SIMOTION with SINAMICS S120 Safety Integrated Extended Functions Fail-safe drives Controlling a D435 via TM54F and F-CPU

Transcription

1 Function Example No. MC-FE-I-007-V10-EN SIMOTION with SINAMICS S120 Safety Integrated Extended Functions Fail-safe drives Controlling a D435 via TM54F and F-CPU

2 Preliminary remarks Functional examples for the topic "Safety Integrated" are fully-functioning and tested automation configurations based on standard I DT & IA products for simple, fast and low-cost implementation of automation tasks in safety engineering. Each of the functional examples presented deals with sub-task of a typical problem that customers are frequently confronted with in safety engineering. Besides listing all the necessary software and hardware components, and describing their interconnection, the functional examples also include tested and commented code. This means that the functions described here can be set up within a short time and can thus be used as the basis for expanded and adapted solutions. Important Note The safety function examples are non-binding and do not claim to be complete in respect of configuration, equipment or any type of contingency. The safety function examples are not customer-specific solutions but are only intended to provide support in implementing typical tasks. You are responsible for the correct operation of the products described. These safety function examples do not relieve you of the obligation to use the products safely during application, installation, operation and maintenance. By using these safety function examples, you acknowledge the fact that Siemens cannot be held liable for any claims or damages above and beyond the liability described above. We reserve the right to make changes to these safety function examples at any time without prior notice. For deviations between the recommendations in these safety function examples and other Siemens publications - e.g. Catalogs - then the contents of the other documentation have priority. I DT Safety Integrated Page 2/67 MC-FE-I-007-V10-EN

3 Table of contents 1 Warranty conditions, liability, and support Automation function of the function example Advantages / customer benefits Required components Hardware components Software components Engineering software Firmware Configuration and wiring Overview of the hardware configuration Wiring of the hardware components Wiring the control voltage Principle connection of the F-CPU to the TM54F DRIVE-CLiQ interconnection Important settings of the hardware components Bus interfaces Bus topology Overview and operation of operation Summary of the input signals Example project Passwords Hardware configuration of the fail-safe control Programming the fail-safe control Configuring the drives Inserting SIMOTION into the existing SIMATIC project Basic commissioning of the SINAMICS drives (without safety) Parameterizing the safety functions in SINAMICS Integrated Configuring the message frame Configuring the fail-safe TM54F terminal module Configuring the safety functions in the drives Configuring the safety data block on the SINAMICS side SIMOTION Creating SIMOTION axes SIMOTION programs Configuration of the execution system SIMOTION messages Download of the project example I DT Safety Integrated Page 3/67 MC-FE-I-007-V10-EN

4 6.7.1 Downloading the S7-F-CPU project configuration Downloading the project configuration of SIMOTION and SINAMICS Integrated Acceptance test History I DT Safety Integrated Page 4/67 MC-FE-I-007-V10-EN

5 1 Warranty conditions, liability, and support Siemens shall not be held liable for the information provided in this document. We accept no liability for any damage or loss caused by the examples, information, programs, planning data, or performance data described in this safety function example, irrespective of the legal basis for claims arising from such damage or loss, unless liability is mandatory (for example, in accordance with the German Product Liability Act in cases of intent, gross negligence, due to endangerment of life, the body or health, due to assumption of a guarantee for a product's characteristics of state, due to malicious concealment of a defect, or due to violation of basic contractual obligations). Any compensation for violation of basic contractual obligations, however, shall be limited to the foreseeable damage or loss which is typically envisaged in contracts unless there has been gross negligence or unless liability is mandatory due to endangerment of life, the body, or health. Any change to the burden of proof to your disadvantage is not covered hereby. Copyright 2009 Siemens I DT. Reproduction or transmission of these application examples or extracts thereof are forbidden without the express written authority of Siemens I DT. If you have any questions about this article, please send an to the following address: applications.erlf.aud@siemens.com I DT Safety Integrated Page 5/67 MC-FE-I-007-V10-EN

6 2 Automation function 2.1 of the function example The following safety functions according to IEC are integrated in SINAMICS S120 drives: Name Function STO Safe Torque Off The torque-generating energy-feed to the motor is switched off in a safety-oriented fashion. The closing lock-out prevents the drive unit from being restarted. (Stop function, Category 0 according to EN ) SBC Safe Brake Control brake; the motor brake is connected to the SBC is only used when there is a motor power connector through the outputs. SBC always responds in conjunction with STO or when internal safety monitoring functions respond with safe pulse suppression. SS1 Safe Stop 1 The drive is quickly and safely stopped along the OFF3 ramp and is safely monitored. Transition to STO after a delay time has expired or the shutdown speed has been reached. (Stop function, Category 1 according to EN ) SS2 Safe Stop 2 The drive is quickly and safely stopped along the OFF3 ramp and is safely monitored. Transition into SOS after a delay time has expired; the drive remains in closed-loop control. (Stop function, Category 2 according to EN ) SOS SLS SSM Safe Operating Stop Safely-Limited Speed Safe Speed Monitor This function serves to safely monitor the standstill position of a drive; the drive remains in closed-loop control. The drive speed is safely monitored. Parameterizable shutdown response when the limit value is violated. Safely displays when a speed limit is fallen below (n < nx) These extended safety functions can be controlled via PROFIsafe with PROFIBUS as well as via a TM54F terminal expansion module. In this example, the safety functions are controlled via the TM54F. I DT Safety Integrated Page 6/67 MC-FE-I-007-V10-EN

7 Task description A system equipped with SINAMICS S120 drives is controlled from a SIMOTION D435. Different safety functions are required in the system. SIMOTION itself has no safety functions. The extended safety functions integrated in the SINAMICS S120 drives are used. These safety functions integrated in the drive are to be controlled from a TM54F using hardware signals. The drives belong to different drives groups. An F-CPU handles the safety-oriented logical pre-processing of the input signals. This function example is based on the SIMOTION D435 training case (6ZB AE00) and the SAFETY training case. A typical overview of the assumed machine configuration is shown in the following diagram. The following safety functions are used as basis for further consideration. I DT Safety Integrated Page 7/67 MC-FE-I-007-V10-EN

