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Infranor Group
Pac_SF01_operating_en_1.6

Pac_SF01_operating_en_1.6

Product catalog summary

Overview: The Safety XtrapulsPac™ SF01 operating manual provides comprehensive instructions for the safe operation of the XtrapulsPac™ servo drive range, specifically designed for AC brushless sinusoidal servo motors. It emphasizes the necessity of reading the manual before use and the requirement for skilled technicians for maintenance.

Specifications: The manual details technical specifications, dimensions, and connector locations for various models of the XtrapulsPac™ SF01. It includes diagrams and descriptions of inputs and outputs, such as connectors for safety encoders, inputs-outputs, safety functions, and power supply.

Safety Functions: The document describes multiple safety functions, including Safe Torque Off (STO), Safe Stop 1 (SS1), Safe Stop 2 (SS2), Safe Operating Stop (SOS), Safely-Limited Speed (SLS), Safe Direction (SDI), and Safe Brake Control (SBC). Each function's operating modes and priority levels are detailed.

Commissioning: Guidelines for commissioning the drive using software tools like GEM Drive Studio are provided. It includes steps for parameter setting, password management, and troubleshooting.

Safety Engineering: The manual covers acceptance procedures, periodic inspections, and failure mode analysis for safety module parameter settings.

Environmental and Safety Data: Information on environmental conditions and safety characteristic data for the safety board and STO function is included.

Waste Disposal: The manual advises on the proper disposal of electronic waste in compliance with French regulations, emphasizing selective disposal and recycling.

General Description: The manual provides detailed information on the safety functions of the XtrapulsPac™ drive equipped with an optional safety board (SF option). These functions are SIL2 certified and include SS1, SS2, SOS, SLS, SDI, and SBC. The safety board is compatible with XtrapulsPac™-ed (EtherCAT® bus) and XtrapulsPac™-kd (CANopen® bus) servo drive versions, adhering to standards IEC61800-5-2 and IEC61508.

System Overview: The manual outlines the availability of the STO function SIL3 as standard, which can be used without the safety board. It includes two inputs for STO function activation, allowing safe motor torque shutdown without cutting power supply. The safety board offers advanced functions like SS1 for monitored deceleration and motor torque shutdown, SS2 for deceleration and standstill position monitoring, SOS for standstill position monitoring, SLS for speed monitoring, SDI for directional movement control, and SBC for safe brake output. The trajectory monitoring uses a Hiperface DSL® encoder, eliminating the need for a second position sensor.

Standards and Compliance: The actuators comply with several directives, including Electromagnetic Compatibility (2014/30/EU), Low Voltage products (2014/35/EU), and Machinery directive (2006/42/EC). The manual references standards such as IEC 61800-5-2:2007 for safety requirements and EN 61508 for functional safety of electrical/electronic systems.

Technical Specifications: The manual provides technical specifications for product identification, drive logic supply, safe 24V supply output, and safety brake supply input. The safety board monitors the drive 24V logic supply input, and the safe 24V supply output channels are designed for short-circuit detection between safety input channels. The safety brake output has its own 24V supply input, separate from the drive logic supply.

Ordering Information: The document includes ordering codes for drives and connector sets, detailing the drive version, voltage range, current ratings, mounting version, and safety version. It also provides definitions and acronyms related to the product range and safety functions.

Specifications: The Safety XtrapulsPac™ SF01 operates with a safety brake supply and output of 24V DC with a tolerance of +/-15%. It supports a maximum output current of up to 2.5A and includes protections against supply voltage polarity reversal, supply voltage monitoring, output overload, and short-circuit protection.

Position Sensor: The position sensor uses a digital encoder with a Hiperface DSL® interface, supporting up to 20 bits per revolution and 4096 revolutions in multi-turn. It communicates via a half-duplex RS485 and is powered by a 10V DC supply from the safety board.

Safety Inputs and Outputs: The system includes 14 safety inputs with specific voltage tolerances and protections such as polarity reversal and overvoltage protection. Status outputs are available for various safety functions, with a maximum output current of 0.3A and protections against overload and short-circuit.

Dynamic Performance: The response time for safety functions is less than 10ms for input activation and monitoring alarm detection. Fault detection time is also less than 10ms, with a maximum of 50ms for short-circuit detection between safety function channels.

