Gem Drive Safe Torque Off Manual

WARNING This is a general manual describing a series of servo drives having output capability suitable for driving AC brushless sinusoidal servo motors. Please see GD1 User Guide for the operation of the drive (commissioning, configuration, …). Instructions for storage, use after storage, commissioning as well as all technical details require the MANDATORY reading of the manual before getting the drives operational. Maintenance procedures should be attempted only by highly skilled technicians having good knowledge of electronics and servo systems with variable speed (EN 60204-1 standard) and...

CINFRANOR SERVO DRIVES & MOTION CONTROL 3.1 - Example 1: Stop category 0 according to EN 60204-1 complying with EN13849-1 cat. 3... 8 3.2 - Example 2: Stop category 1 according to EN 60204-1 complying with EN13849-1 cat. 3 ... 9

Chapter 1 – General description Safe Torque Off (STO) definition according to the EN 61800-5-2 standard: "Power, that can cause the rotation of a motor (or displacement in the case of a linear motor), is not applied to the motor. The drive will not provide energy to the motor which can generate torque (or force in the case of a linear motor)". The STO function corresponds to an uncontrolled stopping in accordance with the stop category 0 of the EN 60204-1 standard. The STO function may be used where power removal is required to prevent an unexpected start-up. In circumstances where external influences...

Chapter 2 – Specifications 2.1 – FUNCTIONAL DIAGRAM The "Safe Torque Off" function allows to keep the motor shaft free by avoiding the IGBT module commutation. This is achieved by means of two techniques: - IGBT command supply removal, - PWM removal. GEM DRIVE DSP POWER BOARD IGBT Module Drivers STO_OUT Different parts of the functional diagram are described below: • The green part is the first channel of the safety function. PWM signals are disabled by inhibiting the optocouplers commutation. • The blue part is the second channel of the safety function. IGBT gate signals are disabled by the...

CINFRANOR 2.2.2 - STO CONNECTION 2.2.2.1 - X2 Connector Weidmuller D 32 pins male Section: 0.25 mm2 (AWG22) During the installation, take care to avoid proximity between any STO signal and high potential. These optocoupled inputs operate in negative logic. The input voltage corresponding to level 1 must be between 18 V and 30 V. External supply +24 V (18 V < U < 30 V) Maximum voltage drop: 2 V Protection against overload Available output current per output (mA)

2.2.3 – TIMINGS The STO function has an activation / release response time of 15ms / 2ms max. However, an additional delay of 6,5 ms after STO inputs are high is necessary before the enable/inhibit signal activation, as mentioned on the following chronogram: STO1/ t≤50ms Drive state 2ms Safe : Warning STO active displayed 0x3024,0.bit0 A functional incoherence state between channels 1 and 2 is allowed during 50ms. The response time of the monitoring part is 100ms to 200ms. If the monitoring part detects incoherence between channel 1 and 2, it locks both channels in the safe state. The STO fault...

CINFRANOR 2.2.4 - Performance level The Safe Torque Off function fulfills category 3 /PLd (1) requirements of the EN ISO 13849-1:2006 standard. PLd corresponds to SIL2 according to "Table 4 - Relationship between PL and SIL" of the EN ISO 13849-1:2006 standard. To achieve overall PL by combining safety related parts in series, refer to §6.3 of 13849-1 standard: At each step, the operator must verify that the motor provides or not torque, If the drive behavior is different from the one described in the table above, the drive must be replaced. In case of short-circuit between two power transistors,...

GDI - STO Manual SERVO DRIVES & MOTION CONTROL Following diagram examples are given to make the integration of the safety function easier. The integration of the STO function must be the result of a risk analysis of the complete machine. Low inertia axis application / high resistive torque GD1-uuu/cc/PS-R Example of inputs configuration See User manual 24 V Ext. if logic outputs used Motor brake + Motor brake - GND Motor U phase Motor V phase Motor W phase MOTOR GND Phase 1 Phase 2 Phase 3 L1 phase L2 phase L3 phase GND Total power of the application < 4 kW in 230 V or < 7 kW in 400 V Braking...

3.2 – Example 2: Stop category 1 according to EN 60204-1 complying with EN13849-1 cat. 3 High inertia axis application / low resistive torque In the following diagram, only the STO integration is safe. The deceleration ramp is not safe according to EN13849-1 because it uses a common drive function. Motor temp. Motor temp. Example of inputs 32 AOK+ configuration 31 AOKSee User manual 1 IN1 (ENABLE) 2 IN2 (FC+) 3 IN3 (FC-) 4 IN4 (Index) 19 24 V Ext. if logic outputs used 20 Ext. reference 24V Resolver signal Resolver reference Motor brake - 24 Vdc power supply isolated from the 230 Vac mains AC...

After a deep analysis of the GDI range, the CETIM (French Industrial and Mechanical Technical Center) third-party attests the compliance of the GD1 range with the EN954-1 and EN 13849-1 standards: Gf i c-cd:M[ ilon Vi lw Number A526 04 09 65 02 To the request of the Company : INFAANOR SAS Avenue Jean Moulin BP 142 A technical file and a sample of the following equipment: Designation : GEM DRIVE Series [with safety function STO : Safe torque off) Brand : INFRANOFI servo drives and motion control Type : GDI-uuu/cc-SI (SI : STO integrated). Have been examined by Daniei RENAULT, CETIM PlD - Machines...

4.2 – ORDER CODE GD1 – uuu / cc – PS – R – SI – Ex1 – Ex2 – Ex3 – 00 - RS Voltage: 230 or 400 Vac Peak current Power supply inside (00: without) Additional integrated braking resistor (0: without) Safety integrated: S1 = Safe Torque Off Extensions Ex1, Ex2, Ex3: Each extension slot can receive an extension board. Can be selected: One bus interface: PR = Profibus DP, I1 = additional input/output, EO = Encoder Output ET = Ethercat 00 = without 00 = reserved Serial link RS-422 integrated (00 = standard = RS232)