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- PacHP_SF02_operating_en_1.6
PacHP_SF02_operating_en_1.6
PacHP_SF02_operating_en_1.6
This document serves as the operating manual for the XtrapulsPacHP SF02, emphasizing its safety functions. It details various safety functions such as SS1, SS2, SOS, SLS, SDI, SBC, SLP, and SPR, all certified to SIL2. The SF02 safety board is compatible with servo drive versions including EtherCAT, CANopen, and PROFINET buses. The STO function, certified to SIL3, is standard and operable without the safety board.
The SF02 safety board offers advanced safety functions:
- SS1 (Safe Stop 1) SIL2: Initiates monitored deceleration and switches off motor torque.
- SS2 (Safe Stop 2) SIL2: Initiates monitored deceleration and monitors standstill position.
- SOS (Safe Operating Stop) SIL2: Monitors standstill position.
- SLS (Safely-Limited Speed) SIL2: Monitors motor speed within predefined limits.
- SLP (Safely-Limited Position) SIL2: Monitors machine's absolute position within predefined limits.
This section outlines the commissioning steps for the drive, including safety guidelines, software tools, and parameter settings. It covers the use of the "Optio Drive Assistant" for drive commissioning and configuring safety functions using the Safety Tool software.
This chapter discusses acceptance and periodic inspection procedures for safety functions like STO, SS1, SS2, SOS, SLS, SDI, SLP, and SPR.
The technical data section provides information on operating environment conditions and safety data, including vibration and shock limits during transport.
The document includes figures and tables providing detailed technical specifications, configuration parameters, and timing diagrams for safety functions and components.
The document outlines various safety functions integrated into the XtrapulsPacHP SF02 drive system, including Safe Torque Off (STO), Safe Position Referencing (SPR), Safe Direction (SDI), and Safe Brake Control (SBC), all certified to SIL2. Safety functions can be controlled via dual-channel safety inputs or a Safety bus.
The safety board parameters are configured using the Safety Tool software, requiring the drive to be in STO mode for access. The safety board includes two 24V supply outputs with test pulses for short-circuit detection and three non-safety-certified status outputs.
The design and testing of the safety option SF02 comply with European Directives and product standards such as EN 61800-5-2:2017 and IEC 61508 series, ensuring functional safety of electrical/electronic systems.
The document provides detailed technical specifications for the safety board, including drive logic supply voltage, safe 24V supply output, safety brake supply input, and position sensor requirements.
The ordering code for drives and connector sets is detailed, specifying options for drive versions, voltage ranges, current ratings, and mounting versions. Dimensions for various drive models are provided.
The document describes the connectors for resolver and safety functions, detailing pin functions for safety inputs and status outputs.
The document outlines specifications for various safety inputs and outputs, including opto-coupled safety inputs and logic outputs.
Procedures for connecting components such as the safety brake, encoder, serial link RS232, fieldbus connectors, and power connectors are mentioned.
The document describes safety functions compliant with IEC 61800-5-2:2017, including STO, SS1, SS2, SOS, SLS, SDI, SLP, SPR, and SBC.
Operating modes for the STO safety function and the safety board are detailed, including initialization, normal operation, warning, torque off, and fault states.
Error messages are categorized into faults and monitoring alarms, with descriptions of their impact on the system and reset conditions.
Safety functions can be controlled via dual-channel logic inputs or the safety bus.
Recommendations include using a compliant position sensor for safety function monitoring and configuring the safety card appropriately if the resolver does not meet specifications.
This document is an operating manual for the XtrapulsPacHP SF02, focusing on the description and management of safety functions.
The manual describes several key objects:
- Safety Control Word (0x2914): Responsible for activating safety functions.
- Safety Status Word (0x2915): Reflects the current state of safety functions.
- Safety Bus Control Word (0x290D): Specifically for functions controlled via the safety bus.
The document outlines the configuration of safety inputs and outputs.
This feature prevents unintended machine movement after start-up or a stop condition.
This functionality allows resetting of monitoring alarms triggered by safety function execution errors.
The manual provides detailed instructions on configuring and monitoring safety functions within the XtrapulsPacHP SF02 system, ensuring safe operation and compliance with safety standards.
When a fault is detected, the 'Error' bit in the safety status word is set. To reset the error, a rising edge in the 'Error Ack' bit in the safety control word is required.
The STO function is a basic safety feature of the XtrapulsPacHP drive, achieving SIL3 level.
Parameters include control selection, status output selection, restart legacy behavior, and restart acknowledge behavior.
The SS1 function initiates a controlled stop by monitoring the deceleration ramp and activating the STO function.
Parameters include control source selection, operation selection, and profile generator selection.
