Chapter 2 28 About the MSR57P Speed Monitoring Safety Relay Publication 440R UM004A EN P December 2008 Chapter 3 Installation and Wiring Introduction This chapter provides details on connecting devices and wiring the MSR57
163. er 217 Using DriveExplorer Software 218 Using DriveExecutive Software 221 Connect a Personal You must have either DriveExplorer or DriveExecutive software Computer installed on your personal computer and an serial or USB converter Description Catalog Number Version DriveExplorer software 9306 4EXPO2ENE 5 02 or later DriveExecutive software 9303 4DTEO1ENE 4 01 or later RSLinx software 9355 series 2 50 00 or later Serial Converter 2 1203 SSS series B 3 004 or later Universal Serial Bus Converter 1203 USB 1 001 or later 1 RSLinx software is required by DriveExecutive software but it is not required by DriveExplorer software 2 The serial converter catalog number 1203 SSS series B contains 1203 SFC cable from personal computer serial to the converter 1202 C10 cable from the converter to DPI port and a serial converter body 3 Catalog number 1203 USB contains the converter body a 20 HIM H10 cable to connect to the DPI port and a type A to type B USB cable to connect the 1203 USB converter to a personal computer A free version of DriveExplorer Lite software is available for download at http www ab com drives driveexplorer free_download html Follow these steps to connect the personal computer to the DPI port on the front of the relay 1 Connect the appropriate cable between the COM port on your personal computer and the communication port on the serial or USB converter Publication 440R UMO004A EN P
164. er 3 Installation and Wiring Terminal Connections Tighten all terminal screws firmly and recheck them after all connections have been made Recommended terminal screw torque is 0 6 0 8 Nm 5 7 Ib in Terminal Function Al 24V dc user supply A2 Common user supply S11 S21 Test_Out_0 Test_Out_1 pulse test output for Safe Stop SS Safe Limited Speed SLS Enabling Switch Monitor ESM Door Monitor DM and Lock Monitor LM 12 22 SS_In_ChO SS_In_Ch1 Safe Stop SS dual channel input 72 S82 ESM_In_Ch0 ESM_In_Ch1 Enabling Switch Monitoring ESM dual channel input 52 S62 SLS_In_ChO SLS_In_Ch1 Safe Limited Speed SLS dual channel input 32 42 DM_In_Ch0 DM_In_Ch1 Door Monitoring DM dual channel input X32 X42 LM_In_ChO LM_In_Ch1 Lock Monitor LM dual channel input solenoid position Y1 24V dc output RL Feed for reset S34 and for feedback Y2 34 Reset_In Y2 RL_In feedback input Y35 SLS_Status output Y37 Fault_Status output 13 Supply power for SS safety output 14 and Motion Power MP safety output 24 14 24 MP_Out_Ch0 MP_Out_Ch1 Motion Power MP outputs 68 78 SLS_Out_Ch0 SLS_Out_Ch1 Safe Limited Speed SLS outputs 51 DC_Out_Ch0 High Side Door Control output door switch solenoid bipolar or 2 Channel Source 52 DC_Out_Ch1 Low Side Door Control output door switch solenoid bipolar or 2 Chan
165. ersion 4 01 or later The relay is configured in the Safe State The relay must be unlocked to be configured If a password exists you must provide the password to unlock the relay Follow these steps to configure the relay 1 Ta 8 Unlock the relay configuration if it is locked by setting the P5 Lock State parameter to 0 Unlock If an error occurs you need to enter the password by using the P1 Password parameter Place the relay in Program mode by setting the P6 Operating Mode parameter to 0 If you are using DriveExplorer or DriveExecutive software you will see the P10 Signature ID parameter value change to 0 When the relay is in Program mode the P69 IO Diag Status parameter is not updated or refreshed Edit parameters to meet your system configuration specification and risk assessment requirements When you are finished editing parameters set the P6 Operating Mode parameter to 1 which puts the relay into Run mode A configuration Signature ID is generated Record the configuration Signature ID from the contents of the P10 Signature ID parameter Enter the password if required Set the P5 Lock State parameter to 1 Lock For a complete list of parameters and settings for the MSR57P relay see Appendix B 158 Publication 440R UM004A EN P December 2008 Publication 440R UMO004A EN P December 2008 Safety Configuration and Verification Chapter 10
166. eset_In Auto 34 Reset_In Reset Feedback A2 Feedback A2 Third Axis Feedback Publication 440R UMO004A EN P December 2008 143 Chapter 8 Slave Modes for Multi axis Cascaded Systems 144 Safe Stop with Door Monitoring Safe Limited Speed Lock Monitoring and Enabling Switch 7 2 wire Connections 24V DC Reset First Unit Multi First Middle Unit Multi Mid Last Unit Multi Last Master Slave Slave Axis 1 Axis 2 Axis 3 S12 SS_In_0 SS_Out_0 34 j S12 SS_In_0 SS_Out_0 34 S12 SS_In_0 SS_Out_0 34 e Safe Stop Input S22 oie RT 44 we S22 Pare T 44 S22 sia ata a4 Safe Limited Speed Input gt S52 SLS_In_t SLS_Out_O 68 S52 SLS_In_0 SLS_Out_O 68 S52 SLS_In_0 SLS_Out_O 68 S62 SLS_In_1 SLS_Out_1 78 S62 SLS_In_1 SLS_Out_1 78 S62 SLS_In_1 SLS_Out_1 78 SmartGuard 600 Enabling Switch Monitor Input gt s72 esm_ino see ESM Controller 11 Pulse_Source_0 To Door 21 Pulse_Source_1 S id Door Monitor Input olenol Zoho 32 DM_In_0 DC_Out_0 51 32 DM_In_o DC_Out_o 51 p gt 32 DM_In0 DC_Out_0 51 Nord R 542 DM_In_t DC_Out_1 52 S42 DM_In_t DC_Out_1 52 S42 DM_In_t DC_Out_1 52 lo Lock Monitor Input f Pe gt X32 LM_In_0 t rile X42 LM_In_t HEA MP_Out_0 14 p gt MP_Out_o 14 p gt MP_Out_o 14 1p Ei E MP_
167. eter Groups Security 1 Password 5 Lock State 6 Operating Mode 7 Reset Defaults 10 Signature ID 13 New Password 17 Password Command 18 Security Code 19 Vendor Password 70 Config Flt Code General 20 Cascaded Config 21 Safety Mode 22 Reset Type 23 Reset Loop 24 OverSpd Response 25 Language Code 26 Max Display Spd 71 MP Out Mode 72 SS Out Mode 73 SLS Out Mode Publication 440R UMO004A EN P December 2008 Feedback 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 Fbk Mode Fbk 1 Type Fbk 1 Units Fbk 1 Polarity Fbk 1 Resolution Fbk 1 Volt Mon Fbk 1 Speed Fbk 2 Units Fbk 2 Polarity Fbk 2 Resolution Fbk 2 Volt Mon Fbk 2 Speed Fbk Speed Ratio Fbk Speed Tol Fbk Pos Tol Direction Mon Direction Tol Stop 44 Safe Stop Input 45 Safe Stop Type 46 Stop Mon Delay 47 Max Stop Time 48 Standstill Speed 49 Standstill Pos 50 Decel Ref Speed 51 Stop Decel Tol Door Control 57 Door Out Type 58 DM Input 59 Lock Mon Enable 60 Lock Mon Input 74 Door Out Mode Faults 67 Fault Status 68 Guard Status 69 10 Diag Status 70 Config Flt Code Max Speed Limited Speed 52 Lim Speed Input 53 LimSpd Mon Delay 54 Enable SW Input 55 Safe Speed Limit 56 Speed Hysteresis 61 Max Speed Enable 62 Safe Max Speed 63 Max Spd Stop Typ 64 Max Accel Enable 65 Safe Accel Limit 66 Max Acc Stop Typ
168. ety Configuration and Verification The Config Lock status indicator on the relay illuminates solid yellow when the configuration is locked The Config Lock status indicator flashes yellow when the configuration is unlocked Config Lock PWR Fault Stop Limited Speed Standstill Safe Speed Motion Power Door You can also check the safety lock status of the system by viewing the Configuration Lock bit bit 1 in the P68 Guard Status parameter If the bit equals 1 the configuration is locked If it equals 0 the configuration is unlocked Set a Password You can protect the system configuration by using an optional password If you set a password edits to the configuration as well as safety locking and relay reset operations require the password to be entered You can set a password when the relay is not safety locked and the P6 Operating Mode parameter value equals 0 Program Follow these steps to set a new password 1 If you previously configured a password enter the password by using the P1 Password parameter 2 Enter the new password by using the P13 New Password parameter 3 Set the P17 Password Command parameter to 1 which equals Change Password 154 Publication 440R UMO004A EN P December 2008 Safety Configuration and Verification Chapter 10 Parameter Description Setting 1 Password Password for Lock and Range 0 4 294 967 295 Unlock function 13 New Password 32 bit confi
169. executing unless a fault occurs It is OFF once Standstill Speed is reached Safe Stop 2 The MP_Out output remains ON while the Safe Stop is executing and after Standstill Speed has been reached unless a fault occurs during the Safe Stop 1 With or without Standstill Checking The outputs are pulse tested when the P71 MP Out Mode parameter is configured for pulse testing If you disable pulse testing on this output the achievable SIL Category and PL ratings of your entire MSR5 P safety system are reduced Publication 440R UMO004A EN P December 2008 69 Chapter4 Speed Monitoring 1 0 Signals For applications using standard drives with external contactors wire the output as shown MP_Out_ChO MP_Out_Ch1 Power Supply for Outputs 14 and 24 24V dc If an error is detected on either channel of the dual channel output a Motion Power Out Fault MP Out Flt occurs An MP Out Flt places the relay in the Safe State The fault is latched until a power cycle For more information on faults see Chapter 12 Troubleshoot the MSR57P Relay Diagnostic Outputs These signals are diagnostic status signals and are not safety signals Fault_Status Output The Fault_Status output may be used to signal that a fault has been detected by the speed monitoring relay The Fault_Status output is turned ON if a fault occurs The Fault_Status output is turned OFF by a successful reset to initiate safe speed monitoring
170. f a system to have a dangerous failure occur per hour PL Performance Level ISO 13849 1 safety rating RL Reset Loop SDM Safe Direction Monitoring SFF Safe Failure Fraction The sum of safe failures plus the sum of dangerous detected failures divided by the sum of all failures SIL Safety Integrity Level A measure of a products ability to lower the risk that a dangerous failure could occur SLS Safe Limited Speed SMA Safe Maximum Acceleration SMS Safe Maximum Speed SS Safe Stop Publication 440R UM004A EN P December 2008 Preface Additional Resources This table lists publications that contain important information about safety systems that can use the speed monitoring safety functions of the MSR57P relay Resource Guardmaster MSR57P Speed Monitoring Safety Relay Installation Instructions publication 440R INO16 Description Provides information on installing the MSR5 P relay HIM Quick Reference publication 20HIM ORO01 A quick reference for using the HIM keypad DriveExplorer Online Help DriveExplorer online help provides information on the release quick start steps general information about DriveExplorer software descriptions of the elements in the DriveExplorer window step by step procedures and troubleshooting information PowerFlex USB Converter User Manual publication DRIVES UM001 Provides detailed information on installing configuring and troubleshooting the 1
171. failure is appropriately logged for the catalog number affected and a record is made of the failure e request a failure analysis Gf necessary to determine the probable cause of the failure Publication 440R UM004A EN P December 2008 Chapter 2 About the MSR57P Speed Monitoring Safety Relay Introduction This chapter describes the features of the MSR57P Speed Monitoring Safety Relay Topic Page Safety Functions 23 Hardware Features 26 Configuration 27 Safety Functions The MSR57P Speed Monitoring Safety Relay features five inputs three sets of safety outputs and one bipolar safety output Each of the inputs supports a specific safety function e Safe Stop SS e Safe Limited Speed Monitoring SLS e Door Monitoring DM e Enabling Switch Monitoring ESM e Lock Monitoring LM An additional reset input provides for reset and monitoring of the safety circuit The relay can be used in single axis or multi axis applications and the relay is configurable as a master or slave based on its location in the system Publication 440R UM004A EN P December 2008 23 Chapter2 About the MSR57P Speed Monitoring Safety Relay Safety Modes The relay can be configured to operate in one of 11 user selectable safety modes based on combinations of the safety functions listed on the previous page The relay monitors motion for Safe Stop in every mode except Disabled Safety Mode Page Disabled In this mode
172. figuration P29 Fbk 1 Units parameter 56 Speed Provides hysteresis for SLS_Out output when Default 2 Hysteresis safe limited speed monitoring is active Range 10 100 1 You must configure this parameter with a non zero value in this mode 2 You must configure this parameter with a value in the range from 10 100 in this mode Publication 440R UMO004A EN P December 2008 121 Chapter 7 Safe Limited Speed SLS Modes SLS Status Only Wiring These examples illustrate wiring for SLS Status Only operation Examples Master Safe Limited Speed Status Only Single Unit 24V DC SLS Request 800FM KM23 C outo m Out 1 L out 2 i Out 3 E c Out 4 gt a 0O Out 5 52 L outs SLS Door Lock gt Lock Door Input Control Monitor Monitor Cl out7 RJ45 MSR57P Relay 2 a rae Isolated Diagnostics S npu i and Power Oo a ha a a a a Sd ee i a ia i Deeb ee ee cb i Ww i RL ResetiFeed SLS Stop np 24V Motion SLS S Feed back Cmd Cmd DC Power Out Output n7 2 i 24V DC 6 n5 Ss n4 a n3 Reset g 800FM F6MX10 n2 m n1 n0 Aux Signals to PLC 24V DC Com 1 For encoder wiring see Encoder Cable Specifications on page 42 2 Power supply may or may not be isolated 3 24V DC Com must be at the same potential as the drive common because of the encoder signal 122 Publication 440R UM004A EN P December 2008 Safe Limited Speed SLS Modes
173. figure test and confirm the project Follow these steps to put the relay into Run mode generate a configuration signature and lock the configuration 1 From the Security group choose the P6 Operating Mode parameter Publication 440R UM004A EN P December 2008 171 Chapter 11 Configuration Examples Example Application 2 172 2 Set the Operating Mode parameter value to 1 which equals Run mode A configuration signature is generated 3 Choose the P10 Signature ID parameter and record the configuration signature value stored in this parameter 4 If you configured a password choose the P1 Password parameter and type the password 5 Choose the P5 Lock State parameter 6 Set the Lock State parameter value to 1 Lock to lock the configuration The Config Lock status indicator is solid yellow when the relay configuration is locked This example application shows how to change the default configuration settings to set up the MSR57P relay for an application with these basic parameters e Safe Stop SS enabled with an E stop button e Safe Limited Speed SLS initiated with a 2NC contact switch e A configured Safe Maximum Speed SMS limit e Door Monitoring DM e Door Control DC to control a guardlocking switch TLS 3 GD2 Power to Release style e A Reset button with 1NO contact e Enabling Switch ESM with 2NC contacts Hold the switch in the middle position to access the machine for mainte
174. fines the position limit in encoder 1 degrees or mm that will be tolerated after a Safe Stop condition has been detected Setting Default 10 Range 0 65 535 degrees 360 1 revolution or mm based on rotary or linear configuration defined by P29 Fbk 1 Units parameter 50 Decel Ref Speed Decel Reference Speed Default 0 Determines deceleration rate to monitor for Safe Range 0 65 535 rpm or mm s f Stop 1 or Safe Stop 2 based on rotary or linear configuration defined by j P29 Fbk 1 Units parameter 51 Stop Decel Tol Decel Tolerance Default 0 This is the acceptable tolerance above the Range 0 100 of Decel Ref Speed deceleration rate set by the P50 Decel Ref Speed parameter 57 Door Out Type Door Control Output Type Default 0 Power to release Pwr to Rel Defines the lock and unlock state for door control Options 0 Power to release Pwr to Rel output DC_Out 1 Power to lock Pwr to Lock ae 2 Cascaded 2 Ch Sourcing The first and middle units of a multi axis system must be configured as cascading 2 58 DM Input Type Door Monitor Input Type Option 5 Dual channel SS equivalent 3 s 2 OSSD 3s 128 Configuration for the door monitor input DM_In Publication 440R UM004A EN P December 2008 Slave Modes for Multi axis Cascaded Systems Chapter 8 Slave Safe Stop Wiring The examples on the following pages show two different Slave Safe Examples S
175. guration Range 0 4 294 967 295 password 17 Password Save new password Default O No action comand comana Options 0 No action 1 Change Password 2 Reset Password Reset the Password If you forget the password and need to reset it follow these steps 1 2 Read the contents of the P18 Security Code parameter Contact Rockwell Automation Technical Support 440 646 5800 and provide the Security Code value and the serial number of the relay A technical support representative will use the security code to calculate a Vendor Password value Enter the value provided by your Rockwell Automation Technical Support representative into the P19 Vendor Password parameter Set the P17 Password Command parameter to 2 which equals Reset Password Enter the new password using the P13 New Password parameter Set the P17 Password Command parameter to 1 which equals Change Password Reset the Relay When the relay is unlocked and the P6 Operating Mode parameter equals 0 Program you can reset the relay s configuration parameters to their factory default settings by setting the P7 Reset Defaults parameter to 1 The reset parameters are sent to the relay when the P6 Operating Mode parameter is changed to 1 Run Publication 440R UM004A EN P December 2008 155 Chapter 10 Safety Configuration and Verification Basics of Application Configuration for the intended SIL CL3 PL
