Transcription

1 Safety Applications with the S FC CPU STEP 7 Safety V15 (TIA Portal) Siemens Industry Online Support

2 Legal information Legal information Use of application examples Application examples illustrate the solution of automation tasks through an interaction of several components in the form of text, graphics and/or software modules. The application examples are a free service by Siemens AG and/or a subsidiary of Siemens AG ("Siemens"). They are nonbinding and make no claim to completeness or functionality regarding configuration and equipment. The application examples merely offer help with typical tasks; they do not constitute customer-specific solutions. You yourself are responsible for the proper and safe operation of the products in accordance with applicable regulations and must also check the function of the respective application example and customize it for your system. Siemens grants you the non-exclusive, non-sublicensable and non-transferable right to have the application examples used by technically trained personnel. Any change to the application examples is your responsibility. Sharing the application examples with third parties or copying the application examples or excerpts thereof is permitted only in combination with your own products. The application examples are not required to undergo the customary tests and quality inspections of a chargeable product; they may have functional and performance defects as well as errors. It is your responsibility to use them in such a manner that any malfunctions that may occur do not result in property damage or injury to persons. Disclaimer of liability Siemens shall not assume any liability, for any legal reason whatsoever, including, without limitation, liability for the usability, availability, completeness and freedom from defects of the application examples as well as for related information, configuration and performance data and any damage caused thereby. This shall not apply in cases of mandatory liability, for example under the German Product Liability Act, or in cases of intent, gross negligence, or culpable loss of life, bodily injury or damage to health, non-compliance with a guarantee, fraudulent non-disclosure of a defect, or culpable breach of material contractual obligations. Claims for damages arising from a breach of material contractual obligations shall however be limited to the foreseeable damage typical of the type of agreement, unless liability arises from intent or gross negligence or is based on loss of life, bodily injury or damage to health. The foregoing provisions do not imply any change in the burden of proof to your detriment. You shall indemnify Siemens against existing or future claims of third parties in this connection except where Siemens is mandatorily liable. By using the application examples you acknowledge that Siemens cannot be held liable for any damage beyond the liability provisions described. Other information Siemens reserves the right to make changes to the application examples at any time without notice. In case of discrepancies between the suggestions in the application examples and other Siemens publications such as catalogs, the content of the other documentation shall have precedence. The Siemens terms of use ( shall also apply. Security information Siemens provides products and solutions with industrial security functions that support the secure operation of plants, systems, machines and networks. In order to protect plants, systems, machines and networks against cyber threats, it is necessary to implement and continuously maintain a holistic, state-of-the-art industrial security concept. Siemens' products and solutions constitute one element of such a concept. Customers are responsible for preventing unauthorized access to their plants, systems, machines and networks. Such systems, machines and components should only be connected to an enterprise network or the internet if and to the extent such a connection is necessary and only when appropriate security measures (e.g. firewalls and/or network segmentation) are in place. For additional information on industrial security measures that may be implemented, please visit Siemens' products and solutions undergo continuous development to make them more secure. Siemens strongly recommends that product updates are applied as soon as they are available and that the latest product versions are used. Use of product versions that are no longer supported, and failure to apply the latest updates may increase customer s exposure to cyber threats. To stay informed about product updates, subscribe to the Siemens Industrial Security RSS Feed at: Entry ID: , V2.0, 01/2018 2

3 Table of Contents Table of Contents Legal information How to Use this Document Why Safety with the S FC CPU? Description of an Automation Task PL and SIL Achieving PL c/sil Interconnection examples Settings in the STEP 7 hardware configuration Achieving PL d/sil Interconnection examples Settings in the STEP 7 hardware configuration Achieving PL e/sil Interconnection examples Settings in the STEP 7 hardware configuration Prepared User Scenarios What applies to all user scenarios Installing the user scenario Interlocking mechanisms for safety doors with guard locking RFID safety switches Program structure Brief description of the F-library blocks Passivation and reintegration Value status s on the electric actuators User Scenario 1: Emergency Stop at PL d, e/sil 2, Sensor/actuator Safety function Hardware and software components Wiring Brief description of the core functionality Description of the user block FB F100EStopPLdeSIL Configuration and parameterization Operation of the user scenario User Scenario 2: Emergency Stop at PL c/sil Sensor/actuator Safety function Hardware and software components Wiring Brief description of the core functionality Description of the user block FB F02EStopPLcSIL Configuration and parameterization Operation of the user scenario User Scenario 3: Emergency Stop at PL d/sil Sensor/actuator Safety function Hardware and software components Wiring Brief description of the core functionality Description of the user block FB F03EStopPLdSIL Entry ID: , V2.0, 01/2018 3

4 Table of Contents 9.7 Configuration and parameterization Operation of the user scenario User Scenario 4: Emergency Stop at PL c/sil Sensor/actuator Safety function Hardware and software components Wiring Brief description of the core functionality Description of the user block FB F04EStopPLcSIL Configuration and parameterization Operation of the user scenario User Scenario 5: Safety Door without Guard Locking at PL d, e/sil 2, Sensor/actuator Safety function Hardware and software components Wiring Brief description of the core functionality Description of the user block FB F05FDoorPLdeSIL Configuration and parameterization Operation of the user scenario User Scenario 6: Safety Door without Guard Locking at PL c/sil Sensor/actuator Safety function Hardware and software components Wiring Brief description of the core functionality Description of the user block FB F06FDoorPLcSIL Configuration and parameterization Operation of the user scenario User Scenario 7: Safety Door without Guard Locking at PL d/sil Sensor/actuator Safety function Hardware and software components Wiring Brief description of the core functionality Description of the user block FB F07FDoorSIL2PL Configuration and parameterization Operation of the user scenario User Scenario 8: Safety Door without Guard Locking at PL c/sil Sensor/actuator Safety function Hardware and software components Wiring Brief description of the core functionality Description of the user block FB F08FDoorPLcSIL Configuration and parameterization Operation of the user scenario User Scenario 9: Safety Door without Guard Locking at PL d, e/sil 2, Sensor/actuator Safety function Entry ID: , V2.0, 01/2018 4

5 Table of Contents 15.3 Hardware and software components Wiring Brief description of the core functionality Description of the user block FB F09FDoorPLdeSIL Configuration and parameterization Operation of the user scenario User Scenario 10: Safety Door without Guard Locking at PL d/sil Sensor/actuator Safety function Hardware and software components Wiring Brief description of the core functionality Description of the user block FB F10FDoorPldSIL Configuration and parameterization Operation of the user scenario User Scenario 11: Safety Door with Guard Locking PL d, e/sil 2, Sensor/actuator Safety functions Hardware and software components Wiring Brief description of the core functionality Description of the user block FB F11FDoorPLdeSIL Configuration and parameterization Operation of the user scenario User Scenario 12: Safety Door with Guard Locking at PL c/sil Sensor/actuator Safety function Hardware and software components Wiring Brief description of the core functionality Description of the user block FB F12FDoorPLcSIL Configuration and parameterization Operation of the user scenario User Scenario 13: Safety Door with Guard Locking at PL d/sil Sensor/actuator Safety function Hardware and software components Wiring Brief description of the core functionality Description of the user block FB F13FDoorGuardLockingPLdSIL Configuration and parameterization Operation of the user scenario User Scenario 14: Safety Door with Guard Locking at PL c/sil Sensor/actuator Safety function Hardware and software components Wiring Brief description of the core functionality Description of the user block FB F14FDoorGuardLockingPLcSIL Configuration and parameterization Operation of the user scenario Entry ID: , V2.0, 01/2018 5

6 Table of Contents 21 User Scenario 15: Emergency Stop + Safety Door without Guard Locking at PL d, e/sil 2, Sensor/actuator Safety function Hardware and software components Wiring Brief description of the core functionality Description of the user block FB F15EStopFDoorPLdeSIL Configuration and parameterization Operation of the user scenario User Scenario 16: Emergency Stop + Safety Door without Guard Locking at PL c/sil Sensor/actuator Safety function Hardware and software components Wiring Brief description of the core functionality Description of the user block FB F16EStopFDoorPLcSIL Configuration and parameterization Operation of the user scenario User Scenario 17: Emergency Stop + Safety Door without Guard Locking at PL d/sil Sensor/actuator Safety function Hardware and software components Wiring Brief description of the core functionality Description of the user block FB F17EStopFDoorPLdSIL Configuration and parameterization Operation of the user scenario User Scenario 18: Emergency Stop + Safety Door without Guard Locking at PL c/sil Sensor/actuator Safety function Hardware and software components Wiring Brief description of the core functionality Description of the user block FB F18EStopFDoorPLcSIL Configuration and parameterization Operation of the user scenario User Scenario 19: Emergency Stop + Safety Door without Guard Locking at PL d, e/sil 2, Sensor/actuator Safety function Hardware and software components Wiring Brief description of the core functionality Description of the user block FB F19EStopFDoorPLdeSIL Configuration and parameterization Operation of the user scenario User Scenario 20: Emergency Stop + Safety Door without Guard Locking at PL d/sil Sensor/actuator Entry ID: , V2.0, 01/2018 6

7 Table of Contents 26.2 Safety function Hardware and software components Wiring Brief description of the core functionality Description of the user block FB F20EStopFDoorPLdSIL Configuration and parameterization Operation of the user scenario User Scenario 21: Emergency Stop + Safety Door with Guard Locking at PL d, e/sil 2, Sensor/actuator Safety function Hardware and software components Wiring Brief description of the core functionality Description of the user block FB F21EStopFDoorPLdeSIL Configuration and parameterization Operation of the user scenario User Scenario 22: Emergency Stop + Safety Door with Guard Locking at PL c/sil Sensor/actuator Safety function Hardware and software components Wiring Brief description of the core functionality Description of the user block FB F22EStopFDoorPLcSIL Configuration and parameterization Operation of the user scenario User Scenario 23: Emergency Stop + Safety Door with Guard Locking at PL d/sil Sensor/actuator Safety function Hardware and software components Wiring Brief description of the core functionality Description of the user block FB F23EStopFDoorGuardLockingPLdSIL Configuration and parameterization Operation of the user scenario Additional information on engineering Emergency stop Safety door including guard locking SINAMICS G User Scenario 24: Emergency Stop + Safety Door with Guard Locking at PL c/sil Sensor/actuator Safety function Hardware and software components Wiring Brief description of the core functionality Description of the user block FB F24EStopFDoorGuardLockingPLcSIL Configuration and parameterization Operation of the user scenario Links and Literature Entry ID: , V2.0, 01/2018 7

8 Table of Contents 32 History Entry ID: , V2.0, 01/2018 8

9 1 How to Use this Document 1 How to Use this Document This document describes a large number of typical user scenarios from the field of functional safety. From this variety of user scenarios, you can select (chapter 5 and the following chapters) a scenario you are particularly interested in. Therefore, it is not necessary to read the entire document. 2 Why Safety with the S FC CPU? Simple stand-alone solutions SIMATIC S with Safety Integrated is the intelligent choice for all the everyday standard and fail-safe automation tasks with a small project scope: Certified for functional safety according to EN (version 2010) Suitable for use in safety-related applications up to SIL 3 according to IEC 62061: A1: A2:2015 and PL e according to EN ISO :2015 Additional password protection for the F-configuration and safety program F-blocks certified by TÜV are available for support. You can integrate these blocks into your solutions. This document supports you in doing so. PROFIsafe The S FC CPU also supports distributed solutions. In this context, the PROFIsafe profile allows safety-related applications. Economic efficiency As part of Safety Integrated, the S FC CPU stands for the consistent implementation of safety technology in the sense of Totally Integrated Automation. This includes consistent and convenient integration of safety technology into standard automation. This results in tremendous advantages for machine manufacturers and plant operators particularly in economic terms. The TIA Portal automation platform Engineering of the S FC CPU is performed based on the TIA Portal automation platform. This allows you to access all the advantages of Totally Integrated Automation (TIA): TIA Portal is designed for efficiency, intuitive operation and future viability. It allows you to solve all the engineering tasks of automation and drive technology. Entry ID: , V2.0, 01/2018 9

10 3 Description of an Automation Task 3 Description of an Automation Task This document assumes that a risk analysis and assessment have already been performed. The technical measures for risk reduction on the cutting machine to be examined are implemented through the safety devices safety door and emergency stop pushbutton (see the figure below) Figure 3-1 Cutting machine with safety door and emergency stop pushbutton The following questions reflect the automation task to be discussed in this document: Safety door with or without guard locking? Is it possible to open the safety door during operation without shutting down the machine? How do I connect the components? How does the PLC support me? How and what can I parameterize? What can I program? How do I achieve PL e/sil 3? What if I don't need PL e/sil 3 but PL d/sil 2 or PL c/sil 1? This document provides specific answers to these questions. Before chapter 5 and the following chapters refer to specific user scenarios, chapter 4 provides basic information on the safety integrity and performance level. Entry ID: , V2.0, 01/

11 4 PL and SIL 4 PL and SIL The performance level (PL) or safety integrity level (SIL) classifies electrical and (programmable) electronic systems in terms of the reliability of safety functions. You implement a PL when you follow EN ISO :2015. SIL when you follow IEC (basic standard) or IEC 62061: A1: A2:2015 (sector standard). Table 4 of EN ISO :2015 specifies a relationship between PL and SIL: Table 4-1 Relationship between performance level (PL) and safety integrity level (SIL) from table 4 of EN ISO :2015 PL SIL (high/continuous mode of operation) a - b 1 c 1 d 2 e 3 The following applies: PL e/sil 3 describes the highest degree of safety. NOTICE This document does not replace the standards for functional safety! However, it shows concise aspects of engineering and its aim is to contribute to their clarification. The statements in this chapter are of a general nature. They do not directly relate to the F-library blocks offered for this documentation or settings of the associated hardware configuration. The following sections list the numerical values for the probability of a dangerous failure per hour. You need these PFH D values to assess your safety function. This assessment can be made conveniently using the Safety Evaluation Tool (SET). For the SET, visit Entry ID: , V2.0, 01/

12 4 PL and SIL 4.1 Achieving PL c/sil 1 General This chapter deals with emergency stops and position switches. The statements generally apply to electromechanical components. The following applies to PL c/sil 1: 10 6 PFH D < The circuit design may be a single-channel design Interconnection examples Example of an emergency stop interconnection Assign the emergency stop signal to the F-DI on a single-channel basis to achieve PL c/sil 1. Figure 4-1 Emergency stop interconnection for PL c/sil 1 F-DI E-stop Example of a safety door interconnection Assign the position switch signal to the F-DI on a single-channel basis to achieve PL c/sil 1. Figure 4-2 Interconnection of a position switch for PL c/sil 1 F-DI Position switch Entry ID: , V2.0, 01/

13 4 PL and SIL Settings in the STEP 7 hardware configuration You can assign on a single-channel basis the emergency stop pushbutton (or position switch) to any channel (shown for channel 0 in the below figure). Figure 4-3 Settings for the F-DI in the hardware configuration Table 4-2 Explanation of the above figure No. Explanation Select the appropriate channel pair (here: "Channel 0, 8"). The default setting is "1oo1 evaluation". : 1oo1 = 1 out of 1 The channels are activated by default. : You should deactivate unused channels. For PL c/sil 1, you can set internal or external sensor supply. : We recommend the internal sensor supply offered in the hardware configuration of the respective user scenarios. Entry ID: , V2.0, 01/

14 4 PL and SIL 4.2 Achieving PL d/sil 2 General This chapter deals with emergency stops and position switches. The statements generally apply to electromechanical components. The following applies to PL d/sil 2: 10 7 PFH D < 10 6 The circuit design should be a two-channel design 1 ). Internal or external sensor supply can be used. 1 ) Single-channel circuit design (hardware fault tolerance (HFT) = 0) is basically possible for PL d/sil 2; in this case, however, you have to increase the safe failure fraction (SFF). When HFT = 0, this value would be in the following range: 90% SFF < 99% The correlation between HFT and SFF can be found in table 5 of IEC 62061: A1: A2:2015 (see \4\). For help with IEC 62061, please refer to Interconnection examples Example of an emergency stop Assign the emergency stop signal to the F-DI on a two-channel basis to achieve PL d/sil 2. Figure 4-4 Emergency stop interconnection for PL d/sil 2 F-DI E-stop Example of a safety door application Use two position switches to achieve PL d/sil 2. Assign each switch to the F-DI on a single-channel basis. The evaluation itself is performed on a two-channel basis (for more information, please refer to chapter 4.2.2). Entry ID: , V2.0, 01/

15 4 PL and SIL Figure 4-5 Interconnection of a position switch for PL d/sil 2 F-DI Position switch 1 Position switch Settings in the STEP 7 hardware configuration Emergency stop You can assign the emergency stop to any provided channel pair (this is shown for the channel pair 0 and 8 in the below figure). Figure 4-6 Settings of the F-DI for the emergency stop in the hardware configuration Entry ID: , V2.0, 01/

16 4 PL and SIL Table 4-3 Explanation of the above figure No. Explanation Select the appropriate channel pair (here: "Channel 0, 8"). Select "1oo2 evaluation, equivalent" : 1oo1 = 1 out of 2, equivalent due to the same logic (normally closed contact, NC/NC) of the sensors For PL d/sil 2, after a channel fault, reintegration requires a FALSE signal. The channels are activated by default. : You should deactivate unused channels. For PL d/sil 2, you can set internal or external sensor supply. : We recommend the internal sensor supply offered in the hardware configuration of the respective user scenarios evaluation automatically applies for the second channel evaluation automatically applies for the second channel. Position switches In the prepared examples, the 1oo2 evaluation of the position switches is performed by the FB SFDOOR F-library block. This block requires a single-channel signal at each of two inputs. For this reason, each of the two inputs is parameterized as a 1oo1 evaluation in the hardware configuration. Figure 4-7 Settings of the F-DI for the position switches in the hardware configuration Entry ID: , V2.0, 01/

17 4 PL and SIL Here, too, the following applies: You should deactivate unused channels. For PL d/sil 2, you can set internal or external sensor supply. We recommend internal sensor supply. For PL d/sil 2, after a channel fault, reintegration requires a FALSE signal. For the safety door, this is automatically done by the FB SFDOOR F-library block so that, in the hardware configuration, the "Test 0- Signal not necessary" setting can be kept. To implement a 1oo1 evaluation with two sensors for each switch, it is not mandatory to select a channel pair (e.g., 0, 8 or 1, 9 or ). Figure 4-8 1oo2 evaluation in the FB SFDOOR F-library block 1oo2 evaluation is performed in the block Entry ID: , V2.0, 01/

18 4 PL and SIL 4.3 Achieving PL e/sil 3 General This chapter deals with emergency stops and position switches. The statements generally apply to electromechanical components. The following applies to PL e/sil 3: The circuit design must be a two-channel design and a cross-circuit must be safely detected or ruled out PFH D < Interconnection examples Example of an emergency stop The interconnection for SIL 3/PL e is the same as the one shown in Figure 4-4 for PL d/sil 2. Example of a safety door application The interconnection for SIL 3/PL e is the same as the one shown in Figure 4-5 for PL d/sil Settings in the STEP 7 hardware configuration Emergency stop The settings of PL d/sil 2 apply. In addition, the following applies: The ability to withstand crossover required by PL e/sil 3 can only be implemented using internal sensor supply. Figure 4-9 Activating the short-circuit test You can deactivate the short-circuit test if you can otherwise rule out a crosscircuit, for example, by installing protected lines. The short-circuit test must be deactivated for sensors that perform internal short-circuit monitoring. Position switches The statements under "Position switches" in chapter apply. In addition, the statements made on the emergency stop earlier in this chapter (4.3.2) apply accordingly. Entry ID: , V2.0, 01/

19 5 Prepared User Scenarios 5 Prepared User Scenarios Prepared user scenarios In many areas of production engineering, emergency stop buttons and safety doors are typical safety devices to implement your safety function. Various options exist for implementing typical safety functions with emergency stop and/or safety door. From a total of 24 user scenarios, we offer you solutions for your safety function with emergency stop and safety door. All solutions include the F-program block that solves the automation task. Simply select your application from the table on the page following the next page. Figure 5-1 Emergency stop pushbutton + safety door with guard locking Entry ID: , V2.0, 01/

20 5 Prepared User Scenarios Table 5-1 Matrix of the prepared user scenarios Scenario Safety level Safety device Actuator No. PL SIL Emergency stop Safety door Without guard locking Position switch RFID safety switch With guard locking Contactor (central configuration) SINAMICS G120 via PROFIsafe Link 1 d, e 2, 3 X X Chapter 7 2 c 1 X X Chapter 8 3 d 2 X X Chapter 9 4 c 1 X X Chapter 10 5 d, e 2, 3 X X Chapter 0 6 c 1 X X Chapter 12 7 d 2 X X Chapter 13 8 c 1 X X Chapter 14 9 d, e 2, 3 X X Chapter X X Chapter 16 d 2 11 d, e 2, 3 X X Chapter c 1 X X Chapter d 2 X X Chapter c 1 X X Chapter d, e 2, 3 X X X Chapter c 1 X X X Chapter d 2 X X X Chapter c 1 X X X Chapter d, e 2, 3 X X X Chapter d 2 X X X Chapter d, e 2, 3 X X X Chapter 27 Entry ID: , V2.0, 01/

21 5 Prepared User Scenarios Scenario Safety level Safety device Actuator No. PL SIL Emergency stop Safety door Without guard locking Position switch RFID safety switch With guard locking Contactor (central configuration) SINAMICS G120 via PROFIsafe 22 c 1 X X X Chapter d 2 X X X Chapter c 1 X X X Chapter 30 Link The row highlighted in color in the above table shows scenarios that provide additional information on engineering and are also valid for other scenarios. These additional scenarios comprise: Emergency stop Safety door including guard locking SINAMICS G120 Password Password for changes in the safety program: siemens Solution for the user scenarios Each of the 24 user scenarios is discussed in a separate chapter (chapter 7 and the following chapters). This concisely provides you with all the information required for the user scenario you are reading. The next chapter, 6, provides global information that applies to all user scenarios. At the appropriate points in the individual user scenarios, there are links to this information. You can read the next chapter (6) or specifically access it from the individual user scenarios. Entry ID: , V2.0, 01/