8 Safety function SF1 SF2 SF3 The Emergency Stop button is actuated Drive 1 should be stopped quickly when safety door 1 is opened. Drive 1 must then be stopped with speed setpoint = 0 and the standstill position safely monitored. When safety door 2 is open, drive 2 must not exceed a maximum speed Response Drive 1 is quickly stopped in a controlled fashion -> subsequent pulse suppression (SS1) Drive 2 is stopped with immediate pulse suppression (STO) The SIMOTION brakes drive 1 in the closed-loop position controlled mode. The standstill position is safely monitored (SOS) after a delay time has expired The speed of drive 2 is monitored (SLS) Solution Hardware overview This function example shows how the STO, SS1, SOS and SLS safety functions are controlled via the terminal expansion module TM54F at a SIMOTION D435 with a SINAMICS S120 drive group. The drive line-up in the booksize format comprises an infeed and a Double Motor Module. A SIMOTION D435 is used for the closed-loop motion control and closed-loop motor control. The two servomotors, which are inde- I DT Safety Integrated Page 8/67 MC-FE-I-007-V10-EN

9 pendent of one another, are controlled from the Double Motor Module. A Smart Line Module is used as infeed. The safety-oriented signals are sensed using fail-safe inputs of the ET200M and evaluated in the F-CPU. The pre-processed signals are transferred to the TM54F terminal expansion module via fail-safe ET200M outputs. These control the safety functions integrated in the SINAMICS S120 drive. When Emergency Stop is initiated, drive 1 is stopped using the SS1 function integrated in the drive and drive 2 is stopped with STO. Two switches in the Safety training case each simulate a safety door for drive 1 and 2. If safety door 1 is opened, then SIMOTION brakes drive 1 down to standstill (zero speed). After a configurable time has expired, the standstill position is safely monitored (the SOS function is selected). When the door is closed, axis 1 restarts (the SOS function is deselected). When safety door 2 is opened, the speed of drive 2 is monitored against a configurable maximum value (SLS function). The setpoint speed is limited to 80% of the selected SLS stage. The speed limit is withdrawn if the simulated door is closed again. The other drive is not influenced. 2.2 Advantages / customer benefits The safety functions integrated in the drive are simply controlled. Simple design using standard technology. The existing system can be quickly and simply expanded. Space-saving and favorably-priced design using integrated safety functions additional hardware is not required. User-friendly evaluation and diagnostic information is available in the SIMOTION system. Complex safety concepts can be realized using this as basis. I DT Safety Integrated Page 9/67 MC-FE-I-007-V10-EN

10 3 Required components The hardware components and software versions required to realize the function example are listed in this chapter. 3.1 Hardware components SAFETY training case (essential components) Component Type MLFB/Ordering data Qty Manufacturer SITOP power supply SITOP SMART 120W 6EP AA01 1 Siemens SIMATIC S7-300 CPU SIMATIC S7 fail-safe input module SIMATIC S7 fail-safe output module CPU 315F-2 PN/DP 6ES FH13-0AB0 1 Siemens SIMATIC Micro Memory Card, 512KB 6ES LJ20-0AA0 1 Siemens SM 326 F-DI 24 6ES BK01-0AB0 1 Siemens SM 326 F-DO 8 6ES BF40-0AB0 1 Siemens SINAMICS fail-safe Terminal Module TM54F 6SL3050-0AA00-3BA0 1 Siemens Drive-CLiQ Cable, gray, metal connector 6FX2002-1DC00-1AC0 1 Siemens Safety door simulation Toggle switch 0-I, latching, 3SB2000-2AB01 2 Siemens switches 16mm, black S2 and S3 Holder with solder pins 3SB2908-0AB 2 Siemens Emergency Stop command Mushroom pushbutton, red, 3SB2000-1AC01 1 Siemens device 16mm S1 Holder with solder pins 3SB2908-0AB 1 Siemens Reset button S4 Load resistors R1.. R8 Terminals for load resistors (R1..R8) Load resistor R9 Terminals for load resistor (R9) Pushbutton, flat button, 16 mm, white Holder with lamp holder, lamp and solder pins 1kOhm 1W 3SB2000-0AG01 1 Siemens 3SB2455-1B 1 Siemens Type PO595-0 Style 0207 Power metal oxide film resistors ST 2.5-QUATTRO-TG P-CO component connector SMA0207 1K2 1% TK TERMINALS_ACCESSORY_EM PTY CONNECTOR_TYPE1_GRAY TERMINAL_4- CONDUCTOR_GRAY WID_MET_SHT_1K2_+- 1%_600mW_+50ppm_ Yageo Europe Phoenix Contact Phoenix Contact 1 Beyschlag WAGO WAGO I DT Safety Integrated Page 10/67 MC-FE-I-007-V10-EN

11 SIMOTION training case Component Type MLFB/Ordering data Qty Manufactu rer SIMOTION training case D435 6ZB AE00 1 SIEMENS Note The function example was tested with the hardware components listed here. Alternatively, other components with the same function may be used. In such a case, a different parameterization and different wiring of the components may be required. 3.2 Software components Engineering software Component Type MLFB/Ordering data Qty Manufacturer STEP 7 V5.4 SP4 6ES7810-4CC08-0YA5 1 Siemens S7 Distributed Safety programming V5.4 SP4 6ES7833-1FC+02-0YA5 1 Siemens S7 F ConfigurationPack V5.5 SP5 1 Siemens SIMOTION SCOUT V4.1 SP2 6AU1810-1BA41-2XA0 1 Siemens Firmware All SINAMICS components must have firmware release V2.5 SP1 or higher. SIMOTION must be operated with a firmware release V4.1 SP1 or higher. I DT Safety Integrated Page 11/67 MC-FE-I-007-V10-EN

12 4 Configuration and wiring 4.1 Overview of the hardware configuration Basic configuration 4.2 Wiring of the hardware components Wiring the control voltage I DT Safety Integrated Page 12/67 MC-FE-I-007-V10-EN