176. h Enabling Switch Monitoring mode operation 4 24V DC Com must be at the same potential as the drive common because of the encoder signal Safe Limited Speed with When properly o for Limited Speed es PPan Monitoring and Enabling Switch Monitoring the relay performs Safe Door Monitoring and i Limited Speed SLS monitoring functions as described on page 105 in Enabling Switch addition to the Safe Stop functions as described in Safe Stop Mode on Monitoring Mode page 89 The relay also monitors both the Enabling Switch Monitor input ESM_In and the Door Monitor input DM_In Publication 440R UMO004A EN P December 2008 115 Chapter 7 116 Safe Limited Speed SLS Modes This mode lets you access the hazardous area when the machine is under a Safe Limited Speed condition The following is a typical procedure for accessing the hazardous area using this mode 1 Set the SLS_In input to OFF The Safe Speed Limit must not be exceeded after the Safe Limited Speed Monitoring Delay LimSpd Mon Delay if configured times out After the Safe Limited Speed Monitoring Delay has timed out hold the enabling switch in the middle position Once a safe speed is detected and the enabling switch is in the middle position the relay unlocks the door Continue to hold the enabling switch while you open the door enter the hazard area and perform the required maintenance Follow these steps to remove the safe speed condi
177. h Monitoring Safe Limited Speed monitoring is active and the SLS_In input is OFF It is also set to 1 if the Safety Mode is configured for Enabling Switch Monitoring and Door Monitoring and the DM_In input is OFF This bit is set to 0 when the Safety Mode is not configured for Enabling Switch Monitoring 23 Reset In This status bit reflects the state of the Reset_In input A 1 indicates the Reset_In input is ON a 0 indicates the Reset_In input is OFF 24 Wait Reset This bit indicates when an SS Reset is required The bit is set to 1 whenever the relay is successfully configured and is in the Safe State or when Standstill Speed has been reached 25 Wait SS Cyc This bit indicates when the SS_In input must be cycled prior to a SS Reset being performed The bit is set to 1 if the SS_In input is ON and a fault is detected or the Wait Stop Request attribute equals 1 It is set to 0 if the SS_In input is detected as OFF 26 Wait No Stop This bit is set 1 when a stop request is made using the HIM stop button It is set to 0 when the HIM start button is pushed following a reset or at power up 27 SLS Cmd This bit reflects the status of the SLS_Command output A 1 indicates that the output is ON a 0 indicates that the output is OFF See SLS Command Output on page 71 28 Stop Cmd This bit reflects the status of the Stop_Command output A 1 indicates that the output is ON a 0 indicates that the output is OFF See Stop Command Output on page 70 29
178. hapter 1 Safety Concept Safety Reaction Time Considerations for Safety Ratings The safety reaction time is the amount of time from a safety related event as input to the system until the system is in the Safe State The safety reaction time from an input signal condition that triggers a safe stop to the initiation of the configured Safe Stop Type is 20 ms maximum The safety reaction time from an overspeed event that triggers a safe stop to the actual initiation of the configured Safe Stop Type is equal to the value of the P24 OverSpd Response parameter For more information on overspeed response time see Overspeed Response Time on page 75 The achievable safety rating of an application using the MSR357 relay is dependent upon many factors including the encoder setup drive options output pulse testing and the type of motor When using two independent encoders to monitor motion and when installed in a manner to avoid any common cause dangerous failure the MSR57P relay can be used in applications up to and including SIL CL3 PL e and CAT 4 When using a drive with the Safe Off option and one external contactor or when using two external contactors the MSR57P relay can be used in applications up to and including SIL CL3 PL e and CAT 4 IMPORTANT Some of the diagnostics performed on the encoder signals l require motion to detect faults You must make sure that motion occurs at least once every six months
179. hapter4 Speed Monitoring 1 0 Signals SS_Out to SS_In Connections for Multi axis Applications SR57P Master SS_Out_ChO SS_Out_Ch1 S12 CM 12 and S22 are configured as 2 OSSD inputs SS_In_ChO SS_In_Ch1 MSR5 P Slave For more information on multi axis configurations see Cascaded Configurations starting on page 125 Alternately the first Ss_Out output may be used to signal a programmable logic controller PLC or a drive that a Safe Stop has been requested If the SS_In is ON closed and a successful Safe Stop Reset is performed the SS_Out output is turned ON If Lock Monitoring is not enabled or the door control logic state is Unlock the SS_Out signal turns ON immediately when the SS_In turns ON If Lock Monitoring is enabled and the door control logic state is Lock the SS_Out signal is not turned ON until the door has been locked by using the DC_Out signal and the LM_In input has been verified as ON If the Safe Stop Type is initiated or if a Safe Stop is initiated due to a fault the SS_Out output is turned OFF If an error is detected on either channel of the dual channel output a fault occurs I O faults are Stop Category Faults which initiate the configured Safe Stop Type The fault is latched until the relay is successfully reset For more information on faults see Chapter 12 Troubleshoot the MSR57P Relay 64 Publication 440R UM004A EN P December 2008
180. hen the fault occurs while the relay is executing the configured Safe Stop Type Faults Detected While Executing a Safe Stop Type of Fault Fault While Stopping Faults e Deceleration Fault Decel Flt e Stop Speed Fault Stop Spd Flt Response These Stop Category Faults e SMS Speed Fault when the P63 Max Spd Stop Typ is configured for Use Safe Torque Off with Check for Standstill Torque Off e Acceleration Fault when the P66 Max Acc Stop Typ is configured for Use Safe Torque Off with Check for Standstill Torque Off e Direction Fault Dir Fit if the fault occurred while a safe stop was in progress Outputs are placed in a faulted state but door control logic can be set to Unlock if feedback signals indicate that Standstill Speed has been reached The relay continues to monitor for faults These Stop Category Faults e SLS Speed Fault SLS Spd Fit e Direction Fault Dir Flt if the fault was detected before the safe stop was initiated In this case the relay does not perform Direction Monitoring while executing the configured Safe Stop Type e Door Monitoring Fault Door Mon Flt e ESM Monitoring Fault ESM Mon Flt e Lock Monitoring Fault Lock Mon Flt e RLM Reset Fault RL Fit e SMS Speed Fault when the P63 Max Spd Stop Typ is configured for Use Configured Safe Stop Type Safe Stp Typ e Acceleration Fault when the P66 Max Acc Stop Typ is configured for Use Configured Safe Stop Type S
181. hoot the MSR57P Relay Bit Display Text Description 19 DM In Prog The status of this bit is dependent on the relay s speed monitoring configuration The bit is 1 when e the relay is configured for Safe Stop with Door Monitoring and is monitoring motion or is executing a Safe Stop e the relay is configured for Safe Limited Speed with Door Monitoring and the relay is not actively monitoring for Safe Limited Speed is in a SLS Monitoring Delay LimSpd Mon Delay or is executing a Safe Stop e the relay is configured for Safe Limited Speed with Door Monitoring and Enabling Switch Monitoring and the relay is not actively monitoring for Safe Limited Speed is in a SLS Monitoring Delay LimSpd Mon Delay or is executing a Safe Stop the relay is actively monitoring for Safe Limited Speed when the ESM_lIn input is OFF and the DM_In input is ON This bit is always set to 0 when the relay is not configured for Door Monitoring 20 LMIn This bit is set to 1 if the logical value of the dual channel LM_lIn input is evaluated as 1 This bit is set to 0 if the logical value of the dual channel LM_lIn input is evaluated as 0 21 ESMIn This bit is set to 1 if the logical value of the dual channel ESM_In input is evaluated as 1 This bit is set to 0 if the logical value of the dual channel ESM_lIn input is evaluated as 0 22 ESM In Prog This bit is set to 1 if the Safety Mode is configured for Enabling Switc
182. ile the SLS_In input is OFF and the ESM_In input is OFF an ESM Monitoring Fault occurs 24 Lock Mon Fit If the relay is configured for lock monitoring a Lock Monitoring Fault occurs when e the LM_In input is detected as OFF while the door control output is in the Lock state except for the 5 seconds following the transition of the DC_Out output from Unlock to Lock e the LM_In input is detected as ON when the DM_In signal transitioned from ON to OFF 29 RL Fit An RLM Reset Fault occurs if the MSR5 P relay is configured to qualify an SS Reset with the RL_In input and an SS Reset is attempted when the MP_Out output is OFF and the RL_In input is OFF 1 For more information on these faults see Input and Output Faults on page 187 Fault Reactions When a fault occurs the type of fault and the status of the system determine the resulting state of the system Safe State Faults If a Safe State Fault occurs in any operational state including the Disabled state the relay goes to the Safe State In the Safe State all safety outputs are in their safe states 190 Publication 440R UM004A EN P December 2008 Troubleshoot the MSR57P Relay Chapter 12 Stop Category Faults and Fault While Stopping Faults If a Stop Category Fault or Fault While Stopping Fault occurs while the relay is monitoring motion the relay initiates the configured Safe Stop Type The type of fault detected determines the relay s response w
183. in the Stop Delay Max Stop Time you entered a Stop Speed Fault occurs and door control remains set to Lock until the Standstill Speed is reached Choose the P48 Standstill Speed parameter The default value is 0 001 rpm but you can enter a value from 0 001 65 535 rpm The Standstill Speed is measured in revolutions per minute because the P29 Fbk 1 Units parameter is configured for Rotary feedback Enter a value in the Standstill Speed parameter field to define the speed at which the relay determines standstill has been reached Choose the P49 Standstill Pos parameter The default value is 10 degrees but you can enter a value from 0 65 535 degrees The Standstill Position is measured in degrees because the P29 Fbk 1 Units parameter is configured for Rotary feedback Enter the value to define the position limit in encoder units that is tolerated after standstill has been reached Go to the next section to set the parameters found in the Limited Speed parameters group 167 Chapter 11 Configuration Examples Example 1 Limited Speed Group Settings Limited Speed Group Parameters HIM Screen Software Screen Fa Configuring Autol Faia ies RPM Node 1 MSR57 Lim Speed Input 2NC B 0 MSR57 1 0 53 LimSpd Mon Delay 0 0 Sec FGM Parameter f Parameter List oS Farag SW Input Not Used Lim Speed Input amp Parameters az ee peared eR aj Enable SW Input General Feedback Stop Door Control Max Spee
184. ion 440R UM004A EN P December 2008 Chapter 10 Introduction Safety Configuration Safety Configuration and Verification Topic Page Safety Configuration 153 Basics of Application Development and Testing 156 Commissioning the System 156 Editing the Configuration 160 When you configure a speed monitoring safety system you must record and verify the configuration signature and set the safety lock status of the system configuration An optional password can be configured to help protect the system configuration from unauthorized modifications Configuration Signature ID The configuration Signature ID is an identification number that uniquely identifies a specific configuration for a safety device Each time the system is configured or reconfigured a new configuration signature is generated to identify that specific configuration You can view the configuration Signature ID by accessing the P10 Signature ID parameter Safety lock When you have verified the operation of the system and recorded the configuration Signature ID you must lock the configuration to protect it from modification IMPORTANT If you do not safety lock the configuration untested or l unintentional changes can be made to the device configuration which could result in unexpected system behavior You lock the configuration by using the P5 Lock State parameter Publication 440R UM004A EN P December 2008 153 Chapter 10 Saf
185. ion Fault When P66 Max Acc Stop Typ Set to Use Configured Stop Type Safe Stp Typ Stop Acceleration Request Fault I E l Stop Delay s N r iasa iia iiis a a Ban Ban Tol Standstill Speed olerance I t Time If an Acceleration Fault is detected during the Stop Delay Max Stop Time and the P66 Max Acc Stop Typ parameter equals Use Safe Torque Off with Check for Standstill Torque Off the Acceleration Fault is reported and the MP_Out output is set to OFF The Stop Delay Max Stop Time continues with standstill checking enabled 1 100 kHz for Sin Cos or 200 kHz for Incremental Publication 440R UMO004A EN P December 2008 149 Chapter9 Safe Maximum Speed and Direction Monitoring Safe Direction Monitoring SDM 150 Acceleration Fault When P66 Max Acc Stop Typ Set to Use Safe Torque Off with Check for Standstill Torque OFF Acceleration Stop Fault Request I Stop Delay no oO oO Qa N Standstill Speed Time For more information about faults see Fault Reactions on page 190 When configured for Safe Direction Monitoring the relay monitors the feedback direction and initiates the configured Safe Stop Type when motion in the illegal direction is detected You configure Safe Direction Monitoring using the P42 Direction Mon parameter This parameter also determines the direction positive or negative in which motion is allowed Enable Safe Direction Monitoring
186. ion Tolerance The P48 Standstill Speed and P49 Standstill Pos parameters are not used for Safe Torque Off without Standstill Checking configurations Set these parameters to zero Standstill Speed is used to declare motion as stopped The system is at standstill when the speed detected is less than or equal to the configured Standstill Speed The P48 Standstill Speed parameter defines the speed limit before the relay determines standstill has been reached and the door control logic is set to Unlock IMPORTANT Standstill detection relies on the encoder 1 signal The encoder 2 signal is used for fault diagnostics 93 Chapter 6 94 Safe Stop and Safe Stop with Door Monitoring Modes The P49 Standstill Pos parameter defines the position limit in encoder 1 units that is tolerated after standstill has been reached If the position changes by more than the amount specified by the Standstill Position Tolerance after standstill has been reached and the door is unlocked a Motion After Stopped Fault occurs This type of fault results in the MSR57P relay entering the safe state The time required to verify that the Standstill Speed has been reached can be considerable when a very small Standstill Speed is configured and the encoder resolution of encoder 1 is very low e For rotary systems the time in seconds will exceed 15 Standstill Speed RPM x Encoder 1 Resolution e For linear systems the time in seconds will ex
187. irection polarity for encoder 1 Default 0 Same as encoder Normal R W Polarity Options 0 Same as encoder Normal Reversed Publication 440R UM004A EN P December 2008 203 Appendix B Parameter Data List of Parameters No Name Description Values ze 25 31 Fbk 1 Counts Revolution Default 1024 R Resolution Range 1 65 535 pulses revolution or pulses mm based on rotary or linear configuration defined by P29 Fbk 1 Units parameter 32 Fok 1 Volt Encoder 1 voltage to be monitored Default 0 Voltage not monitored R W Mon Options 0 Voltage not monitored 5 5V 10 9 7 12V 12 11 14V 14 11 5 15 5V 33 Fbk 1 Displays the output speed of encoder 1 Range 214 748 364 8 214 748 364 7 rpm or mm s R Speed based on rotary or linear configuration defined by P29 Fbk 1 Units parameter 34 Fbk 2 Units Selects rotary or linear feedback system for encoder 2 Default 0 Rotary Rev R W Options 0 Rotary Rev 1 Linear mm 35 Fbk 2 Defines the direction polarity for encoder 2 Default 0 Same as encoder Normal R W Polarity Options 0 Same as encoder Normal 1 Reversed 36 Fbk 2 Counts Revolution Default 0 R Resolution Range 0 65 535 pulses revolution or pulses mm based on rotary or linear configuration defined by P34 Fbk 2 Units parameter 37 Fbk 2 Volt Encoder 2 voltage to be monitored Default 0 V