22 6 What applies to all user scenarios 6 What applies to all user scenarios 6.1 Installing the user scenario If you make changes to safety-related settings or the safety program, you will be prompted for a password. This password is siemens. When you have selected your user scenario, the following instructions help you download and use it. Downloading the S7_1200F_LIB_V15 library 1. Download the S7_1200F_LIB_V15SP1.zip file to any Windows directory. 2. Extract the zip file: "Right-click > 7-Zip > Extract" Opening the S7_1200F_LIB_V15 library 3. In TIA Portal, create a new S7 project: "Project > New". 4. Enter a name and the storage path. 5. Click "Libraries" Figure 6-1 Opening libraries 6. Click the "open global library" icon Figure 6-2 "open global library" icon 7. Locate the S7_1200F_LIB_V15 file Important: Uncheck "Open as read-only" before you click "Open". Figure 6-3 "Open as read-only" checked Entry ID: , V2.0, 01/

23 6 What applies to all user scenarios Hardware configuration, F-user block and selection of the user scenario 8. Open the folder of your user scenario (shown here: "01EStopSIL3PLe"). 9. Use drag and drop to move "PLC_1" to "Devices & networks" Figure 6-4 Drag and drop hardware configuration to STEP 7 project Drag & Drop Drag & Drop 10. Open "Program blocks" Figure 6-5 "Program blocks" folder The F-user block is located in the STEP 7 project. 11. Select "PLC_1 [CPU 1215FC DC/DC/RLY]" > Right-click > "Compile" > "Hardware (rebuild all)". 12. Select "PLC_1 [CPU 1215FC DC/DC/RLY]" > Right-click > "Compile" > "Software (rebuild all blocks)". 13. "Save project". Entry ID: , V2.0, 01/

24 6 What applies to all user scenarios Downloading to the CPU 1. Select the "PLC_1" F-CPU. Right-click > Download to device > Hardware configuration 2. Establish an online connection to the S FC CPU. Figure 6-6 Preparing the download 3. Select the "PLC_1" F-CPU. Right-click > Download to device > Software (only changes) Entry ID: , V2.0, 01/

25 6 What applies to all user scenarios 6.2 Interlocking mechanisms for safety doors with guard locking You should read this chapter if you are using a safety door with guard locking. An output of the F-DQ activates a magnet in the position switch. The magnet implements guard locking depending on whether (1 signal from the F-DQ) or not (0 signal from the F-DQ) it is activated. Figure 6-7 Control of the coil in the position switch F-DQ Basically, there are two interlocking mechanisms: Locking with electro-magnetic force Locking with spring force Locking with electro-magnetic force To interlock the safety door, the coil must be controlled with 1 signal. Locking with spring force To interlock the safety door, the coil must be de-energized (0 signal). Which option is preferable? Locking with spring force has the advantage that in the event of a failure of the F- DQ channel that controls the coil of the position switch, this channel safely outputs 0 signal and therefore the coil remains de-energized; this means the guard locking of the safety door remains active or is automatically activated. For this reason, the user scenarios for safety doors with guard locking shown here use the locking with spring force mechanism. Monitoring the locking device Safety door signals The SIRIUS 3SE5 position switch allows monitoring of the locking device position. This information is read in via a standard DI. The following section provides an overview of the safety door signals where Entry ID: , V2.0, 01/

26 6 What applies to all user scenarios fdoorcoil emagnet sepact hingedswitch are variables of the safety program of your user scenario. Figure 6-8 Correlation between control of guard locking (fdoorcoil variable) and monitoring of guard locking (emagnet variable) E1 fdoorcoil = 0 (0 signal from F-DQ) E2 causes 41 emagnet = 1 42 fdoorcoil = 1 (1 signal from F-DQ) 41 E1 E2 causes emagnet = 0 42 Figure 6-9 Correlation between the actuator and the "sepact" variable Actuator inserted (door closed) causes 11 sepact = 1 12 Actuator not inserted (door open) 11 causes sepact = 0 12 Entry ID: , V2.0, 01/

27 6 What applies to all user scenarios Figure 6-10 Hinge switch Hinge switch 11 Unoperated (door closed) hingedswitch = Operated (door open) sepact = 0 12 Normative assessment of guard locking For the normative assessment of a safety door application, a distinction has to made between: Opening and closing of the safety door Guard locking of the safety door Due to the use of spring-actuated lock position switches, guard locking remains active in the event of an electrical fault (e.g., passivation of the channel of the F- DQ) (safety door cannot be opened). A fault current on the magnet at a time when the safety door must be closed (hazardous machine active, "fdoorcoil"=1) must result in the safe shutdown of the machine. Theoretically, someone could open the door at this very moment, which might cause a hazard. Therefore, PL e/sil 3 e cannot be achieved for the guard locking. Chapter 8.4 (see \3\) of DIN EN ISO addresses this subject and assumes that in most cases the required PL or SIL of the guard locking function is lower than the required PL or SIL of the interlocking function. The probability of a guard locking function failure while a person simultaneously enters the area is considered to be very low. The user scenarios provided in this document are based on this assessment. Entry ID: , V2.0, 01/

28 6 What applies to all user scenarios 6.3 RFID safety switches Internally, the non-contact RFID safety switches have a two-channel design. Because of this, and because it is tamper-proof due to its RFID technology, a redundant safety switch is not required to achieve PL e or SIL 3. Figure 6-11 RFID safety switch When parameterizing, keep in mind that the RFID safety switch performs an internal short-circuit test. Therefore, deselect short-circuit monitoring in the DI parameters (see Figure 4-9). If you need short-circuit monitoring for other sensors connected to the F-DI, set "external power supply" for the RFID safety switch. Then short-circuit monitoring can remain selected. 6.4 Program structure F-library blocks The block offered for your user scenario is your user interface (F-user FB). All other blocks that are used need not be edited. To provide an overall understanding of the F-user FB within the safety program, some explanations will be given below. To implement the respective safety function, the F-user FBs access certified F- library blocks included in STEP 7 Safety. The following F-library blocks are used in the application examples shown here: Emergency stop (FB ESTOP1) Safety door (FB SFDOOR) Readback (FB FDBACK) Reintegration via all F-I/O (FB ACK_GL) F-user FB The F-user FB of your selected user scenario includes at least two of the abovelisted F-library blocks. Entry ID: , V2.0, 01/

29 6 What applies to all user scenarios Figure 6-12 F-user FB and used F-library blocks F-user FB FB SFDOOR FB ESTOP1 FB FDBACK F-library blocks FB ACK_GL While you can change the F-user FB, the F-library blocks are know-how protected. The F-user FBs are also provided to you in a block library. However, this is not the F-library included in STEP 7 Safety. Execution of the safety program The standard program is interrupted by the safety program (F-program) in fixed time slices. During this process, an F-OB (FOB_RTG1) calls the Main_Safety_RTG1 F-block. Figure 6-13 Call of the safety program FB Main_Safety_RTG1 calls the F-user FB. Entry ID: , V2.0, 01/

30 6 What applies to all user scenarios 6.5 Brief description of the F-library blocks The following section provides a brief description of the functionality of the F-library blocks. For related information on the individual F-library blocks, please refer to the STEP 7 online help. Select the F-library block in the safety program editor > Press "F5" Emergency stop: FB ESTOP1 The signals from the emergency stop pushbutton are read in to the F-DI on a twochannel basis (except for SIL1/PL c). To achieve PL e/sil 3, both signals must carry the same signal when the emergency stop pushbutton is actuated within a certain configurable time. When this time is exceeded, the block reacts in the same way as when the emergency stop is pressed: by resetting the Q output. Figure 6-14 Discrepancy analysis for the emergency stop F-CPU E-stop Chnl 1 Chnl 2 F-DI Discrepancy analysis The evaluation of the two channels is performed in the F-DI. In the safety program, the processed signal is available as an input in the process image. This always corresponds to the lower address of the two channels. Safety door: FB SFDOOR This F-FB monitors the correct closing of the safety door. In the examples, the evaluation is performed via two input channels: Insertion of the actuator into the position switch Position of the hinge switch Figure 6-15 Reading in position switch/actuator and hinge switch Position switch Actuator Hinge switch If the two signals do not correlate as expected, this will be detected as a fault and the Q output will not be set/reset. Entry ID: , V2.0, 01/

31 6 What applies to all user scenarios Example: An actuator that has broken off the swinging part of the safety door inserted in the position switch outputs the information "safety door closed" when the safety door is opened. The hinge switch, in contrast, outputs the information "safety door open". This discrepancy is detected by FB SFDOOR and the Q output is reset to 0 signal. After such a fault, it is always necessary to completely open and close the safety door before the fault can be acknowledged. This ensures that, for example, an actuator that has broken off is safely detected. Readback: FB FDBACK This block compares, for example for a contactor, whether the state of the contactor coil correctly correlates with the state of the contactor auxiliary contact. Figure 6-16 FB FDBACK Contactor auxiliary contact K1 Contactor coil K1 If these two states are not plausible to each other after a configurable period of time, the Q output (here: the contactor coil) will be safely disabled. This allows you to react, for example, to a welded contactor. Reintegration: FB ACK_GL Passivated F-modules/channels cannot output process values until the fault has been cleared and the F-module/channel has been reintegrated (see also chapter 6.6). With FB ACK_GL used here, you reintegrate the entire F-I/O of an F-runtime group. 6.6 Passivation and reintegration Passivation The safety program provides a set of commands that allows you to safely shut down one or more actuators. Typical applications include emergency stop or the unauthorized opening of a safety door. Furthermore, situations can arise where functional errors occur. In this context, the following example describes a discrepancy error: Example: Two sensors (normally closed contacts, NC) are read in via an F-DI. A time value is configured to evaluate the discrepancy time. If a sensor changes its state, e.g. from 1 to 0 signal, this change must also be made within the configured discrepancy Entry ID: , V2.0, 01/

32 6 What applies to all user scenarios time by the sensor on the other channel; otherwise, the F-system detects a functional error (here: discrepancy error). Figure 6-17 Passivation due to discrepancy error F-DI Sensor 1 Sensor 2 Chnl 1 Chnl 2 Discrepancy analysis Time elapsed Discrepancy error Reintegration The discrepancy error automatically results in passivation of the respective channels. In case of passivation, the affected channel outputs substitute values (0 signal) instead of the process values. The author of the safety program must ensure that 0 signal corresponds to the safe state. Even if the error that caused passivation is no longer present, passivation persists. To enable the passivated channel to output process values, reintegration is required. The term "depassivation" is also used as a synonym for reintegration. This document uses only the term reintegration. Reintegration of the F-I/O after clearing the errors requires user acknowledgment with a positive edge at the ACK_REI variable of the F-I/O DB. For this purpose, you can provide, for example, the acknowledgment button, a separate button or also an HMI. WARNING Death or severe personal injury may result if you implement reintegration in the program without deliberate acknowledgment (automatic reintegration). Automatic reintegration may only be used if it does not result in hazards such as the unexpected startup of hazardous machines. The risk analysis is to confirm this. In addition, the FB ACK_GL F-library block provides you with the option to reintegrate the entire F-I/O (see chapter 6.5). Entry ID: , V2.0, 01/

33 6 What applies to all user scenarios 6.7 Value status The value status is binary additional information on a channel value of an F-I/O and entered in the process input image (PII). Variable names that contain the value status have the "VS" suffix at the end. The value status provides you with information on the valid channel value: 1: A valid process value is output for the channel. 0: A substitute value is output for the channel. The table below shows an example of the address assignment in the PII for the 16- channel F-DI: Table 6-1 Example of the address assignment in the PII for a fail-safe digital input module with 16 channels Byte in the F-CPU Assigned bits in the F-CPU per F-module: x + 0 DI 8 DI 7 DI 6 DI 5 DI 4 DI 3 DI 2 DI 1 x + 1 DI 16 DI 15 DI 14 DI 13 DI 12 DI 11 DI 10 D I9 x + 2 DI 8 value status DI 7 value status DI 6 value status DI 5 value status DI 4 value status DI 3 value status DI 2 value status DI 1 value status x + 3 DI 16 value status DI 15 value status DI 14 value status DI 13 value status DI 12 value status DI 11 value status DI 10 value status D I9 value status Example: The address of the value status of a fail-safe input E0.0 would be E s on the electric actuators Among other things, the user scenarios provided in this document differ in the types of actuators used: Electromechanical actuators Electric actuators In the case of electromechanical actuators (e.g., contactors), the readback signal is processed accordingly by the actuator. In the case of certified electric actuators (e.g., F-drives), safety-related checks are performed within the actuator. The F-actuator included in the user scenarios described in this document is the SINAMICS G120 connected via PROFINET. The safe data is exchanged via the PROFIsafe profile and transferred using the PROFINET protocol. Entry ID: , V2.0, 01/

34 7 User Scenario 1: Emergency Stop at PL d, e/sil 2, 3 7 User Scenario 1: Emergency Stop at PL d, e/sil 2, Sensor/actuator Sensor: Emergency stop pushbutton Actuator: electromechanical (contactor) 7.2 Safety function The safety function is as follows: Pressing the emergency stop button safely shuts down the actuator. 7.3 Hardware and software components You need the hardware and software components listed below. Hardware components Table 7-1 Hardware Component No. Article number CPU 1215FC DC/DC/RLY SM 1226 F- DI8/16x24VDC SM 1226 F-DQ 4x24VDC Enclosed pushbutton (NO) Enclosed pushbutton (NO) Enclosed pushbutton (NC) Emergency stop pushbutton (NC) 2 nd NC for emergency stop 1 6ES7215-1HF40-0XB0 FW4.2 or higher 1 6ES7226-6BA32-0XB0 1 6ES DA32-0XB0 1 3SU1100-0AB40-1BA0 Green, screw terminal 1 3SU1100-0AB40-1BA0 Blue, screw terminal 1 3SU1100-0AB20-1CA0 Red, screw terminal 1 3SU1100-1HB20-1CF0 1 3SU1400-1AA10-1CA0 Contactors 2 3RT2015-2BB42 Software components Table 7-2 Software Component No. Article number STEP 7 Basic V15 1 6ES7822-0AA05-0YA5 Or STEP 7 Professional V15 STEP 7 Safety Basic V15 1 6ES7833-1FB15-0YA5 Or STEP 7 Safety Advanced V15 Entry ID: , V2.0, 01/

35 7 User Scenario 1: Emergency Stop at PL d, e/sil 2, Wiring The figure below shows the wiring of the hardware components. Figure 7-1 Emergency stop PL e/sil 3 wiring 24V DC M stop start ack L1 M K2 K1 L+.3.4 L+ M Vs1.0 K1 0+ K2 0- Vs2.0 estop In the safety program, the auxiliary contacts of the contactors K1 and K2 are termed "feedback1" and "feedback2". Entry ID: , V2.0, 01/

36 7 User Scenario 1: Emergency Stop at PL d, e/sil 2, Brief description of the core functionality The following flowchart provides a concise description of the core functionality. Figure 7-2 Core functionality Start Actuators switch off E-stop pressed? E-stop released? No No Stop caused by e-stop or 1 st start? No Acknowledge Actuators switch off Operational stop? Start condition met No Actuators on Entry ID: , V2.0, 01/

37 7 User Scenario 1: Emergency Stop at PL d, e/sil 2, Description of the user block FB F100EStopPLdeSIL23 The names of the prepared F-user FBs start with an "F" and a number for the block number that refers to the user scenario number (e.g., FB F20EStopFDoorPLdSIL2 refers to User Scenario 20). The only exception to this convention is FB F100EStopPLdeSIL23, which refers to User Scenario 1. "100" was used instead of "1", because the block number "1" is assigned to the Main_Safety_RTG1 by default. Figure 7-3 F-user FB F100EStopPLdeSIL23 NOTICE For F-blocks, the enable input (EN) must not be wired. Parameter description The following section describes the inputs and outputs of FB F100EStopPLdeSIL23. NO: normally open (contact); NC: normally closed (contact) Table 7-3 Inputs of FB F100EStopPLdeSIL23 Description Symbol Data type Convention Acknowledgment ack BOOL NO 1: Acknowledgment Start request start BOOL NO 1: Start request Stop request stop BOOL NC 0: Stop request Readback signal from auxiliary contact of contactor K1 readbackk1 BOOL NC 0: Contactor has picked up Positive edge required after triggering the safety function to reintegrate F-I/O Entry ID: , V2.0, 01/

38 7 User Scenario 1: Emergency Stop at PL d, e/sil 2, 3 Description Symbol Data type Convention Readback signal from auxiliary contact of contactor K2 Emergency stop pushbutton readbackk2 BOOL estop BOOL NC/NC 0: Emergency stop triggered Output K1K2 value status K1K2_VS BOOL 0: Fault Time between the control command and the response of the contactors feedbacktime TIME Table 7-4 Outputs of FB F100EStopPLdeSIL23 Description Symbol Data type Convention Contactors K1/K2 K1K2 BOOL 1: Control command for the contactors Release emergency stop Acknowledgment required releaseestop BOOL 1: Emergency stop released and acknowledged AckReqEStop BOOL 1: Acknowledgment required Actuator on F-DQ Information of the F-library blocks. Can be read out, for example, in the standard user program. 7.7 Configuration and parameterization The STEP 7 hardware configuration (HW Config) has already been prepared for commissioning FB F100EStopPLdeSIL23. Customizations are possible. The associated HW Config can be found in the provided block library. WARNING Inappropriate values for safety-related settings may result in the safety function not being triggered in the event of danger. Please keep this in mind if, due to your requirements, you want to change the settings shown here. For more information on the hardware configuration in this user scenario, please refer to chapter Entry ID: , V2.0, 01/

39 7 User Scenario 1: Emergency Stop at PL d, e/sil 2, Operation of the user scenario For demonstration purposes, this document shows different user scenarios. These scenarios can also be used as verification steps for validation. For information on installing the user scenario, please refer to chapter 6.1. Requirements: No faults Emergency stop released Table 7-5 Start actuator No. Action Comment 1 Press ack Acknowledgment mandatory when starting the scenario for the first time 2 Press start K1K2 picks up 3 Press stop K1K2 drops out Table 7-6 Safety function: Trigger emergency stop No. Action Comment 1 Press ack Acknowledgment mandatory when starting the scenario for the first time 2 Press start K1K2 picks up 3 Press the emergency stop (estop) K1K2 drops out 4 Release the emergency stop (estop) 5 Press start K1K2 does not pick up (acknowledgment required) 6 Start again with no. 1 Table 7-7 Trigger readback error No. Action Comment 1 Press ack Acknowledgment mandatory when starting the scenario for the first time 2 Press start K1K2 picks up 3 Make sure that K1 or K2 does not drop out when shutting down Simulated welding of the contactor 4 Press stop Readback error is detected 5 Let the contactor drop out 6 Press start K1K2 does not pick up (acknowledgment required) 7 Start again with no. 1 Entry ID: , V2.0, 01/

40 8 User Scenario 2: Emergency Stop at PL c/sil 1 8 User Scenario 2: Emergency Stop at PL c/sil Sensor/actuator Sensor: Emergency stop pushbutton Actuator: electromechanical (contactor) 8.2 Safety function The safety function is as follows: Pressing the emergency stop button safely shuts down the actuator. 8.3 Hardware and software components You need the hardware and software components listed below. Hardware components Table 8-1 Hardware Component No. Article number CPU 1215FC DC/DC/RLY SM 1226 F- DI8/16x24VDC SM 1226 F-DQ 4x24VDC Enclosed pushbutton (NO) Enclosed pushbutton (NO) Enclosed pushbutton (NC) Emergency stop pushbutton (NC) 1 6ES7215-1HF40-0XB0 FW4.2 or higher 1 6ES7226-6BA32-0XB0 1 6ES DA32-0XB0 1 3SU1100-0AB40-1BA0 Green, screw terminal 1 3SU1100-0AB40-1BA0 Blue, screw terminal 1 3SU1100-0AB20-1CA0 Red, screw terminal 1 3SU1100-1HB20-1CF0 Contactors 1 3RT2015-2BB42 Software components Table 8-2 Software Component No. Article number STEP 7 Basic V15 1 6ES7822-0AA05-0YA5 Or STEP 7 Professional V15 STEP 7 Safety Basic V15 1 6ES7833-1FB15-0YA5 Or STEP 7 Safety Advanced V15 Entry ID: , V2.0, 01/

41 8 User Scenario 2: Emergency Stop at PL c/sil Wiring The figure below shows the wiring of the hardware components. Figure 8-1 Emergency stop PL c/sil 1 wiring 24V DC M stop start ack L1 M K1 L+.3 L+ M Vs1.0 K estop In the safety program, the auxiliary contact of contactor K1 is termed "feedback". Due to the use of the FB FDBACK F-library block, it is useful to monitor readback. Basically, monitoring the readback signals is not required for PL c/sil 1. Entry ID: , V2.0, 01/

42 8 User Scenario 2: Emergency Stop at PL c/sil Brief description of the core functionality The following flowchart provides a concise description of the core functionality. Figure 8-2 Core functionality Start Actuator switches off E-stop pressed? E-stop released? No No Stop caused by e-stop or 1 st start? No Acknowledge Actuator switches off Operational stop? Start condition met No Actuator on Entry ID: , V2.0, 01/

43 8 User Scenario 2: Emergency Stop at PL c/sil Description of the user block FB F02EStopPLcSIL1 Figure 8-3 F-user FB F02EStopPLcSIL1 NOTICE For F-blocks, the enable input (EN) must not be wired. Parameter description The following section describes the inputs and outputs of FB F02EStopPLcSIL1. NO: normally open (contact); NC: normally closed (contact) Table 8-3 Inputs of FB F02EStopPLcSIL1 Description Symbol Data type Convention Acknowledgment ack BOOL NO 1: Acknowledgment Start request start BOOL NO 1: Start request Stop request stop BOOL NC 0: Stop request Readback signal from auxiliary contact of contactor K1 Emergency stop pushbutton readbackk1 BOOL NC 0: Contactor has picked up estop BOOL NC 0: Emergency stop triggered Output K1 value status K1VS BOOL 0: Fault Time between the control command and the response of the contactor feedbacktime TIME Positive edge required after triggering the safety function to reintegrate F-I/O Entry ID: , V2.0, 01/