13 I DT Safety Integrated Page 13/67 MC-FE-I-007-V10-EN

14 4.2.2 Principle connection of the F-CPU to the TM54F failsafe digital output module (ET200S/ ET200M) TM54F -X520 1 L3+ 2 M1 -X521 1 L1+ 2 DI 0 3 DI 1+ 4 DI 2 5 DI 3+ 6 DI 1-7 DI 3-8 M1 F-DO 0 DO 0+ DO 0- M1 R1 R2 F-DI 0 F-DI 1 Connection, F-DO P/M switching(f-cpu) F-DI (TM54F) Dimensioning the load resistors Any conditions specified for the digital output in the manufacturer's documentation, (e.g. a minimum load or a maximum load resistance) should be taken into account. For example, a minimum load of 1 kω is specified for the SIMATIC ET200S 4 F-DO I/O module. This means that two additional load resistors of 1 kω and a continuous load capacity of at least P = V²/R = (28.8V)²/1 kω = 830 mw are required to connect such an F-DO with an F-DI of the TM54F. Note: When using regulated SITOP power supplies, the voltage tolerance on the 24 V side is significantly less than the maximum permissible tolerance of +20% of the power supply voltage at the ET200S modules. The power dissipated in the resistor is, in this case, less than the maximum power calculated above. I DT Safety Integrated Page 14/67 MC-FE-I-007-V10-EN

15 4.2.3 DRIVE-CLiQ interconnection The SINAMICS units should be connected-up using the DRIVE-CLiQ cable as shown in the following diagram. TM54F D435 SLM DMM DRIVE-CLiQ -X500 -X501 DRIVE-CLiQ -X100 -X101 -X102 -X103 DRIVE-CLiQ -X200 -X201 -X202 -X203 PROFIBUS -X126 -X127 Ethernet -X120 -X130 Encoder 2 DRIVE-CLiQ interconnection Encoder 1 I DT Safety Integrated Page 15/67 MC-FE-I-007-V10-EN

16 4.3 Important settings of the hardware components In this function example, the PROFIBUS interfaces of the F-CPU and the D435 are only used for programming. Hardwired 24 V signals are used exclusively for the safety-oriented signal exchange between the F-CPU and the TM54F Bus interfaces Programming device / PC PROFIBUS address = 0 As the F-CPU used is the bus master, the PROFIBUS interface of the programming device must not be configured as the only master on the bus (do not enter a checkmark in the field "PG/PC is the only master on the bus"). I DT Safety Integrated Page 16/67 MC-FE-I-007-V10-EN

17 SIMOTION D435 PROFIBUS address = 2 The PROFIBUS address is set via HW Config. SIMATIC 315F-2 PN/DP CPU PROFIBUS address = 4 I DT Safety Integrated Page 17/67 MC-FE-I-007-V10-EN

18 4.3.2 Bus topology View in NetPro Conditions for operation The SIMATIC components have been mounted and connected with one another. The PROFIsafe addresses of the fail-safe input and output modules must be set using the DIL switch; see Chapter 6.2 Hardware configuration of the fail-safe control. All of the components are connected as specified in Chapter 4.2 Wiring of the hardware components. The DRIVE-CLiQ topology of the SINAMICS components has been maintained. The motors are connected to the Motor Module using the power and encoder cable. The Motor Module is correctly connected with the infeed (DC link and 24 V DC control voltage). The infeed is connected to the line supply. The components are supplied with 24 V DC. I DT Safety Integrated Page 18/67 MC-FE-I-007-V10-EN

19 5 Overview and operation 5.1 of operation Hardware overview In order to be able to operate the drives, SIMOTION must first be switched into the "RUN" state. In the example, this is realized using SCOUT. To do this, object D435 is selected and the righthand mouse key pressed. The following selection should now be made: Target device -> Operating state I DT Safety Integrated Page 19/67 MC-FE-I-007-V10-EN

20 The window then opens in which you can set the operating state of SIMOTION. The rotary switch should be set to the RUN position. Switches -S1 to -S4 are located on a switchbox that belongs to the Safety training case. The various safety functions are selected using these switches. Switches -S5 to -S10 are located on a switchbox that belongs to the SIMOTION training case. These switches are used to switch axis enable signals, start travel programs, initiate the test function for the safety functions and acknowledge faults. The Emergency Stop button S1 must be released in order to be able to operate the drives The axis enable signals for drive 1 (upper motor) are switched using switch -S5. The associated travel program can be started and stopped using -S6. For axis 2 (lower motor), -S7 is used to issue the enable signal and the travel program is activated or deactivated with -S8. Pending alarms on the SIMOTION as well as drive alarms can be acknowledged using -S9. The safety alarms are the exception in this case, as they must be acknowledged in a fail-safe fashion using -S4. The test stop to be cyclically executed for the safety functions in the drives as well as the TM54F is activated using - S10. If the Emergency Stop pushbutton -S1 is pressed, then for drive 1 (upper motor), safety function SS1 is initiated; i.e. the drive is braked along the OFF3 ramp and then STO is activated. STO is directly initiated for drive 2 (lower motor); i.e. the drive coasts down. When Emergency Stop is initiated drive 1 comes to a standstill before drive 2. Drive 1 can be operated when safety door 1 is closed (toggle switch -S2). If -S2 is opened, then safety function SOS is initiated; i.e. SIMOTION brakes the drive down to standstill. The drive standstill position is safely monitored after a configurable time has expired. If the simulated safety door -S2 is closed again, then the travel program is restarted. In this case, an ON command is not necessary. Drive 2 can be operated at any speed when safety door 2 is closed (toggle switch -S3). If -S3 is opened, then SIMOTION limits the travel speed to 80% of the speed limit value of stage 1 of safety function SLS. This limit value is monitored by safety function SLS after a defined time has expired. If -S3 is closed again, then SLS is switched-out and the speed limit on the SIMOTION is withdrawn. The drive can now be operated again with the configured speed. I DT Safety Integrated Page 20/67 MC-FE-I-007-V10-EN