188. is installed or reinstalled If at any time the condition of the product is observed to be diminished in any way so that there is even the slightest possibility of incorrect functioning you should assume that safe operation is no longer possible and the equipment should be removed from the system immediately so that unintentional operation is impossible Examples of such conditions are e visible damage to the equipment e loss of electrical functions e exposure to temperatures higher than the specified operating limit visible indication of burning physical damage due to impact or excessive mechanical shock Observe all electrical safety regulations stipulated by the appropriate technical authorities Make sure that electrical power supply to the MSR57P relay is switched off before making or removing any electrical A connections Publication 440R UM004A EN P December 2008 Installation and Wiring Chapter 3 Environment and Enclosure IMPORTANT This product must be installed inside protected control panels or cabinets appropriate for the environmental conditions of the industrial location The protection class of the panel or cabinet should be IP54 or higher See the specifications in Appendix A To reduce the affects of electromagnetic interference EMD follow these guidelines when connecting your system Considerations for Reducing Noise e Keep wire lengths as short as possible e R
189. is used to request the Safe Limited Speed monitoring functionality of the relay In a cascaded configuration the SLS_In input is connected to the Safe Stop SS_Out output of an upstream MSR57P relay Door Monitor Input DM_In This input monitors the status of the door to indicate if it is open or closed The DM_In input can be connected to a non guardlocking switch if the door does not need to be locked The door status is monitored by the first unit in multi axis systems The DM_In input is intended for connection to a guardlocking switch when the speed monitoring relay is configured as a master device with door monitoring When the MSR57P relay is configured as a slave in a cascaded system its DM_In input is connected to the Door Control output DC_Out of the upstream MSR57P relay Publication 440R UM004A EN P December 2008 Publication 440R UMO004A EN P December 2008 Speed Monitoring 1 0 Signals Chapter 4 Enabling Switch Monitor Input ESM_In The ESM_In input is intended to be connected to an enabling switch The speed monitoring relay uses the ESM_In input as a safety enable only not for control The ESM_In inputs function and monitoring is performed by the first unit in multi axis systems The ESM_In input ON state is used to enable motion under mode specific conditions in the Safety Limited Speed with Enabling Switch Lim Speed ES and Safe Limited Speed with Door Monitoring and Enabling Switch Monitoring LimSpd DM
190. ivalent 3 s 2NC 3s 3 Dual channel complementary 1NC 1NQ 4 Dual channel complementary 3 s INC 1NO 3s 5 Dual channel SS equivalent 3 s 2 OSSD 3s 6 Single channel 1NC 1 You must configure this parameter with a non zero value in this mode Publication 440R UMO004A EN P December 2008 103 Chapter6 Safe Stop and Safe Stop with Door Monitoring Modes Safe Stop with Door This example illustrates wiring for safe stop with door monitoring onitoring Wiring Example Master Safe Stop with Door Monitoring First or Single Unit 24V DC ower to SS Release Request TE Stop 800FM MT44 800F MX02V Remove two internal jumpers TLS3 GD2 440G T27260 L1 L2 L3 9 24V DC PowerFlex 70 j ae i Conio Door 8 DC Comm AC Drive with 1 Outputs ontrol Monitor i i p Monitor onitor 7 Dig Comm DriveGuard RJ45 ii MSR57P Relay Encoder H Isolated Diagnostics Input 2 and Power r 2 Start i 4 SLS Input SLS Fault RL Reset Feed SLS Stop GND may Motion SLS am StatusStatus oA Feed back Cmd Cmd DC Power Out Output Reset 800FM F6MX10 Gate Control Circuit Safe Stop to next module optional Aux Signals to PLC 24V DC Com 1 For encoder wiring see Encoder Cable Specifications on page 42 2 Digital input 4 Proper configuration is required for inputs 1 2 4
191. ive with op Safe Off amp Configuration Tools 3 Encoder Cable SLS Request baile 1585J M8RB 2M5 i 7 20 HIM A3 20 HIM H10 Encoder 1 sUBs bal Input 1203 USB or 1203 SSS B Motor Power Start Stop Command EEE 0 Cable and Motion Power MSR57P Relay Outputs Configuration Tools Encoder Feedback Cable Guardlocking Switch TLS3 GD2 gt Primary Encoder ve BAST DZAZPEN 1 Publication 440R UMO004A EN P December 2008 229 AppendixE Application Examples PowerFlex 70 Drive Example Wiring Diagram 24V DC Power to 800FM KM23 800F MX02V Remove two internal jumpers TLS3 GD2 4406 27260 L1 L2 L3 PowerFlex 70 Pulse Test k Door AC Drive with Outputs Monitor Monitor SaD omm DriveGuard RJ45 MSR57P Relay O Gate Control Encoder f Power Input 1 Isolated Diagnostics and Power SLS Fault i TAL Raset Feed SLS Stop i gyp 24V Motion Status Status Feed back Cmd Cmd de Power Out d Reset 800FM F6MX10 Aux Signals to PLC 24V dc Com 1 Digital input 4 Proper configuration is required for inputs 1 2 4 and 6 on the PowerFlex 70 Drive 230 Publication 440R UMO004A EN P December 2008 Application Examples Appendix E PowerFlex 700 Drive PowerFlex 700 Drive System Layout without Safe Off PowerFlex 700 Drive Enabling Switch Safe Stop SLS Request Configuration Tools Ca
192. k 1 Units parameter 34 Fok 2 Units Selects rotary or linear feedback system Default 0 Rotary Rev forenegden 2 Options 0 Rotary Rev 1 Linear mm 35 Fbk 2 Polarity Defines the direction polarity for encoder Default 0 Same as encoder Normal Options 0 Same as encoder Normal 1 Reversed 36 Fok 2 Counts Revolution Default 0 Reset Range 0 65 535 pulses revolution o pulses mm based on rotary or linear configuration defined by the P34 Fbk 2 Units parameter 37 Fok 2 Volt Mon Encoder 2 voltage to be monitored Default 0 Voltage not monitored coe PA EOK Morel Options 0 Voltage not monitored 5 5V 10 9 7 12V 12 11 14V 14 11 5 15 5V 38 Fok 2 Speed Displays the output speed of encoder 2 Range 214 748 364 8 214 748 364 7 rom or mm s 39 Fok Speed Ratio Dual Feedback Speed Ratio Default 0 0000 Range 0 0001 10 000 0 Defines the ratio of the expected speed i of encoder 2 divided by E S aie Une aae or a configuration defined by the speed of encoder 1 nee Not valid when P27 Fbk Mode 0 1 encoder 40 Fok Speed Tol Dual Feedback Speed Discrepancy Default 0 Holerance Range 0 6553 5 rom or mm s Acceptable difference in speed between units are based on rotary or linear configuration defined by Fbk 1 Speed and Fbk 2 Speed the P29 Fbk 1 Units parameter 41 Fok Pos Tol Acceptable difference in position Default 0 between encoder 1 and encoder 2 Range 0
193. le Safe Limited Speed on all axes at the same time SLS_Out to SLS_In Connections for Multi axis Applications MSR5 P Master SLS_Out_ChO SLS_Out_Ch1 68 78 S52 562 SLS_In_ChO SLS_In_Ch1 MSR57P Slave 65 Chapter 4 66 Speed Monitoring I 0 Signals For more information on multi axis configurations see Cascaded Configurations starting on page 125 For Safe Limited Speed Status Only modes the SLS_Out output is used as an indication that the Safe Limited Speed monitoring is active and the monitored speed is less than the configured Safe Speed Limit If the speed is greater than or equal to the Safe Speed Limit the SLS_Out is turned OFF When Safe Limited Speed monitoring is not active or the relay is in a SLS Monitoring Delay LimSpd Mon Delay the SLS_Out output is OFF The SLS_Out output is turned OFF when a Safe Stop has been initiated a fault has occurred or the relay is in the safe state See the Safe Limited Speed Status Only Mode on page 119 for more information If an error is detected on either channel of the dual channel output a fault occurs I O faults are Stop Category Faults which initiate the configured Safe Stop Type The fault is latched until the relay is successfully reset For more information on faults see Chapter 12 Troubleshoot the MSR57P Relay Door Control Output DC_Out You can use this output for door co
194. ll Speed 1 000 RPM Security 1 0 49 Standstill Pos 4096 Deg General 1 0 50 DecelRefSpeed 0 RPM Feedback 1 0 51 Stop Decel Tol 0 Yo Limited Speed Nan Cantral Follow these steps to configure the Stop operation of the relay 1 From the Stop group choose the P44 Safe Stop Input parameter 2 Set the Safe Stop Input parameter value to 1 default for 2NC dual channel equivalent operation In this example application the Safe Stop input SS_In monitors an E Stop button with two normally closed 2NC contacts 3 Choose the P45 Safe Stop Type parameter Publication 440R UMO004A EN P December 2008 177 Chapter 11 Configuration Examples 10 11 12 178 Set the Safe Stop Type parameter value to 1 which equals Safe Stop 1 Safe Stop 1 monitors deceleration profiles When Standstill Speed is detected within the Stop Delay Max Stop Time the relay switches off Motion Power and sets door control logic to Unlock Choose the P47 Max Stop Time parameter The default value is 0 s but you can enter a value from 0 6553 5 s Type the value of the expected ramp to stop time plus a reasonable tolerance after the Safe Stop command is initiated If the machine s speed is not below the Standstill Speed within the Stop Delay Max Stop Time you entered a Stop Speed Fault occurs and door control logic remains set to Lock until Standstill Speed is reached Choose the P48 Standstill Speed parame
195. ls on safety requirements Refer to the PowerFlex 700S Phase II Drive User Manual publication 20D UM006 for detailed information on installing configuring and operating a PowerFlex 700S drive Understanding Commutation Permanent magnet PM brushless AC motors like those listed above are a class of synchronous motor that depend on electronic brushless commutation to generate torque and motion In PM brushless motors an electromagnetic field is created by the permanent magnets on the rotor A rotating magnetic field is created by a number of electromagnets commutated electronically with insulated gate bipolar transistors IGBT s at the right speed order and times Movement of the electromagnetic field is achieved by switching the currents in the coils of the stator winding This process is called commutation Interaction of the two electromagnetic fields produces magnetic force or torque Excessive noise broken encoder wires and loss of the encoder power supply are factors that can affect commutation while the motor is running To prevent the motor from spinning these conditions can be detected by the drive with the use of safety monitoring circuits 21 Chapter 1 Safety Concept Contact Information if Device Failure Occurs 22 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 Rockwell Automation so the
196. m Speed Safe Max Speed Limit Time Publication 440R UMO004A EN P December 2008 145 Chapter9 Safe Maximum Speed and Direction Monitoring You define the Safe Stop Type initiated by the relay in the event of an SMS Speed Fault by using the P63 Max Spd Stop Typ parameter Safe Maximum Speed Monitoring Stop Behavior P63 Max Spd Stop Typ Description Parameter 0 Use Safe Torque Off with The speed monitoring relay initiates Safe Torque Off Check for Standstill Torque Off with Check for Standstill any time an SMS Speed Fault is detected while the relay is monitoring motion 1 Use Configured Stop Type The speed monitoring relay initiates the configured Safe Stp Typ Safe Stop Type parameter 45 any time an SMS Speed Fault is detected while the relay is monitoring motion If an SMS Speed Fault is detected during a Stop Monitoring Delay Stop Mon Delay the delay ends immediately and the configured Stop Delay Max Stop Time begins SMS Speed Fault During Stop Monitoring Delay SMS Speed Fault Speed I I Stop Delay Begins Immediately Safe Max i t 4 IL Speed Limit NSS Wor I Taran Deceleration Standstill TE oler anoh Speed Time D m 1 1 Configured Stop Monitoring Delay If an SMS Speed Fault is detected during the Stop Delay Max Stop Time and the P63 Max Spd Stop Typ parameter equals Use Configured Stop Type Safe Stp Typ and the feedback signals indicate less than the
197. monitoring functions as described in Safe Limited Speed SLS Mode on page 105 in addition to the Safe Stop functions as described in Safe Stop Mode on page 89 In addition the speed monitoring relay verifies through monitoring the Door Monitor input DM_In that the device controlled by the Door Control output DC_Out is in the expected state If the door is monitored as opened when it should be closed the speed monitoring relay initiates the configured Safe Stop Type The Door Monitor input C DM_In is ON when the door is closed and OFF when the door is open The DM_In input must be ON door closed whenever Safe Limited Speed monitoring is inactive SLS_In is ON meaning the circuit is closed The DM_In input must also be ON door closed during a Safe Limited Speed Monitoring Delay LimSpd Mon Delay A Door Monitor Fault is a Stop Category Fault which initiates the configured Safe Stop Type If Safe Limited Speed Monitoring is active SLS_In input is OFF and the relay has verified a safe speed condition the door can be unlocked and opened ATTENTION nin that an unlocked door does not result in a hazardous situation If a Safe Stop Type is initiated or a fault occurs while the relay is actively monitoring Safe Limited Speed door control remains unlocked The safe state of the SLS_In input may allow the door to be unlocked You can monitor the door s status with or without the door control dock unlock function When do
198. n Publication 440R UM004A EN P December 2008 Slave Safe Stop Mode Slave Safe Stop Parameter List Slave Modes for Multi axis Cascaded Systems Chapter 8 When properly configured for Slave Safe Stop mode the speed monitoring safety relay performs the same functions as Safe Stop except that the relay regards the Door Monitor input as a Door Control output from an upstream axis and performs a logical AND with its internal Door Control signal to form the cascaded Door Control output This makes sure that the Door Control output only commands the door to unlock if all units command the door to unlock To configure the relay for a Slave Safe Stop mode set these parameters See Multi axis Connections on page 137 for details on configuring slave relays Slave Safe Stop Parameters Parameter Description Setting 20 Cascaded Defines whether the speed monitoring relay is a Options 2 Cascaded middle unit Multi Mid Config single unit or if it occupies a first middle or last 3 Cascaded last unit Multi Last position in a multi axis cascaded system 21 Safety Mode Defines the primary operating mode of the speed Option 8 Slave Safe Stop Slv Safe Stop monitoring safety functions 44 Safe Stop Input Configuration for Safe Stop input SS_lIn Option 5 Dual channel SS equivalent 3 s 2 OSSD 3s 45 Safe Stop Type Safe operating stop type selection This defines Default O
199. n Fa Configuring Autol RPM File Edit Explore Actions Help a6 8 50 88 o FGM Parameter Devices s up p Name value Password Node 1 MSR57 we ANNE Password 0 0 MSR57 1 0 5 Lock State Unlock Operating Mode Parameter List Fi ee ase E acer ne no onfig ode lo Faul epa 1 0 7 Reset Defaults No Action 1 0 10 Signature ID 0 General 1 0 13 New Password 0 Feedback 1 0 17 Password Command No Action Stop 1 0 18 Security Code 256 1 Limited Speed 70 19 Vendor Password 0 Door Control Max Speed Faults Follow these steps to put the relay into Program mode for configuration 1 From the Security group choose the P5 Lock State parameter The default value of the Lock State parameter is 0 or unlocked The locked or unlocked state is also indicated by the Config Lock status indicator on the front of the relay Flashing yellow is unlocked solid yellow is locked 2 If the relay is locked Lock State parameter value equals 1 set the P5 Lock State parameter value to 0 If an error occurs a password has been configured to protect the relay configuration 3 Choose the P1 Password parameter 4 Type the password 5 Choose the P6 Operating Mode parameter The default value is 0 which equals Program 6 If the relay is in Run mode Operating Mode parameter equals 1 set the Operating Mode parameter to 0 to enable you to enter a new configuration 7 If you want to configure a password
200. n 7 8 oe be EY PAGERS HSER EES OS 105 Safe Limited Speed SLS Mode 00005 105 Sate Limited Speed Reset estas joce Akt ok ae ee as 107 Sate Limited Speed Parameter List o oo Yh ee eek eG 108 Safe Limited Speed Wiring Example oana 6 44 haan 109 Safe Limited Speed with Door Monitoring Mode 110 Safe Limited Speed Reset aapulnamenaken as 4 Yaw eae ke 111 SLS with Door Monitoring Parameter List 111 SLS with Door Monitoring Wiring Example 112 Safe Limited Speed with Enabling Switch Monitoring Mode 112 Safe Stop Reset SS Reset and Safe Limited Speed Reset SES RESEO Konei narina a a Oe ca Oe woh a es 113 SLS with Enabling Switch Monitoring Parameter List 114 SLS with Enabling Switch Monitoring Wiring Example 115 Safe Limited Speed with Door Monitoring and Enabling Switch Monitoring Mode aaau aaaea 115 Behavior During SLS Monitoring 117 Behavior While SLS Monitoring is Inactive 117 Behavior During SLS Monitoring Delay 117 Safe Stop Reset SS Reset and Safe Limited Speed Reset USLOARCSEU amp a aah O LSA Ped E GORE Ee 118 5 Table of Contents Slave Modes for Multi axis Cascaded Systems Safe Maximum Speed and Direction Monitoring Safety Configuration and Verification SLS with Door Monitoring and Enabling Switch Monitoring AEC RAI cle iende aasa Ge ade An Geol cae Wh cat Oe ale 118 SLS with Door Monitoring and E