44 8 User Scenario 2: Emergency Stop at PL c/sil 1 Table 8-4 Outputs of FB F02EStopPLcSIL1 Description Symbol Data type Convention Contactor K1 K1 BOOL 1: Actuator switched (contactor has picked up) Release emergency stop Acknowledgment required releaseestop BOOL 1: Emergency stop released and acknowledged AckReqEStop BOOL 1: Acknowledgment required Actuator on F-DQ Information of the F-library blocks. Can be read out, for example, in the standard user program. 8.7 Configuration and parameterization The STEP 7 hardware configuration (HW Config) has already been prepared for commissioning FB F02EStopPLcSIL1. Customizations are possible. The associated HW Config can be found in the provided block library. WARNING Inappropriate values for safety-related settings may result in the safety function not being triggered in the event of danger. Please keep this in mind if, due to your requirements, you want to change the settings shown here. For more information on the hardware configuration in this user scenario, please refer to chapter Entry ID: , V2.0, 01/

45 8 User Scenario 2: Emergency Stop at PL c/sil Operation of the user scenario For demonstration purposes, this document shows different user scenarios. These scenarios can also be used as verification steps for validation. For information on installing the user scenario, please refer to chapter 6.1. Requirements: No faults Emergency stop released Table 8-5 Start actuator No. Action Comment 1 Press ack Acknowledgment mandatory when starting the scenario for the first time 2 Press start K1 picks up 3 Press stop K1 drops out Table 8-6 Safety function: Trigger emergency stop No. Action Comment 1 Press ack Acknowledgment mandatory when starting the scenario for the first time 2 Press start K1 picks up 3 Press the emergency stop (estop) K1 drops out 4 Release the emergency stop (estop) 5 Press start K1 does not pick up (acknowledgment required) 6 Start again with no. 1 Table 8-7 Trigger readback error No. Action Comment 1 Press ack Acknowledgment mandatory when starting the scenario for the first time 2 Press start K1 picks up 3 Make sure that K1 does not drop out when shutting down Simulated welding of the contactor 4 Press stop Readback error is detected 5 Let the contactor drop out 6 Press start K1 does not pick up (acknowledgment required) 7 Start again with no. 1 Entry ID: , V2.0, 01/

46 9 User Scenario 3: Emergency Stop at PL d/sil 2 9 User Scenario 3: Emergency Stop at PL d/sil Sensor/actuator Sensor: Emergency stop pushbutton Actuator: electric (SINAMICS G120) 9.2 Safety function The safety function is as follows: When the emergency stop button is pressed, the actuator is safely shut down using STO. 9.3 Hardware and software components You need the hardware and software components listed below. Hardware components Table 9-1 Hardware Component No. Article number CPU 1215FC DC/DC/RLY SM 1226 F- DI8/16x24VDC Enclosed pushbutton (NO) Enclosed pushbutton (NO) Enclosed pushbutton (NC) Emergency stop pushbutton (NC) 2 nd NC for emergency stop SINAMICS G120 CU240E-2 PN-F SINAMICS G120 PM ES7215-1HF40-0XB0 FW4.2 or higher 1 6ES7226-6BA32-0XB0 1 3SU1100-0AB40-1BA0 Green, screw terminal 1 3SU1100-0AB40-1BA0 Blue, screw terminal 1 3SU1100-0AB20-1CA0 Red, screw terminal 1 3SU1100-1HB20-1CF0 1 3SU1400-1AA10-1CA0 1 6SL3244-0BB13-1FA0 1 6SL3224-0BE17-5UA0 Software components Table 9-2 Software Component No. Article number STEP 7 Basic V15 1 6ES7822-0AA05-0YA5 Or STEP 7 Professional V15 STEP 7 Safety Basic V15 SINAMICS Startdrive 1 6ES7833-1FB15-0YA5 Or STEP 7 Safety Advanced V15 1 6SL3072-4EA02-0XG0 SINAMICS Startdrive V15 Entry ID: , V2.0, 01/

47 9 User Scenario 3: Emergency Stop at PL d/sil Wiring The figure below shows the wiring of the hardware components. Figure 9-1 Emergency stop PL d/sil 2 wiring 24V DC M stop start ack L1 M L+ L+ M Vs1.0 PROFINET IE estop For the actuators used in this user scenario, please also refer to chapter 6.8. Entry ID: , V2.0, 01/

48 9 User Scenario 3: Emergency Stop at PL d/sil Brief description of the core functionality The following flowchart provides a concise description of the core functionality. Figure 9-2 Core functionality Start Actuator switches off (STO) E-stop pressed? E-stop released? No No Stop caused by e-stop or 1 st start? No Acknowledge Actuator switches off Operational stop? Start condition met No Actuator on Entry ID: , V2.0, 01/

49 9 User Scenario 3: Emergency Stop at PL d/sil Description of the user block FB F03EStopPLdSIL2 Figure 9-3 F-user FB F03EStopPLdSIL2 NOTICE For F-blocks, the enable input (EN) must not be wired. Parameter description The following section describes the inputs and outputs of FB F03EStopPLdSIL2. NO: normally open (contact); NC: normally closed (contact) Table 9-3 Inputs of FB F03EStopPLdSIL2 Description Symbol Data type Convention Acknowledgment ack BOOL NO 1: Acknowledgment Start request start BOOL NO 1: Start request Stop request stop BOOL NC 0: Stop request Emergency stop pushbutton estop BOOL NC/NC 0: Emergency stop triggered Positive edge required after triggering the safety function to reintegrate F-I/O Entry ID: , V2.0, 01/

50 9 User Scenario 3: Emergency Stop at PL d/sil 2 Table 9-4 Outputs of FB F03EStopPLdSIL2 Description Symbol Data type Convention Safe Torque Off safety function Start and stop the drive Release emergency stop Acknowledgment required STO BOOL 0: Select STO 1: Deselect STO startstopdrive BOOL 0: Stop drive 1: Start drive releaseestop BOOL 1: Emergency stop released and acknowledged AckReqEStop BOOL 1: Acknowledgment required The converter with the active STO function disconnects the power supply to the motor. At the "EnableAxis" input of the "SINA_SPEED" FB (DriveLib block). Information of the F-library blocks. Can be read out, for example, in the standard user program. 9.7 Configuration and parameterization The STEP 7 hardware configuration (HW Config) has already been prepared for commissioning FB F03EStopPLdSIL2. Customizations are possible. The associated HW Config can be found in the provided block library. NOTE The provided block library includes the drive project "Drive_1". This includes our individual parametrization for testing the functionalities of the examples. You have to execute your own commissioning of the SINAMICS G120 in case of use. The following link takes you to a document that explains how to control the SINAMICS G120 using the S F-CPU via PROFIsafe: WARNING Inappropriate values for safety-related settings may result in the safety function not being triggered in the event of danger. Please keep this in mind if, due to your requirements, you want to change the settings shown here. For more information on the hardware configuration in this user scenario, please refer to chapter For information on the SINAMICS G120, please refer to chapter Entry ID: , V2.0, 01/

51 9 User Scenario 3: Emergency Stop at PL d/sil Operation of the user scenario For demonstration purposes, this document shows different user scenarios. These scenarios can also be used as verification steps for validation. For information on installing the user scenario, please refer to chapter 6.1. Requirements: No faults Emergency stop released Table 9-5 Start actuator No. Action Comment 1 Press ack Acknowledgment mandatory when starting the scenario for the first time 2 Press start DB "Drive".enableAxis = 1; STO = 1 3 Press stop DB "Drive".enableAxis = 0; STO = 1 Table 9-6 Safety function: Trigger emergency stop No. Action Comment 1 Press ack Acknowledgment mandatory when starting the scenario for the first time 2 Press start DB "Drive".enableAxis = 1; STO = 1 3 Press the emergency stop (estop) DB "Drive".enableAxis = 0; STO = 0 4 Release the emergency stop (estop) 5 Start again with no. 1 Entry ID: , V2.0, 01/

52 10 User Scenario 4: Emergency Stop at PL c/sil 1 10 User Scenario 4: Emergency Stop at PL c/sil Sensor/actuator Sensor: Emergency stop pushbutton Actuator: electric (SINAMICS G120) 10.2 Safety function The safety function is as follows: When the emergency stop button is pressed, the actuator is safely shut down using STO Hardware and software components You need the hardware and software components listed below. Hardware components Table 10-1 Hardware Component No. Article number CPU 1215FC DC/DC/RLY SM 1226 F- DI8/16x24VDC Enclosed pushbutton (NO) Enclosed pushbutton (NO) Enclosed pushbutton (NC) Emergency stop pushbutton (NC) SINAMICS G120 CU240E-2 PN-F SINAMICS G120 PM ES7215-1HF40-0XB0 FW4.2 or higher 1 6ES7226-6BA32-0XB0 1 3SU1100-0AB40-1BA0 Green, screw terminal 1 3SU1100-0AB40-1BA0 Blue, screw terminal 1 3SU1100-0AB20-1CA0 Red, screw terminal 1 3SU1100-1HB20-1CF0 1 6SL3244-0BB13-1FA0 1 6SL3224-0BE17-5UA0 Software components Table 10-2 Software Component No. Article number STEP 7 Basic V15 1 6ES7822-0AA05-0YA5 Or STEP 7 Professional V15 STEP 7 Safety Basic V15 SINAMICS Startdrive 1 6ES7833-1FB15-0YA5 Or STEP 7 Safety Advanced V15 1 6SL3072-4EA02-0XG0 SINAMICS Startdrive V15 Entry ID: , V2.0, 01/

53 10 User Scenario 4: Emergency Stop at PL c/sil Wiring The figure below shows the wiring of the hardware components. Figure 10-1 Emergency stop PL c/sil 1 wiring 24V DC M stop start ack L1 M L+ L+ M Vs1.0 PROFINET IE estop For the actuators used in this user scenario, please also refer to chapter 6.8. Entry ID: , V2.0, 01/

54 10 User Scenario 4: Emergency Stop at PL c/sil Brief description of the core functionality The following flowchart provides a concise description of the core functionality. Figure 10-2 Core functionality Start Actuator switches off (STO) E-stop pressed? E-stop released? No No Stop caused by e-stop or 1 st start? No Acknowledge Actuator switches off Operational stop? Start condition met No Actuator on 10.6 Description of the user block FB F04EStopPLcSIL1 Figure 10-3 F-user FB F04EStopPLcSIL1 NOTICE For F-blocks, the enable input (EN) must not be wired. Entry ID: , V2.0, 01/

55 10 User Scenario 4: Emergency Stop at PL c/sil 1 Parameter description The following section describes the inputs and outputs of FB F04EStopPLcSIL1. NO: normally open (contact); NC: normally closed (contact) Table 10-3 Inputs of FB F04EStopPLcSIL1 Description Symbol Data type Convention Acknowledgment ack BOOL NO 1: Acknowledgment Start request start BOOL NO 1: Start request Stop request stop BOOL NC 0: Stop request Emergency stop pushbutton estop BOOL NC 0: Emergency stop triggered Positive edge required after triggering the safety function to reintegrate F-I/O Table 10-4 Outputs of FB F04EStopPLcSIL1 Description Symbol Data type Convention Safe Torque Off safety function Start and stop the drive Release emergency stop Acknowledgment required STO BOOL 0: Select STO 1: Deselect STO startstopdrive BOOL 0: Stop drive 1: Start drive releaseestop BOOL 1: Emergency stop released and acknowledged AckReqEStop BOOL 1: Acknowledgment required The converter with the active STO function disconnects the power supply to the motor. At the "EnableAxis" input of the "SINA_SPEED" FB (DriveLib block). Information of the F-library blocks. Can be read out, for example, in the standard user program. Entry ID: , V2.0, 01/

56 10 User Scenario 4: Emergency Stop at PL c/sil Configuration and parameterization The STEP 7 hardware configuration (HW Config) has already been prepared for commissioning FB F04EStopPLcSIL1. Customizations are possible. The associated HW Config can be found in the provided block library. NOTE The provided block library includes the drive project "Drive_1". This includes our individual parametrization for testing the functionalities of the examples. You have to execute your own commissioning of the SINAMICS G120 in case of use. The following link takes you to a document that explains how to control the SINAMICS G120 using the S F-CPU via PROFIsafe: WARNING Inappropriate values for safety-related settings may result in the safety function not being triggered in the event of danger. Please keep this in mind if, due to your requirements, you want to change the settings shown here. For more information on the hardware configuration in this user scenario, please refer to chapter For information on the SINAMICS G120, please refer to chapter Operation of the user scenario For demonstration purposes, this document shows different user scenarios. These scenarios can also be used as verification steps for validation. For information on installing the user scenario, please refer to chapter 6.1. Requirements: No faults Emergency stop released Table 10-5 Start actuator No. Action Comment 1 Press ack Acknowledgment mandatory when starting the scenario for the first time 2 Press start DB "Drive".enableAxis = 1; STO = 1 3 Press stop DB "Drive".enableAxis = 0; STO = 1 Entry ID: , V2.0, 01/

57 10 User Scenario 4: Emergency Stop at PL c/sil 1 Table 10-6 Safety function: Trigger emergency stop No. Action Comment 1 Press ack Acknowledgment mandatory when starting the scenario for the first time 2 Press start DB "Drive".enableAxis = 1; STO = 1 3 Press the emergency stop (estop) DB "Drive".enableAxis = 0; STO = 0 4 Release the emergency stop (estop) 5 Start again with no. 1 Entry ID: , V2.0, 01/

58 11 User Scenario 5: Safety Door without Guard Locking at PL d, e/sil 2, 3 11 User Scenario 5: Safety Door without Guard Locking at PL d, e/sil 2, Sensor/actuator Sensor: Position switch Actuator: electromechanical (contactor) 11.2 Safety function The safety function is as follows: Opening the safety door safely shuts down the actuator Hardware and software components You need the hardware and software components listed below. Hardware components Table 11-1 Hardware Component No. Article number CPU 1215FC DC/DC/RLY SM 1226 F- DI8/16x24VDC SM 1226 F-DQ 4x24VDC Enclosed pushbutton (NO) Enclosed pushbutton (NO) Enclosed pushbutton (NC) Position switch without tumbler Actuator for position switch 1 6ES7215-1HF40-0XB0 FW4.2 or higher 1 6ES7226-6BA32-0XB0 1 6ES DA32-0XB0 1 3SU1100-0AB40-1BA0 Green, screw terminal 1 3SU1100-0AB40-1BA0 Blue, screw terminal 1 3SU1100-0AB20-1CA0 Red, screw terminal 2 3SE5132-1QV20 2 3SE5000-0AV0 Contactors 2 3RT2015-2BB42 Software components Table 11-2 Software Component No. Article number STEP 7 Basic V15 1 6ES7822-0AA05-0YA5 Or STEP 7 Professional V15 STEP 7 Safety Basic V15 1 6ES7833-1FB15-0YA5 Or STEP 7 Safety Advanced V Wiring The figure below shows the wiring of the hardware components. Entry ID: , V2.0, 01/

59 11 User Scenario 5: Safety Door without Guard Locking at PL d, e/sil 2, 3 Figure 11-1 Safety door without guard locking PL e/sil 3 wiring 24V DC M stop start ack L1 M K2 K1 L+.3.4 L+ M Vs1.0 K1 0+ K2 0- posswitch2 posswitch1 In the safety program, the NC auxiliary contacts of the contactors K1 and K2 are termed "feedback1" and "feedback2". Entry ID: , V2.0, 01/

60 11 User Scenario 5: Safety Door without Guard Locking at PL d, e/sil 2, Brief description of the core functionality Before starting the scenario for the first time, open and close the safety door once. Then acknowledge with ACK=1. Figure 11-2 Safety door without guard locking core functionality Start Actuators switch off No Safety door open? Safety door closed? No Actuators switch off Operational stop? No No Safety door closed? Acknowledge Start condition met Actuators on Entry ID: , V2.0, 01/

61 11 User Scenario 5: Safety Door without Guard Locking at PL d, e/sil 2, Description of the user block FB F05FDoorPLdeSIL23 Figure 11-3 F-user FB F05FDoorPLdeSIL23 NOTICE For F-blocks, the enable input (EN) must not be wired. Parameter description The following section describes the inputs and outputs of FB F05FDoorPLdeSIL23. NO: normally open (contact); NC: normally closed (contact) Table 11-3 Inputs of FB F05FDoorPLdeSIL23 Description Symbol Data type Convention Acknowledgment ack BOOL NO 1: Acknowledgment Start request start BOOL NO 1: Start request Stop request stop BOOL NC 0: Stop request Readback signal from auxiliary contact of contactor K1 Readback signal from auxiliary contact of contactor K2 readbackk1 readbackk2 BOOL BOOL NC 0: Contactor has picked up Position switch 1 posswitch1 BOOL NC 1: Actuator Positive edge required after triggering the safety function to reintegrate F-I/O Entry ID: , V2.0, 01/

62 11 User Scenario 5: Safety Door without Guard Locking at PL d, e/sil 2, 3 Description Symbol Data type Convention inserted (safety door closed) Position switch 2 posswitch2 BOOL NC 1: Actuator inserted (safety door closed) Position switch 1 value status Position switch 2 value status posswitch1vs posswitch2vs BOOL BOOL Output K1K2 value status K1K2VS BOOL Time between the control command and the response of the contactors feedbacktime TIME 0: Fault VS: value status Chapter 6.7 Table 11-4 Inputs of FB F05FDoorPLdeSIL23 Description Symbol Data type Convention Contactors K1/K2 K1K2 BOOL 1: Control command for the contactors Release safety door Acknowledgment for safety door releasefdoor BOOL 1: With regard to safety door, start is possible (safety door closed) ackreqfdoor BOOL 1: Acknowledgment required Actuator on F-DQ Information of the F-library blocks. Can be read out, for example, in the standard user program Configuration and parameterization The STEP 7 hardware configuration (HW Config) has already been prepared for commissioning FB F05FDoorPLdeSIL23. Customizations are possible. The associated HW Config can be found in the provided block library. WARNING Inappropriate values for safety-related settings may result in the safety function not being triggered in the event of danger. Please keep this in mind if, due to your requirements, you want to change the settings shown here. For more information on the hardware configuration in this user scenario, please refer to chapter Entry ID: , V2.0, 01/

63 11 User Scenario 5: Safety Door without Guard Locking at PL d, e/sil 2, Operation of the user scenario For demonstration purposes, this document shows different user scenarios. These scenarios can also be used as verification steps for validation. For information on installing the user scenario, please refer to chapter 6.1. Requirements: No faults Table 11-5 Start actuator Safety door closed No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start K1K2 picks up 4 Press stop K1K2 drops out Table 11-6 Safety function: Safe shutdown when the safety door is opened No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start K1K2 picks up 4 Open the safety door K1K2 drops out 5 Close the safety door 6 Start again with no. 2 Table 11-7 Trigger readback error No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Acknowledgment mandatory when starting the scenario for the first time 3 Press start K1K2 picks up 4 Make sure that K1 or K2 does not drop out when shutting down Simulated welding of the contactor 5 Press stop Readback error is detected 6 Let the contactor drop out 7 Press start K1K2 does not pick up (acknowledgment required) 8 Start with no. 2 Entry ID: , V2.0, 01/

64 12 User Scenario 6: Safety Door without Guard Locking at PL c/sil 1 12 User Scenario 6: Safety Door without Guard Locking at PL c/sil Sensor/actuator Sensor: Position switch Actuator: electromechanical (contactor) 12.2 Safety function The safety function is as follows: Opening the safety door safely shuts down the actuator Hardware and software components You need the hardware and software components listed below. Hardware components Table 12-1 Hardware Component No. Article number CPU 1215FC DC/DC/RLY SM 1226 F- DI8/16x24VDC SM 1226 F-DQ 4x24VDC Enclosed pushbutton (NO) Enclosed pushbutton (NO) Enclosed pushbutton (NC) Position switch without tumbler Actuator for position switch 1 6ES7215-1HF40-0XB0 FW4.2 or higher 1 6ES7226-6BA32-0XB0 1 6ES DA32-0XB0 1 3SU1100-0AB40-1BA0 Green, screw terminal 1 3SU1100-0AB40-1BA0 Blue, screw terminal 1 3SU1100-0AB20-1CA0 Red, screw terminal 1 3SE5132-1QV20 1 3SE5000-0AV0 Contactors 1 3RT2015-2BB42 Software components Table 12-2 Software Component No. Article number STEP 7 Basic V15 1 6ES7822-0AA05-0YA5 Or STEP 7 Professional V15 STEP 7 Safety Basic V15 1 6ES7833-1FB15-0YA5 Or STEP 7 Safety Advanced V Wiring The figure below shows the wiring of the hardware components. Entry ID: , V2.0, 01/

65 12 User Scenario 6: Safety Door without Guard Locking at PL c/sil 1 Figure 12-1 Safety door without guard locking PL c/sil 1 wiring 24V DC M stop start ack L1 M K1 L+.3 L+ M Vs1.0 K posswitch In the safety program, the auxiliary contact of contactor K1 is termed "feedback". Due to the use of the FB FDBACK F-library block, it is useful to monitor readback. Basically, monitoring the readback signals is not required for PL c/sil Brief description of the core functionality Before starting the scenario for the first time, open and close the safety door once. Then acknowledge with ACK=1. Entry ID: , V2.0, 01/

66 12 User Scenario 6: Safety Door without Guard Locking at PL c/sil 1 Figure 12-2 Safety door without guard locking core functionality Start Actuator switches off Safety door open? No Safety door closed? No Actuator switches off Operational stop? No No Safety door closed? Acknowledge Start condition met Actuator on Entry ID: , V2.0, 01/