21 5.2 Summary of the input signals Digital inputs of the SINAMICS Integrated at the SIMOTION D435 DI0 -S5 Drive 1 DI1 -S6 Drive 1 DI2 -S7 Drive 2 DI3 -S8 Drive 2 DI6 -S9 Drive 1 / Drive 2 / TM54F / SIMOTION Sets / withdraws axis enable signals Starts/stops the travel program Sets / withdraws axis enable signals Starts/stops the travel program Acknowledges alarms DI7 -S10 Drive 1 / Drive 2 / TM54F Initiates a test stop Fail-safe inputs at the F-DI module F-DI0 -S1 Emergency Stop button F-DI1 -S2 Safety door 1 (for drive 1) SOS F-DI2 -S3 Safety door 2 (for drive 2) SLS F-DI3 -S4 Acknowledgement button Drive 1: SS1 Drive 2: STO Fail-safe acknowledgement (drive 1 & 2) and depassivation (all F slaves) I DT Safety Integrated Page 21/67 MC-FE-I-007-V10-EN

22 6 Example project In this chapter, you get to know how the individual components must be parameterized. SIMOTION SCOUT is used as the engineering software for SIMOTION and the SINAMICS S120. Distributed Safety is a prerequisite for programming the F-CPU. It will now be described how the software project belonging to this function example was set-up. 6.1 Passwords For reasons of simplicity, in the project, a common safety password is used for the program and hardware on the SIMATIC components. Also when configuring the Safety functionality of the SINAMICS components, one password is used for the drives and for the TM54F terminal expansion module. Safety password on the F-CPU: "0" Safety password on SINAMICS components: "1" These passwords should be changed for real applications! I DT Safety Integrated Page 22/67 MC-FE-I-007-V10-EN

23 6.2 Hardware configuration of the fail-safe control Remark In the SIMATIC Manager, insert a SIMATIC 300 station into the project. Completely create and parameterize the station in HW Config. To do this, in the parts list from Chapter 3.1 Hardware components, drag the modules from the catalog window and drop them into the configuration window. Set the address of the DP interface as described in Chapter 4.3. I DT Safety Integrated Page 23/67 MC-FE-I-007-V10-EN

24 Remark Configuring the F CPU In the properties window of the F-CPU, under the Protection tab, activate access protection for the F- CPU and protect using a password. Activate the safety program ("CPU contains safety program"). Configuring the F-DI module. Configure the PROFIsafe address using DIL switches. Configuring the F-DI module. Configuring F-DI 0 (channels 0, 12) I DT Safety Integrated Page 24/67 MC-FE-I-007-V10-EN

25 Remark Configuring the F-DI module. Configuring F-DI 1 (channels 1, 13) Configuring F-DI 2 (channels 2, 14) Configuring F-DI 3 (channels 3, 15) Configuring F-DI 5 (channels 5, 17) Configuring the F-DO module. Configure the PROFIsafe address using DIL switches. I DT Safety Integrated Page 25/67 MC-FE-I-007-V10-EN

26 Remark Configuring the F-DO module. Configuring F-DO 0 Configuring F-DO 1 Configuring F-DO 2 Configuring F-DO 5 Configuring F-DO 7 Save and compile HW Config. Download HW Config into the F-CPU. I DT Safety Integrated Page 26/67 MC-FE-I-007-V10-EN

27 6.3 Programming the fail-safe control The safety program was deliberately selected to be as simple as possible. In this particular case, the main task of the safety program is to transfer the signals at the F-DIs to the F-DOs. The F-DOs are connected to the F-DIs of the TM54F. The safety functions of the drives are controlled from the TM54F. The blocks required for the safety program are first created. Caution: In this form, it is not permissible that the program is used for a real application. You start with the F-call block. This is required to call the safety program. To do this, a function (in this case, FC1) must be inserted into the block folder using the the F-call programming language. Cyclic interrupt OB35 is required to cyclically call the safety program. In this example, the actual safety program is executed in a function block (here, FB1), this means that FB 1 must now be inserted using the F-LAD or F-FBD programming language. Programming OB35 Remark Calling the safety program I DT Safety Integrated Page 27/67 MC-FE-I-007-V10-EN

28 Remark Programming FB1 Network 1: Activate automatic acknowledgement Network 2: Control signal lamp in - S4. Programming FB1 Network 3: -S1 (Emergency Stop) is interconnected to F- DO 0. Network 4: -S2 is interconnected, inverted to F-DO 1. Network 5: -S3 is interconnected to F-DO2. Network 6: -S4 is interconnected to F-DO5. Network 7: -S4 is used for acknowledgement. I DT Safety Integrated Page 28/67 MC-FE-I-007-V10-EN

29 Remark Creating the new F- Runtime group Here, the safety program (FB1) is assigned to FC1 and the associated I-DB is defined. Then, generate the safety program and download into the CPU. In addition, download the standard blocks into the F-CPU. I DT Safety Integrated Page 29/67 MC-FE-I-007-V10-EN

30 6.4 Configuring the drives The basic configuring of SINAMICS Integrated is described in this section. Safety commissioning is discussed in the next point Inserting SIMOTION into the existing SIMATIC project Remark Insert an additional SIMATIC 300 station into the existing object. I DT Safety Integrated Page 30/67 MC-FE-I-007-V10-EN

31 Remark Then (if required) rename the station, e.g. as "SIMOTION D" Select the appropriate SIMOTION component from the catalog and transfer into the work area (drag & drop). I DT Safety Integrated Page 31/67 MC-FE-I-007-V10-EN

32 Remark Configure and network the DP interface of the SIMOTION being used. In the example, DP2 is used (also refer to Section 4.3.2, Bus topology) Then save and compile. Then download HW Config into SIMOTION. HW Config can now be closed. SIMOTION is now integrated into the existing project. I DT Safety Integrated Page 32/67 MC-FE-I-007-V10-EN

33 6.4.2 Basic commissioning of the SINAMICS drives (without safety) Remark Open SCOUT / STARTER from the SIMATIC project (-> double click on "Commissioning") Go online Start the automatic configuration of the drives. Select the "Servo" control type for both drives. I DT Safety Integrated Page 33/67 MC-FE-I-007-V10-EN

34 Go offline and "Save and Compile" Post configuration, drive 1 Remark In the Project Navigator for drive 1 (SERVO_02), open the configuration window. "Configure DDS" starts the navigated post configuration. Note: In the following, only those screen forms are described in which a change is required. Post configuration, drive 1 A signal for "Infeed in operation" (p0864) must be configured. Here, fixed binector 1 is used in the example. I DT Safety Integrated Page 34/67 MC-FE-I-007-V10-EN