201. n terminals S11 and S21 a fault occurs I O faults are Stop Category Faults which initiate the configured Safe Stop Type I O faults are latched until the relay is successfully reset For more information on I O faults see Chapter 12 Troubleshoot the MSR57P Relay Publication 440R UMO004A EN P December 2008 Speed Monitoring 1 0 Signals Chapter 4 When using a dual channel complementary INC 1NO device the normally open input must be connected to the second input as shown in the illustration For example if the door is open when the input is ON the normally open contact must be the second input Anput 1 Safety Input Wiring Examples MSR5 P Relay C1 Test_Out_0 S11 Dual channel Equivalent Safety Device J Test_Out_1 S21 Input 0 Input 1 MSR57P Relay Test_Out_0 S11 Single Channel Safety Device Publication 440R UMO004A EN P December 2008 Test_Out_1 S21 J Input 0 J Input 1 IMPORTANT MSR57P Relay Test_Out_0 S11 Dual channel Complementary Safety Device Solid State Safety Device Test_Out_1 S21 J Input 0 J Input 1 MSR57P Relay Not Connected c Test_Out_0 S11 GND Not Connected 4 Input 0 Input 1
202. nabling Switch Monitoring Wit Example s rates eneren a we int hood ew Ped BS es 119 Safe Limited Speed Status Only Mode 119 Speed Hysteresis nese o lt aore sip rae step sag eck hob pnd athe east h ok 120 SLS Status Only Parameter Liste vy xe 28 SA eae ee eG 121 SLS Status Only Wiring Examples 122 Chapter 8 MME OCUCHOM esc cng aout ue S14 8 Rh tah ele Gn eh ae ig BP D ea 125 Cascaded Configurations o oo eae ES 125 Slave Safe Stop Mode nananana a 127 Slave Safe Stop Parameter List o o naaa aaa 127 Slave Safe Stop Wiring Examples 129 Slave Safe Limited Speed Mode onnaa a Wa ee 68 YG 132 Slave Safe Limited Speed Parameters 132 Slave Safe Limited Speed Wiring Examples 133 Slave Safe Limited Speed Status Only Mode 135 Slave Safe Limited Speed Status Only Parameter List 135 Slave Safe Limited Speed Status Only Wiring Examples 135 Multi axis Connections 4 2 fig agus Kaden Ph aoe a 137 Cascaded System Examples nonan a 139 Chapter 9 Introduction oaan aaaea 145 Safe Maximum Speed SMS Monitoring 145 Safe Maximum Acceleration SMA Monitoring 148 Safe Direction Monitoring SDM 0 150 Max Speed Max Accel and Direction Monitoring Parameter Listos ai eras Lara eRe ee BEES 151 Chapter 10 TMI OQUCHON 92 re heas Soha TES POLED Dar E GREE Es 153 Safety Configuration
203. nal earth at drive end See page 52 Chapter 3 Motor with Embedded Encoder 1 39 Chapter3 Installation and Wiring Two Encoders with a Kinetix 6000 or Kinetix 7000 Drive Kinetix 6000 or Kinetix 7000 Drive Motor Feedback Connector Kit 2090 K6CK D15M Encoder 2 Sin Cos or Incremental ave a l A l Motor with Embedded Encoder 1 Encoder Power Supply B Sin Cos U Logix Platform sedis ControlLogix Controller Shown SHSSSSSSS 1585J M8RB 2M5 m rg E m AASA Cables Customer provided 1 0 cable for standard 0 connections such as Start Stop SLS Request 1 Refer to your encoder specifications to determine power supply requirements 5V or 9V 2 Terminate shield to functional earth at drive end See page 52 In this example only the feedback from Encoder 1 is monitored by the drive 40 Publication 440R UMO004A EN P December 2008 Installation and Wiring Chapter 3 Monitoring Feedback from Two Encoders with a Kinetix 6000 or Kinetix 7000 Drive aoa Kinetix 6000 or Kinetix 7000 Drive Auxiliary Feedback Connector Kit 2090 K6CK D15F Motor Feedback Connector Kit 2090 K6CK D15M Encoder Cables Encoder 2 1585J M8RB 2M5 Sin Cos
204. nance while it is running at Safe Limited Speed e One encoder connected with Sin Cos output signal and resolution of 1024 Each of the following sections describes the settings you need to enter for each parameter group You can use a HIM or DriveExplorer or DriveExecutive software to configure the relay For information on connecting and using a HIM see Appendix C For information on connecting to a personal computer and using software for configuration see Appendix D Publication 440R UM004A EN P December 2008 Configuration Examples Chapter 11 Example 2 Initial Security Group Settings Security Group Parameters HIM Screen Software Screen Fa Configuring Autol RPM File Edit Explore Actions Help a6 s 5 0 88 e FG Parameter Devices Password Node 1 MSR57 x Password 0 MSR57 1 05 Lock State Unlock Operating Mode Parameter List 1 0 6 Operating Mode Program aN Parner 1 0 70 Config Flt Code No Fault 1 0 7 Reset Defaults No Action sense 1 0 10 Signature ID 0 General i013 New Password o Feedback 1 0 17 Password Command No Action Stop 1 0 18 Security Code 256 Limited Speed 1 0 19 Vendor Password 0 Publication 440R UM004A EN P December 2008 Door Control Max Speed Faults Follow these steps to put the relay into Program mode for configuration 1 From the Security group choose the P5 Lock State parameter The default value of the Lock State parameter is 0 or unlocked
205. ncoder for commutation e The motor to encoder coupling is designed to exclude shaft slippage as a dangerous failure mechanism e The MSR57P relay is configured for Sin Cos encoder type 19 Chapter 1 Safety Concept e The encoder is of the Sin Cos type and is suitable for the desired safety rating of the application An encoder that is suitable for SIL CL3 applications must use independent Sine Cosine signals be incapable of producing simulated signals when under an error condition use simple or discreet circuitry with no complex or programmable internal devices The controller is not configured for auto transition to encoderless commutation in the event of encoder failure The motor controller must use the same encoder signals as MSR357P relay Encoder voltage monitoring in MSR57P relay must be enabled The system design of the motor encoder to load coupling excludes shaft slippage and breakage as a dangerous failure mechanism Single encoder with Kinetix Drive A safety rating up to and including SIL CL3 PL e and CAT 4 can be achieved in an MSR57P relay single encoder application when the relay is used in conjunction with a properly configured Kinetix Servo Drive with Safe Off and any motor encoder combination that meets the single encoder application requirements on page 19 Single encoder with PowerFlex Drive A safety rating up to and including SIL CL3 PL e and CAT 4 can be achieved in an
206. nded value not a readback value 13 SMS In Prog This bit is set to a 1 if Safe Maximum Speed monitoring is enabled and Safe Maximum Speed is being monitored 14 SMA In Prog This bit is set to 1 if Safe Maximum Acceleration monitoring is enabled and safe maximum acceleration is actively being monitored 15 SDM In Prog If Safe Direction monitoring is enabled and configured for Positive Always or Negative Always the SDM_In_Progress bit is set to 1 any time the relay is configured for any Safety Mode other than Disabled If Safe Direction monitoring is enabled and configured for Positive During SLS or Negative During SLS then this bit is set to 1 if the relay is actively monitoring for Safe Limited Speed It is set to 0 in any other operating mode 16 DC Lock This bit is set to 1 if door control logic status is Lock This bit is set to 0 if door control logic status is Unlock 17 DC Out This bit is set to 1 if the dual channel DC_Out output is being commanded to the ON state This is the commanded value not the readback value This bit is set to 0 if the dual channel DC_Out output is being commanded to the OFF state 18 DMIn This bit is set to 1 if the logical value of the dual channel DM_lIn input is evaluated as 1 This bit is set to 0 if the logical value of the dual channel DM_In input is evaluated as 0 Publication 440R UMO004A EN P December 2008 193 Chapter 12 Guard Status Troubles
207. nel Source 34 44 SS_Out_Ch0 SS_Out_Ch1 Safe Stop SS outputs Y31 24V dc power for isolated outputs Y32 Stop_Command isolated output Y33 SLS_Command isolated output Y30 GND for isolated outputs 1 The MSR57P may be powered when 24V power is removed from terminal A1 and a sourcing safety output is shorted to 24V If A1 power must be removed also remove any power that could be shorted to a safety sourcing output 34 Publication 440R UM004A EN P December 2008 Compatible Encoders Supported Feedback Devices Cat No and Description Sin Cos Encoders 842HR xJxxx15FWYx Installation and Wiring Chapter 3 These feedback devices are supported Additional Resources Refer to the Bulletin 842HR Sin Cosine Encoders product profile publication 842HR PP001 for more information on these encoders Incremental 845T xx12xxx x and 845T xx13xxx X S F c d rsl 845T xx42xxx and 845T XX43XXX X Refer to the Sensors Reference Catalog publication C115 BABT xx52xxx and B45T xx53Xxx x for catalog number dimensions and specifications for Bulletin 845T and 845H Incremental Encoders B45H SUXXXAXXY XX 1326AB Bxxxx M2L S2L HPK Series Asynchronous Servo Motor ae Refer to the Kinetix Motion Control Selection Guide MP Series Motors with embedded Sin Cos or publication GMC SG001 for more information on these incremental encoders motors TL Series TLY Axxxxx H Motors with incremental encoders Rot
208. nfiguring Autol RPM FG Parameter Cascaded Config Safety Mode Reset Type Publication 440R UMO004A EN P December 2008 Usinga HIM Appendix C 5 Scroll to the desired parameter and press e to display the parameter value screen Fa Configuring Autol RPM FGP Par 21 Safety Mode Safe Stop 6 Press e edit the parameter N Press or v to change the value 8 If desired press to move from digit to digit letter to letter or bit to bit Digits or bits that you can change are highlighted 9 Press e to save the value or asc to cancel the change 10 Press to return to the group list TIP Numeric Keypad Shortcut You can also press Qa to access a parameter by typing its number ATTENTION The red stop button on the HIM keypad does not have safety integrity Do not use the stop button to execute a safe stop TIP If the red stop button on the HIM keypad is pressed you must press the green button on the HIM keypad to reset the MSR5 P te Accessing the Fault History To view the contents of the fault history queue choose Queue Diagnostics gt Faults gt View Fault Queue from the top level menu Publication 440R UMO004A EN P December 2008 215 Appendix Using a HIM 216 Publication 440R UM004A EN P December 2008 Appendix D Use DriveExplorer or DriveExecutive Software Introduction re Topic Page Connect a Personal Comput
209. ng 2 Ch Sourcing OFF Door is locked 97 Chapter 6 98 Safe Stop and Safe Stop with Door Monitoring Modes A single relay or last relay in a cascaded system can be configured for any Door Output Type setting For example choose 2 Ch Sourcing to connect to a safety programmable controller input First or middle relays in a cascaded system must be configured as 2 Ch Sourcing When the DC_Out output is configured as Power to Lock P57 Door Out Type 1 the safe state and faulted state is A Unlocked Make sure that this possibility does not create a hazard When the DC_Out output is configured for no pulse testing P74 Door Out Mode 1 and the P57 Door Out Type setting is Power to Lock and a reset is attempted the DC_Out output is pulsed low for 12 ms During the 12 ms the door is unlocked Effect of Faults These fault conditions which affect the integrity of the DC_Out output will force the DC_Out output to its safe state OFF regardless of the status of door control logic e DC Out Fault e Invalid Configuration Fault e Internal Power Supply or MPU Faults If a fault occurs after Standstill Speed has been reached door control remains unlocked For fault conditions where the DC_Out output can maintain its integrity both door control logic and the DC_Out output hold last state If hold last state cannot be maintained faults may turn the DC_Out output OFF If a fault occurs while the doo
210. ng Autol File Edit Explore Actions Help 7 x we aero OC a e 6s E 88 7 9 FGj Parameter Devices S N P P Name Value Door Out Type Node 1 MSR57 1 0 57 Door Out Type Pwr to Rel 0 MSR57 1 0 74 Door Out Mode Pulse Test Lock Mon Enable Parameter List 1 0 58 DM Input Not Used Paranta 1 0 59 Lock Mon Enable Disable 1 0 60 Lock Mon Input Not Used Publication 440R UM004A EN P December 2008 Security General Feedback Stop Limited Speed Max Speed Faults 1 1203 USB USB to DPI Parameter List Follow these steps to configure Door Control operation for the relay 1 From the Door Control group choose the P57 Door Out Type parameter Set the Door Out Type parameter to 0 default which equals Power to Release Pwr to Rel This setting was chosen because power must be applied to the solenoid inside the TLS 3 GD2 gate switch to release the gate interlock Choose the P58 DM Input parameter The default setting is 0 for applications that do not use an interlock switch Set the DM Input parameter value to 1 for 2NC dual channel equivalent operation In this example application the DM Input DM_In monitors the TLS 3 GD2 switch which has two normally closed 2NC safety contacts Choose the P59 Lock Mon Enable parameter The default value is 0 Disabled for applications without an interlock switch Set the Lock Mon Enable parameter value to 1 Enabled because this applica
211. ng functions in addition to the Safe Mode Stop function described in Safe Stop Mode on page 89 When the Safe Limited Speed input SLS_In is OFF feedback velocity is monitored and compared against a configurable Safe Speed Limit Publication 440R UM004A EN P December 2008 105 Chapter 7 106 Safe Limited Speed SLS Modes Safe Speed Limit If the feedback velocity is below the Safe Speed Limit during Safe Limited Speed monitoring the Door Control output C DC_Out is unlocked after the Safe Limited Speed Monitoring Delay Lim Spd Mon Delay if configured has expired ATTENTION oe that an unlocked door does not result in a hazardous situation A If a Safe Stop Type is initiated or a fault occurs while the relay is actively monitoring Safe Limited Speed door control remains unlocked The safe state of the SLS_In input may allow the door be unlocked If the measured velocity exceeds the Safe Speed Limit an SLS Fault occurs and the configured Safe Stop Type is initiated An optional Safe Limited Speed Monitoring Delay Lim Spd Mon Delay can be configured to delay the start of Safe Limited Speed monitoring Safe Limited Speed monitoring is requested by a transition of the Safe Limited Speed input SLS_In from ON to OFF When the SLS_In input is ON the relay does not monitor for Safe Limited Speed and the measured velocity can be above or below the Safe Speed Limit If the Reset Type is configured as Automatic
212. ng yellow when it is unlocked To verify the lock status you can view the status of the P5 Lock State parameter as well as the status of the Configuration Lock bit bit 1 of the P68 Guard Status parameter If the bit equals 1 the configuration is locked If the bit equals 0 the configuration is unlocked 159 Chapter 10 Safety Configuration and Verification Editing the Configuration 160 Only authorized specially trained personnel can make edits to the configuration These personnel should use all supervisory methods available for example using the software password protections When authorized specially trained personnel make edits they assume the central safety responsibility while the changes are in progress These personnel must also maintain safe application operation You must sufficiently document all edits including authorization e impact analysis e execution test information revision information The flowchart shows the steps necessary to edit the speed monitoring relay s configuration Edit the Configuration i Unlock the Configuration Make Desired Modifications to Safety Parameters Apply Changes Configuration Signature ID Generated Project Verification Test Tests Passed Make Required Modifications Yes Confirm the Project Record the Configuration Signature ID Lock the Configuration Verify the Lock Status and Signature ID
213. nnector 2090 K6CK D15M Encoder Cable 1585J M8RB 2M5 20 HIM A3 20 HIM H10 PC OR 1203 USB or Encoder 1 1203 SSS B Encoder Input wt i pete Motor Sooo coco D Power MSR57P SS Cabl gia elay Configuration Tools Aux Signals MP Series Bulletin MPL to Logix Controller Guardlocking Switch Servo Motors TLS3 GD2 Kinetix 6000 or Kinetix 7000 Drive Wiring Example 24V de SLS Request BOORM KMI23 Power to Release Remove two internal TLS3 GD2 jumpers 440G T27260 L1L2L3 Kinetix 6000 and 7000 AC Drive with 1 Pulse Test Doorlock Lock Pulse Tes E ock Door GuardMotion Outputs Control Monitor Monitor EN1 RJ45 RJ45 MSR57P Relay Encoder Encoder SENEN Input 1 Input 2 Isolated Diagnostics ely Gate and Power i G i Control i SLS Fault ss RL Rese iFeed SLS iStop yp 24V t Motion SLS Circuit StatusStatus Output Feed t back Cmd Cmd de PowerOut Output R1 Control Enable Reset 800FM F6MX10 Aux Signals Aux Signals to Logix Controller to Logix Controller 24V dc Com 234 Publication 440R UM004A EN P December 2008 Application Examples Appendix E Kinetix 2000 Drive without Kinetix 2000 Drive System Layout Safe off Example Kinetix 2000 Drive without Safe off No Safety Header Safe Enabling Switch Stop B SLS Request