The SS2 function initiates and monitors a deceleration ramp, activating the SOS function.
The SOS function ensures the motor remains at a standstill with torque enabled.
The SLS function monitors motor speed, ensuring it remains within safe limits.
The SDI function monitors motor rotation direction, maintaining it in a safe state with torque enabled.
The SDI function involves parameters for control selection, direction status output, and activation state output.
The SBC function manages an external brake to maintain motor standstill.
The SLP function monitors the motor's absolute position within defined limits.
The SPR function defines the safe absolute position, executed once before SLP activation.
1. Safe Absolute Position Channels: Two channels with Signed32 data type.
2. Safe Position Referencing States: Unsigned16 data type.
3. Safe Position Referencing Cancel Command: Unsigned32 data type.
Safety functions are prioritized by number, with the smallest number having the highest priority.
The resolver evaluation involves monitoring motor trajectory using a resolver with a safety architecture.
Key diagnostics involve monitoring amplitude, frequency, vector length, and circuit conditions.
The XtrapulsPacHP-et drives with SF02 safety board support Safety-over-EtherCAT for controlling safety functions.
The document provides detailed technical specifications and procedures for managing safety functions and resolver diagnostics in the XtrapulsPacHP SF02 system.
The FSoE slave address of the drive must be set using two rotary switches, A1 and A2.
During startup, the FSoE Master sends communication parameters to the drive.
The FSoE Master manages the state machine of the FSoE slave.
The FSoE frame is transported via EtherCAT PDOs.
FSoE communication setup and diagnosis involve read-only objects accessible through the SDO communication channel.
Objects like 0x1700 and 0x1B00 define the PDO mappings.
Object 0xEA00 provides connection state and diagnosis information.
- Device Safety Address: The FSoE address is defined by Object 0xF980.
- Safety Guidelines: Conduct a risk analysis before commissioning.
- Software Tools: Use OPTIO Drive Assistant for parameter setting and Safety Tool for configuring safety functions.
- Safe Drive Parameter Setting: Parameters are managed via a 'safe parameter file'.
- Basic Principles of Parameter Setting: Offline and online operations are protected by passwords.
- Password Management: The drive uses 'file' and 'access' passwords.
- Preparing the Commissioning: Ensure the drive is correctly installed and wired.
- Drive Commissioning with OPTIO Drive Assistant: Configure position sensors and safe stop parameters.
- Safety Functions Parameter Setting: Use Safety Tool to create and transfer the 'safe parameter file'.
- Safety Drive Replacement: Follow specific steps for replacing a drive.
- Failure Mode Analysis: Safety Tool software controls parameter input to prevent errors.
The document outlines the importance of file integrity and security in safety modules.
The troubleshooting section provides detailed error codes and solutions for various issues.
This section describes the acceptance and periodic inspection processes for safety functions.
Detailed procedures for testing safety functions like STO, SS1, SS2, and others are provided.
The technical data section specifies operating environment conditions.
The drive must be installed without obstructing the heatsink and fan.
Vibration levels must comply with IEC 60721-3-3:1995, class 3M1 for fixed equipment.
Abnormal conditions diverging from IEC 60146-1-1 standards must be specified by the purchaser.
Both normal and abnormal conditions apply to all stages of equipment use.
Equipment must be stored according to IEC 60721-3-1:1997 standards.
Risks include exposure to water, altitude, corrosive agents, and rodents.
Equipment can be transported under IEC 60721-3-2:1997 conditions.
Safety characteristics for the safety board include a lifetime of 20 years, SIL2 safety integrity level.
Infranor provides customized motion solutions with a global presence in various countries.
Catalog excerpts
XtrapulsPacHP SF02 Operating manual
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XtrapulsPacHP SF02 - Operating manual ! This is a specific manual describing the Safety function of the XtrapulsPacHP servo drive range having output capability suitable for driving AC brushless sinusoidal servo motors. Please see also: o XtrapulsPacHP User Guide for the operation of the drive (commissioning, configuration, ...). o XtrapulsPacHP Installation Guide for the hardware installation of the drive (mounting, wiring, …). o EtherCAT fieldbus interface manual for the XtrapulsPacHP-et version. o PROFINET fieldbus interface manual for the XtrapulsPacHP-pn version. o XtrapulsGDPS manual, for...
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XtrapulsPacHP SF02 - Operating manual All electrical industrial automatisms which lifetime is coming to its end are Waste Electronic and Electrical Equipment (WEEE) according to article R543-172 of the French Environmental Code. WASTE DISPOSAL This symbol indicates that INFRANOR devices shall be eliminated by selective disposal and not with household waste. WEEE classification of the INFRANOR products Category 9: Monitoring and control instruments In accordance with the Decree nr. 2012-617 of May 2nd, 2012, which specifies the provisions related to the professional EEE manufacturers' obligations,...