67 12 User Scenario 6: Safety Door without Guard Locking at PL c/sil Description of the user block FB F06FDoorPLcSIL1 Figure 12-3 F-user FB F06FDoorPLcSIL1 NOTICE For F-blocks, the enable input (EN) must not be wired. Parameter description The following section describes the inputs and outputs of FB F06FDoorPLcSIL1. NO: normally open (contact); NC: normally closed (contact) Table 12-3 Inputs of FB F06FDoorPLcSIL1 Description Symbol Data type Convention Acknowledgment ack BOOL NO 1: Acknowledgment Start request start BOOL NO 1: Start request Stop request stop BOOL NC 0: Stop request Readback signal from auxiliary contact of contactor K1 readbackk1 BOOL NC 0: Contactor has picked up Position switch posswitch BOOL NC 1: Actuator inserted (safety door closed) Positive edge required after triggering the safety function to reintegrate F-I/O Position switch value status posswitchvs BOOL 0: Fault VS: value status Output K1 value status K1VS BOOL Chapter 6.7 Entry ID: , V2.0, 01/

68 12 User Scenario 6: Safety Door without Guard Locking at PL c/sil 1 Description Symbol Data type Convention Time between the control command and the response of the contactor feedbacktime TIME Table 12-4 Outputs of FB F06FDoorPLcSIL1 Description Symbol Data type Convention Contactor K1 K1 BOOL 1: Actuator switched (contactor has picked up) Release safety door Acknowledgment for safety door releasefdoor BOOL 1: With regard to safety door, start is possible (safety door closed) ackreqfdoor BOOL 1: Acknowledgment required Actuator on F-DQ Information of the F-library blocks. Can be read out, for example, in the standard user program Configuration and parameterization The STEP 7 hardware configuration (HW Config) has already been prepared for commissioning FB F06FDoorPLcSIL1. Customizations are possible. The associated HW Config can be found in the provided block library. WARNING Inappropriate values for safety-related settings may result in the safety function not being triggered in the event of danger. Please keep this in mind if, due to your requirements, you want to change the settings shown here. For more information on the hardware configuration in this user scenario, please refer to chapter Operation of the user scenario For demonstration purposes, this document shows different user scenarios. These scenarios can also be used as verification steps for validation. For information on installing the user scenario, please refer to chapter 6.1. Entry ID: , V2.0, 01/

69 12 User Scenario 6: Safety Door without Guard Locking at PL c/sil 1 Requirements: No faults Safety door closed Table 12-5 Start actuator No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start K1 picks up 4 Press stop K1 drops out Table 12-6 Safety function: Safe shutdown when the safety door is opened No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start K1 picks up 4 Open the safety door K1 drops out 5 Close the safety door 6 Start again with no. 2 Table 12-7 Trigger readback error No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Acknowledgment mandatory when starting the scenario for the first time 3 Press start K1 picks up 4 Make sure that K1 does not drop out when shutting down Simulated welding of the contactor 5 Press stop Readback error is detected 6 Let the contactor drop out 7 Press start K1 does not pick up (acknowledgment required) 8 Start with no. 2 Entry ID: , V2.0, 01/

70 13 User Scenario 7: Safety Door without Guard Locking at PL d/sil 2 13 User Scenario 7: Safety Door without Guard Locking at PL d/sil Sensor/actuator Sensor: Position switch Actuator: electric (SINAMICS G120) 13.2 Safety function The safety function is as follows: When the safety door is opened, the actuator is safely shut down using STO Hardware and software components You need the hardware and software components listed below. Hardware components Table 13-1 Hardware Component No. Article number CPU 1215FC DC/DC/RLY SM 1226 F- DI8/16x24VDC SM 1226 F-DQ 4x24VDC Enclosed pushbutton (NO) Enclosed pushbutton (NO) Enclosed pushbutton (NC) Position switch without tumbler Actuator for position switch SINAMICS G120 CU240E-2 PN-F SINAMICS G120 PM ES7215-1HF40-0XB0 FW4.2 or higher 1 6ES7226-6BA32-0XB0 1 6ES DA32-0XB0 1 3SU1100-0AB40-1BA0 Green, screw terminal 1 3SU1100-0AB40-1BA0 Blue, screw terminal 1 3SU1100-0AB20-1CA0 Red, screw terminal 2 3SE5132-1QV20 2 3SE5000-0AV0 1 6SL3244-0BB13-1FA0 1 6SL3224-0BE17-5UA0 Software components Table 13-2 Software Component No. Article number STEP 7 Basic V15 1 6ES7822-0AA05-0YA5 Or STEP 7 Professional V15 STEP 7 Safety Basic V15 1 6ES7833-1FB15-0YA5 Or STEP 7 Safety Advanced V15 SINAMICS Startdrive 1 6SL3072-4EA02-0XG0 SINAMICS Startdrive V15 Entry ID: , V2.0, 01/

71 13 User Scenario 7: Safety Door without Guard Locking at PL d/sil Wiring Component No. Article number V15 The figure below shows the wiring of the hardware components. Figure 13-1 Safety door without guard locking PL d/sil 2 wiring 24V DC M stop start ack L1 M L+ L+ M Vs1.0 Vs2.0 PROFINET IE posswitch2 posswitch1 For the actuators used in this user scenario, please also refer to chapter 6.8. Entry ID: , V2.0, 01/

72 13 User Scenario 7: Safety Door without Guard Locking at PL d/sil Brief description of the core functionality The following flowchart provides a concise description of the core functionality. Before starting the scenario for the first time, open and close the safety door once. Then acknowledge with ack=1. Figure 13-2 Safety door without guard locking core functionality Start Actuator switches off (STO) No Safety door open? Safety door closed? No Actuator switches off Operational stop? No No Safety door closed? Acknowledge Start condition met Actuator on Entry ID: , V2.0, 01/

73 13 User Scenario 7: Safety Door without Guard Locking at PL d/sil Description of the user block FB F07FDoorSIL2PL Figure 13-3 F-user FB F07FDoorSIL2PL NOTICE For F-blocks, the enable input (EN) must not be wired. Parameter description The following section describes the inputs and outputs of FB F07FDoorSIL2PL. NO: normally open (contact); NC: normally closed (contact) Table 13-3 Inputs of FB F07FDoorSIL2PL Description Symbol Data type Convention Acknowledgment ack BOOL NO 1: Acknowledgment Start request start BOOL NO 1: Start request Stop request stop BOOL NC 0: Stop request Position switch 1 posswitch1 BOOL NC 1: Actuator inserted (safety door closed) Position switch 2 posswitch2 BOOL NC 1: Actuator inserted (safety door closed) Position switch 1 value status Position switch 2 value status posswitch1vs posswitch2vs BOOL BOOL 0: Fault Positive edge required after triggering the safety function to reintegrate F-I/O VS: value status Chapter 6.7 Entry ID: , V2.0, 01/

74 13 User Scenario 7: Safety Door without Guard Locking at PL d/sil 2 Table 13-4 Outputs of FB F07FDoorSIL2PL Description Symbol Data type Convention Safe Torque Off safety function Start and stop the drive Release for safety door Acknowledgment for safety door STO BOOL 0: Select STO 1: Deselect STO startstopdrive BOOL 0: Stop drive 1: Start drive releasefdoor BOOL 1: With regard to safety door, start is possible (safety door closed) ackreqfdoor BOOL 1: Acknowledgment required The converter with the active STO function disconnects the power supply to the motor. At the "EnableAxis" input of the "SINA_SPEED" FB (DriveLib block). Information of the F-library blocks. Can be read out, for example, in the standard user program Configuration and parameterization The STEP 7 hardware configuration (HW Config) has already been prepared for commissioning FB F07FDoorSIL2PL. Customizations are possible. The associated HW Config can be found in the provided block library. NOTE The provided block library includes the drive project "Drive_1". This includes our individual parametrization for testing the functionalities of the examples. You have to execute your own commissioning of the SINAMICS G120 in case of use. The following link takes you to a document that explains how to control the SINAMICS G120 using the S F-CPU via PROFIsafe: WARNING Inappropriate values for safety-related settings may result in the safety function not being triggered in the event of danger. Please keep this in mind if, due to your requirements, you want to change the settings shown here. For more information on the hardware configuration in this user scenario, please refer to chapter For information on the SINAMICS G120, please refer to chapter Entry ID: , V2.0, 01/

75 13 User Scenario 7: Safety Door without Guard Locking at PL d/sil Operation of the user scenario For demonstration purposes, this document shows different user scenarios. These scenarios can also be used as verification steps for validation. For information on installing the user scenario, please refer to chapter 6.1. Requirements: No faults Safety door closed Table 13-5 Start actuator No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start DB "Drive".enableAxis = 1; STO = 1 4 Press stop DB "Drive".enableAxis = 0; STO = 1 Table 13-6 Safety function: Safe shutdown when the safety door is opened No. Action Comment 1 Open and close the safety door. When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start DB "Drive".enableAxis = 1; STO = 1 4 Open the safety door DB "Drive".enableAxis = 0; STO = 0 5 Close the safety door 6 Start again with no. 2 Entry ID: , V2.0, 01/

76 14 User Scenario 8: Safety Door without Guard Locking at PL c/sil 1 14 User Scenario 8: Safety Door without Guard Locking at PL c/sil Sensor/actuator Sensor: Position switch Actuator: electric (SINAMICS G120) 14.2 Safety function The safety function is as follows: When the safety door is opened, the actuator is safely shut down using STO Hardware and software components You need the hardware and software components listed below. Hardware components Table 14-1 Hardware Component No. Article number CPU 1215FC DC/DC/RLY SM 1226 F- DI8/16x24VDC SM 1226 F-DQ 4x24VDC Enclosed pushbutton (NO) Enclosed pushbutton (NO) Enclosed pushbutton (NC) Position switch without tumbler Actuator for position switch SINAMICS G120 CU240E-2 PN-F SINAMICS G120 PM ES7215-1HF40-0XB0 FW4.2 or higher 1 6ES7226-6BA32-0XB0 1 6ES DA32-0XB0 1 3SU1100-0AB40-1BA0 Green, screw terminal 1 3SU1100-0AB40-1BA0 Blue, screw terminal 1 3SU1100-0AB20-1CA0 Red, screw terminal 1 3SE5132-1QV20 1 3SE5000-0AV0 1 6SL3244-0BB13-1FA0 1 6SL3224-0BE17-5UA0 Software components Table 14-2 Software Component No. Article number STEP 7 Basic V15 1 6ES7822-0AA05-0YA5 Or STEP 7 Professional V15 STEP 7 Safety Basic V15 SINAMICS Startdrive 1 6ES7833-1FB15-0YA5 Or STEP 7 Safety Advanced V15 1 6SL3072-4EA02-0XG0 SINAMICS Startdrive V15 Entry ID: , V2.0, 01/

77 14 User Scenario 8: Safety Door without Guard Locking at PL c/sil Wiring The figure below shows the wiring of the hardware components. Figure 14-1 Safety door without guard locking PL c/sil 1 wiring 24V DC M stop start ack L1 M L+ L+ M Vs1.0 PROFINET IE posswitch For the actuators used in this user scenario, please also refer to chapter 6.8. Entry ID: , V2.0, 01/

78 14 User Scenario 8: Safety Door without Guard Locking at PL c/sil Brief description of the core functionality The following flowchart provides a concise description of the core functionality. Before starting the scenario for the first time, open and close the safety door once. Then acknowledge with ack=1. Figure 14-2 Safety door without guard locking core functionality Start Actuator switches off (STO) No Safety door open? Safety door closed? No Actuator switches off Operational stop? No No Safety door closed? Acknowledge Start condition met Actuator on Entry ID: , V2.0, 01/

79 14 User Scenario 8: Safety Door without Guard Locking at PL c/sil Description of the user block FB F08FDoorPLcSIL1 Figure 14-3 F-user FB F08FDoorPLcSIL1 NOTICE For F-blocks, the enable input (EN) must not be wired. Parameter description The following section describes the inputs and outputs of FB F08FDoorPLcSIL1. NO: normally open (contact); NC: normally closed (contact) Table 14-3 Inputs of FB F08FDoorPLcSIL1 Description Symbol Data type Convention Acknowledgment ack BOOL NO 1: Acknowledgment Start request start BOOL NO 1: Start request Stop request stop BOOL NC 0: Stop request Position switch posswitch BOOL NC 1: Actuator inserted (safety door closed) Positive edge required after triggering the safety function to reintegrate F-I/O Position switch value status posswitchvs BOOL 0: Fault VS: value status Chapter 6.7 Entry ID: , V2.0, 01/

80 14 User Scenario 8: Safety Door without Guard Locking at PL c/sil 1 Table 14-4 Outputs of FB F08FDoorPLcSIL1 Description Symbol Data type Convention Safe Torque Off safety function Start and stop the drive Release emergency stop Acknowledgment required STO BOOL 0: Select STO 1: Deselect STO startstopdrive BOOL 0: Stop drive 1: Start drive releaseestop BOOL 1: Emergency stop released and acknowledged AckReqEStop BOOL 1: Acknowledgment required The converter with the active STO function disconnects the power supply to the motor. At the "EnableAxis" input of the "SINA_SPEED" FB (DriveLib block). Information of the F-library blocks. Can be read out, for example, in the standard user program Configuration and parameterization The STEP 7 hardware configuration (HW Config) has already been prepared for commissioning FB F08FDoorPLcSIL1. Customizations are possible. The associated HW Config can be found in the provided block library. NOTE The provided block library includes the drive project "Drive_1". This includes our individual parametrization for testing the functionalities of the examples. You have to execute your own commissioning of the SINAMICS G120 in case of use. The following link takes you to a document that explains how to control the SINAMICS G120 using the S F-CPU via PROFIsafe: WARNING Inappropriate values for safety-related settings may result in the safety function not being triggered in the event of danger. Please keep this in mind if, due to your requirements, you want to change the settings shown here. For more information on the hardware configuration in this user scenario, please refer to chapter For information on the SINAMICS G120, please refer to chapter Entry ID: , V2.0, 01/

81 14 User Scenario 8: Safety Door without Guard Locking at PL c/sil Operation of the user scenario For demonstration purposes, this document shows different user scenarios. These scenarios can also be used as verification steps for validation. For information on installing the user scenario, please refer to chapter 6.1. Requirements: No faults Table 14-5 Start actuator Safety door closed No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start DB "Drive".enableAxis = 1; STO = 1 4 Press stop DB "Drive".enableAxis = 0; STO = 1 Table 14-6 Safety function: Safe shutdown when the safety door is opened No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start DB "Drive".enableAxis = 1; STO = 1 4 Open the safety door DB "Drive".enableAxis = 0; STO = 0 5 Close the safety door 6 Start again with no. 2 Entry ID: , V2.0, 01/

82 15 User Scenario 9: Safety Door without Guard Locking at PL d, e/sil 2, 3 15 User Scenario 9: Safety Door without Guard Locking at PL d, e/sil 2, Sensor/actuator Sensor: RFID safety switch Actuator: electromechanical (contactor) 15.2 Safety function The safety function is as follows: Opening the safety door safely shuts down the actuator Hardware and software components You need the hardware and software components listed below. Hardware components Table 15-1 Hardware Component No. Article number CPU 1215FC DC/DC/RLY SM 1226 F- DI8/16x24VDC SM 1226 F-DQ 4x24VDC Enclosed pushbutton (NO) Enclosed pushbutton (NO) Enclosed pushbutton (NC) 1 6ES7215-1HF40-0XB0 FW4.2 or higher 1 6ES7226-6BA32-0XB0 1 6ES DA32-0XB0 1 3SU1100-0AB40-1BA0 Green, screw terminal 1 3SU1100-0AB40-1BA0 Blue, screw terminal 1 3SU1100-0AB20-1CA0 Red, screw terminal RFID safety switch 1 3SE6315-1BB01 Actuator with magnet latching 1 3SE6310-1BC01 Contactors 2 3RT2015-2BB42 Software components Table 15-2 Software Component No. Article number STEP 7 Basic V15 1 6ES7822-0AA05-0YA5 Or STEP 7 Professional V15 STEP 7 Safety Basic V15 1 6ES7833-1FB15-0YA5 Or STEP 7 Safety Advanced V15 Entry ID: , V2.0, 01/

83 15 User Scenario 9: Safety Door without Guard Locking at PL d, e/sil 2, Wiring The figure below shows the wiring of the hardware components. Figure 15-1 Safety door without guard locking PL e/sil 3 wiring 24V DC M stop start ack L1 M K2 K1 L+.3.4 L+ M.0 K1 0+ K M L+ A2 A1 X1 X2 RFID OSSD1 OSSD2 In the safety program, the NC auxiliary contacts of the contactors K1 and K2 are termed "feedback1" and "feedback2". Entry ID: , V2.0, 01/

84 15 User Scenario 9: Safety Door without Guard Locking at PL d, e/sil 2, 3 When using RFID safety switches, the short-circuit test in the hardware configuration must be deactivated Brief description of the core functionality Before starting the scenario for the first time, open and close the safety door once. Then acknowledge with ACK=1. Figure 15-2 Safety door without guard locking core functionality Start Actuators switch off No Safety door open? Safety door closed? No Actuators switch off Operational stop? No No Safety door closed? Acknowledge Start condition met Actuators on Entry ID: , V2.0, 01/

85 15 User Scenario 9: Safety Door without Guard Locking at PL d, e/sil 2, Description of the user block FB F09FDoorPLdeSIL23 Figure 15-3 F-user FB F09FDoorPLdeSIL23 NOTICE For F-blocks, the enable input (EN) must not be wired. Parameter description The following section describes the inputs and outputs of FB F09FDoorPLdeSIL23. NO: normally open (contact); NC: normally closed (contact) Table 15-3 Inputs of FB F09FDoorPLdeSIL23 Description Symbol Data type Convention Acknowledgment ack BOOL NO 1: Acknowledgment Start request start BOOL NO 1: Start request Stop request stop BOOL NC 0: Stop request Readback signal from auxiliary contact of contactor K1 Readback signal from auxiliary contact of contactor K2 readbackk1 readbackk2 BOOL BOOL NC 0: Contactor has picked up Safety output 1 OSSD1 BOOL 1 when door Safety output 2 OSSD2 BOOL closed Positive edge required after triggering the safety function to reintegrate F-I/O Entry ID: , V2.0, 01/

86 15 User Scenario 9: Safety Door without Guard Locking at PL d, e/sil 2, 3 Description Symbol Data type Safety output 1 value status OSSD1VS BOOL Safety output 2 value status OSSD2VS BOOL Output K1K2 value status K1K2VS BOOL Time between the control command and the response of the contactors feedbacktime TIME Convention 0: Fault VS: value status Chapter 6.7 Table 15-4 Outputs of FB F09FDoorPLdeSIL23 Description Symbol Data type Convention Contactors K1/K2 K1K2 BOOL 1: Control command for the contactors Release safety door Acknowledgment for safety door releasefdoor BOOL 1: With regard to safety door, start is possible (safety door closed) ackreqfdoor BOOL 1: Acknowledgment required Actuator on F-DQ Information of the F-library blocks. Can be read out, for example, in the standard user program Configuration and parameterization The STEP 7 hardware configuration (HW Config) has already been prepared for commissioning FB F09FDoorPLdeSIL23. Customizations are possible. The associated HW Config can be found in the provided block library. WARNING Inappropriate values for safety-related settings may result in the safety function not being triggered in the event of danger. Please keep this in mind if, due to your requirements, you want to change the settings shown here. For more information on the hardware configuration in this user scenario, please refer to chapter Entry ID: , V2.0, 01/

87 15 User Scenario 9: Safety Door without Guard Locking at PL d, e/sil 2, Operation of the user scenario For demonstration purposes, this document shows different user scenarios. These scenarios can also be used as verification steps for validation. For information on installing the user scenario, please refer to chapter 6.1. Requirements: No faults Table 15-5 Start actuator Safety door closed No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start K1K2 picks up 4 Press stop K1K2 drops out Table 15-6 Safety function: Safe shutdown when the safety door is opened No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start K1K2 picks up 4 Open the safety door K1K2 drops out 5 Close the safety door 6 Start again with no. 2 Table 15-7 Trigger readback error No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Acknowledgment mandatory when starting the scenario for the first time 3 Press start K1K2 picks up 4 Make sure that K1 or K2 does not drop out when shutting down Simulated welding of the contactor 5 Press stop Readback error is detected 6 Let the contactor drop out 7 Press start K1K2 does not pick up (acknowledgment required) 8 Start with no. 2 Entry ID: , V2.0, 01/

88 16 User Scenario 10: Safety Door without Guard Locking at PL d/sil 2 16 User Scenario 10: Safety Door without Guard Locking at PL d/sil Sensor/actuator Sensor: RFID safety switch Actuator: electric (SINAMICS G120) 16.2 Safety function The safety function is as follows: When the safety door is opened, the actuator is safely shut down using STO Hardware and software components You need the hardware and software components listed below. Hardware components Table 16-1 Hardware Component No. Article number CPU 1215FC DC/DC/RLY SM 1226 F- DI8/16x24VDC Enclosed pushbutton (NO) Enclosed pushbutton (NO) Enclosed pushbutton (NC) 1 6ES7215-1HF40-0XB0 FW4.2 or higher 1 6ES7226-6BA32-0XB0 1 3SU1100-0AB40-1BA0 Green, screw terminal 1 3SU1100-0AB40-1BA0 Blue, screw terminal 1 3SU1100-0AB20-1CA0 Red, screw terminal RFID safety switch 1 3SE6315-1BB01 Actuator with magnet latching SINAMICS G120 CU240E-2 PN-F SINAMICS G120 PM SE6310-1BC01 1 6SL3244-0BB13-1FA0 1 6SL3224-0BE17-5UA0 Software components Table 16-2 Software Component No. Article number STEP 7 Basic V15 1 6ES7822-0AA05-0YA5 Or STEP 7 Professional V15 STEP 7 Safety Basic V15 SINAMICS Startdrive 1 6ES7833-1FB15-0YA5 Or STEP 7 Safety Advanced V15 1 6SL3072-4EA02-0XG0 SINAMICS Startdrive V15 Entry ID: , V2.0, 01/