214. ns 0 Disabled 1 Enabled 62 Safe Max Speed Defines the maximum speed limit that will be Default 0 ete Safe Maximum Speed monitoring Range 0 65 535 rpm or mm s l based on rotary or linear configuration defined by P29 Fbk 1 Units parameter 63 Max Spd Stop Safe Maximum Speed Monitoring Stop Default 0 Use Safe Torque Off with Standstill Checking Typ Behavior Torque Off Defines the stopping behavior that will be Options 0 ee a Off with Standstill Checking initiated in the event of an SMS Speed Fault 1 Use Configured Safe Stop Type Safe Stp Typ See Safe Maximum Speed SMS Monitoring on page 145 64 Max Accel Enable Safe Maximum Acceleration Default 0 Disabled Enable Monitoring Options 0 Disabled 1 Enabled 65 Safe Accel Limit Defines the Safe Maximum Acceleration Limit Default 0 relative to encoder 1 for which the system is R 7 7 being monitored ange 0 65 535 rev s or mm s l l based on rotary or linear configuration defined by P29 Fbk 1 Units parameter 66 Max Acc Stop Safe Max Acceleration Monitoring Stop Default 0 Use Safe Torque Off with Check for Standstill Typ Behavior Torque Off Range 0 Use Safe Torque Off with Check for Standstill 152 Defines the stopping behavior that will be initiated in the event of an Acceleration Fault See Safe Maximum Acceleration SMA Monitoring on page 148 Torque Off 1 Use Configured Safe Stop Type Safe Stp Typ Publicat
215. ntrol in single device and multi axis systems This output attempts to maintain last state when a fault occurs When no faults are present it can be used in combination with the fault status as a standard status indication to a programmable controller to identify that the system is at Safe Limited Speed or Standstill Speed The DC_Out output is updated based on door control logic status the P57 Door Out Type parameter setting and any Safe State Faults that may be detected This output is only Unlocked when motion is verified to be at Standstill Speed or Safe Limited Speed Publication 440R UMO004A EN P December 2008 Publication 440R UMO004A EN P December 2008 Speed Monitoring 1 0 Signals Chapter 4 Door Control Door Monitoring and Lock Monitoring Test_Out_ChO Test_Out_Ch1 Test_Out_ChO Test_Out_Ch1 DC_Out_Cho Silt 821 S11 Sal 5i T 32 S42 X32 X42 32 DM_In_ChO DM_In_Chi LM_In_ChO LM_In_Ch1 DC_Out_Ch1 Door Status Locking Mechanism Status TIP Check your interlock switch for internal jumpers before installation If an error is detected on either channel of the dual channel output a fault occurs I O faults are Stop Category Faults which initiate the configured Safe Stop Type The fault is latched until the relay is successfully reset For more information on faults see Chapter 12 Troubleshoot the MSR57
216. ock Door Outputs Input Control Monitor Llouw7 ide fend Ea aig MSR57P Relay 2 ncoder Encoder f Isolated Diagnostics co a 1 Input 2 and Power T EA E A EE O Fie EEDE ENAS EROE DE ss oe far rend Reset Feed Sis Stop ignp 24V Motion SLS ad StatusStatus 1 1 i i i ptatusotatus nae ee back Cmd Cmd DC Power Out Output 42ay pc Aux Signals to PLC These signals could be connected to the 1 0 module or to a drive 24V DC Coml 1 Power supply may or may not be isolated 2 24V DC Com must be at the same potential as the drive common because of the encoder signal Multi axis Connections When configuring a multi axis system you need to consider each relay s location in the system The type of cascaded connections that can be made are dependent upon the Safety Mode configurations of the master and slave relays and their positions in the system Publication 440R UMO004A EN P December 2008 137 Chapter8 Slave Modes for Multi axis Cascaded Systems Middle and last relays in the cascaded chain may be configured for Automatic reset A single reset by the first unit also resets all following units in the chain If a fault occurs after the first axis in the cascaded chain only the subsequent axis enters the safe state To reset all axes you must cycle the SS_In input on the first axis For slave relays in a multi axis system the SS_In SLS_In and DM_In input signal types Gif used must be config
217. oltage not monitored R W on Not valid when P27 Fok Mode 0 1 encoder Options 0 Voltage not monitored 5 5V 10 9 7 12V 12 11 14V 14 11 5 15 5V 38 Fbk 2 Displays the output speed of encoder 2 Range 214 748 364 8 214 748 364 7 rpm or mm s R Speed 39 Fok Speed Dual Feedback Speed Ratio Default 0 0000 R W Ratio Defines the ratio of the expected speed of encoder 2 divided Range 0 0001 10 000 0 by the expected speed of encoder 1 ratio based on rotary or linear configuration defined by the P29 ot valid when Fbk Mode 0 1 encoder Fbk 1 Units parameter 40 Fok Speed Dual Feedback Speed Discrepancy Tolerance Default 0 R W Tol Acceptable difference in speed between Fbk 1 Speed and Range 0 6553 5 rpm or mm s Fbk 2 Speed nits are based on rotary or linear configuration defined by the P29 Fbk 1 Units parameter 41 Fbk Pos Tol Acceptable difference in position between encoder 1 and Default 0 R W encoder 2 Range 0 65 535 deg or mm nits are based on rotary or linear configuration defined by the P29 Fbk 1 Units parameter 42 Direction Defines the allowable direction if Safe Direction Monitoring Default 0 Disabled R W Mon is enabled Options 0 Disabled 1 Positive always Pos Always 2 Negative always Neg Always 3 Positive during safe limited speed monitoring Pos in SLS 4 Negative during safe limited speed monitoring Neg in SLS 43 Direction The position limit in encoder units tolerated
218. on 2094 UMO001 Provides detailed information on installing connecting configuring and troubleshooting a Kinetix 6000 drive The manual also includes specifications and dimensions Kinetix Safe off Feature Safety Reference Manual publication GMC RM002 Provides detailed information on the safety requirements as well as connector and wiring diagrams for the Safe off feature Kinetix Motion Control Selection Guide publication GMC SG001 Provides features specifications and dimensions for selecting Kinetix Motion Control servo drives motors actuators and accessory components Ultra3000 Digital Servo Drives Installation Manual publication 2098 IN003 Provides information on installing and wiring for the Ultra3000 Digital Servo Drives Ultra3000 Digital Servo Drives Integration Manual publication 2098 IN005 Provides power up procedures system integration and troubleshooting tables for the Ultra3000 Digital Servo Drives Safety Guidelines for the Application Installation and Maintenance of Solid State Control publication SGI 1 1 Describes important differences between solid state control and hard wired electromechanical devices You can view or download publications at http literature rockwellautomation com To order paper copies of technical documentation contact your local Rockwell Automation distributor or sales representative Publication 440R UM004A EN P December 2008 11 Pr
219. on 440R UMO004A EN P December 2008 Installation and Wiring Chapter 3 MPL A15xxx H MPL A2xxx H MPL B15xxx H MPL B2xxx H Motors and MPAS A Bxxxx ALMx2C Linear Stages Drive Side MSR57P Relay Side ia ei Sant Drive MF Pi 1585J M8RB 2M5 Cable Connector Pin Wire Color Signal 1 Black fae 71 gt 4 Blue At4 SIN1 2 White Black AM 2 gt 3 White Blue A1 SIN1 REF 3 Red BM 3 gt 8 Brown B1 COS1 4 White Red BM 4 gt 6 amp 6 White Brown B1 COS1 REF 5 Green IM 5 NC 6 White Green IM 10 NC 9 Gray EPWR_5V 14 gt 2 Orange Vcc 0 White Gray ECOM 6 gt 1 White Orange GND 11 Orange EPWR_9SV 7 NC 13 TS 11 NC 5 S1 12 NC 16 S2 13 NC 17 S3 8 NC 5 Green NC 7 White Green NC gl Bare Shield case i Make Sire you groun the shield properly taithe low pr file connector along with the feedback cable See the diagram on page 52 49 Chapter 3 50 Installation and Wiring Motors Using 2090 CFBM6DF CBAAxx Cables TLY Axxxx H Motors Drive Side MSR57P Relay Side ee et eee See aes 9 Blac AM 1 gt 4 Blue A1 SIN1 10 White Black AM 2 gt 3 White Blue A1 SIN1 REF 11 Red BM 3 gt 8 Brown B1 COS1 12 White Red BM 4
220. on takes place Slave Safe Stop The relay performs the same functions as Safe Stop However 125 it regards the Door Monitor input as a Door Control output from an upstream axis and performs a logical AND with its internal Door Control signal to form the cascaded Door Control output Slave Safe Limited Speed The relay performs the same functions as Safe 132 Limited Speed mode However it regards the Door Monitor input as a Door Control output from an upstream axis and performs a logical AND with its internal Door Control signal to form the cascaded Door Control output Slave Safe Limited Speed status only The relay performs the same functions 135 as Safe Limited Speed Status Only mode However it regards the Door Monitor input as a Door Control output from an upstream axis and performs a logical AND with its internal Door Control signal to form the cascaded Door Control output Disabled Mode In Disabled mode all safety functions are disabled Input output or speed monitoring diagnostics do not take place and all outputs are in their safe state 24 Publication 440R UM004A EN P December 2008 Publication 440R UMO004A EN P December 2008 About the MSR5 P Speed Monitoring Safety Relay Chapter 2 Lock Monitoring Lock monitoring helps prevent access to the hazard during motion In many applications it is not sufficient for the machine to initiate a stop command once the door has been opened because
221. onfiguration defined by the encoder 1 feedback configuration P29 Fbk 1 Units parameter Publication 440R UM004A EN P December 2008 Slave Modes for Multi axis Cascaded Systems Chapter 8 Slave Safe Limited Speed These examples shows two different Slave Safe Limited Speed Wiring Examples configurations The first example is configured as a cascaded middle unit via the P20 Cascaded Config parameter Multi Mid It has SS_In SLS_In and DM_In input connections from the previous upstream MSR357P relay as well as SS_Out SLS_Out and DC_Out output connections to the next downstream MSR357P relay See SLS with Door Monitoring Wiring Example on page 112 for an example of a first master unit Slave Safe Limited Speed Middle Unit 24V DC Previous Upstream Axis MSR5 P Relay Terminals ext Downstream Axis MSR5 P Relay Terminals 32__ 42 L1 L2 13 9 24V DC PowerFlex 70 AC Drive with DriveGuard Pulse Test SS SLS i Lo 1 Outputs Input Input Monitor Monitor 8 DC Comm ee ee eR ee eee he Sane eee Sen areal ee oar oe 7 Dig Comm a t RJ45 MSR57P Relay 1 Stop ncoder Encoder _ Isolated Diagnostics eH Input 1 Input 2 and Power 2 Start eee Sareea ean eT Ae PESE se area hee as gal a E 4 SLS Input i SUS Fault gg RL Reset Feed SLS Stop gup 24V Motion SLS SLS npl StatusStatust Output Feed back Cmd Cmd DC Power Out Output a2 v v37 34 44 vi s34
222. onfigured for pulse testing If you disable pulse testing on this output the achievable SIL Category and PL ratings of your entire MSR5 P safety system are reduced 68 Publication 440R UM004A EN P December 2008 Speed Monitoring 1 0 Signals Chapter 4 Motion Power Output MP_Out The MP_Out output is used to remove power from the drive power circuits It is compatible with Safe off enabled drives or applications that use standard drives with external contactors The safe state for this signal in all cases is OFF The MP_Out output is turned OFF during the Safe State and in Disabled mode IMPORTANT Terminal 13 must be connected to a 24V dc source to provide power to terminals 14 and 24 The MP_Out output is turned ON by a successful reset to initiate safe speed monitoring If Lock Monitoring is enabled and the door control logic state is Lock the MP_Out output does not turn ON until the door has been locked via the Door Control output DC_Out and the Lock Monitor input LM_In has been verified as ON If Lock Monitoring is disabled or the door control logic state is Unlock the MP_Out signal turns ON immediately when the SS_In turns ON This table describes the ON OFF operation of the MP_Out output based on the configured Safe Stop Type Safe Stop Type MP_Out Status Safe Torque Off The MP_Out output is OFF while the relay is executing the Safe Stop Safe Stop 1 The MP_Out output is ON while the Safe Stop is
223. onitored R W Options 0 Automatic 1 Manual 2 Manual Monitored Monitored 23 Reset Loop Defines whether the Reset Loop input RL_In is used to Default 0 Always Qualified Disable R W qualify a Safe Stop Reset Options 0 Always Qualified Disable Qualified by RL_In Enable 24 OverSpd Configuration for the feedback interface sampling rate Default 0 42 ms R W Response Options 0 42 ms 48 ms 2 60ms 3 84 ms 4 132 ms 5 228 ms 6 420 ms 25 Language Determines the language of the parameter display Default 0 English R W Code Options 0 English 1 French 2 Spanish 3 Italian 4 German 5 Reserved 6 Portuguese 7 Reserved 8 Reserved 9 Dutch 26 Max Determines scaling for Fbk 1 speed process display value Default 1800 R W Display Spd Range 1 65 535 rpm or mm s 27 Fbk Mode Selects the number of encoders and the type of discrepancy Default 0 1 Encoder Single Fbk R W checking Options O 1 Encoder Single Fbk 1 2 Encoders with Speed and Position Discrepancy Checking Dual S P Chk 2 2 Encoders Speed Discrepancy Checking Dual Spd Chk 3 2 Encoders Position Discrepancy Checking Dual Pos Chk 28 Fok 1 Type Selects the type of feedback for encoder 1 Default 1 TTL Incremental R W Options 0 Sine Cosine TTL Incremental 29 Fbk 1 Units Selects rotary or linear feedback for encoder 1 Default 0 Rotary Rev R W Options 0 Rotary Rev Linear mm 30 Fb Defines the d
224. oor Out Type Node 1 MSR57 1 0 57 Door Out Type Pwr to Rel DM Input 0 MSR57 1 0 74 Door Out Mode Pulse Test Lock Mon Enable Parameter List 1 0 58 DM Input Not Used 5 Parameters 1 0 59 Lock Mon Enable Disable 1 0 60 Lock Mon Input Not Used Security General Feedback Stop Limited Speed Door Control Max Speed Faults 1 1203 USB USB to DPI Parameter List Follow these steps to configure Door Control operation for the relay 1 From the Door Control group choose the P57 Door Out Type parameter 2 Set the Door Out Type parameter to 0 default which equals Power to Release Pwr to Rel This setting was chosen because power must be applied to the solenoid inside the TLS 3 GD2 gate switch to release the gate interlock 3 Choose the P58 DM Input parameter The default setting is 0 for applications that do not use an interlock switch 4 Set the DM Input parameter value to 1 for 2NC dual channel equivalent operation In this example application the DM Input DM_In monitors the TLS 3 GD2 switch which has two normally closed 2NC safety contacts 5 Choose the P59 Lock Mon Enable parameter The default value is 0 Disabled for applications without an interlock switch 6 Set the Lock Mon Enable parameter value to 1 Enabled because this application uses the TLS 3 GD2 interlock switch Publication 440R UMO004A EN P December 2008 181 Chapter 11 Configuration Examples 7
225. or control logic is set to lock it prevents personnel from entering the hazardous area when the machine is not at a safe speed or at Standstill Speed Publication 440R UM004A EN P December 2008 SLS with Door Monitoring Parameter List Safe Limited Speed SLS Modes Chapter 7 Safe Limited Speed Reset When properly configured for Safe Limited Speed with Door Monitoring the relay must be monitoring motion SLS_In input is OFF if the door is open DM_In is OFF Make sure the door is closed before requesting an SLS Reset A Safe Limited Speed Reset results in a Door Monitoring Fault if the door is open DM_In is OFF when the reset is requested by a transition of the SLS_In input from OFF to ON A Door Monitor Fault is a Stop Category Fault which initiates the configured Safe Stop Type To configure the relay for Safe Limited Speed with Door Monitoring set the DM Input parameter in addition to the Safe Stop parameters listed on page 99 and the Safe Limited Speed parameters listed on page 108 Parameter Description Setting 21 Safety Mode Defines the primary operating mode of the Setting 4 Master Safe Limited Speed with Door speed monitoring safety functions Monitoring Lim Speed DM 58 DM Input Configuration for the Door Monitor input Default g Not usedl DM_In Options 0 Not used 1 Dual channel equivalent 2NC 2 Dual channel equivalent 3 s 2NC 3s 3 Dual channel complementary 1NC 1
226. otective An assembly of devices and or components working together for protective Equipment tripping or presence sensing purposes and comprising as a minimum e a sensing device e controlling monitoring devices e output signal switching devices OSSD FMEA Failure Mode and Effects Analysis Analysis of potential failure modes to determine the effect upon the system and identify ways to mitigate those effects IEC International Electrotechnical Commission Publication 440R UM004A EN P December 2008 Preface Terminology Abbreviation Full Term Definition IGBT Insulated Gate Bi polar Transistor HFT Hardware Fault Tolerance The HFT equals n where n 1 faults could cause the loss of the safety function An HFT of 1 means that 2 faults are required before safety is lost HIM Human Interface Module A module used to configure a device LM Lock Monitoring MP Motion Power OSSD Output Signal Switching Device The component of the electro sensitive protective equipment ESPE connected to the control system of a machine which when the sensing device is actuated during normal operation responds by going to the OFF state PC Personal Computer Computer used to interface with and program your safety system PFD Probability of Failure on Demand The average probability of a system to fail to perform its design function on demand PFH Probability of Failure per Hour The probability o