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XtrapulsPacHP SF02 - Operating manual
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XtrapulsPacHP SF02 - Operating manual
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XtrapulsPacHP SF02 - Operating manual
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XtrapulsPacHP SF02 - Operating manual
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XtrapulsPacHP SF02 - Operating manual 1.1 - SYSTEM OVERVIEW This manual describes the Safety functions (SS1, SS2, SOS, SLS, SDI, SBC, SLP, SPR) of the XtrapulsPacHP drive equipped with the optional safety board (SF02 option). These safety functions are SIL2 certified. The SF02 safety board is available with the - -XtrapulsPacHP-pn (PROFINET bus) servo drive versions. The drive range XtrapulsPacHP > The STO function SIL3 is available as standard and can be used without the safety board. > Two inputs STO1\, STO2\ are available for the STO function activation. This allows switching off the motor...
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XtrapulsPacHP SF02 - Operating manual Figure 1 - System Overview Software Tool Safety card Numerical controller With FSoE interface Optio Software Safety inputs SAFE 24V supply SAFETY FUNCTION STATUS PDS(SR) SAFETY CARD SIL2 PacHP DRIVE PDS Serial_comm Trajectory Controller Safety Controller Pulse_disable Power stage Motor Resolver Safety card Safety Brake supply SBR_24V/SBR_0V 3 STO function Safety BRAKE (SBC) Chapter 1 - General description
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XtrapulsPacHP SF02 - Operating manual The regulations and guidelines which form the basis of the design and the testing of the safety option SF02 are listed below. C€ : The EC Declaration of conformity is available on the Infranor website: https://infranor.com/en/ TUV: The TUV certificate for the conformity of the safety functions with the safety standards is available on the Infranor website: https://infranor.com/en/ Chapter 1 - General description
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XtrapulsPacHP SF02 - Operating manual 1.4 - ORDERING CODE 1.4.1 - Ordering code of the drives Drive version ak: Analog interfaces and CANopen fieldbus et: EtherCAT fieldbus pn: PROFINET fieldbus 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 OPTIONS Mounting version (400V range only, except for 200A) PT: Push-through version CP: Cold plate version Safety option SF02: safe motion monitoring (PacHP-ak, -et and -pn only)...
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XtrapulsPacHP SF02 - Operating manual ->23 corresponds to the manufacturing year 2023 1.4.2 - Ordering code of the connector setsFC-SF02: connector kit for safety board SF02 Contains: - 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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XtrapulsPacHP SF02 - Operating manual 2.1 - TECHNICAL SPECIFICATIONS • Product identification: Table 1 - Product identification • Position sensor: Resolver.
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XtrapulsPacHP SF02 - Operating manual Table 5 - Technical specification of the position sensor Manufacturer Resolver type Transformation ratio Supported resolver pole pairs Excitation amplitude Excitation frequency Max. excitation output current Phase shift (include cable) Max. resolver cable length Minimum input impedance ZRO = √ݑ2 + (Űݐ߰ݑ)2 Resolver cable type Shielded twisted pairs. 360° shield connection at both sides Mounting requirements may be safety relevant and must be observed to be consistent with error assumptions and their monitoring. Monitoring the resolver signals has specific...
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XtrapulsPacHP SF02 - Operating manual Table 6 - Technical specification of the Safety inputs *When a safety function is activated through the safety bus FSoE, the maximum reaction time is determined by: • the FSoE master (time for signal acquisition, time for logic computation, time for the FSoE telegram creation). • the transmission time of the FSoE telegram from the FSoE master to the EtherCAT master. • the transmission time of the FSoE telegram from the EtherCAT master to the XtrapulsPacHP drive. • the reaction time of the safety module (<20ms).
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XtrapulsPacHP SF02 - Operating manual 2.2.1 - XtrapulsPacHP 230V SF02 dimensions Dimensions are given in mm. Figure 2 - XtrapulsPacHP 230V SF02 dimensions
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XtrapulsPacHP SF02 - Operating manual 2.2.2 - XtrapulsPacHP 400V / 08A to 45A SF02 dimensions Dimensions are given in mm. Figure 3 - XtrapulsPacHP 400V / 08A to 45A SF02 dimensions Note: This bottom view is the one of the 400/45 drive (without X10 connector). The X10 connector is only available on drives with 8A and 20A current ratings.
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XtrapulsPacHP SF02 - Operating manual Figure 4 - XtrapulsPacHP 400V / 08A to 45A SF02 Push-through dimensions Note: This bottom view is the one of the 400/45 drive (without X10 connector). The X10 connector is only available on drives with 8A and 20A current ratings.
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