35 Remark Post configuration, drive 1 The PROFIdrive message frame (p0922) must be set for the drive. Message frame type 105 is used here in the example. Post configuration, drive 2 Start the Configurator as described for drive 1 (drive 2 is SERVO_03). A signal for "Infeed in operation" (p0864) must be configured. Here, fixed binector 1 is used in the example. I DT Safety Integrated Page 35/67 MC-FE-I-007-V10-EN

36 Remark Post configuration, drive 2 The second drive does not have a Drive-CLiQ encoder; the motor must be manually selected. A 1FK7022-5AK71-1AG0 motor is used in the example. Post configuration, drive 2 Just like the motor, the encoder must also be manually selected. The is also realized using the type number (MLFB). I DT Safety Integrated Page 36/67 MC-FE-I-007-V10-EN

37 Remark Post configuration, drive 2 The PROFIdrive message frame (p0922) must be set for the drive. Message frame type 105 is used here in the example. The TM54F is automatically created, if for the automatic configuration, it was connected to the D435 via Drive-CLiQ. The topology for the function example can be seen here. Save the configuration, then go online and download the modified project. I DT Safety Integrated Page 37/67 MC-FE-I-007-V10-EN

38 Remark For the SERVO_02 object, open the "Speed controller" window using the Project Navigator. For both drives, in the example, the speed controller was set as shown here: P gain = 0.1 Nms/rad Reset (integral) time = 10ms On both drives, several parameters now have to be adapted in the expert list. Adaptation to 230V operation. Configuring the OFF3 ramp. Interconnect alarm acknowledgement with -S9 (= DI 6 SINAMICS Integrated). p2101 = r722.6 in the expert list of the CU Now copy RAM to ROM (on SINAMICS Integrated), download the configuration into the PG and save. I DT Safety Integrated Page 38/67 MC-FE-I-007-V10-EN

39 6.5 Parameterizing the safety functions in SINAMICS Integrated Configuring the message frame Remark In SCOUT, open the window to configure the PROFIdrive message frame Insert the message frame extension for the so-called safety data block. 3 words are required to transfer data from the drive to SIMOTION. Insert this message frame extension for both drives. Select message frame type 390 for the CU. Transfer changes into the HW Config. The message frame (telegram) configuration should now look like it is shown here (assuming that the same address has been assigned). Save, go online and download the configuration. I DT Safety Integrated Page 39/67 MC-FE-I-007-V10-EN

40 6.5.2 Configuring the fail-safe TM54F terminal module Note: The fail-safe terminal module must be configured online. Remark Open the "Safety Integrated" Window of the TM54F and activate the commissioning mode with "Change settings". The password for the first commissioning is "0". "Configuration" window The following have to be configured in the example: Assignment, drives / drive groups Discrepancy time F-DI F-DI for fail-safe acknowledgement Signal source for forced dormant error detection I DT Safety Integrated Page 40/67 MC-FE-I-007-V10-EN

41 Remark "Drive group 1" window The following have to be configured in the example: STO statically inactive SS1 via F-DI 0 SOS via F-DI 1 SS2 and SLS statically inactive "Drive group 2" window The following have to be configured in the example: STO via F-DI 0 SS1, SS2 and SOS statically inactive SLS via F-DI 2 I DT Safety Integrated Page 41/67 MC-FE-I-007-V10-EN

42 Remark "Outputs" window The following have to be configured in the example: 1st signal for F-DO 0 with checkback signal SSM for drive group 1. 2nd signal F-DO 0 with checkback signal SSM for drive group 2. Copy parameters and then open the dialog box to change the password. Assign a new password. The value "1" is used in the example. Activate settings Execute RAM to ROM backup (start with "OK"). Note: The system can be immediately restarted. However, it is recommended to configure the safety functions of the axes beforehand. I DT Safety Integrated Page 42/67 MC-FE-I-007-V10-EN

43 6.5.3 Configuring the safety functions in the drives Notes: The safety functions in the drives must be configured online. Only the windows are described in which parameter changes are required. For both drives, safety functions STO, SS1, SS2, SOS, SLS and SSM are commissioned so that they are able to be controlled. However, for drive 1, the example is restricted to selecting SS1 and SOS. STO and SLS are controlled for drive 2. The safety functions are configured precisely the same way for both drives. Remark Open the "Safety Integrated" window of drive 1/2 (SERVO_02 / SERVO_03) and activate the commissioning mode using "Change settings". The password for the first commissioning is "0". I DT Safety Integrated Page 43/67 MC-FE-I-007-V10-EN

44 Remark "Safety Integrated" window The following have to be configured in the example: Select control with "Motion monitoring via TM54F" Set enable signals to "Enable". "Configuration" window The following have to be configured in the example: Velocity limit (SSM) with 100 mm/min Signal source, test stop with DI7 of SINAMICS Integrated I DT Safety Integrated Page 44/67 MC-FE-I-007-V10-EN

45 Remark "Safe stops" window The following have to be configured in the example: Delay time SS1 -> Pulse suppression = 500msec Delay time selection SOS -> SOS active = 500msec Delay time SS2-> SOS active = 500msec Acceleration monitoring = 500mm/min Shutdown speed SS1 = 100mm/min Standstill tolerance SOS = 2.5mm "Safely limited speed" window The following have to be configured in the example: n_max for stage 1 = 625mm/min Copy parameters and then open the dialog box to change the password. I DT Safety Integrated Page 45/67 MC-FE-I-007-V10-EN

46 Remark Assign a new password. The value "1" is used in the example. Activate settings Execute RAM to ROM backup. Axial backup is sufficient (start with "Axis parameters"). Note: Only restart the system after configuring has been completed. For Version V2.5 (SINAMICS Integrated), now for both drives, the clock cycle synchronous internal PROFIBUS still has to be adapted. Now, copy from RAM to ROM (in SINAMICS Integrated). Carry out a Power On reset. Go online, download the configuration into the PG and save. 1. p10 = p9761 = password (in the example "1") 3. p9510 = 1 4. p9700 = 57hex 5. p9701 = AChex 6. p10 = 0 If you have carried out the safety commissioning for all drives, with Emergency Stop deselected, you can operarte the drives from the control panel or SIMOTION. I DT Safety Integrated Page 46/67 MC-FE-I-007-V10-EN