89 16 User Scenario 10: Safety Door without Guard Locking at PL d/sil Wiring The figure below shows the wiring of the hardware components. Figure 16-1 Safety door without guard locking PL d/sil 2 wiring 24V DC M stop start ack L1 M L+ L+ M.0 A2 A1 X1 X2 RFID OSSD1 OSSD2 PROFINET IE.0 For the actuators used in this user scenario, please also refer to chapter 6.8. Entry ID: , V2.0, 01/

90 16 User Scenario 10: Safety Door without Guard Locking at PL d/sil Brief description of the core functionality The following flowchart provides a concise description of the core functionality. Before starting the scenario for the first time, open and close the safety door once. Then acknowledge with ACK=1. Figure 16-2 Safety door without guard locking core functionality Start Actuator switches off (STO) No Safety door open? Safety door closed? No Actuator switches off Operational stop? No No Safety door closed? Acknowledge Start condition met Actuator on Entry ID: , V2.0, 01/

91 16 User Scenario 10: Safety Door without Guard Locking at PL d/sil Description of the user block FB F10FDoorPldSIL2 Figure 16-3 F-user FB F10FDoorPldSIL2 NOTICE For F-blocks, the enable input (EN) must not be wired. Parameter description The following section describes the inputs and outputs of FB F10FDoorPldSIL2. NO: normally open (contact); NC: normally closed (contact) Table 16-3 Inputs of FB F10FDoorPldSIL2 Description Symbol Data type Convention Acknowledgment ack BOOL NO 1: Acknowledgment Start request start BOOL NO 1: Start request Stop request stop BOOL NC 0: Stop request Safety output 1 OSSD1 BOOL 1 when door Safety output 2 OSSD2 BOOL closed Safety output 1 value status Safety output 2 value status OSSD1VS OSSD2VS BOOL BOOL 0: Fault Positive edge required after triggering the safety function to reintegrate F-I/O VS: value status Chapter 6.7 Entry ID: , V2.0, 01/

92 16 User Scenario 10: Safety Door without Guard Locking at PL d/sil 2 Table 16-4 Outputs of FB F10FDoorPLdSIL2 Description Symbol Data type Convention Safe Torque Off safety function Start and stop the drive Release for safety door Acknowledgment for safety door STO BOOL 0: Select STO 1: Deselect STO startstopdrive BOOL 0: Stop drive 1: Start drive releasefdoor BOOL 1: With regard to safety door, start is possible (safety door closed) ackreqfdoor BOOL 1: Acknowledgment required The converter with the active STO function disconnects the power supply to the motor. At the "EnableAxis" input of the "SINA_SPEED" FB (DriveLib block). Information of the F-library blocks. Can be read out, for example, in the standard user program Configuration and parameterization The STEP 7 hardware configuration (HW Config) has already been prepared for commissioning FB F10FDoorPLdSIL2. Customizations are possible. The associated HW Config can be found in the provided block library. NOTE The provided block library includes the drive project "Drive_1". This includes our individual parametrization for testing the functionalities of the examples. You have to execute your own commissioning of the SINAMICS G120 in case of use. The following link takes you to a document that explains how to control the SINAMICS G120 using the S F-CPU via PROFIsafe: WARNING Inappropriate values for safety-related settings may result in the safety function not being triggered in the event of danger. Please keep this in mind if, due to your requirements, you want to change the settings shown here. For more information on the hardware configuration in this user scenario, please refer to chapter For information on the SINAMICS G120, please refer to chapter Entry ID: , V2.0, 01/

93 16 User Scenario 10: Safety Door without Guard Locking at PL d/sil Operation of the user scenario For demonstration purposes, this document shows different user scenarios. These scenarios can also be used as verification steps for validation. For information on installing the user scenario, please refer to chapter 6.1. Requirements: No faults Safety door closed Table 16-5 Start actuator No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start DB "Drive".enableAxis = 1; STO = 1 4 Press stop DB "Drive".enableAxis = 0; STO = 1 Table 16-6 Safety function: Safe shutdown when the safety door is opened No. Action Comment 1 Open and close the safety door. When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start DB "Drive".enableAxis = 1; STO = 1 4 Open the safety door DB "Drive".enableAxis = 0; STO = 0 5 Close the safety door 6 Start again with no. 2 Entry ID: , V2.0, 01/

94 17 User Scenario 11: Safety Door with Guard Locking PL d, e/sil 2, 3 17 User Scenario 11: Safety Door with Guard Locking PL d, e/sil 2, Sensor/actuator Sensor: Position switch Actuator: electromechanical (contactor) 17.2 Safety functions This user scenario has the following safety functions: Safety function with regard to opening/closing the safety door Opening the safety door during operation safely shuts down the actuator. Safety function with regard to guard locking After shutdown of the actuator, the safety door may only be opened when the actuator no longer constitutes a hazard. Under "Normative assessment of guard locking", chapter 6.2 addresses the situation where there is a safety function with regard to guard locking Hardware and software components Hardware components You need the hardware and software components listed below. Table 17-1 Hardware Component No. Article number CPU 1215FC DC/DC/RLY SM 1226 F- DI8/16x24VDC SM 1226 F-DQ 4x24VDC Enclosed pushbutton (NO) Enclosed pushbutton (NO) Enclosed pushbutton (NC) Position switch with solenoid interlocking (spring-locked) 1 6ES7215-1HF40-0XB0 FW4.2 or higher 1 6ES7226-6BA32-0XB0 1 6ES DA32-0XB0 1 3SU1100-0AB40-1BA0 Green, screw terminal 1 3SU1100-0AB40-1BA0 Blue, screw terminal 1 3SU1100-0AB20-1CA0 Red, screw terminal 1 3SE5322-0SD21 Hinge switch 1 3SE5132-0LU21 Actuator for position switch 1 3SE5000-0AV0 Contactors 2 3RT2015-2BB42 Entry ID: , V2.0, 01/

95 17 User Scenario 11: Safety Door with Guard Locking PL d, e/sil 2, 3 Software components Table 17-2 Software Component No. Article number STEP 7 Basic V15 1 6ES7822-0AA05-0YA5 Or STEP 7 Professional V15 STEP 7 Safety Basic V15 1 6ES7833-1FB15-0YA5 Or STEP 7 Safety Advanced V Wiring The figure below shows the wiring of the hardware components. Figure 17-1 Safety door with guard locking PL e/sil 3 wiring 24V DC M stop start ack L+.5 M L1 M L+ K2.4 K1.3 emagnet.0.1 standstill K1 0+ K2 Vs fdoorcoil.0 Vs2 hingedswitch sepact In the safety program, the NC auxiliary contacts of the contactors K1 and K2 are termed "feedback1" and "feedback2". Entry ID: , V2.0, 01/

96 17 User Scenario 11: Safety Door with Guard Locking PL d, e/sil 2, 3 The following signals from the above connection diagram are connected to the position switch (sepact): sepact (monitoring of the actuator position) sepact (monitoring of the locking device position) fdoorcoil (control of guard locking) The following figure shows the wiring on the position switch and therefore complements the above connection diagram. Figure 17-2 Internal terminals of the position switch with solenoid interlocking sepact (F-DI) CH + (F-DQ) emagnet (standard DI) Vs1 (F-DI) L+ (F-CPU) CH (F-DQ) 17.5 Brief description of the core functionality The following flowchart provides a concise description of the core functionality. Before starting the scenario for the first time, open and close the safety door once. Then acknowledge with ACK=1. Entry ID: , V2.0, 01/

97 17 User Scenario 11: Safety Door with Guard Locking PL d, e/sil 2, 3 Figure 17-3 Safety door with guard locking core functionality Start Safety door closed? No Stop request? Actuators stop No Previous stop was operational stop? No Timer starts Acknowledge Timer No expired or standstill =1? Start condition met Safety door interlocking is released Actuators on WARNING In this example for electromechanical actuators, the safety door's guard locking is deactivated as follows: When the configured delay time is greater than zero (delaytimeunlock > 0): The timer has expired or the standstill bit ("standstill") is TRUE. When the configured delay time is equal to zero (delaytimeunlock = 0): The standstill bit ("standstill") is TRUE. Make sure that the safety door's guard locking is deactivated only when a hazard no longer exists. Entry ID: , V2.0, 01/

98 17 User Scenario 11: Safety Door with Guard Locking PL d, e/sil 2, Description of the user block FB F11FDoorPLdeSIL23 Figure 17-4 F-user FB F11FDoorPLdeSIL23 NOTICE For F-blocks, the enable input (EN) must not be wired. This example assumes that you are using a hinge switch (hingedswitch) as a second channel. However, it is not mandatory to use a hinge switch. The required dual-channel redundancy can also be implemented with a different switch. WARNING Death or severe personal injury may result if you select a delaytimeunlock time that is too short. Customize these times to your requirements, for example to the slow-down time of a hazardous machine, to release the safety door when the delaytimeunlock time has expired. Parameter description The following section describes the inputs and outputs of FB F11FDoorSIL3PLe. NO: normally open (contact); NC: normally closed (contact) Entry ID: , V2.0, 01/

99 17 User Scenario 11: Safety Door with Guard Locking PL d, e/sil 2, 3 Table 17-3 Inputs of FB F11FDoorPLdeSIL23 Description Symbol Data type Convention Acknowledgment ack BOOL NO 1: Acknowledgment Start request start BOOL NO 1: Start request Stop request stop BOOL NC 0: Stop request Monitoring of magnet in position switch Readback signal from auxiliary contact of contactor K1 Readback signal from auxiliary contact of contactor K2 emagnet BOOL NC 0: Magnet in position switch energized 1: Magnet in position switch de-energized readbackk1 readbackk2 BOOL BOOL NC 0: Contactor has picked up Positive edge required after triggering the safety function to reintegrate F-I/O Chapter 6.2 Position switch sepact BOOL NC 1: Actuator inserted (safety door closed) Chapter 6.2 Hinge switch hingedswitch BOOL NC 1: Unoperated (safety door closed) Position switch value status sepactvs BOOL Hinge switch value status hingedswitchvs BOOL Output K1K2 value status K1K2VS BOOL Output fdoorcoil value status fdoorcoilvs BOOL 0: Fault VS: value status Chapter 6.7 Standstill detection standstill BOOL 1: Standstill Simulates the standstill/motion of a machine Time between the control command and the response of the contactors Time delay after shutdown of the actuators to release the safety door. feedbacktime TIME delaytimeunlock TIME Set this time to a sufficiently large value Entry ID: , V2.0, 01/

100 17 User Scenario 11: Safety Door with Guard Locking PL d, e/sil 2, 3 Table 17-4 Outputs of FB F11FDoorPLdeSIL23 Description Symbol Data type Convention Contactors K1/K2 K1K2 BOOL 1: Control command for the contactors Magnet in the position switch Release safety door Acknowledgment for safety door fdoorcoil BOOL 0: Guard locking active releasefdoor BOOL 1: With regard to safety door, start is possible (safety door closed) ackreqfdoor BOOL 1: Acknowledgment required Actuator on F-DQ Information of the F-library blocks. Can be read out, for example, in the standard user program Configuration and parameterization The STEP 7 hardware configuration (HW Config) has already been prepared for commissioning FB F11FDoorPLdeSIL23. Customizations are possible. The associated HW Config can be found in the provided block library. WARNING Inappropriate values for safety-related settings may result in the safety function not being triggered in the event of danger. Please keep this in mind if, due to your requirements, you want to change the settings shown here. For more information on the hardware configuration in this user scenario, please refer to chapter Operation of the user scenario For demonstration purposes, this document shows different user scenarios. These scenarios can also be used as verification steps for validation. For information on installing the user scenario, please refer to chapter 6.1. Requirements: No faults Safety door closed "delaytimeunlock" > 0 Entry ID: , V2.0, 01/

101 17 User Scenario 11: Safety Door with Guard Locking PL d, e/sil 2, 3 Table 17-5 Start actuator No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start Guard locking is activated, then K1K2 picks up 4 Press stop K1K2 drops out; then the timer for the delayed release of the safety door starts. 5 Wait until the timer expires. When the timer has expired, the safety door can be opened. Table 17-6 Safety function: Safety door fault No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start Guard locking is activated, then K1K2 picks up 4 Turn the hinge switch until it outputs "0" signal. K1K2 drops out; then the timer for the delayed release of the safety door starts. 5 Wait until the timer expires. When the timer has expired, the safety door can be opened. 6 Close the safety door 7 Start again with no. 1 Table 17-7 Trigger readback error No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Acknowledgment mandatory when starting the scenario for the first time 3 Press start K1K2 picks up 4 Make sure that K1 or K2 does not drop out when shutting down Simulated welding of the contactor 5 Press stop Readback error is detected 6 Let the contactor drop out 7 Press start K1K2 does not pick up (acknowledgment required) 8 Wait until the timer expires. 9 Start with no. 2 Entry ID: , V2.0, 01/

102 18 User Scenario 12: Safety Door with Guard Locking at PL c/sil 1 18 User Scenario 12: Safety Door with Guard Locking at PL c/sil Sensor/actuator Sensor: Position switch Actuator: electromechanical (contactor) 18.2 Safety function This user scenario has the following safety functions: Safety function with regard to the position of the safety door (interlocking) Opening the safety door during operation safely shuts down the actuator. Safety function with regard to guard locking After shutdown of the actuator, the safety door may only be opened when the actuator no longer constitutes a hazard. Under "Normative assessment of guard locking", chapter 6.2 addresses the situation where there is a safety function with regard to guard locking Hardware and software components Hardware components You need the hardware and software components listed below. Table 18-1 Hardware Component No. Article number CPU 1215FC DC/DC/RLY SM 1226 F- DI8/16x24VDC SM 1226 F-DQ 4x24VDC Enclosed pushbutton (NO) Enclosed pushbutton (NO) Enclosed pushbutton (NC) Position switch with solenoid interlocking (spring-locked) Actuator for position switch 1 6ES7215-1HF40-0XB0 FW4.2 or higher 1 6ES7226-6BA32-0XB0 1 6ES DA32-0XB0 1 3SU1100-0AB40-1BA0 Green, screw terminal 1 3SU1100-0AB40-1BA0 Blue, screw terminal 1 3SU1100-0AB20-1CA0 Red, screw terminal 1 3SE5322-0SD21 1 3SE5000-0AV0 Contactors 1 3RT2015-2BB42 Entry ID: , V2.0, 01/

103 18 User Scenario 12: Safety Door with Guard Locking at PL c/sil 1 Software components Table 18-2 Software Component No. Article number STEP 7 Basic V15 1 6ES7822-0AA05-0YA5 Or STEP 7 Professional V15 STEP 7 Safety Basic V Wiring 1 6ES7833-1FB15-0YA5 Or STEP 7 Safety Advanced V15 The figure below shows the wiring of the hardware components. Figure 18-1 Safety door with guard locking PL c/sil 1 wiring 24V DC M stop start ack L+ M L1 M L+.4 K1 emagnet standstill Vs1 0+ K fdoorcoil sepact In the safety program, the auxiliary contact of contactor K1 is termed "feedback". Entry ID: , V2.0, 01/

104 18 User Scenario 12: Safety Door with Guard Locking at PL c/sil 1 In the safety program, the signals of the position switch are defined as follows: sepact (monitoring of the actuator position) sepact (monitoring of the locking device position) fdoorcoil (control of guard locking) The following figure shows the wiring on the position switch and therefore complements the above connection diagram. Figure 18-2 Internal terminals of the position switch with solenoid interlocking sepact (F-DI) CH + (F-DQ) emagnet (standard DI) Vs1 (F-DI) L+ (F-CPU) CH (F-DQ) 18.5 Brief description of the core functionality The following flowchart provides a concise description of the core functionality. Before starting the scenario for the first time, open and close the safety door once. Then acknowledge with ACK=1. Entry ID: , V2.0, 01/

105 18 User Scenario 12: Safety Door with Guard Locking at PL c/sil 1 Figure 18-3 Safety door with guard locking core functionality Start Safety door closed? No Stop request? Actuator stops No Previous stop was operational stop? No Timer starts Acknowledge Timer No expired or standstill =1? Start condition met Safety door interlocking is released Actuator on WARNING In this example for electromechanical actuators, the safety door's guard locking is deactivated as follows: When the configured delay time is greater than zero (delaytimeunlock > 0): The timer has expired or the standstill bit ("standstill") is TRUE. When the configured delay time is equal to zero (delaytimeunlock = 0): The standstill bit ("standstill") is TRUE. Make sure that the safety door's guard locking is deactivated only when a hazard no longer exists. Entry ID: , V2.0, 01/

106 18 User Scenario 12: Safety Door with Guard Locking at PL c/sil Description of the user block FB F12FDoorPLcSIL1 Figure 18-4 F-user FB F12FDoorPLcSIL1 NOTICE For F-blocks, the enable input (EN) must not be wired. Death or severe personal injury may result if you select a delaytimeunlock time that is too short. WARNING Customize these times to your requirements, for example to the slow-down time of a hazardous machine, to release the safety door when the delaytimeunlock time has expired. Parameter description The following section describes the inputs and outputs of FB F12FDoorPLcSIL1. NO: normally open (contact); NC: normally closed (contact) Table 18-3 Inputs of F12FDoorPLcSIL1 Description Symbol Data type Convention Acknowledgment ack BOOL NO 1: Acknowledgment Start request start BOOL NO 1: Start request Stop request stop BOOL NC 0: Stop request Positive edge required after triggering the safety function to reintegrate F-I/O Entry ID: , V2.0, 01/

107 18 User Scenario 12: Safety Door with Guard Locking at PL c/sil 1 Description Symbol Data type Convention Monitoring of magnet in position switch Readback signal from auxiliary contact of contactor K1 emagnet BOOL NC 0: Magnet in position switch energized 1: Magnet in position switch de-energized readbackk1 BOOL NC 0: Contactor has picked up Position switch sepact BOOL NC 1: Actuator inserted (safety door closed) Chapter 6.2 Chapter 6.2 Position switch value status sepactvs BOOL 0: Fault Output K1 value status K1VS BOOL VS: value status Chapter 6.7 Standstill detection standstill BOOL 1: Standstill Simulates the standstill/motion of a machine Time between the control command and the response of the contactor Time delay after shutdown of the actuators to release the safety door. feedbacktime TIME delaytimeunlock TIME Set this time to a sufficiently large value Table 18-4 Outputs of FB F12FDoorPLcSIL1 Description Symbol Data type Convention Contactor K1 K1 BOOL 1: Actuator switched (contactor has picked up) Magnet in the position switch Release safety door Acknowledgment for safety door fdoorcoil BOOL 0: Guard locking active releasefdoor BOOL 1: With regard to safety door, start is possible (safety door closed) ackreqfdoor BOOL 1: Acknowledgment required Actuator on F-DQ Information of the F-library blocks. Can be read out, for example, in the standard user program. Entry ID: , V2.0, 01/

108 18 User Scenario 12: Safety Door with Guard Locking at PL c/sil Configuration and parameterization The STEP 7 hardware configuration (HW Config) has already been prepared for commissioning FB F12FDoorPLcSIL1. Customizations are possible. The associated HW Config can be found in the provided block library. WARNING Inappropriate values for safety-related settings may result in the safety function not being triggered in the event of danger. Please keep this in mind if, due to your requirements, you want to change the settings shown here. For more information on the hardware configuration in this user scenario, please refer to chapter Operation of the user scenario For demonstration purposes, this document shows different user scenarios. These scenarios can also be used as verification steps for validation. For information on installing the user scenario, please refer to chapter 6.1. Requirements: No faults Safety door closed "delaytimeunlock" > 0 Table 18-5 Start actuator No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start Guard locking is activated, then K1 picks up 4 Press stop K1 drops out; then the timer for the delayed release of the safety door starts. 5 Wait until the timer expires. When the timer has expired, the safety door can be opened. Entry ID: , V2.0, 01/

109 18 User Scenario 12: Safety Door with Guard Locking at PL c/sil 1 Table 18-6 Safety function: Safe shutdown when the safety door is opened No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start Guard locking is activated, then K1 picks up 4 Release the interlocking and open the safety door K1 drops out Table 18-7 Trigger readback error No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Acknowledgment mandatory when starting the scenario for the first time 3 Press start K1 picks up 4 Make sure that K1 does not drop out when shutting down Simulated welding of the contactor 5 Press stop Readback error is detected 6 Let the contactor drop out 7 Press start K1 does not pick up (acknowledgment required) 8 Wait until the timer expires. 9 Start with no. 2 Entry ID: , V2.0, 01/

110 19 User Scenario 13: Safety Door with Guard Locking at PL d/sil 2 19 User Scenario 13: Safety Door with Guard Locking at PL d/sil Sensor/actuator Sensor: Position switch Actuator: electric (SINAMICS G120) 19.2 Safety function This user scenario has the following safety functions: Safety function with regard to the position of the safety door (interlocking) When the safety door is opened during operation, the actuator is safely shut down using STO. Safety function with regard to guard locking After shutdown of the actuator, the safety door may only be opened when the actuator no longer constitutes a hazard. Under "Normative assessment of guard locking", chapter 6.2 addresses the situation where there is a safety function with regard to guard locking Hardware and software components Hardware components You need the hardware and software components listed below. Table 19-1 Hardware Component No. Article number CPU 1215FC DC/DC/RLY SM 1226 F- DI8/16x24VDC SM 1226 F-DQ 4x24VDC Enclosed pushbutton (NO) Enclosed pushbutton (NO) Enclosed pushbutton (NC) Position switch with solenoid interlocking (spring-locked) 1 6ES7215-1HF40-0XB0 FW4.2 or higher 1 6ES7226-6BA32-0XB0 1 6ES DA32-0XB0 1 3SU1100-0AB40-1BA0 Green, screw terminal 1 3SU1100-0AB40-1BA0 Blue, screw terminal 1 3SU1100-0AB20-1CA0 Red, screw terminal 1 3SE5322-0SD21 Hinge switch 1 3SE5132-0LU21 Actuator for position switch 1 3SE5000-0AV0 Entry ID: , V2.0, 01/