227. oute signal cables away from motor and power wiring e Ground all equipment following the manufacturers instructions Additional noise reduction techniques may be necessary Refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 for more information 99 mm 3 9 in 67 5 mm 2 66 in Dimensions 114 5 mm 4 51 in Publication 440R UMO004A EN P December 2008 31 Chapter3 Installation and Wiring Spacing Requirements Adequate air space must be provided around the system module cluster Minimum recommended clearances e 15 mm 0 6 in above e 15 mm 0 6 in below e 2 3 mm 0 08 0 12 in between modules at ambient temperatures higher than 40 C 104 F Mount the MSR57P Relay Follow these steps to mount the MSR57P relay to an EN50022 35 x 7 5 DIN rail 1 Hook the top slot over the DIN rail 2 Snap the bottom of the relay into position while pressing the relay down against the top of the rail be Slot lt DIN Rail Ad lt Latch 3 Attach end plates on each end of the DIN rail To remove the relay from the DIN rail use a flathead screwdriver to pull down the latch and lift the relay from the rail Power Supply The external power supply must conform to the Directive 2006 95 EC Requirements Low Voltage by applying the requirements of EN61131 2 q Programmable Controllers Part 2 Equipment Requirements and Tests
228. peed parameters group Example 2 Limited Speed Group Settings Limited Speed Group Parameters HIM Screen Software Screen Fa Configuring Autol File Edit Explore Actions Help on gt Oo ta 84 9 0 8 8 e FG Parameter Devices Name Value Lim Speed Input Node 1 MSRS7 1 052 Lim Speed Input 2NC 0 MSR57 15 0 53 LimSpd Mon Delay 15 Sec Enable SW Input Parameter List 1 0 54 ara ne 2NC 1 0 55 Safe Speed Limit 300 0 RPM Karamere 1 0 56 Sead ares 5 Yo Security General Feedback Stop Limited Speed Door Control Publication 440R UM004A EN P December 2008 1 Follow these steps to configure the Safe Limited Speed operation From the Limited Speed group choose the P52 Lim Speed Input parameter The default value is 0 Disabled for applications without Safe Limited Speed control Set the Lim Speed Input parameter value to 1 for 2NC dual channel equivalent operation In this example application the Safe Limited Speed input SLS_In monitors a switch with two normally closed 2NC contacts If the NC contacts are open and speed exceeds the configured Safe Limited Speed the relay initiates the configured Safe Stop Type When the relay is actively monitoring Safe Limited Speed and the machine s speed is at or below the configured Safe Speed Limit the gate interlock is released and the door can be opened 179 Chapter 11 180 Configuration Examples Choo
229. quipment and or the immediate environment can be harmed if this equipment is operated outside the specified limits of any of its technical specifications Installation and operation must be performed only by qualified technical personnel This equipment is to be installed started up and operated only by technical personnel who have been trained and understand e the products covered by this publication e directives regulations and good practices relating to machine safety instrumentation and automation components equipment and systems industrial electrical practices Up to date user documentation must be readily accessible by technical personnel The latest version of user documentation that includes instructions for installation operation and maintenance of this product must be readily available to personnel involved in any of these tasks Identify hazardous areas and dangerous operating modes before using the product Machine safety applications make it necessary for hazardous areas and dangerous operating modes to be carefully identified and adequate measures taken to be sure that failure or tampering does not allow automated equipment to be of risk to personnel Observe electrical safety regulations and good practices Electrical safety regulations stipulated by the appropriate technical authorities must be observed Do not use the product if it is damaged or diminished in any way Carefully inspect the product before it
230. r is unlocked it may remain unlocked Make sure that this possibility does not create a hazard Publication 440R UM004A EN P December 2008 Safe Stop Parameter List Safe Stop and Safe Stop with Door Monitoring Modes Chapter 6 Lock Monitoring If Lock Monitoring is enabled the Lock Monitoring input LM_In must be in the ON state any time the Door Control output DC_Out is in the Lock state except for the 5 seconds following the DC_Out output s transition from the Unlocked state to the Locked state If the LM_In input is not ON during this time a Lock Monitoring Fault occurs The LM_In input must be OFF when the DM_In input transitions from ON to OFF the door opens A Lock Monitoring Fault is a Stop Category Fault which initiates the configured Safe Stop Type To configure the relay for Safe Stop mode set these parameters in addition to the General and Feedback parameters listed on pages 80 Safe Stop Parameters and 86 Parameter Description Setting 21 Safety Mode Defines the primary operating mode of Setting 1 Safe Stop the speed monitoring safety functions 44 Safe Stop Input Configuration for Safe Stop input SS_In Default 1 Dual channel equivalent Options 0 Not used 1 Dual channel equivalent 2NC 2 Dual channel equivalent 3 s 2NC 3s 3 Dual channel complementary 1NC 1NQ 4 Dual channel complementary 3 s 1NC 1NO 3s 5 Dual channel SS equivalent 3 s 2 OSS
231. relay initiates the configured Safe Stop Type You can monitor the door s status with or without using the Door Control Cdock unlock function When door control logic is set to Lock the MSR57P relay puts the solenoid into the locked state when the machine is not at a safe speed or at Standstill Speed Lock Monitoring If a Safety Mode that includes Door Monitoring is selected and Lock Monitoring is enabled the Lock Monitor input LM_In signal must be OFF any time that the Door Monitor input DM_In transitions from ON to OFF IMPORTANT If your application uses Lock Monitoring without Door Monitoring you must use some means to make sure that the Lock Monitor is not stuck at a Lock indication SS Reset If the Door Monitor input DM_In is OFF when a Safe Stop SS Reset is attempted in any state other than actively monitoring Safe Limited Speed a Door Monitoring Fault occurs and the speed monitoring relay initiates the configured Safe Stop Type To configure the relay for Safe Stop with Door Monitoring set the DM Input parameter in addition to the Safe Stop parameters listed on page 99 Setting Defines the primary operating mode of Setting 2 Master Safe Stop with Door Monitoring the speed monitoring safety functions Safe Stop DM 58 DM Input Configuration for the Door Monitor input Default g Not usedl DM_In Options 0 Not used 1 Dual channel equivalent 2NC 2 Dual channel equ
232. ribed in 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 A economic loss IMPORTANT Identifies information that is critical for successful application and understanding of the product 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 A recognize the consequence TNA a Wain Labels may be on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present Prva Labels may be on or inside the equipment for example a drive or motor to alert people that surfaces may reach dangerous temperatures Rockwell Automation Allen Bradley TechConnect Guardmaster Kinetix PowerFlex SCANport RSLinx DriveExplorer and DriveExecutive are trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies Safety Concept About the MSR57P Speed Monitoring Safety Relay Installa
233. rs specifications or enter 0 default to disable encoder voltage monitoring TIP The P33 Fbk 1 Speed parameter displays the output speed of the encoder as a value between 214 748 364 8 214 748 364 8 rpm based on the encoder s configuration You do not need to enter a setting or value for this parameter 13 Choose the P42 Direction Mon parameter 14 Set the Direction Mon parameter value to 2 to set up the normal monitored direction as Negative Always 176 Publication 440R UM004A EN P December 2008 Configuration Examples Chapter 11 15 Choose the P43 Direction Tol parameter 16 Enter value between 0 65 535 degrees based on the encoder s specifications The default value is 10 degrees This sets the position limit tolerated in the wrong direction when Safe Direction Monitoring is enabled Entering 360 equals one revolution in the forward direction before a Direction Fault occurs 17 Go to the next section to set the parameters found in the Stop parameters group Example 2 Stop Group Settings Stop Group Parameters HIM Screen Software Screen Fn Configuring Autol File Edit Explore Actions Help ey D a6 s 5 88 7 6 FGM Parameter Devices Name Value Safe Stop Input Node 1 MSR57 Safe Stop Input 2NC 0 MSRS7 1 0 45 Safe Stop Type Safe Stop 1 Stop Mon Delay Parameter List 1 0 46 Stop Mon Delay 0 7 Sec Si Parameters 1 0 47 Max Stop Time 10 0 Sec 13 0148 Standsti
234. s requested the relay checks that no faults are present and verifies that the SLS_In input is ON closed circuit before the reset is performed When the input is OFF Safe Limited Speed monitoring takes place after the SLS Monitoring Delay Lim Spd Mon Delay if one is configured An SLS Reset can be requested during active Safe Limited Speed monitoring or during a Safe Limited Speed Monitoring Delay If a reset is requested during a Safe Limited Speed Monitoring Delay the reset does not wait for the delay to time out Automatic Once the SLS_In input is ON closed the relay lets the drive resume normal operating speed No reset button is required to re enter the normal run state Manual When the SLS_In input transitions from OFF to ON and the Reset_In input is ON an SLS_Reset is attempted If the SLS_In transitions from OFF to ON and the Reset_In input is OFF the relay stays in its current state whether it is actively monitoring Safe Limited Speed or is in a Safe Limited Speed Monitoring Delay and waits for the Reset_In input to transition to ON before attempting the SLS_Reset If at any time the SLS_In input transitions back to OFF the SLS_Reset is aborted Manual Monitored When the SLS_In input transitions from OFF to ON the relay waits for an OFF to ON to OFF transition of the Reset_In input before an SLS_Reset is attempted If at any time during this period the SLS_In input transitions back to OFF the SLS_Reset is
235. s during the Stop Monitoring Delay When Safe Stop 1 or 2 is initiated by a Stop Category Fault the Stop Delay Max Stop Time begins immediately regardless of whether a Stop Monitoring Delay Stop Mon Delay is configured Deceleration monitoring takes place during the Stop Delay Max Stop Time These three configurable parameters define the deceleration profile that is used e Deceleration Reference Speed P50 Decel Ref Speed e Deceleration Tolerance P51 Stop Decel Tol e Stop Delay P47 Max Stop Time If Standstill Speed is detected any time after the Safe Stop has been initiated and before the Stop Delay Max Stop Time expires door control logic is set to Unlock If the Standstill Speed is not detected by the end of the configured Stop Delay Max Stop Time a Stop Speed Fault occurs For Safe Stop 1 power is removed from the Motion Power output MP_Out when Standstill Speed is reached For Safe Stop 2 power is not removed 91 Chapter6 Safe Stop and Safe Stop with Door Monitoring Modes Timing Diagram for Safe Stop 1 Stop Request Stop Monitoring Deceleration Delay Stop Delay Tolerance Safe Torque off Active Standstill Speed i E ANE TRIN NTE ET Time SS_In Signal SS OutSignl SS ti Cts i SS SC drS oe MP_Out Signal ee ee Stop_Command Signal DC_Out Output 1 1 DC_Out Output shown configured as Power to Release See Door Control on page 97 for more information
236. scaded Systems This example shows the last cascaded slave relay in the system It has SS_In and DM_In inputs from the previous upstream MSR57P relay but its DC_Out output is connected to a guardlocking interlock switch This unit is configured with automatic reset so it follows the function of the previous axis Slave Safe Stop Last Unit 24V DC To First MSR57P Relay Terminals TLS3 GD2 aane 127260 S11 S21 X32 X42 S32 S42 Previous Upstream Axis MSR57P Relay Terminals EEE 34 4 51 52 _ 9 24V DC PowerFlex 70 Pulse Test o Li AC Drive with Outputs p Be Comm DriveGuard 7 Dig Comm 1 Stop and Power Zotar es E l _ 1 ESES Faults 8 F AL Reset Feed SIS 1 Stopi gypi GAVE Motion SCS ee StatusStatus Output Feed back Cmd Cmd DC Power Out Output Control Circuit Aux Signals to PLC KERE NERES 24V DC Com 1 Digital input 4 Proper configuration is required for inputs 1 2 4 and 6 on the PowerFlex 70 Drive my 2 All cascaded MSR57P units must share a common ground 24V DC Com must be at the same potential as the drive common because of the encoder signal 130 Publication 440R UMO004A EN P December 2008 Slave Modes for Multi axis Cascaded Systems Chapter 8 This example shows three relays connected together in a cascaded system All relays must have a shared common ground First Middle and Last Relays in a Cascaded System with Door Control an
237. se the P53 LimSpd Mon Delay parameter The default value is 0 s The valid range is from 0 6553 5 s Type a value to define the desired delay between the SLS_In input ON to OFF transition and the start of Safe Limited Speed monitoring Choose the P54 Enable SW Input parameter The default value is 0 Not Used for applications without an enabling switch Set the Enable SW Input parameter value to 1 for 2NC dual channel equivalent operation In this example application the ESM_In input monitors an enabling switch with two normally closed 2NC contacts As long as the enabling switch is held in the middle position the safety gate can be opened during Safe Limited Speed monitoring Choose the P55 Safe Speed Limit parameter The default value is 0 rpm or mm s Enter a value from 0 6553 5 Type the maximum allowable rpm value for safe reduced velocity The speed is calculated in rpm based on the Fbk 1 Units parameter setting 0 Rotary feedback entered previously Go to the next section to set the parameters that configure Door Control operation Publication 440R UM004A EN P December 2008 Configuration Examples Chapter 11 Example 2 Door Control Group Settings Door Control Group Parameters HIM Screen Fn Configuring Autol RPM Software Screen File Edit Explore Actions Help a6 s 5 0 88 1e FGj Parameter Devices S N P P Name Value D
238. sful Safe Stop Reset to initiate active Safe Limited Speed monitoring or to initiate a Safe Limited Speed Monitoring Delay LimSpd Mon Delay This output is typically connected to the drive or standard PLC input card to request that the speed of a machine be reduced SLS_ Status Output The SLS_Status output is ON when Safe Limited Speed monitoring is active and the Safe Limited Speed Monitoring Delay LimSpd Mon Delay if configured has expired Publication 440R UM004A EN P December 2008 71 Chapter4 Speed Monitoring 1 0 Signals 72 Publication 440R UM004A EN P December 2008 Introduction Cascaded Configuration Publication 440R UMO004A EN P December 2008 Chapter 5 General Relay and Feedback Monitoring Configuration This chapter describes the general and feedback configuration settings that must be configured to operate the speed monitoring relay Topic Page Cascaded Configuration 73 Safety Mode 74 Reset Type 74 Reset Qualification 75 Overspeed Response Time 75 Language Code 79 Max Display Speed 80 General Parameter List 80 Feedback Monitoring 81 Feedback Parameter List 86 The speed monitoring relay may be used in single axis or multi axis applications The P20 Cascaded Config parameter indicates the relay s location in the system Single Unit Single Cascaded First Unit Multi First Cascaded Middle Unit Multi Mid or Cascaded Last Unit Multi Last Single unit and cas
239. speed Response Time OverSpd Response to mm s is 250 E Speed RPM x 0 02 OverSpd Response 36 x Feedback Resolution OverSpd Response 36 Speed Resolution mm s The relay can be configured for any one of seven language options English French Spanish Italian German Portuguese and Dutch Publication 440R UM004A EN P December 2008 79 Chapter 5 Max Display Speed General Parameter List Parameter 20 Cascaded Config General Relay and Feedback Monitoring Configuration The configuration tool HIM or software can display a speed value based on the output speed of encoder 1 Fbk 1 Speed Use the P26 Max Display Spd parameter to determine the scaling for the display Description Defines whether the speed monitoring relay is a single unit or if it occupies a first middle or last position in a multi axis cascaded system Feedback 1800 0 Setting Default 1800 0 RPM 0 0 Set these parameters to configure general relay operation 0 Single Unit Single Options 0 Single Unit Single 1 Cascaded First Unit Multi First 2 Cascaded Middle Unit Multi Mid 3 Cascaded Last Unit Multi Last Safety Mode Defines the primary operating mode of the speed monitoring safety functions Default 1 Master Safe Stop Safe Stop Options 0 Disabled 1 Master Safe Stop Safe Stop 2 Master Safe Stop with Door Monitoring Safe Stop DM