Dimensions and Connector Locations: The document provides detailed dimensions for various versions of the XtrapulsPac™ SF01, including standard and push-through versions, with specific notes on connector availability.

Inputs and Outputs: Connectors for safety functions, safety brake, encoder, serial link, fieldbus, auxiliary power supply, and motor brake are detailed, with references to standard wiring practices.

Connections: Wiring diagrams for drive and safety board connections are provided, with examples of safety function activations using different configurations.

Safety Functions: The safety functions comply with EN61800-5-2 standards and include STO (Safe Torque Off), SS1 (Safe Stop 1), SS2 (Safe Stop 2), SOS (Safe Operating Stop), SLS (Safely-Limited Speed), SDI (Safe Direction), and SBC (Safe Brake Control). These functions are categorized according to the EN60204-1 standard for stop functions.

Error Messages: Two types of error messages are described: Faults, which significantly impact safety and require a reset by switching off/on the drive, and Monitoring alarms, which can be reset with a fault reset command.

STO (Safe Torque Off): The STO function is a basic safety feature with SIL3 level, available on the X2 connector. It ensures an uncontrolled stop as per IEC 60204-1, stop category 0. Activation occurs via hardware components, directly from channel inputs or controlled by the safety board. STO deactivates motor torque safely, with status indicated by STO_ST, which can be assigned to a digital drive output. Errors in STO function or safety board trigger an error message, requiring a reset by switching off/on the drive.

SS1 (Safe Stop 1): SS1 initiates a controlled stop, monitoring deceleration and activating STO at the end, aligning with IEC 60204-1, stop category 1. Activation can be direct from safety board inputs or triggered by exceeding SLS limits. Parameters include deceleration monitoring, time to STO, and velocity zero window, with specific configurations for SIL certified and non-certified sensors.

SS2 (Safe Stop 2): SS2 involves a controlled stop with SOS (Safe Operating Stop) activation, maintaining the motor at a standstill with torque enabled, as per IEC 60204-1, stop category 2. Activation is direct from safety board inputs, with behavior monitoring deceleration and standstill position. Parameters include deceleration limit, time to SOS, and position zero window, ensuring safe operation and error handling.

Key Parameters and Configurations: Parameters for each safety function are detailed, including time delays, deceleration limits, and velocity/position windows. Configurations vary based on the presence of SIL certified sensors, affecting the availability and operation of safety functions.

Diagrams and Tables: Timing diagrams illustrate the activation and behavior of STO, SS1, and SS2 functions under different conditions. Tables provide parameter values, descriptions, and default settings for configuring safety functions.

Chapter 5 - Description of the Safety Functions:

SOS (Safe Operating Stop): The SOS function ensures the motor remains at a standstill in a safe state with torque enabled. It can be activated directly from input channels or during the SS2 function execution. The safety board monitors the standstill position and velocity within defined zero windows. Exceeding these thresholds activates the STO function.
SLS (Safely-Limited Speed): The SLS function monitors motor speed to ensure it remains within safe limits. Activation occurs via input channels, and the function monitors velocity according to the SLS Velocity limit. Exceeding limits triggers the SS1 or STO function.
SDI (Safe Direction): The SDI function monitors motor rotation direction, ensuring it remains within safe parameters. Activation is through input channels, allowing movement in specified directions. Incorrect direction or exceeding position/velocity thresholds activates the STO function.
SBC (Safe Brake Control): The SBC function controls an external brake to maintain motor standstill when torque is removed. It activates with the STO function and monitors the safety brake supply. If the supply fails, the STO function is activated.
Priority Levels of Safety Functions: Safety functions have priority levels, with STO/SBC having the highest. Functions with the same priority can activate simultaneously, but higher priority functions override others.
Safety Function Disabled: Each safety function has a dedicated input for activation/deactivation. Unused functions can be disabled during design, but configuration changes during operation are prohibited.