111 19 User Scenario 13: Safety Door with Guard Locking at PL d/sil 2 Component No. Article number SINAMICS G120 CU240E-2 PN-F SINAMICS G120 PM SL3244-0BB13-1FA0 1 6SL3224-0BE17-5UA0 Software components Table 19-2 Software Component No. Article number STEP 7 Basic V15 1 6ES7822-0AA05-0YA5 Or STEP 7 Professional V15 STEP 7 Safety Basic V15 SINAMICS Startdrive 1 6ES7833-1FB15-0YA5 Or STEP 7 Safety Advanced V15 1 6SL3072-4EA02-0XG0 SINAMICS Startdrive V15 Entry ID: , V2.0, 01/

112 19 User Scenario 13: Safety Door with Guard Locking at PL d/sil Wiring The figure below shows the wiring of the hardware components. Figure 19-1 Safety door with guard locking PL d/sil 2 wiring 24V DC M stop start ack L+ M L1 M L+.3 emagnet Vs fdoorcoil PROFINET IE.0 hingedswitch Vs2 sepact For the actuator signals, please refer to chapter 6.8. In the safety program, the signals of the position switch are defined as follows: sepact (monitoring of the actuator position) sepact (monitoring of the locking device position) fdoorcoil (control of guard locking) Entry ID: , V2.0, 01/

113 19 User Scenario 13: Safety Door with Guard Locking at PL d/sil 2 The following figure shows the wiring on the position switch and therefore complements the above connection diagram. Figure 19-2 Internal terminals of the position switch with solenoid interlocking sepact (F-DI) CH + (F-DQ) emagnet (standard DI) Vs1 (F-DI) L+ (F-CPU) CH (F-DQ) 19.5 Brief description of the core functionality The following flowchart provides a concise description of the core functionality. Before starting the scenario for the first time, open and close the safety door once. Then acknowledge with ACK=1. Entry ID: , V2.0, 01/

114 19 User Scenario 13: Safety Door with Guard Locking at PL d/sil 2 Figure 19-3 Safety door with guard locking core functionality Start Safety door closed? No Stop reques? Actuator stops No Previous stop was operational stop? No Acknowledge Safety door opened after operational stop? No Timer starts Unlock No timer expired? Start condition met Safety door interlocking is released Actuator on WARNING In this example for electric actuators, the safety door's guard locking is deactivated when the timer has expired. For moving parts, a hazard cannot be automatically ruled out when the timer has expired. Make sure that the safety door's guard locking is deactivated only when a hazard no longer exists. Entry ID: , V2.0, 01/

115 19 User Scenario 13: Safety Door with Guard Locking at PL d/sil Description of the user block FB F13FDoorGuardLockingPLdSIL2 Figure 19-4 User block FB F13FDoorGuardLockingPLdSIL2 NOTICE For F-blocks, the enable input (EN) must not be wired. This example assumes that you are using a hinge switch (hingedswitch) as a second channel. However, it is not mandatory to use a hinge switch. The required dual-channel redundancy can also be implemented with a different switch. NOTE If you want to use the extended safety function SLS in the drive, you have to set the bit SS1 also on TRUE. This is solved in network 2 of the FB F13FDoorGuardLockingPLdSIL2. There you can fit the address of SS1 if necessary. WARNING Death or severe personal injury may result if you select a delaytimeunlock time that is too short. Customize these times to your requirements, for example to the slow-down time of a hazardous machine, to release the safety door when the delaytimeunlock time has expired. Parameter description The following section describes the inputs and outputs of FB F13FDoorGuardLockingPLdSIL2. Entry ID: , V2.0, 01/

116 19 User Scenario 13: Safety Door with Guard Locking at PL d/sil 2 NO: normally open (contact); NC: normally closed (contact) Table 19-3 Inputs of FB F13FDoorGuardLockingPLdSIL2 Description Symbol Data type Convention Acknowledgment ack BOOL NO 1: Acknowledgment Start request start BOOL NO 1: Start request Stop request stop BOOL NC 0: Stop request Monitoring of magnet in position switch emagnet BOOL NC 0: Magnet in position switch energized 1: Magnet in position switch de-energized SLS request reqsls BOOL NO 1: SLS requested SLS feedback from drive fdbacksls BOOL 1: SLS active STO feedback from drive fdbacksto BOOL 1: STO active Power-on inhibit of drive drivelockout BOOL 1: Power-on inhibit active Positive edge required after triggering the safety function to reintegrate F-I/O Chapter 6.2 Position switch sepact BOOL NC 1: Actuator inserted (safety door closed) Chapter 6.2 Hinge switch hingedswitch BOOL NC 1: Unoperated (safety door closed) Position switch value status sepactvs BOOL Hinge switch value status hingedswitchvs BOOL Output fdoorcoil value status In the position switch: Time between the response of the magnet and the monitoring contact Time delay after shutdown of the actuators to release the safety door. fdoorcoilvs feedbacktime BOOL TIME 0: Fault VS: value status Chapter 6.7 delaytimeunlock TIME Set this time to a sufficiently large value Entry ID: , V2.0, 01/

117 19 User Scenario 13: Safety Door with Guard Locking at PL d/sil 2 Table 19-4 Outputs of FB F13FDoorGuardLockingPLdSIL2 Description Symbol Data type Convention "Safe Torque Off" power supply to drive interrupted "Safely Limited Speed" Acknowledge internal drive event Start enable of drive Magnet in the position switch Release safety door Acknowledgment for safety door STO BOOL 0: STO active SLS BOOL 0: SLS active internaleventack BOOL 1: Acknowledgement ondrive BOOL 1: Start enable fdoorcoil BOOL 0: Guard locking active releasefdoor BOOL 1: With regard to safety door, start is possible (safety door closed) ackreqfdoor BOOL 1: Acknowledgment required Information of the F-library blocks. Can be read out, for example, in the standard user program Configuration and parameterization The STEP 7 hardware configuration (HW Config) has already been prepared for commissioning FB F13FDoorGuardLockingPLdSIL2. Customizations are possible. The associated HW Config can be found in the provided block library. NOTE The provided block library includes the drive project "Drive_1". This includes our individual parametrization for testing the functionalities of the examples. You have to execute your own commissioning of the SINAMICS G120 in case of use. The following link takes you to a document that explains how to control the SINAMICS G120 using the S F-CPU via PROFIsafe: WARNING Inappropriate values for safety-related settings may result in the safety function not being triggered in the event of danger. Please keep this in mind if, due to your requirements, you want to change the settings shown here. For more information on the hardware configuration in this user scenario, please refer to chapter For information on the SINAMICS G120, please refer to chapter Entry ID: , V2.0, 01/

118 19 User Scenario 13: Safety Door with Guard Locking at PL d/sil Operation of the user scenario For demonstration purposes, this document shows different user scenarios. These scenarios can also be used as verification steps for validation. For information on installing the user scenario, please refer to chapter 6.1. Requirements: No faults Table 19-5 Start actuator Safety door closed No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start Guard locking is activated ("fdoorcoil"=0) "ondrive"=1 "STO"=1, "SLS"=1 4 Press stop "ondrive"=0 the timer for the delayed release of the safety door starts. 5 Wait until the timer expires. When the timer has expired, the safety door can be opened ("fdoorcoil"=1). Entry ID: , V2.0, 01/

119 19 User Scenario 13: Safety Door with Guard Locking at PL d/sil 2 Table 19-6 Toggle between normal mode and SLS No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press "ack" Required when starting the scenario for the first time and after each opening of the safety door. 3 Press "start" Guard locking is activated ("fdoorcoil"=0) "ondrive"=1 "STO"=1, "SLS"=1 4 Switch to SLS ("reqsls"=1, "fdbacksls"=1) "fdoorcoil"=1: You can open the door "STO"=1, "SLS"=0 5 Close the door and return from SLS to normal mode "fdoorcoil"=0: Door interlocked "STO"=1, "SLS"=1 6 Press "stop" "ondrive"=0 Timer for delayed release of safety door starts. "STO"=1, "SLS"=1 7 Wait until the timer expires. When the timer has expired, the safety door can be opened ("fdoorcoil"=1). "STO"=1, "SLS"=1 Table 19-7 SLS from standstill (n=0) No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press "ack" Required when starting the scenario for the first time and after each opening of the safety door. 3 Switch to SLS ("reqsls"=1) To start at SLS from a standstill, the door must be closed. "fdoorcoil"=1: You can open the door "ondrive"=0 "STO"=0, "SLS"=1, "fdbacksls"=0 4 Press "start" "ondrive"=1 "STO"=1, "SLS"=0 5 Press "stop" "ondrive"=0 "STO"=0, "SLS"=0 "stop" (OFF1 in the drive) automatically triggers STO. 6 Press "ack" "STO"=1, "SLS"=0 7 Start again with no. 4 NOTE In case of closing door and "ondrive"=0 (OFF1 is active in the drive), the drive will change to STO after some seconds, if there is "reqsls"=1 and no start command. Entry ID: , V2.0, 01/

120 20 User Scenario 14: Safety Door with Guard Locking at PL c/sil 1 20 User Scenario 14: Safety Door with Guard Locking at PL c/sil Sensor/actuator Sensor: Position switch Actuator: electric (SINAMICS G120) 20.2 Safety function This user scenario has the following safety functions: Safety function with regard to the position of the safety door (interlocking) When the safety door is opened during operation, the actuator is safely shut down using STO. Safety function with regard to guard locking After shutdown of the actuator, the safety door may only be opened when the actuator no longer constitutes a hazard. Under "Normative assessment of guard locking", chapter 6.2 addresses the situation where there is a safety function with regard to guard locking Hardware and software components Hardware components You need the hardware and software components listed below. Table 20-1 Hardware Component No. Article number CPU 1215FC DC/DC/RLY SM 1226 F- DI8/16x24VDC SM 1226 F-DQ 4x24VDC Enclosed pushbutton (NO) Enclosed pushbutton (NO) Enclosed pushbutton (NC) Position switch with solenoid interlocking (spring-locked) Actuator for position switch SINAMICS G120 CU240E-2 PN-F 1 6ES7215-1HF40-0XB0 FW4.2 or higher 1 6ES7226-6BA32-0XB0 1 6ES DA32-0XB0 1 3SU1100-0AB40-1BA0 Green, screw terminal 1 3SU1100-0AB40-1BA0 Blue, screw terminal 1 3SU1100-0AB20-1CA0 Red, screw terminal 1 3SE5322-0SD21 1 3SE5000-0AV0 1 6SL3244-0BB13-1FA0 Entry ID: , V2.0, 01/

121 20 User Scenario 14: Safety Door with Guard Locking at PL c/sil 1 Component No. Article number SINAMICS G120 PM SL3224-0BE17-5UA0 Software components Table 20-2 Software Component No. Article number STEP 7 Basic V15 1 6ES7822-0AA05-0YA5 Or STEP 7 Professional V15 STEP 7 Safety Basic V15 SINAMICS Startdrive 1 6ES7833-1FB15-0YA5 Or STEP 7 Safety Advanced V15 1 6SL3072-4EA02-0XG0 SINAMICS Startdrive V15 V15 Entry ID: , V2.0, 01/

122 20 User Scenario 14: Safety Door with Guard Locking at PL c/sil Wiring The figure below shows the wiring of the hardware components. Figure 20-1 Safety door with guard locking SIL 1/PL d wiring 24V DC M stop start ack L+ M L1 M L+.3 emagnet Vs fdoorcoil PROFINET IE sepact For the actuator signals, please refer to chapter 6.8. In the safety program, the signals of the position switch are defined as follows: sepact (monitoring of the actuator position) sepact (monitoring of the locking device position) fdoorcoil (control of guard locking) Entry ID: , V2.0, 01/

123 20 User Scenario 14: Safety Door with Guard Locking at PL c/sil 1 The following figure shows the wiring on the position switch and therefore complements the above connection diagram. Figure 20-2 Internal terminals of the position switch with solenoid interlocking sepact (F-DI) CH + (F-DQ) emagnet (standard DI) Vs1 (F-DI) L+ (F-CPU) CH (F-DQ) 20.5 Brief description of the core functionality The following flowchart provides a concise description of the core functionality. Before starting the scenario for the first time, open and close the safety door once. Then acknowledge with ACK=1. Entry ID: , V2.0, 01/

124 20 User Scenario 14: Safety Door with Guard Locking at PL c/sil 1 Figure 20-3 Safety door with guard locking core functionality Start Safety door closed? No Stop request? Actuator stops No Previous stop was operational stop? No Acknowledge Safety door opened after operational stop? No Timer starts Unlock No timer expired? Start condition met Safety door interlocking is released Actuator on WARNING In this example for electric actuators, the safety door's guard locking is deactivated when the timer has expired. For moving parts, a hazard cannot be automatically ruled out when the timer has expired. Make sure that the safety door's guard locking is deactivated only when a hazard no longer exists. Entry ID: , V2.0, 01/

125 20 User Scenario 14: Safety Door with Guard Locking at PL c/sil Description of the user block FB F14FDoorGuardLockingPLcSIL1 Figure 20-4 F-user block FB F14FDoorGuardLockingPLcSIL1 NOTE If you want to use the extended safety function SLS in the drive, you have to set the bit SS1 also on TRUE. This is solved in network 2 of the FB F14FDoorGuardLockingPLcSIL1. There you can fit the address of SS1 if necessary. NOTICE For F-blocks, the enable input (EN) must not be wired. WARNING Death or severe personal injury may result if you select a delaytimeunlock time that is too short. Customize these times to your requirements, for example to the slow-down time of a hazardous machine, to release the safety door when the delaytimeunlock time has expired. Parameter description The following section describes the inputs and outputs of FB F14FDoorGuardLockingPLcSIL1. NO: normally open (contact); NC: normally closed (contact) Entry ID: , V2.0, 01/

126 20 User Scenario 14: Safety Door with Guard Locking at PL c/sil 1 Table 20-3 Inputs of FB F14FDoorGuardLockingPLcSIL1 Description Symbol Data type Convention Acknowledgment ack BOOL NO 1: Acknowledgment Start request start BOOL NO 1: Start request Stop request stop BOOL NC 0: Stop request Monitoring of magnet in position switch emagnet BOOL NC 0: Magnet in position switch energized 1: Magnet in position switch de-energized SLS request reqsls BOOL NO 1: SLS requested SLS feedback from drive fdbacksls BOOL 1: SLS active STO feedback from drive fdbacksto BOOL 1: STO active Power-on inhibit of drive drivelockout BOOL 1: Power-on inhibit active Position switch sepact BOOL NC 1: Actuator inserted (safety door closed) Positive edge required after triggering the safety function to reintegrate F-I/O Chapter 6.2 Chapter 6.2 Position switch value status sepactvs BOOL 0: Fault Output fdoorcoil value status fdoorcoilvs BOOL VS: value status Chapter 6.7 In the position switch: Time between the response of the magnet and the monitoring contact feedbacktime TIME Time delay after shutdown of the actuators to release the safety door. delaytimeunlock TIME Set this time to a sufficiently large value Entry ID: , V2.0, 01/

127 20 User Scenario 14: Safety Door with Guard Locking at PL c/sil 1 Table 20-4 Outputs of FB F14FDoorGuardLockingPLcSIL1 Description Symbol Data type Convention Safe Torque Off safety function "Safely Limited Speed" Acknowledge internal drive event Start enable of drive Magnet in the position switch Release safety door Acknowledgment for safety door STO BOOL 0: Select STO 1: Deselect STO SLS BOOL 0: SLS active internaleventack BOOL 1: Acknowledgment ondrive BOOL 1: Start enable fdoorcoil BOOL 0: Guard locking active releasefdoor BOOL 1: With regard to safety door, start is possible (safety door closed) ackreqfdoor BOOL 1: Acknowledgment required The converter with the active STO function disconnects the power supply to the motor. Actuator on F-DQ Information of the F-library blocks. Can be read out, for example, in the standard user program Configuration and parameterization The STEP 7 hardware configuration (HW Config) has already been prepared for commissioning FB F14FDoorGuardLockingPLcSIL1. Customizations are possible. The associated HW Config can be found in the provided block library. NOTE The provided block library includes the drive project "Drive_1". This includes our individual parametrization for testing the functionalities of the examples. You have to execute your own commissioning of the SINAMICS G120 in case of use. The following link takes you to a document that explains how to control the SINAMICS G120 using the S F-CPU via PROFIsafe: WARNING Inappropriate values for safety-related settings may result in the safety function not being triggered in the event of danger. Please keep this in mind if, due to your requirements, you want to change the settings shown here. For more information on the hardware configuration in this user scenario, please refer to chapter For information on the SINAMICS G120, please refer to chapter Entry ID: , V2.0, 01/

128 20 User Scenario 14: Safety Door with Guard Locking at PL c/sil Operation of the user scenario For demonstration purposes, this document shows different user scenarios. These scenarios can also be used as verification steps for validation. For information on installing the user scenario, please refer to chapter 6.1. Requirements: No faults Table 20-5 Start actuator Safety door closed No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start Guard locking is activated ("fdoorcoil"=0) "ondrive"=1, "STO"=1 4 Press stop "ondrive"=0 the timer for the delayed release of the safety door starts. 5 Wait until the timer expires. When the timer has expired, the safety door can be opened ("fdoorcoil"=1). Entry ID: , V2.0, 01/

129 21 User Scenario 15: Emergency Stop + Safety Door without Guard Locking at PL d, e/sil 2, 3 21 User Scenario 15: Emergency Stop + Safety Door without Guard Locking at PL d, e/sil 2, Sensor/actuator Sensor: Emergency stop pushbutton, position switch Actuator: electromechanical (contactor) 21.2 Safety function This user scenario has the following safety functions: Pressing the emergency stop button safely shuts down the actuator. Opening the safety door during operation safely shuts down the actuator Hardware and software components You need the hardware and software components listed below. Hardware components Table 21-1 Hardware Component No. Article number CPU 1215FC DC/DC/RLY SM 1226 F- DI8/16x24VDC SM 1226 F-DQ 4x24VDC Enclosed pushbutton (NO) Enclosed pushbutton (NO) Enclosed pushbutton (NC) Emergency stop pushbutton (NC) 2 nd NC for emergency stop Position switch without tumbler Actuator for position switch 1 6ES7215-1HF40-0XB0 FW4.2 or higher 1 6ES7226-6BA32-0XB0 1 6ES DA32-0XB0 1 3SU1100-0AB40-1BA0 Green, screw terminal 1 3SU1100-0AB40-1BA0 Blue, screw terminal 1 3SU1100-0AB20-1CA0 Red, screw terminal 1 3SU1100-1HB20-1CF0 1 3SU1400-1AA10-1CA0 2 3SE5132-1QV20 2 3SE5000-0AV0 Contactors 2 3RT2015-2BB42 Entry ID: , V2.0, 01/

130 21 User Scenario 15: Emergency Stop + Safety Door without Guard Locking at PL d, e/sil 2, 3 Software components Table 21-2 Software Component No. Article number STEP 7 Basic V15 1 6ES7822-0AA05-0YA5 Or STEP 7 Professional V15 STEP 7 Safety Basic V15 1 6ES7833-1FB15-0YA5 Or STEP 7 Safety Advanced V Wiring The figure below shows the wiring of the hardware components. Figure 21-1 Emergency stop and safety door without guard locking PL e/sil 3 wiring 24V DC M stop start ack L1 M K2 K1 L+.3.4 L+ M Vs1.1 K1 0+ K Vs2 estop posswitch2 Vs1 posswitch1.0 Entry ID: , V2.0, 01/

131 21 User Scenario 15: Emergency Stop + Safety Door without Guard Locking at PL d, e/sil 2, 3 In the safety program, the NC auxiliary contacts of the contactors K1 and K2 are termed "feedback1" and "feedback2" Brief description of the core functionality The following flowchart provides a concise description of the core functionality. Figure 21-2 Emergency stop + safety door without guard locking core functionality Start No Safety door closed and e-stop released? Stop request? Actuators are switched off No Previous stop was operational stop? No Acknowledge Start condition met Actuators on Entry ID: , V2.0, 01/

132 21 User Scenario 15: Emergency Stop + Safety Door without Guard Locking at PL d, e/sil 2, Description of the user block FB F15EStopFDoorPLdeSIL23 Figure 21-3 User block FB F15EStopFDoorPLdeSIL23 NOTICE For F-blocks, the enable input (EN) must not be wired. Parameter description The following section describes the inputs and outputs of FB F15EStopFDoorPLdeSIL23. NO: normally open (contact); NC: normally closed (contact) Table 21-3 Inputs of FB F15EStopFDoorPLdeSIL23 Description Symbol Data type Convention Acknowledgment ack BOOL NO 1: Acknowledgment Start request start BOOL NO 1: Start request Stop request stop BOOL NC 0: Stop request Positive edge required after triggering a safety function to reintegrate F-I/O Readback signal from auxiliary contact of contactor K1 readbackk1 BOOL NC 0: Contactor has picked up Entry ID: , V2.0, 01/

133 21 User Scenario 15: Emergency Stop + Safety Door without Guard Locking at PL d, e/sil 2, 3 Description Symbol Data type Convention Readback signal from auxiliary contact of contactor K2 Emergency stop pushbutton readbackk2 BOOL estop BOOL NC/NC 0: Emergency stop triggered Position switch 1 posswitch1 BOOL NC 1: Actuator inserted (safety door closed) Position switch 2 posswitch2 BOOL NC 1: Actuator inserted (safety door closed) Position switch 1 value status Position switch 2 value status posswitch1vs BOOL 0: Fault posswitch2vs BOOL K1K2 value status K1K2VS BOOL Time between the control command and the response of the contactors feedbacktime TIME VS: value status Chapter 6.7 Table 21-4 Outputs of FB F15EStopFDoorPLdeSIL23 Description Symbol Data type Convention Contactors K1/K2 K1K2 BOOL 1: Control command for the contactors Release safety door Release emergency stop Acknowledgment for safety door Acknowledgment required releasefdoor BOOL 1: With regard to safety door, start is possible (safety door closed) releaseestop BOOL 1: Emergency stop released and acknowledged ackreqfdoor BOOL 1: Acknowledgment ackreqestop BOOL required Actuator on F-DQ Information of the F-library blocks. Can be read out, for example, in the standard user program. Entry ID: , V2.0, 01/