47 The use of the safety functions integrated in the drive is selected and these can be activated or deactivated using the operator control elements at the F-CPU. Only the following messages should be visible. However, these messages do not influence the functionality described above. They only state that the test stop of the safety functions in the drives is required (A1697) or the forced dormant error detection of the TM54F must be executed (A35014). They are alarms, i.e. the drives can be switched-on and operated Configuring the safety data block on the SINAMICS side The message frame extension for the so-called safety data block was created in Section Here, the objective is to supply this data block with the required data from SINAMICS Integrated. 6 bytes / 3 words are required. The data is sent from the drive to SIMOTION. No safety signals are sent from SIMOTION to the drive. The user connects up the process data using the BiCo interconnection in SINAMICS. The sequence of the individual signals in the safety data block must not be changed. The checkback signal bits of the drive safety functions are transferred in the first word. I DT Safety Integrated Page 47/67 MC-FE-I-007-V10-EN

48 The following BiCo interconnection must be made for each drive: The status word is then available at parameter r2089[3]. The effective setpoint speed limiting when selecting SLS (r9733) is transferred as floating-point number in the second and third words. The interconnection of the safety datablock on the drive side has the following assignment: Safety status word r2089[3] effective setpoint speed limiting r9733 [0] = p9531 [x] * p9533 / p9520 (x: active SLS stage) The SINAMICS safety status signals are shown in the SIMOTION system variables D435.Axis_1.drivedata.drivesafetyextendedfunctionsinfodata.state. The value of the setpoint speed limit is shown in D435.Axis_1.drivedata.drivesafetyextendedfunctionsinfodata.safespeedlimit. I DT Safety Integrated Page 48/67 MC-FE-I-007-V10-EN

49 6.6 SIMOTION Creating SIMOTION axes On the SIMOTION side, the axes should be created as follows using the Commissioning Wizards. SERVO_02 is assigned to Axis_1, SERVO_03 is correspondingly connected to Axis_2. The procedure is shown for an axis (Axis_1) as example. The two axes must be configured before the project is downloaded into SIMOTION. Remark Start the Commissioning Wizards by doubleclicking on "Insert Axis" in the Project Navigator. In the example, the first axis is called "Axis_1". "Speed control" and "Positioning" are activated. I DT Safety Integrated Page 49/67 MC-FE-I-007-V10-EN

50 Remark The default values are kept. It involves a linear axis with electric drive. Also in the "Units" window, in the example, the default values are kept. I DT Safety Integrated Page 50/67 MC-FE-I-007-V10-EN

51 Remark Modulo correction is not activated in the example. The assignment between SIMOTION object (Axis_1) and the SINAMICS axis (SERVO_02) is established in this window. Transfer data from the drive (Normalization speed and maximum speed). Check as to whether PROFIdrive message frame 105 is selected. Open the following window using the "Change PROFIdrive message frame" button. I DT Safety Integrated Page 51/67 MC-FE-I-007-V10-EN

52 Remark As the SINAMICS drives have now been configured, here a check is only made as to whether the values were correctly accepted. Generally, changes are not required. It is especially important that you check the message frame extension of 3 words on the input side as this is required to transfer safety data from the drive to SIMOTION. The encoder is assigned here. The encoder data can be transferred into the Wizard using the "Data transfer from the drive" button. I DT Safety Integrated Page 52/67 MC-FE-I-007-V10-EN

53 Remark The additional encoder data are displayed here. Changes are not required if data transfer from the drive was performed error-free. Complete the Wizard to create the axis object on SIMOTION. I DT Safety Integrated Page 53/67 MC-FE-I-007-V10-EN

54 Remark After completing the Commissioning Wizards, for the example, only a few parameter changes are required. These are shown in the following windows. "Default value" window Set the velocity to a value of mm/s (this corresponds to 300 rpm). The value of mm/s 2 is entered for the acceleration and deceleration. "Limits" window Set the maximum velocity to a value of 500mm/s. I DT Safety Integrated Page 54/67 MC-FE-I-007-V10-EN

55 Remark "Control" window The Servo gain factor is set to a value of 12 1/s in the example. For the second axis, there are differences in the "Drive assignment" window. Here, enter the logical hardware addresses according to Servo_03. I DT Safety Integrated Page 55/67 MC-FE-I-007-V10-EN

56 Remark For the second axis, there are also differences in the "Encoder assignment" window. The encoder data can be transferred into the Wizard using the "Data transfer from the drive" button. For the second axis, there are also differences in the "Encoder data" window. The additional encoder data are displayed here. Changes are not required if data transfer from the drive was performed error-free. I DT Safety Integrated Page 56/67 MC-FE-I-007-V10-EN

57 Remark As the "Safety alarms" of SIMOTION do not completely comply with the specification, it is recommended that these are hidden for both axes. The window is opened by selecting the TechFault task in the execution system and then pressing the "Alarm configuration" button. In this example, the axis-specific responses are also not based on these alarms. After the two axes have been commissioned on the SIMOTION side, the project must be saved and downloaded into SIMOTION (in the Project Navigator, select D435). If commissioning was carried out as shown here, then all of the settings for the safety block are correct. Now, it only has to be checked that the start address was correctly entered (276 for Axis_1 and 320 for Axis_2) Axis_1 Axis_2 I DT Safety Integrated Page 57/67 MC-FE-I-007-V10-EN