Chapter 6 - Commissioning:

Safety Guidelines: A risk analysis must precede system design. Incorrect wiring or configuration can lead to system failure. Only skilled personnel should commission the system, following all safety precautions.
Software Tools: Gem Drive Studio and Safety Tool software facilitate parameter setting for XtrapulsPac™ drives. Gem Drive Studio handles multi-axis settings, while Safety Tool focuses on single-axis safety functions.
Safe Drive Parameter Setting: Safe parameter settings are managed via a "safe parameter file," editable only with Safety Tool software and protected by a password. The file is specific to each drive's node ID and must be transferred offline.

Specifications and Procedures: The XtrapulsPac™ drive requires the "safe parameter file" to be loaded while in STO (Safe Torque Off) state. The integrity of this file is verified by checking the Node ID and file checksum. If verification fails, the STO function is permanently activated. New parameters are applied only after a power cycle.

Parameter Setting with Safety Tool Software: Offline operations include creating, editing, and storing the "safe parameter file" on a PC, protected by a "file password." Online operations, requiring STO state, involve transferring files between the PC and drive, changing passwords, and printing reports. The "file password" and "access password" are essential for these operations.

Password Management: The default "file password" and "access password" are both set to SAFETY. Changing these requires the drive to be in STO mode and involves restarting the drive to apply changes.

Commissioning Preparation: The drive is factory-set without a valid "safe parameter file," keeping the STO function active. Proper electrical installation and safety function wiring must be checked. The "safe parameter file" should be created according to the wired safety functions using the Safety Tool software.

Drive Commissioning with Gem Drive Studio: Ensure safety function inputs are inactive before using Gem Drive Studio for commissioning. Configure position sensors and "Safe Stop Parameters" using the software, ensuring the internal deceleration ramp meets safety monitoring requirements.

Safety Functions Parameter Setting: Before commissioning safety functions, ensure the drive is fully parameterized with Gem Drive Studio. Create and transfer the "safe parameter file" using Safety Tool software, ensuring all safety function parameters meet application requirements.

Safety Drive Replacement: When replacing a drive, ensure the new drive matches the old one in specifications. Set the node ID and passwords, then transfer the "safe parameter file" and application drive parameters.

Failure Mode Analysis: Various failure modes are addressed, including typographical errors, out-of-range values, and unauthorized access. The Safety Tool software and safety module processors perform checks to ensure file integrity and authorized access.

Critical Notes: File transfers require the drive to be power cycled. Plugging/unplugging connectors with the 24V supply on can trigger alarms. Safety functions must be validated by knowledgeable personnel, and precautions should be taken to prevent injury or damage during testing.

Safety Module and NodeId Verification: The safety module ensures the correct operation by verifying the NodeId of the safety drive against the NodeId of the safety file stored in non-volatile memory. This process helps prevent human errors and hardware failures related to NodeId mismatches.

Chapter 6 - Commissioning and Troubleshooting: This section provides troubleshooting steps for various errors such as internal communication errors, cross-check errors, monitoring alarms, physical input errors, and board errors. Each error type is associated with specific corrective actions, such as checking connections, verifying parameter settings, and restarting the drive.

Chapter 7 - Safety Engineering: Acceptance: The machine manufacturer must verify the operability of safety functions, with tests documented and signed by a safety inspector. Changes in safety function parameters require retesting. Periodic Inspection: Safety functions must be periodically inspected, with intervals determined by risk analysis or regulations. Inspections ensure all safety subsystems are operational. STO, SS1, SS2, SOS, SLS, SDI, SBC Functions: Detailed procedures for testing and verifying the behavior of these safety functions are provided, with specific actions required if the drive behavior deviates from expected results.

Chapter 8 - Technical Data: Environmental Conditions: Specifies climatic and mechanical installation conditions, including temperature, moisture, and dust requirements. Abnormal operating conditions such as exposure to corrosive gases or excessive moisture require special considerations. Storage and Transport: Guidelines for storing and transporting equipment, including temperature and moisture conditions, are outlined. Special precautions are necessary for unusual conditions, such as high altitudes or exposure to corrosive agents.