240. sts the relay may need to be replaced Publication 440R UM004A EN P December 2008 Fault Recovery Input and Output Faults Fault Codes and Descriptions Publication 440R UMO004A EN P December 2008 Troubleshoot the MSR57P Relay Chapter 12 If the fault is no longer present the fault condition may be cleared by a successful SS Reset except in the case of an Invalid Configuration Fault MP Out Fault or Reset On At PwrUp Fault An Invalid Configuration Fault is cleared by a successful reconfiguration An MP Out Fault or Reset On At PwrUp Fault is cleared at power down or by a successful reconfiguration An input or output fault indication can be caused by several wiring fault conditions during commissioning or normal operation If an input fault occurs check for the following e One of the channels may have shorted to a 24V DC source e One of the channels may have shorted to a GND source e Two input channels have shorted together e One or both output channels have an overcurrent condition An input fault may also occur if only one of the channels in a dual channel system changed state after a 3 second discrepancy time interval if the inputs are configured with one of the following settings e 2 Dual channel equivalent 3 s 2NC 3s e 4 Dual channel complementary 3 s INC INO 3s e 5 Dual channel SS equivalent 3 s 2 OSSD 3s Faults fall into one of three categories Stop Category Fault Fault While Stopping Fa
241. t 1 0 38 Fbk 2 Speed 0 0 RPM M d FSE 1 0 39 Fbk Speed Ratio 0 00000 ies 1 0 40 Fbk Speed Tol 0 0 RPM i 1 1203 USB USB to DPI 1 0 41 Fbk Pos Tol o Deg Parameter List 1 0 42 Direction Mon Neg Always 1 0 43 Direction Tol 360 Deg Custom Views Publication 440R UM004A EN P December 2008 175 Chapter 11 Configuration Examples Follow these steps to configure the type of feedback used by the relay 1 From the Feedback group choose the P27 Fbk Model parameter 2 Set the Fbk mode parameter value to 0 default for redundant processing and cross checking of the single encoder input in a 1002 architecture 3 Choose the P28 Fbk 1 Type parameter The default value is 1 for incremental encoder input 4 Set the Fbk 1 Type parameter value to 0 for Sine Cosine and internal monitoring of the single encoder input 5 Choose the P29 Fbk 1 Units parameter nN Set the Fbk 1 Units parameter to 0 default which equals Rotary feedback 7 Choose the P30 Fbk 1 Polarity parameter 0o Set the Fbk 1 Polarity parameter to 0 default to set up the direction for monitoring to be the same as the encoder direction Normal 9 Choose the P31 Fbk 1 Resolution parameter 10 Choose 1024 default or enter value between 1 65 535 pulses revolution based on the encoder s specifications 11 Choose the P32 Fbk 1 Volt Mon parameter 12 Enter 5 9 12 or 14V to monitor voltage in accordance with the encode
242. t 2 and Power z Reset Feed SLS Stop ign 280 F Motion S5 Feed hack Cmd Cmd DC Power Out Output 424 pc 2 Reset 800FM FEMX10 Aux Signals to PLC 24V DC Com 8 1 For encoder wiring see Encoder Cable Specifications on page 42 2 Power supply may or may not be isolated 3 24V DC Com must be at the same potential as the drive common because of the encoder signal 124 Publication 440R UM004A EN P December 2008 Chapter 8 Slave Modes for Multi axis Cascaded Systems Introduction Topic Page Cascaded Configurations 125 Slave Safe Stop Mode 127 Slave Safe Stop Parameter List 127 Slave Safe Stop Wiring Examples 129 Slave Safe Limited Speed Mode 132 Slave Safe Limited Speed Parameters 132 Slave Safe Limited Speed Wiring Examples 133 Slave Safe Limited Speed Status Only Mode 135 Slave Safe Limited Speed Status Only Parameter List 135 Slave Safe Limited Speed Status Only Wiring Examples 135 Multi axis Connections 137 Cascaded System Examples 139 Cascaded Configurations Only the middle or last relays in a multi axis system can be configured for slave modes Use the P20 Cascaded Config parameter to define the relay s position in the system as Single Unit Single Cascaded First Unit Multi First Cascaded Middle Unit Multi Mid or Cascaded Last Unit Multi Last For cascaded speed monitoring safety relays connect the safe
243. t Mon value 32 Illegal P37 Fbk 2 Volt Mon value 33 Illegal P24 OverSpd Response value 34 Illegal P71 MP Out Mode value 35 Unknown error Unknown Err z Safe Stop Type value 210 Publication 440R UM004A EN P December 2008 Parameter Data Appendix B List of Parameters No Name Description Values ze 25 71 Me a Defines whether the MP_Out output is pulse tested Default 0 Pulse Test R W Options 0 Pulse test No pulse tes 72 cae Defines whether the SS_Out output is pulse tested Default 0 Pulse Test R W Options 0 Pulse test No pulse tes 73 oe Defines whether the SLS_Out output is pulse tested Default 0 Pulse Test R W ode Options 0 Pulse test No pulse tes 74 Poor Dut Defines whether the DC_Out output is pulse tested Default 0 Pulse Test R W Options 0 Pulse test No pulse tes 1 If pulse testing is turned off for any output the SIL Category and PL rating is reduced for the entire MSR57P safety system Publication 440R UM004A EN P December 2008 211 Appendix B Parameter Data 212 Publication 440R UM004A EN P December 2008 Appendix C Using a HIM Introduction So Topic Page Connect a HIM Module 213 Setting Parameters with a HIM Module 214 Accessing the Fault History Queue 215 Connect a HIM Mo
244. t attribute Bit Display Text Description 0 StatusOK This bit indicates when there are no faults It is set 1 when all of the Fault Status bits 1 31 are 0 no faults The bit is 0 if any Fault Status bit from 1 31 indicates a fault 1 1 Config Lock This bit shows the status of the P5 Lock State parameter A 1 indicates the configuration is locked a 0 indicates the configuration is unlocked 2 MP_Out This bit is set to 0 if the MP_Out dual channel output is being commanded to the OFF state This bit is set to 1 if the MP_Out dual channel output is being commanded to the ON state This bit is the commanded value not the readback value 3 SS In This bit displays the logical value 1 or 0 evaluated for the dual channel SS_In input 4 SS Req This bit is set to 1 when a safe stop is initiated by either a transition of the SS_In input from ON to OFF or by a Stop Category Fault This bit is reset to 0 when a successful SS Reset occurs and when the Safety Mode is set to Disabled 0 5 SS In Prog This bit is set to 1 when a safe stop is initiated by the transition of the SS_In input from ON to OFF with no active 192 fault conditions It is not set to 1 when a Safe Stop is initiated by a Stop Category Fault While set to 1 this bit will be reset 0 if Standstill Speed is reached or any fault condition is detected Publication 440R UM004A EN P December 2008 Guard Status Bit Display Text 6 SS Decel
245. ter The default value is 0 001 rpm but you can enter a value from 0 001 65 535 rpm The Standstill Speed is measured in revolutions per minute because the P29 Fbk 1 Units parameter is configured for Rotary feedback Enter a value in the Standstill Speed parameter field to define the period of time that must pass with no relative position change before the relay determines standstill has been reached Choose the P49 Standstill Pos parameter The default value is 10 degrees but you can enter a value from 0 65 535 degrees The Standstill Position is measured in degrees because the P29 Fbk 1 Units parameter is configured for Rotary feedback Enter the value to define the position limit in encoder units that is tolerated after standstill has been reached Choose the P50 Decel Ref Speed parameter The default value is 0 RPM but you can enter a value from 0 65 535 RPM The Decel Ref Speed parameter is used to verify that the speed is decelerating at the desired rate Enter a number greater than the Max Speed 2000 in this example Publication 440R UM004A EN P December 2008 13 14 15 Configuration Examples Chapter 11 Choose the P51 Stop Decel Tol parameter The Stop Decel Tol parameter determines the total percentage of the Decel Ref Speed that is used as the upper limit of deceleration speed Enter 100 for this example Go to the next section to set the parameters found in the Limited S
246. ter equals Cascaded Middle Unit Multi Mid 2 DC_Out to DM_In connections are only required for systems implementing door control 138 Publication 440R UM004A EN P December 2008 Slave Modes for Multi axis Cascaded Systems Chapter 8 The table shows the supported Safety Modes for slave relays 7 1 cascaded from slaves Safety Mode Combinations for Cascaded Middle and Last Slave Relays Supported Safety Mode Combinations Cascaded Connections Allowed Slave Relay n Slave Relay n 1 SS_Outto SLS_ Outto DC_Out to SS_In SLS_In DM In Slave Safe Stop Slave Safe Stop Yes Yes o Slave Safe Stop Yes Yes Slave Safe Limited Speed Slave Safe Limited Speed Yes Yes Yes N Slave Safe Stop Yes Yes Slave Safe Limited Speed Status Only Slave Safe Limited Speed Status Only Yes Yes Yes 1 DC_Out to DM_In connections are only required for systems implementing door control Cascaded System Examples The following illustrations show a variety of possible cascaded configurations Safe Stop Only 3 wire Connections First Unit Multi First Middle Unit Multi Mid Last Unit Multi Last Master Slave Slave Axis 1 Axis 2 Axis 3 Safe Stop Input S12 Ssin_o SS_Out_0 34 l s12 Ss_in0 SS_Out_0 34 12 SS_In_0 822 SS_int 8_Out_1 44 l S22 SS Int S_Out_1 44 22 SS_In_1 MP_Out_0 14 MP_Out_0 14 MP_Out_0 14 p gt MP_Out_1 24
247. th the drive feedback connector D shells Use 0 4 Nm 3 5 Ib in torque For detailed information on connections and important wiring requirements regarding Kinetix 2000 Kinetix 6000 Kinetix 7000 and Ultra3000 drives please refer to these publications e Kinetix 2000 Multi axis Servo Drive User Manual publication 2093 UMO001 e Kinetix 6000 Multi axis Servo Drive User Manual publication 2094 UM001 e Kinetix 7000 High Power Servo Drive User Manual publication 2099 UMO01 e Ultra3000 Digital Servo Drives Integration Manual publication 2098 IN005 e Ultra3000 Digital Servo Drives Installation Manual publication 2098 IN003 e System Design for Control of Electrical Noise Reference Manual publication GMC RMO001 51 Chapter3 Installation and Wiring vane Wiring 15 Pin Flying lead Feedback Cable Connections Foil Shield Braided Shield Outer Insulation gt Bulletin 2090 G NS 7 N Turn clamp over to hold small wires secure Feedback Connections for PowerFlex 70 Drives 52 Tie Wrap Exposed Braid under clamp Bulletin 2090 Feedback Cable 15 pin male Motor Feedback 15 pin female Auxiliary Feedback Low profile Connector Low profile Connector Pin to 9 Pin5 Pin 15 Pin 1 Mounting Pin 1 Pin 11 Pin5 Pin 6 j L o Pin 10
248. the relay is actively monitoring motion the configured Safe Stop type is initiated Safe Direction Monitoring is also activated via device configuration The relay monitors the feedback direction and executes the configured Safe Stop type when motion in the illegal direction is detected See Chapter 9 Safe Maximum Speed and Direction Monitoring for detailed information on these functions 25 Chapter2 About the MSR57P Speed Monitoring Safety Relay Hardware Features 26 The MSR57P relay features five dual channel inputs three sets of sourcing safety outputs and one bipolar safety output You can configure dual channel inputs to accept contact devices with two normally closed contacts or one normally closed and one normally open contact They can also be configured for single channel operation Single channel operation does not meet SIL CL3 PL e Cat 4 safety integrity These inputs also support output signal switching devices OSSD Each output has integral pulse test checking circuitry Two RJ 45 connectors support encoder inputs The MSR57P relay features status indicators and status data for troubleshooting 32 S42 S52 S62 13 14 24 Al S11 S21 12 22 34 44 51 52 Encoder 1 MSR57P Config Lock PWR Fault Stop Limited Speed Standstill z Safe Speed Allen Bradley Motion Power Door Encoder 2 Guadfimarte 72 S82 X32 X42 Y1 Y2 S34 Y37 Y31 Y32 Y33 Y30 68 78 Y35 A2 Publication 440R UM004A EN P Dec
249. thout encoder 1 feedback configuration P29 Fbk 1 Units 9 parameter 49 Standstill Pos Standstill Position Window Default 10 apa reun Range 0 65 535 degrees 360 1 revolution or mm based on a em ee ieee rotary or linear configuration defined by P29 Fbk 1 Units after a Safe Stop condition has been parameter detected Not valid for Safe Torque Off without Standstill Checking 50 Decel Ref Speed Decel Reference Speed Default 0 Det Ones ueceicration rate comput E EE E configuration defined by for Safe Stop 1 or Safe Stop 2 P29 Fbk 1 Units parameter 51 Stop Decel Tol Decel Tolerance Default 0 This is the acceptable tolerance above Range 0 100 of Decel Ref Speed the deceleration rate set by the Decel Ref Speed parameter 57 Door Out Type Defines the lock and unlock state for the Default 0 Power to release Pwr to Rel door control output DC Out Options 0 Power to release Pwr to Rel 1 Power to lock Pwr to Lock Door Out Type can be 0 or 1 only fora i single axis system or for the last unit in a 2 Cascaded 2 Ch Sourcing multi axis system The first and middle units of a multi axis system must be configured as cascading 2 59 Lock Mon Lock Monitoring can only be enabled Default 0 Disabled Enable when the speed monitoring safety relay er ae is a single unit or as the first unit in a Bp tons i z Bn multi axis system P20 Cascaded Config FENA equals 0 or 1 100 Publication 440R UM004A EN P
250. tion and Wiring Publication 440R UM004A EN P December 2008 Table of Contents Preface About This Publication 05a feed tape hed eed bad aoncd nde aoa chee 9 Who Should Use This Manualtc uj a lt 4 e528 Yoko wees a VE OXS 9 COUVE DONS 9 a epa e e Beg dm AUG 8 He a a eed a AOR ee a we be 9 TEU OLO y esang aD aya a u ed hed Da Gb anG 9 Additional Resources 4 tas evant inh he RASS ee 11 Chapter 1 ING OCUCUON 2 2 tee e Sache te B eRe 8S he 8 Sates eB oes 13 Salety Certification eer err EOE RY Re Ee EPR RWS 13 Important Safety Considerations 14 Safety Category 4 Performance Definition 15 Stop Category Definitions 00 0005 15 Performance Level and Safety Integrity Level SIL 3 16 Functional Proof Tests as cari pa eed Mee kee ies 16 PFD and PFH Definitions 244 noona aaua wh tea eet ae 16 PED nd PFH ata sd eseten e ee pet Ee ht meet eee 17 Safe Statene e s ev Sede thas a Hh Arh OK eB hha ae a Pde 17 Safety Reaction Time n a anaana aaa 18 Considerations for Safety Ratings n a aasa naaa 18 Output Pulse Test Considerations 19 Considerations for Single encoder Applications 19 Contact Information if Device Failure Occurs 22 Chapter 2 LOCUM CUON 6 eue ia arin h sided take te ot he Oe Das Sur ata tas 23 Safety FUNCUONS ay a sare ea RY pa A a S 23 Safe Modes oorr pn iaa ete Kania barre tans ate Paes 24 Disabled Mode dse romene ia E a mde E So
251. tion and resume normal run operation 1 2 Leave the hazard area while holding the enabling switch Hold the enabling switch until the door is closed and you have disabled the SLS_In input by setting it to the ON or closed position Release the enabling switch Press the reset button if manual reset is configured The machine resumes normal run operation Make sure that the SLS_In input cannot transition to ON while someone is in the hazard area Use appropriate procedures when selecting safe limited speed to prevent other users from changing the mode while personnel are in the machine area Publication 440R UM004A EN P December 2008 Publication 440R UMO004A EN P December 2008 Safe Limited Speed SLS Modes Chapter 7 Behavior During SLS Monitoring When Safe Limited Speed monitoring is active door control logic is set to Unlock if the ESM_In input is ON and the speed is detected at below the Safe Speed Limit If the ESM_In input is ON the door can be opened DM_In transitions from ON to OFF However if the ESM_In input transitions to OFF after the door has been opened an ESM Monitoring Fault occurs An ESM Monitoring Fault is a Stop Category Fault which initiates the configured Safe Stop Type If the DM_In input transitions from ON to OFF door is opened while the ESM_In input is OFF a Door Monitoring Fault occurs A Door Monitoring Fault is a Stop Category Fault which initiates the configured
252. tion uses the TLS 3 GD2 interlock switch 169 Chapter 11 Configuration Examples 7 Choose the P60 Lock Mon Input parameter The default value is 0 Not Used for applications that do not use an interlock switch 8 Set the Lock Mon Input parameter value to 1 for 2NC dual channel equivalent operation In this example application the Lock Monitor Input LM_In monitors the TLS 3 GD2 switch which has two normally closed 2NC interlock monitoring contacts 9 Go to the next section to set the parameters that configure Safe Maximum Speed monitoring Example 1 Max Speed Group Max Speed Group Parameters HIM Screen Software Screen A P amp Devices j FajConfiguring On Node 1 MSR57 Max Speed Enable Disable RPM 6 0 MSR57 1 0 62 Safe Max Speed it RPM FGj Parameter i Parameter List 1 0 63 Max Spd Stop Typ Torque Off Max Speed Enable Parametrs y pe eau p o RPSS Senariy 1066 Max Acc Stop Typ Torque Off Max Spd Stop Typ General Feedback Stop Limited Speed Door Control Faults 6 1 1203 SSS RS232 DF 1 Parameter List Custom Views Compare Results Follow these steps to configure Maximum Speed monitoring for the relay 1 From the Max Speed group choose the P61 Max Speed Enable parameter The default value is 0 Disabled for no maximum speed limitation 2 Set the Max Speed Enable parameter value to 1 nabled which monitors that the encoder feedback signal does not exceed the velocity