58 6.6.2 SIMOTION programs The programs used in the function example are briefly presented in this section. The program code and a very detailed description will not be given as the program itself has comments. ST programs include the comments directly in the code. For MMC programs, commented blocks are identified by a green triangle in the upper righthand corner. The comment can be opened by selecting the block and opening a menu with the righthand mouse key. Here, the "Enter comment..." entry must be selected IO_ReadWrite (reading in or writing digital I/Os) The digital inputs of SINAMICS Integrated of the SIMOTION D435 are used to control (open-loop) axis motion. These inputs are read into SIMOTION via the I/O variable "io_cu320_inword". The outputs of SINAMICS integrated can be controlled via the "io_cu320_outword" variable; however, this is not applicable for this example. The inputs are used, e.g. to switchon the drives, start travel programs, acknowledge faults and to start the test stop or the forced dormant detection. The two variables are created as shown as follows in the Project Navigator under "I/O". In this example, SINAMICS Integrated provides the DIs at address 298 (corresponds to PZD 2 of the Control Unit in the send direction). Address 298 should also be used for the outputs (corresponds to PZD 2 of the Control Unit, receive direction). The "IO_ReadWrite" program was taken from the FAQ with number The program parts not required were subsequently removed. Detailed documentation as well as the program code can be downloaded under the following link: The program is executed in the background task and provides the signals for the program sequence of SIMOTION at the digital inputs of SINAMICS Integrated via the variables mentioned above Axis_01.mmc_bg_task1 (sequential control system for Axis_1) The upper drive of the demonstration case (Axis_1; or SERVO_02) is controlled using this program. The program is cyclically processed in the background task and is responsible for switching-in/switching-out the axis enable signals, the fault acknowledgement as well as starting and stopping the travel program "mt_axis_1". Program functions: -S5 (DI 0) setting or withdrawing enable signals for Axis_1 I DT Safety Integrated Page 58/67 MC-FE-I-007-V10-EN

59 -S6 (DI 1) starting or stopping the travel program "mt_axis_1". -S9 (DI 6) acknowledging alarms Axis_02.mmc_bg_task2 (sequential control system for Axis_2) The lower drive of the demonstration case (Axis_1; or SERVO_02) is controlled using this program. The program is cyclically processed in the background task and is responsible for switching-in/switching-out the axis enable signals, the fault acknowledgement as well as starting and stopping the travel program "mt_axis_2". Program functions: -S7 (DI 2) setting or withdrawing enable signals for Axis_2 -S8 (DI 3) starting or stopping the travel program "mt_axis_2". -S9 (DI 6) acknowledging alarms Axis_01.mt_axis_1 (travel program for Axis_1) The travel program comprises 3 travel commands, which are cyclically called from "mmc_bg_task1", as long as a HIGH signal level is present at - S1. This means that after starting the travel program once, "endless motion" of the axis is executed until this is interrupted by selecting a safety function or using a LOW signal level at -S1. This program is executed in MotionTask_3. This task is cyclically started from program "Axis_01.mmc_gb_task1" Axis_02.mt_axis_2 (travel program for Axis_2) The travel program comprises 3 travel commands, which are cyclically called from "mmc_bg_task2", as long as a HIGH signal level is present at - S3. This means that after starting the travel program once, "endless motion" of the axis is executed until this is interrupted by selecting a safety function or using a LOW signal level at -S3. This program is executed in MotionTask_4. This task is cyclically started from program "Axis_02.mmc_gb_task2" Axis_01.mt_safety_axis_1 The axis-specific responses to selecting or deselecting the safety functions are executed in this program. As several safety functions can be simultaneously active, the priority must first be determined before the axisspecific response can be executed. To do this, the value of a variable is determined, which can then be used to select the response (using a CASE statement). In the example, the subsequently described responses are initiated for the individual functions. After they have been executed, the variables for the state of the individual safety functions (determined in ST_Main.extsafety) as well as also for the priority assignment (determined in Axis_01.mt_safety_1) are reset. This program is executed in MotionTask_6. I DT Safety Integrated Page 59/67 MC-FE-I-007-V10-EN

60 STO When selecting STO, no special response is necessary as the impulses are immediately suppressed. When deselecting, a response is also not necessary as after deselecting STO, a new ON command must be set. SS1 When selecting SS1, the axis must be switched into the follow-up mode and the "Axis_01.mt_axis_1" motion program interrupted. To do this, MotionTask_3 and the actual traversing command are interrupted. When deselecting SS1, MotionTask_3 is reset so that it can be restarted. As SS1 automatically results in an STO, a new ON command is required to restart axis motion. SS2 When selecting SS2, the axis must be switched into the follow-up mode and the "Axis_01.mt_axis_1" motion program interrupted. To do this, MotionTask_3 and the actual traversing command are interrupted. MotionTask_3 is continued when SS2 is deselected. The motion is automatically continued when deselected. An additional command is not necessary. SOS When selecting SOS, axis motion is stopped down to standstill in the closed-loop position controlled mode using a STOP command. MotionTask_3 is then interrupted in order to prevent axis travel initiated by the next positioning command. When SOS is deselected, MotionTask_3 is continued again and the next pending positioning command executed. This means that also here, a command is not necessary to restart axis motion. SLS When selecting SLS, the maximum permissible velocity (SIMOTION variable: pluslimitsofdynamics.velocity) when positioning is reduced to the value that is transferred from SINAMICS Integrated (via the so-called safety data block) to SIMOTION. Motion is now executed at a reduced velocity. When deselecting SLS, this limit value is reset to the original value Axis_02.mt_safety_axis_2 See , whereby this program is processed in MotionTask_7 and axis motion of Axis_2 is monitored using MotionTask_ ST_VarGlobal ST_Main Variables required to evaluate the safety status word are defined in this ST program. This program comprises the three subprograms "startup", "extsafety" and "techfault". Note: Presently, it is still not possible to configure the response depending on SIMOTION safety messages to 50203, as the alarms still do not I DT Safety Integrated Page 60/67 MC-FE-I-007-V10-EN