Safety Characteristic Data for Safety Board:

Life Time: 20 years
Hardware Fault Tolerance (HFT): 1 (IEC 61508)
Hardware Type: Type B
Safety Integrity Level (SIL): SIL2 (IEC 61508), SILCL2 (IEC 62061)
Probability of Dangerous Hardware Failure per Hour (PFH): 3.108 1/h (IEC 61508)
Performance Level (PL): Category 3 PL d (EN ISO 13849-1)
Mean Time to Dangerous Failure (MTTFd): 1500 years (EN ISO 13849-1)
Diagnostic Coverage (DC): 75% (EN ISO 13849-1)

STO Function Safety-Characteristic Data:

Life Time: 20 years
Hardware Fault Tolerance (HFT): 1 (IEC 61508)
Hardware Type: Type A
Safety Integrity Level (SIL): SIL3 (IEC 61508), SILCL3 (IEC 62061)
Probability of Dangerous Hardware Failure per Hour (PFH): 3.10-9 1/h (IEC 61508)
Performance Level (PL): Category 3 PL e (EN ISO 13849-1)
Mean Time to Dangerous Failure (MTTFd): 1300 years (EN ISO 13849-1)
Diagnostic Coverage (DC): 95% (EN ISO 13849-1)

Allowed Safety Encoders: This classification requires a motor fitted with a SIL-certified Hiperface DSL encoder and a safe shaft mechanical connection. The supported encoders include models from SICK with specific position and speed monitoring accuracies.

Company Information: Infranor Group provides customized motion solutions with a focus on strong customer relationships and high-quality products. They have a global presence in various countries including Benelux, China, France, Germany, Italy, Spain, Switzerland, the United Kingdom, and the USA, with additional representations in Austria, Denmark, India, Israel, Poland, Slovenia, and Turkey.

Catalog excerpts

DIGITAL SERVO DRIVES FOR BRUSHLESS AC MOTORS Safety XtrapulsPac™ SF01 - Operating manual Safety XtrapulsPac™ SF01 Operating manual

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Safety XtrapulsPac™ SF01 - Operating manual ! This is a specific manual describing the Safety function of the XtrapulsPac™ servo drive range having output capability suitable for driving AC brushless sinusoidal servo motors. Please see also: o XtrapulsPac™ Installation manual o XtrapulsPac™ User Guide for the operation of the drive (commissioning, configuration, ...) o XtrapulsPac™Templates for the templates of target applications. o Gem Drive Studio software Quick Start manual for the drive parameterization. o EtherCAT® fieldbus interface manual for the XtrapulsPac™-et and XtrapulsPac™-ed versions....

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Safety XtrapulsPac™ SF01 - Operating manual In France, RECYLUM allows all professionals benefiting from a free collection and recycling solution, in observance of the regulation, the environment and health.  Information and sorting instructions regarding INFRANOR Waste category Recyclable waste Recyclable waste Recyclable waste Recyclable waste Electronical boards and components WEEE (Waste Electronic and Electrical Equipment) Dangerous industrial waste Waste management Waste disposal centre / collection point of recyclable waste Waste disposal centre / collection point of recyclable waste Waste...

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Safety XtrapulsPac™ SF01 - Operating manual

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Safety XtrapulsPac™ SF01 - Operating manual

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Safety XtrapulsPac™ SF01 - Operating manual

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Safety XtrapulsPac™ SF01 - Operating manual 1.1 - SYSTEM OVERVIEW This manual describes the Safety functions (SS1, SS2, SOS, SLS, SDI, SBC) of the XtrapulsPac™ drive equipped with the optional safety board (SF option). These safety functions are SIL2 certified. The Safety board is available with the XtrapulsPac™-ed (EtherCAT® bus) and XtrapulsPac™-kd (CANopen® bus) servo drive versions. The XtrapulsPac™ optional safety board fulfills the standards IEC61800-5-2 and IEC61508. > The STO function SIL3 is available as standard and can be used without the safety board. > Two inputs STO1\, STO2\ are...