134 21 User Scenario 15: Emergency Stop + Safety Door without Guard Locking at PL d, e/sil 2, Configuration and parameterization The STEP 7 hardware configuration (HW Config) has already been prepared for commissioning FB F15EStopFDoorPLdeSIL23. Customizations are possible. The associated HW Config can be found in the provided block library. WARNING Inappropriate values for safety-related settings may result in the safety function not being triggered in the event of danger. Please keep this in mind if, due to your requirements, you want to change the settings shown here. For more information on the hardware configuration in this user scenario, please refer to chapter Operation of the user scenario For demonstration purposes, this document shows different user scenarios. These scenarios can also be used as verification steps for validation. For information on installing the user scenario, please refer to chapter 6.1. Requirements: No faults Emergency stop released Safety door closed Table 21-5 Start actuator No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start K1K2 picks up 4 Press stop K1K2 drops out Entry ID: , V2.0, 01/

135 21 User Scenario 15: Emergency Stop + Safety Door without Guard Locking at PL d, e/sil 2, 3 Table 21-6 Safety function: Safe shutdown when the safety door is opened No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start K1K2 picks up 4 Open the safety door K1K2 drops out 5 Close the safety door 6 Start again with no. 2 Table 21-7 Safety function: Trigger emergency stop No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Acknowledgment mandatory when starting the scenario for the first time 3 Press start K1K2 picks up 4 Press the emergency stop (estop) K1K2 drops out 5 Release the emergency stop (estop) 6 Press start K1K2 does not pick up (acknowledgment required) 7 Start again with no. 2 Table 21-8 Trigger readback error No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Acknowledgment mandatory when starting the scenario for the first time 3 Press start K1K2 picks up 4 Make sure that K1 or K2 does not drop out when shutting down Simulated welding of the contactor 5 Press stop Readback error is detected 6 Let the contactor drop out 7 Press start K1K2 does not pick up (acknowledgment required) 8 Start with no. 2 Entry ID: , V2.0, 01/

136 22 User Scenario 16: Emergency Stop + Safety Door without Guard Locking at PL c/sil 1 22 User Scenario 16: Emergency Stop + Safety Door without Guard Locking at PL c/sil Sensor/actuator Sensor: Emergency stop pushbutton, position switch Actuator: electromechanical (contactor) 22.2 Safety function This user scenario has the following safety functions: Pressing the emergency stop button safely shuts down the actuator. Opening the safety door during operation safely shuts down the actuator Hardware and software components You need the hardware and software components listed below. Hardware components Table 22-1 Hardware Component No. Article number CPU 1215FC DC/DC/RLY SM 1226 F- DI8/16x24VDC SM 1226 F-DQ 4x24VDC Enclosed pushbutton (NO) Enclosed pushbutton (NO) Enclosed pushbutton (NC) Emergency stop pushbutton (NC) Position switch without tumbler Actuator for position switch 1 6ES7215-1HF40-0XB0 FW4.2 or higher 1 6ES7226-6BA32-0XB0 1 6ES DA32-0XB0 1 3SU1100-0AB40-1BA0 Green, screw terminal 1 3SU1100-0AB40-1BA0 Blue, screw terminal 1 3SU1100-0AB20-1CA0 Red, screw terminal 1 3SU1100-1HB20-1CF0 1 3SE5132-1QV20 1 3SE5000-0AV0 Contactors 1 3RT2015-2BB42 Software components Table 22-2 Software Component No. Article number STEP 7 Basic V15 1 6ES7822-0AA05-0YA5 Or STEP 7 Professional V15 STEP 7 Safety Basic V15 1 6ES7833-1FB15-0YA5 Or STEP 7 Safety Advanced V15 Entry ID: , V2.0, 01/

137 22 User Scenario 16: Emergency Stop + Safety Door without Guard Locking at PL c/sil Wiring The figure below shows the wiring of the hardware components. Figure 22-1 Emergency stop and safety door without guard locking PL c/sil 1 wiring 24V DC M stop start ack L1 M K1 L+.3 L+ M Vs1.1 K estop Vs1 posswitch1 In the safety program, the auxiliary contact of contactor K1 is termed "feedback". Due to the use of the FB FDBACK F-library block, it is useful to monitor readback. Basically, monitoring the readback signals is not required for PL c/sil Brief description of the core functionality The following flowchart provides a concise description of the core functionality. Entry ID: , V2.0, 01/

138 22 User Scenario 16: Emergency Stop + Safety Door without Guard Locking at PL c/sil 1 Figure 22-2 Emergency stop + safety door without guard locking core functionality Start No Safety door closed and e-stop released? Stop request? Actuator is switched off No Previous stop was operational stop? No Acknowledge Start condition met Actuator on Entry ID: , V2.0, 01/

139 22 User Scenario 16: Emergency Stop + Safety Door without Guard Locking at PL c/sil Description of the user block FB F16EStopFDoorPLcSIL1 Figure 22-3 User block FB F16EStopFDoorPLcSIL1 NOTICE For F-blocks, the enable input (EN) must not be wired. Parameter description The following section describes the inputs and outputs of FB F16EStopFDoorPLcSIL1. NO: normally open (contact); NC: normally closed (contact) Table 22-3 Inputs of FB F16EStopFDoorPLcSIL1 Description Symbol Data type Convention Acknowledgment ack BOOL NO 1: Acknowledgment Start request start BOOL NO 1: Start request Stop request stop BOOL NC 0: Stop request Readback signal from auxiliary contact of contactor K1 Emergency stop pushbutton readbackk1 BOOL NC 0: Contactor has picked up estop BOOL NC 0: Emergency stop triggered Positive edge required after triggering the safety function to reintegrate F-I/O Entry ID: , V2.0, 01/

140 22 User Scenario 16: Emergency Stop + Safety Door without Guard Locking at PL c/sil 1 Description Symbol Data type Convention Position switch posswitch BOOL NC 1: Actuator inserted (safety door closed) Position switch value status posswitchvs BOOL 0: Fault VS: value status Chapter 6.7 Output K1 value status K1VS BOOL Time between the control command and the response of the contactor feedbacktime TIME Table 22-4 Outputs of FB F16EStopFDoorPLcSIL1 Description Symbol Data type Convention Contactors K1/K2 K1K2 BOOL 1: Control command for the contactors Release safety door Release emergency stop Acknowledgment for safety door Acknowledgment required releasefdoor BOOL 1: With regard to safety door, start is possible (safety door closed) releaseestop BOOL 1: Emergency stop released and acknowledged ackreqfdoor BOOL 1: Acknowledgment ackreqestop BOOL required Actuator on F-DQ Information of the F-library blocks. Can be read out, for example, in the standard user program Configuration and parameterization The STEP 7 hardware configuration (HW Config) has already been prepared for commissioning FB F16EStopFDoorPLcSIL1. Customizations are possible. The associated HW Config can be found in the provided block library. WARNING Inappropriate values for safety-related settings may result in the safety function not being triggered in the event of danger. Please keep this in mind if, due to your requirements, you want to change the settings shown here. For more information on the hardware configuration in this user scenario, please refer to chapter Entry ID: , V2.0, 01/

141 22 User Scenario 16: Emergency Stop + Safety Door without Guard Locking at PL c/sil Operation of the user scenario For demonstration purposes, this document shows different user scenarios. These scenarios can also be used as verification steps for validation. For information on installing the user scenario, please refer to chapter 6.1. Requirements: No faults Emergency stop released Safety door closed Table 22-5 Start actuator No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start K1 picks up 4 Press stop K1 drops out Table 22-6 Safety function: Trigger emergency stop No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Acknowledgment mandatory when starting the scenario for the first time 3 Press start K1 picks up 4 Press the emergency stop (estop) K1 drops out 5 Release the emergency stop (estop) 6 Press start K1 does not pick up (acknowledgment required) 7 Start again with no. 2 Table 22-7 Safety function: Safe shutdown when the safety door is opened No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start K1 picks up 4 Open the safety door K1 drops out Entry ID: , V2.0, 01/

142 22 User Scenario 16: Emergency Stop + Safety Door without Guard Locking at PL c/sil 1 No. Action Comment 5 Close the safety door 6 Start again with no. 2 Table 22-8 Trigger readback error No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start K1 picks up 4 Make sure that K1 does not drop out when shutting down Simulated welding of the contactor 5 Press stop Readback error is detected 6 Let the contactor drop out 7 Press start K1 does not pick up (acknowledgment required) 8 Start again with no. 2 Entry ID: , V2.0, 01/

143 23 User Scenario 17: Emergency Stop + Safety Door without Guard Locking at PL d/sil 2 23 User Scenario 17: Emergency Stop + Safety Door without Guard Locking at PL d/sil Sensor/actuator Sensor: Emergency stop pushbutton, position switch Actuator: electric (SINAMICS G120) 23.2 Safety function This user scenario has the following safety functions: Pressing the emergency stop button safely shuts down the actuator. When the safety door is opened during operation, the actuator is safely shut down (STO) or monitored for Safely Limited Speed (SLS). The selection is made using a switch Hardware and software components You need the hardware and software components listed below. Hardware components Table 23-1 Hardware Component No. Article number CPU 1215FC DC/DC/RLY SM 1226 F- DI8/16x24VDC SM 1226 F-DQ 4x24VDC Enclosed pushbutton (NO) Enclosed pushbutton (NO) Enclosed pushbutton (NC) Emergency stop pushbutton (NC) 2 nd NC for emergency stop Position switch without tumbler Actuator for position switch SINAMICS G120 CU240E-2 PN-F SINAMICS G120 PM ES7215-1HF40-0XB0 FW4.2 or higher 1 6ES7226-6BA32-0XB0 1 6ES DA32-0XB0 1 3SU1100-0AB40-1BA0 Green, screw terminal 2 3SU1100-0AB40-1BA0 Blue, screw terminal 1 3SU1100-0AB20-1CA0 Red, screw terminal 1 3SU1100-1HB20-1CF0 1 3SU1400-1AA10-1CA0 2 3SE5132-1QV20 2 3SE5000-0AV0 1 6SL3244-0BB13-1FA0 1 6SL3224-0BE17-5UA0 Entry ID: , V2.0, 01/

144 23 User Scenario 17: Emergency Stop + Safety Door without Guard Locking at PL d/sil 2 Software components Table 23-2 Software Component No. Article number STEP 7 Basic V15 1 6ES7822-0AA05-0YA5 Or STEP 7 Professional V15 STEP 7 Safety Basic V15 SINAMICS Startdrive 1 6ES7833-1FB15-0YA5 Or STEP 7 Safety Advanced V15 1 6SL3072-4EA02-0XG0 SINAMICS Startdrive V15 V15 Entry ID: , V2.0, 01/

145 23 User Scenario 17: Emergency Stop + Safety Door without Guard Locking at PL d/sil Wiring The figure below shows the wiring of the hardware components. Figure 23-1 Emergency stop and safety door without guard locking PL d/sil 2 wiring 24V DC M stop start ack L1 M.3 selectstoorsls L+ L+ M Vs1.1 PROFINET IE.0.1 Vs2 estop posswitch2 Vs1 posswitch1.0 For the actuator signals, please refer to chapter 6.8. Entry ID: , V2.0, 01/

146 23 User Scenario 17: Emergency Stop + Safety Door without Guard Locking at PL d/sil Brief description of the core functionality The following flowchart provides a concise description of the core functionality. Figure 23-2 Emergency stop + safety door without guard locking core functionality Start No Safety door closed and e-stop released? E-stop? No Actuator is switched off (STO) Safety door open? No STO or SLS active? No STO selected by operator? No Acknowledge SLS active Start condition met Actuator on Operational stop? No Entry ID: , V2.0, 01/

147 23 User Scenario 17: Emergency Stop + Safety Door without Guard Locking at PL d/sil Description of the user block FB F17EStopFDoorPLdSIL2 Figure 23-3 User block FB F17EStopFDoorPLdSIL2 NOTICE For F-blocks, the enable input (EN) must not be wired. Parameter description The following section describes the inputs and outputs of FB F17EStopFDoorPLdSIL2. NO: normally open (contact); NC: normally closed (contact) Table 23-3 Inputs of FB F17EStopFDoorPLdSIL2 Description Symbol Data type Convention Acknowledgment ack BOOL NO 1: Acknowledgment Start request start BOOL NO 1: Start request Stop request stop BOOL NC 0: Stop request Select STO or SLS selectstoorsls BOOL 0: STO 1: SLS Emergency stop pushbutton estop BOOL NC/NC 0: Emergency stop triggered Position switch 1 posswitch1 BOOL NC 1: Actuator Positive edge required after triggering the safety function to reintegrate F-I/O Only relevant to opening the safety door. Entry ID: , V2.0, 01/

148 23 User Scenario 17: Emergency Stop + Safety Door without Guard Locking at PL d/sil 2 Description Symbol Data type Convention inserted (safety door closed) Position switch 2 posswitch2 BOOL NC 1: Actuator inserted (safety door closed) Position switch 1 value status Position switch 2 value status posswitch1vs posswitch2vs BOOL BOOL 0: Fault VS: value status Chapter 6.7 Table 23-4 Outputs of FB F17EStopFDoorPLdSIL2 Description Symbol Data type Convention Safe Torque Off STO BOOL 0: selected 1: deselected Safely Limited Speed Acknowledge internal drive event Start/stop the drive (assignment of drive control word 1 bit 0) Release emergency stop Release safety door SLS BOOL 0: selected 1: deselected internaleventack BOOL Acknowledgment on negative edge of internaleventack startstopdrive BOOL 0: Stop 1: Start releaseestop BOOL 1: Emergency stop released and acknowledged releasefdoor BOOL 1: With regard to safety door, start is possible (safety door closed) The converter with the active STO function disconnects the power supply to the motor. The "ack" button is used for acknowledgment. Switches the "EnableAxis" input of the "SINA_SPEED" FB Information of the F-library blocks. Can be read out, for example, in the standard user program. Acknowledgment for safety door Acknowledgment required ackreqfdoor BOOL 1: Acknowledgment ackreqestop BOOL required Entry ID: , V2.0, 01/

149 23 User Scenario 17: Emergency Stop + Safety Door without Guard Locking at PL d/sil Configuration and parameterization The STEP 7 hardware configuration (HW Config) has already been prepared for commissioning FB F17EStopFDoorPLdSIL2. Customizations are possible. The associated HW Config can be found in the provided block library. NOTE The provided block library includes the drive project "Drive_1". This includes our individual parametrization for testing the functionalities of the examples. You have to execute your own commissioning of the SINAMICS G120 in case of use. The following link takes you to a document that explains how to control the SINAMICS G120 using the S F-CPU via PROFIsafe: WARNING Inappropriate values for safety-related settings may result in the safety function not being triggered in the event of danger. Please keep this in mind if, due to your requirements, you want to change the settings shown here. For more information on the hardware configuration in this user scenario, please refer to chapter For information on the SINAMICS G120, please refer to chapter Operation of the user scenario For demonstration purposes, this document shows different user scenarios. These scenarios can also be used as verification steps for validation. For information on installing the user scenario, please refer to chapter 6.1. Requirements: No faults Emergency stop released Safety door closed Table 23-5 Start actuator No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the Entry ID: , V2.0, 01/

150 23 User Scenario 17: Emergency Stop + Safety Door without Guard Locking at PL d/sil 2 No. Action Comment safety door. 3 Press start enableaxis (SINA_SPEED) = 1 4 Press stop enableaxis (SINA_SPEED) = 0 Table 23-6 Safety function: Trigger emergency stop No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start enableaxis (SINA_SPEED) = 1 4 Press the emergency stop (estop) STO = 0 5 Release the emergency stop (estop) STO = 0 6 Press start STO = 0 (acknowledgment required) 7 Start again with no. 2 STO = 1 Table 23-7 Safety function: Safe shutdown when the safety door is opened (STO) No. Action Comment 1 Set "selectstoorsls" = 0 STO selected 2 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 3 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 4 Press start enableaxis (SINA_SPEED) = 1 5 Open the safety door STO = 0 6 Close the safety door STO = 0 Start again with no. 3 STO = 1 Table 23-8 Safety function: Safe shutdown when the safety door is opened (SLS) No. Action Comment 1 Set "selectstoorsls" = 1 STO selected 2 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 3 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 4 Press start enableaxis (SINA_SPEED) = 1 5 Open the safety door SLS = 0 6 Close the safety door SLS = 0 Start again with no. 3 SLS = 1 and startup of drive Entry ID: , V2.0, 01/

151 24 User Scenario 18: Emergency Stop + Safety Door without Guard Locking at PL c/sil 1 24 User Scenario 18: Emergency Stop + Safety Door without Guard Locking at PL c/sil Sensor/actuator Sensor: Emergency stop pushbutton, position switch Actuator: electric (SINAMICS G120) 24.2 Safety function This user scenario has the following safety functions: Pressing the emergency stop button safely shuts down the actuator. When the safety door is opened during operation, the actuator is safely shut down (STO) or monitored for Safely Limited Speed (SLS). The selection is made using a switch Hardware and software components You need the hardware and software components listed below. Hardware components Table 24-1 Hardware Component No. Article number CPU 1215FC DC/DC/RLY SM 1226 F- DI8/16x24VDC SM 1226 F-DQ 4x24VDC Enclosed pushbutton (NO) Enclosed pushbutton (NO) Enclosed pushbutton (NC) Emergency stop pushbutton (NC) Position switch without tumbler Actuator for position switch SINAMICS G120 CU240E-2 PN-F SINAMICS G120 PM ES7215-1HF40-0XB0 FW4.2 or higher 1 6ES7226-6BA32-0XB0 1 6ES DA32-0XB0 1 3SU1100-0AB40-1BA0 Green, screw terminal 2 3SU1100-0AB40-1BA0 Blue, screw terminal 1 3SU1100-0AB20-1CA0 Red, screw terminal 1 3SU1100-1HB20-1CF0 1 3SE5132-1QV20 1 3SE5000-0AV0 1 6SL3244-0BB13-1FA0 1 6SL3224-0BE17-5UA0 Entry ID: , V2.0, 01/

152 24 User Scenario 18: Emergency Stop + Safety Door without Guard Locking at PL c/sil 1 Software components Table 24-2 Software Component No. Article number STEP 7 Basic V15 1 6ES7822-0AA05-0YA5 Or STEP 7 Professional V15 STEP 7 Safety Basic V15 SINAMICS Startdrive 1 6ES7833-1FB15-0YA5 Or STEP 7 Safety Advanced V15 1 6SL3072-4EA02-0XG0 SINAMICS Startdrive V15 V15 Entry ID: , V2.0, 01/

153 24 User Scenario 18: Emergency Stop + Safety Door without Guard Locking at PL c/sil Wiring The figure below shows the wiring of the hardware components. Figure 24-1 Emergency stop and safety door without guard locking PL c/sil 1 wiring 24V DC M stop start ack L1 M L+.3 selectstoorsls L+ M Vs1.1 PROFINET IE posswitch1.0 estop Vs1 For the actuator signals, please refer to chapter 6.8. Entry ID: , V2.0, 01/

154 24 User Scenario 18: Emergency Stop + Safety Door without Guard Locking at PL c/sil Brief description of the core functionality The following flowchart provides a concise description of the core functionality. Figure 24-2 Emergency stop + safety door without guard locking core functionality Start No Safety door closed and e-stop released? E-stop? No Actuator is switched off (STO) Safety door open? No STO or SLS active? No STO selected by operator? No Acknowledge SLS active Start condition met Actuator on Operational stop? No Entry ID: , V2.0, 01/

155 24 User Scenario 18: Emergency Stop + Safety Door without Guard Locking at PL c/sil Description of the user block FB F18EStopFDoorPLcSIL1 Figure 24-3 User block FB F18EStopFDoorPLcSIL1 NOTICE For F-blocks, the enable input (EN) must not be wired. Parameter description The following section describes the inputs and outputs of FB F18EStopFDoorPLcSIL1. NO: normally open (contact); NC: normally closed (contact) Table 24-3 Inputs of FB F18EStopFDoorPLcSIL1 Description Symbol Data type Convention Acknowledgment ack BOOL NO 1: Acknowledgment Start request start BOOL NO 1: Start request Stop request stop BOOL NC 0: Stop request Select STO or SLS selectstoorsls BOOL 0: STO 1: SLS Positive edge required after triggering the safety function to reintegrate F-I/O Only relevant to opening the safety door. Emergency stop pushbutton estop BOOL NC 0: Emergency stop triggered Entry ID: , V2.0, 01/

156 24 User Scenario 18: Emergency Stop + Safety Door without Guard Locking at PL c/sil 1 Description Symbol Data type Convention Position switch 1 posswitch1 BOOL NC 1: Actuator inserted (safety door closed) Position switch 1 value status posswitch1vs BOOL 0: Fault VS: value status Chapter 6.7 Table 24-4 Outputs of FB F18EStopFDoorPLcSIL1 Description Symbol Data type Convention Safe Torque Off STO BOOL 0: selected 1: deselected Safely Limited Speed Acknowledge internal drive event Start/stop the drive (assignment of drive control word 1 bit 0) Release emergency stop Release safety door SLS BOOL 0: selected 1: deselected internaleventack BOOL Acknowledgment on negative edge of internaleventack startstopdrive BOOL 0: Stop 1: Start releaseestop BOOL 1: Emergency stop released and acknowledged releasefdoor BOOL 1: With regard to safety door, start is possible (safety door closed) The converter with the active STO function disconnects the power supply to the motor. The "ack" button is used for acknowledgment. Switches the "EnableAxis" input of the "SINA_SPEED" FB Information of the F-library blocks. Can be read out, for example, in the standard user program. Acknowledgment for safety door Acknowledgment required ackreqfdoor BOOL 1: Acknowledgment ackreqestop BOOL required Entry ID: , V2.0, 01/