61 completely comply with the specification. This is the reason that the safety status word must be cyclically evaluated. "startup" In this program, the axis instances are assigned, i.e. it is defined as to which axis corresponds to which variable. Further, the velocity limit of the SIMOTION configuration project is buffered here in a variable. When selecting SLS, this value is overwritten and when deselected, must be available again. The program is processed in the StartupTask. "extsafety" The safety status work is evaluated in this program in order to obtain information as to which safety functions are in which state. A distinction is made between the states "selected" (coming event), "active" "deselected" (going event) and "inactive". Depending on this information, the motion task is then started, which includes the program for the axis-specific response to safety functions (MotionTask_6 for Axis_1 and MotionTask_7 for Axis_2). In the example, the program is processed in the IPO task; however, this is only necessary if the SS2 or SS1 functions are being used. Without these two functions, processing in the Background Task is sufficient. When selecting safety functions SS1 or SS2, the drive immediately decouples itself from the higher-level setpoint of SIMOTION when the function is selected. It is now important to prevent a following error from occuring that would then result in pulse suppression. This is the reason that in these cases, processing must be as fast as possible. The SOS and SLS functions have a configurable timer between selecting and activating; this is the reason that there is more time available for the SIMOTION response. "Techfault" This involves a dummy program that must be integrated in the TechnologicalFaultTask. If this is missing, then for a TechnologicalFault alarm, the operating state of SIMOTION changes into the "STOP" operating state other_mmcs.peripheralfault This involves a dummy program that must be integrated in the PeripheralFaultTask. If this is missing, then for a Peripheral-Fault alarm, the operating state of the SIMOTION changes into the "STOP" operating state other_mmcs.executionfault This involves a dummy program that must be integrated in the ExecutionFaultTask. If this is missing, then for a Execution-Fault alarm, the operating state of the SIMOTION changes into the "STOP" operating state Configuration of the execution system The various SIMOTION programs must now be assigned to various tasks. The function example is based on the following configuration. I DT Safety Integrated Page 61/67 MC-FE-I-007-V10-EN

62 I DT Safety Integrated Page 62/67 MC-FE-I-007-V10-EN

63 6.6.4 SIMOTION messages Safety message On the SIMOTION side, there are 3 messages for the extended safety functions : Safety alarm in the drive 50202: Drive starts Safety Integrated Extended function 50203: Drive completes Safety Integrated Extended function Presently, these messages can still not be used for configuring the axisspecific responses of SIMOTION. This is the reason that they are hidden for both axes for this function example Other messages When selecting the different safety functions, additional messages are displayed. These are expected and do not represent incorrect behavior : Device type: X, log. address: Y faulted. This fault also occurs when selecting STO and SS1 and indicates that the drive has shut itself down : Command aborted (reason: X, Command type: Y) This message should also be monitored when selecting STO and SS1 as well as when "stopping" positioning by shutting down -S6 or S8. The reason for this message is that the actual positioning command was interrupted before or during processing : Programmed velocity is limited The fault occurs when SLS is selected if the configured velocity lies above the limit for SLS : Missing enable signals(s) (Parameter1: X) and/or incorrect mode (Parameter2: Y) The fault occurs when STO is selected and means that for a pending motion command, the axis enable signals are missing. 6.7 Download of the project example Up until now, the configuration of the function example was described stepby-step. The following steps should now be followed if the project example is to be directly downloaded into the hardware. To start, all of the components (S7-F-CPU, SIMOTION and SINAMICS Integrated) should be generally reset or reset to the factory setting. I DT Safety Integrated Page 63/67 MC-FE-I-007-V10-EN

64 6.7.1 Downloading the S7-F-CPU project configuration To start, the HW configuration of the S7-F-CPU must be downloaded. The HW configuration is opened by double-clicking on "Hardware". Depending on the default values and the previous configuration on the F- CPU side, if required, the baud rate of the PC/PG interface must be adapted to download the hardware configuration of the F-CPU. If SIMOTION and the F-CPU have the same PROFIBUS address (2 is the default value for both), then it is only necessary to first connect the F-CPU with the PC/PG in order to download the HW configuration. Therefore, it is only necessary to change the bus address and the baud rate to the values specified in Section Fehler! Verweisquelle konnte nicht gefunden werden.. SIMOTION can now also be reintegrated into the PROFIBUS network. The baud rate must be again changed according to Fehler! Verweisquelle konnte nicht gefunden werden. before you can go online. Note: If a safety program existed on the CPU beforehand, then this is passwordprotected. This must be known for the download. If it is not known, then the memory card must be deleted using a suitable device (e.g. SIEMENS PG). If the card is deleted or formatted using a card reader, the card will be destroyed. After the HW configuration has been downloaded, the program blocks must be downloaded to the F-CPU. I DT Safety Integrated Page 64/67 MC-FE-I-007-V10-EN

65 The window to download the safety functions is first opened using the "yellow" button in the function bar. The download is then initiated from this window using the "Download" button. The remaining (non-safety-oriented) blocks are then downloaded normally Downloading the project configuration of SIMOTION and SINAMICS Integrated Also here, the HW configuration of the SIMOTION should be downloaded first. Without this step, generally it would not be possible to obtain an online connection to SINAMICS Integrated. The HW configuration is opened by double-clicking on "Hardware". After the download, SCOUT is opened from the SIMATIC project (doubleclick on "Commissioning"). I DT Safety Integrated Page 65/67 MC-FE-I-007-V10-EN

66 The complete configuration of SIMOTION and SINAMICS Integrated can now be downloaded from here. After the download, various safety faults are present as the serial numbers of the encoder modules, motor modules and the TM54F do not match those of the devices that were used to generate the project example. Now, for each series commissioning, the new serial numbers must be transferred into the safety configuring. This is done using "Confirm HW replacement" The simplest way is to open the safety screen form on both drives and there, press the "Confirm HW replacement" button. This function does not exist as button for the TM54F. Here, the safety screen should also be opened and the commissioning mode selected using the "Change settings" button and exited again using "Activate settings". To do this, the safety password ("1") must be entered. I DT Safety Integrated Page 66/67 MC-FE-I-007-V10-EN

67 The backup procedure from RAM to ROM must then be initiated for SINAMICS Integrated and a restart carried out (Power On reset). 6.8 Acceptance test To verify safety-oriented parameters, an acceptance test must be performed after the machine has been commissioned for the first time and also after changes are made to safety-oriented parameters. The acceptance test must be appropriately documented. The acceptance reports must be adequately stored and archived. The acceptance test must be carried out after parameterization has been completed and a Power On reset. Information about the acceptance test, the acceptance report and an example of an appropriate acceptance report is provided in the "Function Manual SINAMICS S120 Safety Integrated" (FHS) in the Chapter, Acceptance test and acceptance report. 7 History Version Date Change V1.0 09/2009 First Edition I DT Safety Integrated Page 67/67 MC-FE-I-007-V10-EN