253. tions 15 Stop Category Faults 189 191 Stop Delay See Max Stop Time Stop Monitoring Delay definition 89 Stop_Command output 71 T terminal block remove 33 terminal screws connections 34 torque 34 timing diagram Safe Limited Speed 106 Safe Limited Speed Status Only 120 Safe Stop 1 92 Safe Stop 2 92 Safe Torque Off with Standstill Checking 90 Safe Torque Off Without Standstill Checking 93 U USB converter 218 Publication 440R UMO004A EN P December 2008 V validation third party 159 verify configuration 159 lock status 159 Signature ID 159 W wiring DC_Out output 67 68 DM_In input 67 input examples 59 LM_lIn input 67 low profile connectors 51 MP_Out output 69 70 multi axis connections 64 65 Publication 440R UMO004A EN P December 2008 Index reset_In input 62 RL_In input 63 wiring example Safe Limited Speed mode 109 Safe Limited Speed Status Only mode 122 1 24 Safe Stop mode 102 Safe Stop with 104 Slave Safe Lim Slave Safe Lim mode Slave Safe Sto Door Monitoring mode ited Speed 133 134 ted Speed Status Only 135 137 p mode 129 130 SLS with Door Monitoring and Enabling Switch Monitoring mode 119 SLS with Door Monitoring mode 112 SLS with Enabling Switch Monitoring mode 115 241 Index 242 Publication 440R UMO004A EN P December 2008 Rockwell Automation Support www rockwellautomation com Rockwell Automation provides technical information on the
254. to 0 default to set up the direction for monitoring to be the same as the encoder direction Normal 9 Choose the P31 Fbk 1 Resolution parameter 10 Choose 1024 default or enter value between 1 65 535 pulses revolution based on the encoder s specifications 11 Choose the P32 Fbk 1 Volt Mon parameter 12 Enter 5 9 12 or 14V to monitor voltage in accordance with the encoder s specifications or enter 0 default to disable encoder voltage monitoring TIP The P33 Fbk 1 Speed parameter displays the output speed of the encoder as a value between 214 748 364 8 214 748 364 8 rpm based on the encoder s configuration You do not need to enter a setting or value for this parameter 13 Choose the P42 Direction Mon parameter 14 Set the Direction Mon parameter value to 0 default which equals Disabled You may disable Safe Direction Monitoring if only one direction of rotation is possible or there is no safety related restriction on the direction of rotation Publication 440R UM004A EN P December 2008 165 Chapter 11 Configuration Examples 15 Go to the next section to set the parameters found in the Stop parameters group Example 1 Stop Group Settings Stop Group Parameters HIM Screen Software Screen Fa Configuring Autol Fee ay RPM Node 1 MSR57 0 4 Safe Stop Input 2NC 0 MSR57 1 0 45 Safe Stop Type Torque Off FG Parameter Parameter List l y En pa a a 1 0 ax Stop Time 10 e
255. top configurations The first example shows an MSR57P configured as a cascaded middle unit via the P20 Cascaded Config parameter Multi Mid It has SS_In and DM_In input connections from the previous upstream MSR57P relay as well as SS_Out and DC_Out output connections to the next downstream MSR57P relay This unit is configured with automatic reset so it follows the function of the previous axis See Safe Stop with Door Monitoring Wiring Example on page 104 for an example of a first master unit Slave Safe Stop Middle Unit 24V DC Previous Upstream Axis MSR5 7P Relay Terminals 34 4 51 52 Next Downstream Axis MSR57P Relay Terminals S32 S42 L1 L2 L3 PowerFlex 70 Pulse Test DoorLock Lock Door AC Drive with Outputs Control Monitor Monitor 8 DC Comm DriveGuard RJ45 RJ45 Encoder Encoder Input 1 Input 2 and Power f SLS Fault SS RL Reset Feed SLS Stop GND 24V Motion SLS StatusStatus Output Feed back Cmd Cmd DC Power Out Output Next Downstream Axis MSR57P Relay S22 Terminals Aux Signals to PLC 1 Digital input 4 Proper configuration is required for inputs 1 2 4 and 6 on the PowerFlex 70 Drive 2 All cascaded MSR57P units must share a common ground 24V DC Com must be at the same potential as the drive common because of the encoder signal Publication 440R UM004A EN P December 2008 129 Chapter8 Slave Modes for Multi axis Ca
256. tor Monitor DTZ R Encoder Encoder Input 1 Input 2 1 SLS Fault Ss ResetiFeed SLS Stop iGND 24V Motion SLS StatusStatus Output Feed back Cmd Cmd DC Power Out Output 800FM F6MX10 Safe Stop to next module optional Aux Signals to PLC 24V DC Com 1 For encoder wiring see Encoder Cable Specifications on page 42 2 Digital input 4 Proper configuration is required for inputs 1 2 4 and 6 on the PowerFlex 70 Drive 3 24V DC Com must be at the same potential as the drive common because of the encoder signal Safe Stop with Door When properly configured for Safe Stop with Door Monitoring the relay monitors the Safe Stop input SS_In and initiates the configured Monitoring Mode Safe Stop Type upon deactivation of the input as described in Safe 102 Stop Mode on page 89 In addition the speed monitoring relay verifies through monitoring the Door Monitor input DM_In that the device controlled by the Door Control output DC_Out is in an expected state The DM_In input is ON when the door is closed and OFF when the door is open If the door is monitored as opened during Safe Stop monitoring a Publication 440R UM004A EN P December 2008 Safe Stop with Door Monitoring Parameter List Parameter 21 Safety Mode Description Safe Stop and Safe Stop with Door Monitoring Modes Chapter 6 Door Monitoring Fault occurs and the speed monitoring
257. tributor in order to complete the return process Outside United Please contact your local Rockwell Automation representative for the States return procedure 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 Vorstlaan Boulevard du Souverain 36 1170 Brussels 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 440R UMO004A EN P December 2008 Copyright 2008 Rockwell Automation Inc All rights reserved Printed in the U S A Allen Bradle y Guardmaster MSR57P Speed Monitoring Safety Relay User Manual
258. trol Circuit 2 All cascaded MSR57P units must share a common ground 24V DC Com must be at the same potential as the drive common because of the encoder signal 134 Publication 440R UM004A EN P December 2008 Slave Safe Limited Speed Status Only Mode Slave Safe Limited Speed Status Only Parameter List Slave Modes for Multi axis Cascaded Systems Chapter 8 When properly configured for Slave Safe Limited Speed Status Only mode the speed monitoring safety relay performs the same functions as Safe Limited Speed Status Only mode as described on page 119 However the relay regards the Door Monitor input as a Door Control output from an upstream axis and performs a logical AND with its internal Door Control signal to form the cascaded Door Control output The SLS_Out output of the last MSR57P in a cascaded chain only goes high when all axes are below the Safe Speed Limit In Safe Limited Speed Status Only mode each subsequent unit does not enable Safe Limited Speed until the previous unit has reached the Safe Speed Limit Door Monitoring and Enabling Switch Monitoring functions are not allowed in this mode TIP Only the middle and last relays in a multi axis system can be configured for slave modes To configure the relay for Slave Safe Limited Speed Status Only monitoring set these parameters in addition to the Slave Safe Stop parameters listed on page 127 and the Slave Safe Limited Speed parameters listed on page
259. ty switches to the safety inputs SS_In SLS_In DM_In ESM_In and LM_In of the first master axis only Each feedback and the Motion Power output MP_Out for Safe Stop functions are connected to their respective axis The inputs are cascaded from one relay to the next by connecting the outputs from the previous relay to the inputs of the next relay Publication 440R UMO004A EN P December 2008 125 Chapter8 Slave Modes for Multi axis Cascaded Systems Cascaded Connections First Unit Multi First Middle Unit Multi Mid Last Unit Multi Last Master Slave Slave gt Axis 1 Axis 2 Axis 3 Safe Stop Input 12 8_In_0 ss_out 0 34 S12 SS_in0 8 Out_0 34 H 812 SS_n0 88_Out 0 34 ma 522 SS_in 1 SS_Out_1 44 H S22 SS_in1 SS_Out1 44 H s22 ss_in1 SS_Out1 44 Safe Limited Speed Input P 52 SLS_ino SLS_Out0 68 gt s52 SLs_In 0 SLS_Out_0 68 b gt 52 SLS_In 0 SLS Out 0 68 s62 SLS_In 1 SLS_Out_1 78 gt s62 SLS In 1 SLS_Out_1 78 s62 SLS_in 1 SLS_Out_1 78 Enabling Switch Monitor Input 72 ESM_In_o gt s82 ESM_Int 11 Pulse_Source_0 21 Pulse_Source_1 To Door 33 34 pane Door Monitor Input i Fone p S32 DM_In_0 DC_Out_0 51 H S32 DM_In_0 DC_Out_0 51 p s32 DM_In_0 DC_Out 0 51 Solenoid Horo S42 DM_In1 DC_Out_1 52 p s42
260. ult 0 R W Hysteresis Speed monitoring is active Range 0 when P21 Safety Mode 1 2 3 4 5 6 8 or 9 10 100 when P21 Safety Mode 7 or 10 57 Door Out Door Control Output Type Default 0 Power to release Pwr to Rel R W Type Defines the lock and unlock state for door control output Options 0 Power to release Pwr to Rel DC_Out 1 Power to lock Pwr to Lock When Door Out Type equals power to release DC_Out is 2 Cascaded 2 Ch Sourcing OFF in the lock state and ON in the unlock state When Door Out Type equals power to lock DC_Out is ON in the lock state and OFF in the unlock state The first and middle units of a multi axis system must be configured as cascading 2 58 DM Input Configuration for the Door Monitor input DIV_In Default 0 Not used R W Options 0 Not used 1 Dual channel equivalent 2NC 2 Dual channel equivalent 3 s 2NC 3s 3 Dual channel complementary 1NC 1N0 4 Dual channel complementary 3 s 1NC 1NO 3s 5 Dual channel SS equivalent 3 s 2 OSSD 3s 6 Single channel 1NC 59 Lock Mon Lock Monitoring can only be enabled when the speed Default 0 Disable R W Enable monitoring safety relay is a single unit or as the first unit in a multi axis system P20 Cascaded Config equals 0 or 1 Options D Disable Enable 60 Lock Mon Configuration for the Lock Monitor input LIM_In Default 0 Not used R W Input Options 0 Not used 1 Dual channel equivalent 2NC 2
261. ult and Safe State Fault Stop Category Faults can be Motion Faults Monitor Faults or I O Faults The HIM module or configuration software can display a fault history queue which provides a record of the faults detected by the relay The fault history queue stores the fault codes and timestamps for the last 10 faults that occurred To avoid confusion about when faults occurred a power up marker code 32 is placed between faults in the queue if the relay is powered up or reset when the queue is not empty Code 0 equals No Entry The following tables list the faults fault codes and display text for the faults These faults can be viewed by accessing the P67 Fault Status parameter See Appendix C for information on using a HIM to access the fault history queue See Appendix D for information on using DriveExplorer software to access the fault history queue 187 Chapter 12 Troubleshoot the MSR57P Relay Safe State Faults Code Display Text Description 0 Combined Flt A combined fault is indicated if any error has occurred 1 Core Error A nonrecoverable microprocessor error has occurred 2 Invalid Cfg An Invalid Configuration fault occurs if a configuration parameter is set to an illegal value or combination of values See the Configuration Fault Codes on page 196 3 MP Out Fit An MP Output Fault indicates an error in the MP_Out output 4 Reset PwrUp A Reset Power Up fault occurs if the reset t
262. ult Clear Fault No Fault No Fault Clear Queue No Fault v gt Reset Product Status Not Faulted Node Elapsed Time St 4 0 No Fault oooo 220 Publication 440R UMO004A EN P December 2008 Use DriveExplorer or DriveExecutive Software Appendix D Using DriveExecutive You need to configure communication between DriveExecutive Software software and the DPI port on the relay before you can use the software to edit the relay s parameters Configure Serial Communication Follow these steps to configure communication between DriveExecutive software on your personal computer the AnaCANda or USB communication converter and the DPI port on the relay 1 Open RSLinx software IMPORTANT DriveExecutive software must exchange information via RSLinx software This requires serial communication between the DPI port on the relay and your personal computer The Ethernet network or other communication standards are not compatible 2 In RSLinx software configure a communication driver to interface between your personal computer and the DPI port on the relay a Click Add New Configure Drivers Available Driver Types RS 232 DF1 devices x Add New b From the Available Driver Types pull down menu choose RS 232 DF1 c Click OK Publication 440R UMO004A EN P December 2008 221 Appendix D Use DriveExplorer or DriveExecutive Software 222 3 Configure the RS232 DF1 device as shown
263. ured for output switching signal devices OSSD because the output from the previous MSR57P is also configured for OSSD For middle or last relays in multi axis systems the relay regards the Door Monitor input as a Door Control output from an upstream axis and performs a logical AND with its internal Door Control signal to form the cascaded Door Control output For information on door control in the master relay see Door Control on page 97 Safety Mode Combinations for Master and First Slave relays Typical Safety Mode Combinations Cascaded Connections Allowed Master Relay First Slave Relay SS_Outto SLS_Outto DC_Outto Second Relay in System SS_In SLS_In DM_ In Safe Stop Slave Safe Stop Yes Yes Safe Stop with Door Monitoring Slave Safe Stop Yes Yes a Slave Safe Stop Yes Yes Safe Limited Speed Slave Safe Limited Speed Yes Yes Yes oo Sa Slave Safe Stop Yes Yes Safe Limited Speed with Door Monitoring Slave Safe Limited Speed Yes Yes Yes Safe Limited Speed with Enabling Switch Slave Safe Stop Yes Yes Monitoring Slave Safe Limited Speed Yes Yes Yes Safe Limited Speed with Door Monitoring and Slave Safe Stop Yes Yes Enabling Switch Monitoring Slave Safe Limited Speed Yes Yes Yes K Slave Safe Stop Yes Yes Yes Safe Limited Speed Status Only Slave Safe Limited Speed Status Only Yes Yes Yes 1 P20 Cascaded Config parame
264. ut must be ON closed if the motion power output MP_Out is in the OFF state If the RL_In is OFF open circuit when the MP_Out output is OFF a RL Fault is detected An RL Fault is a Stop Category Fault which will prevent the reset from being successful If the MP_Out output is ON the RL_In input is not required for qualification IMPORTANT Reset Qualification applies only to Safe Stop Reset and not to Safe Limited Speed Reset The P24 OverSpd Response parameter setting determines the maximum reaction time from an overspeed event to the initiation of the configured Safe Stop Type The safety reaction time from an overspeed event that triggers a Safe Stop Type to the actual initiation of that Safe Stop Type is equal to the value of the P24 OverSpd Response parameter The configurable options are 42 48 60 84 132 228 and 420 ms The P24 OverSpd Response parameter setting also determines the speed resolution that can be achieved The Overspeed Response Time and the encoder resolution affect the speed resolution accuracy as shown in the tables on the following pages 75 Chapter5 General Relay and Feedback Monitoring Configuration Speed Resolution Accuracy for Rotary Systems Encoder Resolution 16 lines rev Speed Resolution Accuracy RPM OverSpeed Response Time OverSpd Response Speed RPM Setting 1 10 100 1000 10 000 100 000 42 156 253 156 283 156 583 159 583 189 583 489 583 48
265. ype is configured for Manual or Manual Monitored and the Reset_In input is detected as ON when power is cycled 5 Fok 1 Fit A Feedback 1 Fault occurs if any of the following conditions are detected at encoder 1 e An open wire is detected e A short circuit is detected e A sine cosine fault exists that is the amplitude of the sine signal squared plus the amplitude of the cosine signal squared is not equal to a constant value e The feedback signals indicate a frequency greater than or equal to 100 kHz for a Sine cosine encoder or 200 kHz for a incremental encoder e llegal encoder signal transitions are detected 6 Fbk 2 Fit A Feedback 2 Fault occurs if any of the following conditions are detected at encoder 2 e llegal encoder signal transitions are detected e The feedback signals indicate a frequency greater than or equal to 200 kHz 7 Dual Fbk Spd A Dual Feedback Speed fault occurs if an error is detected between the speed from the first encoder and the speed from the second encoder Valid speed comparison values are determined by the configured Feedback Speed Ratio and Feedback Speed Tolerance 8 Dual Fbk Pos A Dual Feedback Position fault occurs if a discrepancy is detected between the relative position change of the encoder 1 and the relative position change of encoder 2 since the last SS Reset 13 Mov in Stop If the relay is configured for a stop type that includes stopped speed checking a Move in Stop fault occurs if either of the following is

Safe Limited Speed Wiring Example

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