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Safety XtrapulsPac™ SF01 - Operating manual Figure 1 - System Overview Safety Tool software GDStudio software Xtra puls Paced or XtrapulsPac-kd Safety inputs SAFETY FUNCTIONS STATUS logic supply Safety card Safety brake supply Motor brake The actuators comply with Directive 2014/30/EU related to Electromagnetic Compatibility. The actuators comply with Directive 2014/35/EU related to Low Voltage products. The actuators comply with Directive 2006/42/EC related to the Machinery directive. Chapter 1 - General description

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Safety XtrapulsPac™ SF01 - Operating manual C€ : The EC Declaration of conformity is available on the Infranor® website: Pac & GDPS CE conformity TUV: The TUV certificate for the conformity of the safety functions with the safety standards is available on the Infranor® website: TUV examination certificate SF01 • XtrapulsPac™ Installation manual • XtrapulsPac™ User guide • XtrapulsPac™ Templates • Gem Drive Studio software Quick Start manual • EtherCAT® fieldbus interface • XtrapulsGDPS™ Power Supply Unit manual Chapter 1 - General descriptio

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Safety XtrapulsPac™ SF01 - Operating manual 1.5 - ORDERING CODE 1.5.1 - Ordering code of the drives XtrapulsPac - xx – UUU / cc - mm – SF01 Drive version ed: EtherCAT® interface + digital encoder interface kd: CANopen interface + digital encoder interface Voltage range 230: Voltage range 230V 400: Voltage range 400V Current ratings for 230V drives 05 = 5Arms 11 = 11Arms 17 = 17Arms Current rating for 400V drives 08 = 08Arms 20 = 20Arms 45 = 45Arms 100 = 100Arms 200 = 200Arms Mounting version (400 V range only, except for 200 A) PT: Push-through version CP: Cold plate version Safety version SF01:...

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Safety XtrapulsPac™ SF01 - Operating manual FC-SF01: connector kit for safety board SF01 - S1 connector for the safety functions activation and status: B2CF 3.50/20/180 (Weidmuller) - S2 connector for safe brake output: BLZ5.08/04/180B (Weidmuller) Chapter 1 - General description

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Safety XtrapulsPac™ SF01 - Operating manual Table 1 - Product identification

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Safety XtrapulsPac™ SF01 - Operating manual • Position sensor: Digital encoder with Hiperface DSL® interface. Table 5 - Technical specification of the Position sensor

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Safety XtrapulsPac™ SF01 - Operating manual • Dynamic performance Table 8 - Response time

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Safety XtrapulsPac™ SF01 - Operating manual 2.2 - DIMENSIONS AND CONNECTOR LOCATION 2.2.1 - XtrapulsPac™ 230V SF01 dimensions Dimensions are given in mm. Figure 2 - Safety XtrapulsPac™ 230V dimensions BOTTOM VIEW FRONT VIEW SIDE VIEW

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Safety XtrapulsPac™ SF01 - Operating manual Standard version :!■■■■■■■! □Liza !■■■■■■■! □□□□ •■■■■■■■I x Note: The X10 connector is only available on drives with 8 A and 20 A current ratings. Push-through version / cold plate version: Version SF01 is 33.5mm deeper than the standard version.

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Safety XtrapulsPac™ SF01 - Operating manual Standard version SIDE VIEW Push-through version / cold plate version: Version SF01 is 33.5mm deeper than the standard version. Chapter 2 - Specif

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Safety XtrapulsPac™ SF01 - Operating manual Standard version Note: The dimensions of the SF01 version are the same as the standard version FRONT VIEW

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Safety XtrapulsPac™ SF01 - Operating manual Same wiring as standard XtrapulsPac™-ed / XtrapulsPac™-kd drives. Same wiring as standard XtrapulsPac™-ed / XtrapulsPac™-kd drives. 3.3 - S1: CONNECTOR FOR SAFETY FUNCTIONS ACTIVATION AND STATUS PIN Chapter 3 - Inputs - Outputs

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Safety XtrapulsPac™ SF01 - Operating manual Brand: Weidmuller Reference: B2CF 3.50/20/180 Signal location SS1_A\, SS1_B\, SS2_A\, SS2_B\, SOS_A\, SOS_B\, SLS_A\, SLS_B\, SOS_A\, SOS_B\, SDIp_A, SDIp_B, SDIn_A, SDIn_B: are opto-coupled inputs. SPECIFICATION OF THE LOGIC OUTPUTS 20 Chapter 3 - Inputs - Outputs

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*Prices are pre-tax. They exclude delivery charges and customs duties and do not include additional charges for installation or activation options. Prices are indicative only and may vary by country, with changes to the cost of raw materials and exchange rates.

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