157 24 User Scenario 18: Emergency Stop + Safety Door without Guard Locking at PL c/sil Configuration and parameterization The STEP 7 hardware configuration (HW Config) has already been prepared for commissioning FB F18EStopFDoorPLcSIL1. Customizations are possible. The associated HW Config can be found in the provided block library. NOTE The provided block library includes the drive project "Drive_1". This includes our individual parametrization for testing the functionalities of the examples. You have to execute your own commissioning of the SINAMICS G120 in case of use. The following link takes you to a document that explains how to control the SINAMICS G120 using the S F-CPU via PROFIsafe: WARNING Inappropriate values for safety-related settings may result in the safety function not being triggered in the event of danger. Please keep this in mind if, due to your requirements, you want to change the settings shown here. For more information on the hardware configuration in this user scenario, please refer to chapter For information on the SINAMICS G120, please refer to chapter Operation of the user scenario For demonstration purposes, this document shows different user scenarios. These scenarios can also be used as verification steps for validation. For information on installing the user scenario, please refer to chapter 6.1. Requirements: No faults Table 24-5 Start actuator Emergency stop released Safety door closed No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. Entry ID: , V2.0, 01/

158 24 User Scenario 18: Emergency Stop + Safety Door without Guard Locking at PL c/sil 1 No. Action Comment 3 Press start enableaxis (SINA_SPEED) = 1 4 Press stop enableaxis (SINA_SPEED) = 0 Table 24-6 Safety function: Trigger emergency stop No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start enableaxis (SINA_SPEED) = 1 4 Press the emergency stop (estop) STO = 0 5 Release the emergency stop (estop) STO = 0 6 Press start STO = 0 (acknowledgment required) 7 Start again with no. 2 STO = 1 Table 24-7 Safety function: Safe shutdown when the safety door is opened (STO) No. Action Comment 1 Set "selectstoorsls" = 0 STO selected 2 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 3 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 4 Press start enableaxis (SINA_SPEED) = 1 5 Open the safety door STO = 0 6 Close the safety door STO = 0 Start again with no. 3 STO = 1 Table 24-8 Safety function: Safe shutdown when the safety door is opened (SLS) No. Action Comment 1 Set "selectstoorsls" = 1 SLS selected 2 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 3 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 4 Press start enableaxis (SINA_SPEED) = 1 5 Open the safety door SLS = 0 6 Close the safety door SLS = 0 Start again with no. 3 SLS = 1 and startup of drive Entry ID: , V2.0, 01/

159 25 User Scenario 19: Emergency Stop + Safety Door without Guard Locking at PL d, e/sil 2, 3 25 User Scenario 19: Emergency Stop + Safety Door without Guard Locking at PL d, e/sil 2, Sensor/actuator Sensor: Emergency stop pushbutton, RFID safety switch Actuator: electromechanical (contactor) 25.2 Safety function This user scenario has the following safety functions: When the emergency stop button is pressed, the actuator is safely shut down using STO. Opening the safety door during operation safely shuts down the actuator Hardware and software components You need the hardware and software components listed below. Hardware components Table 25-1 Hardware Component No. Article number CPU 1215FC DC/DC/RLY SM 1226 F- DI8/16x24VDC SM 1226 F-DQ 4x24VDC Enclosed pushbutton (NO) Enclosed pushbutton (NO) Enclosed pushbutton (NC) Emergency stop pushbutton (NC) 2 nd NC for emergency stop 1 6ES7215-1HF40-0XB0 FW4.2 or higher 1 6ES7226-6BA32-0XB0 1 6ES DA32-0XB0 1 3SU1100-0AB40-1BA0 Green, screw terminal 1 3SU1100-0AB40-1BA0 Blue, screw terminal 1 3SU1100-0AB20-1CA0 Red, screw terminal 1 3SU1100-1HB20-1CF0 1 3SU1400-1AA10-1CA0 RFID safety switch 1 3SE6315-1BB01 Actuator with magnet latching 1 3SE6310-1BC01 Contactors 2 3RT2015-2BB42 Entry ID: , V2.0, 01/

160 25 User Scenario 19: Emergency Stop + Safety Door without Guard Locking at PL d, e/sil 2, 3 Software components Table 25-2 Software Component No. Article number STEP 7 Basic V15 1 6ES7822-0AA05-0YA5 Or STEP 7 Professional V15 STEP 7 Safety Basic V15 1 6ES7833-1FB15-0YA5 Or STEP 7 Safety Advanced V Wiring The figure below shows the wiring of the hardware components. Figure 25-1 Emergency stop and safety door without guard locking PL e/sil 3 wiring 24V DC M stop start ack.0.1 L+.2 M L1 M K2 K1 0+ L+.3.4 L+ M Vs1.1 K1 0- K2.0 Vs2 estop.1.1 A2 A1 X1 X2 RFID OSSD1 OSSD2.0 Vs1 Entry ID: , V2.0, 01/

161 25 User Scenario 19: Emergency Stop + Safety Door without Guard Locking at PL d, e/sil 2, 3 In the safety program, the NC auxiliary contacts of the contactors K1 and K2 are termed "feedback1" and "feedback2". When using RFID safety switches, the short-circuit test in the hardware configuration must be deactivated Brief description of the core functionality The following flowchart provides a concise description of the core functionality. Figure 25-2 Emergency stop + safety door without guard locking core functionality Start No Safety door closed and e-stop released? Stop request? Actuators are switched off No Previous stop was operational stop? No Acknowledge Start condition met Actuators on Entry ID: , V2.0, 01/

162 25 User Scenario 19: Emergency Stop + Safety Door without Guard Locking at PL d, e/sil 2, Description of the user block FB F19EStopFDoorPLdeSIL23 Figure 25-3 User block FB F19EStopFDoorPLdeSIL23 NOTICE For F-blocks, the enable input (EN) must not be wired. Parameter description The following section describes the inputs and outputs of FB F19EStopFDoorPLdeSIL23. NO: normally open (contact); NC: normally closed (contact) Table 25-3 Inputs of FB F19EStopFDoorPLdeSIL23 Description Symbol Data type Convention Acknowledgment ack BOOL NO 1: Acknowledgment Start request start BOOL NO 1: Start request Stop request stop BOOL NC 0: Stop request Readback signal from auxiliary contact of contactor K1 Readback signal from auxiliary contact of contactor K2 readbackk1 readbackk2 BOOL BOOL NC 0: Contactor has picked up Positive edge required after triggering a safety function to reintegrate F-I/O Entry ID: , V2.0, 01/

163 25 User Scenario 19: Emergency Stop + Safety Door without Guard Locking at PL d, e/sil 2, 3 Description Symbol Data type Convention Emergency stop pushbutton estop BOOL NC/NC 0: Emergency stop triggered RFID safety switch 1 OSSD1 BOOL NC 1: Safety door closed RFID safety switch 2 OSSD2 BOOL NC 1: Safety door closed RFID safety switch 1 value status RFID safety switch 2 value status OSSD1VS BOOL 0: Fault OSSD2VS BOOL K1K2 value status K1K2VS BOOL Time between the control command and the response of the contactors feedbacktime TIME VS: value status Chapter 6.7 Table 25-4 Outputs of FB F19EStopFDoorPLdeSIL23 Description Symbol Data type Convention Contactors K1/K2 K1K2 BOOL 1: Control command for the contactors Release safety door Release emergency stop Acknowledgment for safety door Acknowledgment required releasefdoor BOOL 1: With regard to safety door, start is possible (safety door closed) releaseestop BOOL 1: Emergency stop released and acknowledged ackreqfdoor BOOL 1: Acknowledgment ackreqestop BOOL required Actuator on F-DQ Information of the F-library blocks. Can be read out, for example, in the standard user program. Entry ID: , V2.0, 01/

164 25 User Scenario 19: Emergency Stop + Safety Door without Guard Locking at PL d, e/sil 2, Configuration and parameterization The STEP 7 hardware configuration (HW Config) has already been prepared for commissioning FB F19EStopFDoorPLdeSIL23. Customizations are possible. The associated HW Config can be found in the provided block library. WARNING Inappropriate values for safety-related settings may result in the safety function not being triggered in the event of danger. Please keep this in mind if, due to your requirements, you want to change the settings shown here. For more information on the hardware configuration in this user scenario, please refer to chapter Operation of the user scenario For demonstration purposes, this document shows different user scenarios. These scenarios can also be used as verification steps for validation. For information on installing the user scenario, please refer to chapter 6.1. Requirements: No faults Emergency stop released Safety door closed Table 25-5 Start actuator No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start K1K2 picks up 4 Press stop K1K2 drops out Entry ID: , V2.0, 01/

165 25 User Scenario 19: Emergency Stop + Safety Door without Guard Locking at PL d, e/sil 2, 3 Table 25-6 Safety function: Safe shutdown when the safety door is opened No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start K1K2 picks up 4 Open the safety door K1K2 drops out 5 Close the safety door 6 Start again with no. 2 Table 25-7 Safety function: Trigger emergency stop No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Acknowledgment mandatory when starting the scenario for the first time 3 Press start K1K2 picks up 4 Press the emergency stop (estop) K1K2 drops out 5 Release the emergency stop (estop) 6 Press start K1K2 does not pick up (acknowledgment required) 7 Start again with no. 2 Table 25-8 Trigger readback error No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Acknowledgment mandatory when starting the scenario for the first time 3 Press start K1K2 picks up 4 Make sure that K1 or K2 does not drop out when shutting down Simulated welding of the contactor 5 Press stop Readback error is detected 6 Let the contactor drop out 7 Press start K1K2 does not pick up (acknowledgment required) 8 Start with no. 2 Entry ID: , V2.0, 01/

166 26 User Scenario 20: Emergency Stop + Safety Door without Guard Locking at PL d/sil 2 26 User Scenario 20: Emergency Stop + Safety Door without Guard Locking at PL d/sil Sensor/actuator Sensor: Emergency stop pushbutton, RFID safety switch Actuator: electric (SINAMICS G120) 26.2 Safety function This user scenario has the following safety functions: When the emergency stop button is pressed, the actuator is safely shut down using STO. When the safety door is opened during operation, the actuator is safely shut down (STO) or monitored for Safely Limited Speed (SLS). The selection is made using a switch Hardware and software components Hardware components You need the hardware and software components listed below. Table 26-1 Hardware Component No. Article number CPU 1215FC DC/DC/RLY SM 1226 F- DI8/16x24VDC Enclosed pushbutton (NO) Enclosed pushbutton (NO) Enclosed pushbutton (NC) Emergency stop pushbutton (NC) 2 nd NC for emergency stop 1 6ES7215-1HF40-0XB0 FW4.2 or higher 1 6ES7226-6BA32-0XB0 1 3SU1100-0AB40-1BA0 Green, screw terminal 2 3SU1100-0AB40-1BA0 Blue, screw terminal 1 3SU1100-0AB20-1CA0 Red, screw terminal 1 3SU1100-1HB20-1CF0 1 3SU1400-1AA10-1CA0 RFID safety switch 1 3SE6315-1BB01 Actuator with magnet latching SINAMICS G120 CU240E-2 PN-F SINAMICS G120 PM SE6310-1BC01 1 6SL3244-0BB13-1FA0 1 6SL3224-0BE17-5UA0 Entry ID: , V2.0, 01/

167 26 User Scenario 20: Emergency Stop + Safety Door without Guard Locking at PL d/sil 2 Software components Table 26-2 Software Component No. Article number STEP 7 Basic V15 1 6ES7822-0AA05-0YA5 Or STEP 7 Professional V15 STEP 7 Safety Basic V15 SINAMICS Startdrive 1 6ES7833-1FB15-0YA5 Or STEP 7 Safety Advanced V15 1 6SL3072-4EA02-0XG0 SINAMICS Startdrive V15 Entry ID: , V2.0, 01/

168 26 User Scenario 20: Emergency Stop + Safety Door without Guard Locking at PL d/sil Wiring The figure below shows the wiring of the hardware components. Figure 26-1 Emergency stop and safety door without guard locking PL d/sil 2 wiring 24V DC M stop start ack L+ M L1 M L+.3 selectstoorsls L+ M Vs1.1 PROFINET IE.1.0 estop Vs2.1 A2 A1 X1 X2 RFID OSSD1 OSSD2.0 Vs1 For the actuator signals, please refer to chapter 6.8. Entry ID: , V2.0, 01/

169 26 User Scenario 20: Emergency Stop + Safety Door without Guard Locking at PL d/sil Brief description of the core functionality The following flowchart provides a concise description of the core functionality. Figure 26-2 Emergency stop + safety door without guard locking core functionality Start No Safety door closed and e-stop released? E-stop? No Actuator is switched off (STO) Safety door open? No STO or SLS active? No STO selected by operator? No Acknowledge SLS active Start condition met Actuator on Operational stop? No Entry ID: , V2.0, 01/

170 26 User Scenario 20: Emergency Stop + Safety Door without Guard Locking at PL d/sil Description of the user block FB F20EStopFDoorPLdSIL2 Figure 26-3 User block FB F20EStopFDoorPLdSIL2 NOTICE For F-blocks, the enable input (EN) must not be wired. Parameter description The following section describes the inputs and outputs of FB F20EStopFDoorPLdSIL2. NO: normally open (contact); NC: normally closed (contact) Table 26-3 Inputs of FB F20EStopFDoorPLdSIL2 Description Symbol Data type Convention Acknowledgment ack BOOL NO 1: Acknowledgment Start request start BOOL NO 1: Start request Stop request stop BOOL NC 0: Stop request Select STO or SLS selectstoorsls BOOL 0: STO 1: SLS Emergency stop pushbutton estop BOOL NC/NC 0: Emergency stop triggered Safety output 1 OSSD1 BOOL 1 when door Safety output 2 OSSD2 BOOL closed Positive edge required after triggering the safety function to reintegrate F-I/O Only relevant to opening the safety door. Entry ID: , V2.0, 01/

171 26 User Scenario 20: Emergency Stop + Safety Door without Guard Locking at PL d/sil 2 Description Symbol Data type Convention Safety output 1 value status Safety output 2 value status OSSD1VS OSSD2VS BOOL BOOL 0: Fault VS: value status Chapter 6.7 Table 26-4 Outputs of FB F20EStopFDoorPLdSIL2 Description Symbol Data type Convention Safe Torque Off STO BOOL 0: selected 1: deselected Safely Limited Speed Acknowledge internal drive event Start/stop the drive (assignment of drive control word 1 bit 0) Release emergency stop Release safety door SLS BOOL 0: selected 1: deselected internaleventack BOOL Acknowledgment on negative edge of internaleventack startstopdrive BOOL 0: Stop 1: Start releaseestop BOOL 1: Emergency stop released and acknowledged releasefdoor BOOL 1: With regard to safety door, start is possible (safety door closed) The converter with the active STO function disconnects the power supply to the motor. The "ack" button is used for acknowledgment. Switches the "EnableAxis" input of the "SINA_SPEED" FB Information of the F-library blocks. Can be read out, for example, in the standard user program. Acknowledgment for safety door Acknowledgment required ackreqfdoor BOOL 1: Acknowledgment ackreqestop BOOL required Entry ID: , V2.0, 01/

172 26 User Scenario 20: Emergency Stop + Safety Door without Guard Locking at PL d/sil Configuration and parameterization The STEP 7 hardware configuration (HW Config) has already been prepared for commissioning FB F20EStopFDoorPLdSIL2. Customizations are possible. The associated HW Config can be found in the provided block library. NOTE The provided block library includes the drive project "Drive_1". This includes our individual parametrization for testing the functionalities of the examples. You have to execute your own commissioning of the SINAMICS G120 in case of use. The following link takes you to a document that explains how to control the SINAMICS G120 using the S F-CPU via PROFIsafe: WARNING Inappropriate values for safety-related settings may result in the safety function not being triggered in the event of danger. Please keep this in mind if, due to your requirements, you want to change the settings shown here. For more information on the hardware configuration in this user scenario, please refer to chapter For information on the SINAMICS G120, please refer to chapter Operation of the user scenario For demonstration purposes, this document shows different user scenarios. These scenarios can also be used as verification steps for validation. For information on installing the user scenario, please refer to chapter 6.1. Requirements: No faults Table 26-5 Start actuator Emergency stop released Safety door closed No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. Entry ID: , V2.0, 01/

173 26 User Scenario 20: Emergency Stop + Safety Door without Guard Locking at PL d/sil 2 No. Action Comment 3 Press start enableaxis (SINA_SPEED) = 1 4 Press stop enableaxis (SINA_SPEED) = 0 Table 26-6 Safety function: Trigger emergency stop No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start enableaxis (SINA_SPEED) = 1 4 Press the emergency stop (estop) STO = 0 5 Release the emergency stop (estop) STO = 0 6 Press start STO = 0 (acknowledgment required) 7 Start again with no. 2 STO = 1 Table 26-7 Safety function: Safe shutdown when the safety door is opened (STO) No. Action Comment 1 Set "selectstoorsls" = 0 STO selected 2 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 3 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 4 Press start enableaxis (SINA_SPEED) = 1 5 Open the safety door STO = 0 6 Close the safety door STO = 0 Start again with no. 3 STO = 1 Table 26-8 Safety function: Safe shutdown when the safety door is opened (SLS) No. Action Comment 1 Set "selectstoorsls" = 1 SLS selected 2 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 3 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 4 Press start enableaxis (SINA_SPEED) = 1 5 Open the safety door SLS = 0 6 Close the safety door SLS = 0 Start again with no. 3 SLS = 1 and startup of drive Entry ID: , V2.0, 01/

174 27 User Scenario 21: Emergency Stop + Safety Door with Guard Locking at PL d, e/sil 2, 3 27 User Scenario 21: Emergency Stop + Safety Door with Guard Locking at PL d, e/sil 2, Sensor/actuator Sensor: Emergency stop pushbutton, position switch Actuator: electromechanical (contactor) 27.2 Safety function This user scenario has the following safety functions: Pressing the emergency stop button safely shuts down the actuator. Safety function with regard to the position of the safety door (interlocking) Opening the safety door during operation safely shuts down the actuator. Safety function with regard to guard locking After shutdown of the actuator, the safety door may only be opened when the actuator no longer constitutes a hazard. Under "Normative assessment of guard locking", chapter 6.2 addresses the situation where there is a safety function with regard to guard locking Hardware and software components Hardware components You need the hardware and software components listed below. Table 27-1 Hardware Component No. Article number CPU 1215FC DC/DC/RLY SM 1226 F- DI8/16x24VDC SM 1226 F-DQ 4x24VDC Enclosed pushbutton (NO) Enclosed pushbutton (NO) Enclosed pushbutton (NC) Emergency stop pushbutton (NC) 2 nd NC for emergency stop 1 6ES7215-1HF40-0XB0 FW4.2 or higher 1 6ES7226-6BA32-0XB0 1 6ES DA32-0XB0 1 3SU1100-0AB40-1BA0 Green, screw terminal 1 3SU1100-0AB40-1BA0 Blue, screw terminal 1 3SU1100-0AB20-1CA0 Red, screw terminal 1 3SU1100-1HB20-1CF0 1 3SU1400-1AA10-1CA0 Entry ID: , V2.0, 01/

175 27 User Scenario 21: Emergency Stop + Safety Door with Guard Locking at PL d, e/sil 2, 3 Component No. Article number Position switch with solenoid interlocking (spring-locked) 1 3SE5322-0SD21 Hinge switch 1 3SE5132-0LU21 Actuator for position switch Software components 1 3SE5000-0AV0 Contactors 2 3RT2015-2BB42 Table 27-2 Software Component No. Article number STEP 7 Basic V15 1 6ES7822-0AA05-0YA5 Or STEP 7 Professional V15 STEP 7 Safety Basic V15 1 6ES7833-1FB15-0YA5 Or STEP 7 Safety Advanced V15 Entry ID: , V2.0, 01/

176 27 User Scenario 21: Emergency Stop + Safety Door with Guard Locking at PL d, e/sil 2, Wiring The figure below shows the wiring of the hardware components. Figure 27-1 Emergency stop + safety door with guard locking PL e/sil 3 wiring 24V DC M stop start ack L+.4 M L1 M K2.3 K1 0+ Vs1 L+.5 emagnet standstill K1 K fdoorcoil.1 Vs2 hingedswitch sepact.0 estop In the safety program, the NC auxiliary contacts of the contactors K1 and K2 are termed "feedback1" and "feedback2". Entry ID: , V2.0, 01/

177 27 User Scenario 21: Emergency Stop + Safety Door with Guard Locking at PL d, e/sil 2, 3 In the safety program, the signals of the position switch are defined as follows: sepact (monitoring of the actuator position) sepact (monitoring of the locking device position) fdoorcoil (control of guard locking) The following figure shows the wiring on the position switch and therefore complements the above connection diagram. Figure 27-2 Internal terminals of the position switch with solenoid interlocking sepact (F-DI) CH + (F-DQ) emagnet (standard DI) Vs1 (F-DI) L+ (F-CPU) CH (F-DQ) 27.5 Brief description of the core functionality The following flowchart provides a concise description of the core functionality. Before starting the scenario for the first time, open and close the safety door once. Then acknowledge with ack=1. Entry ID: , V2.0, 01/

178 27 User Scenario 21: Emergency Stop + Safety Door with Guard Locking at PL d, e/sil 2, 3 Figure 27-3 Emergency stop + safety door with guard locking core functionality Start No Safety door closed and e-stop released? Stop request? Actuators stop No Previous stop was operational stop? No Timer starts Acknowledge No Timer expired or standstill =1? Start condition met Safety door interlocking is released Actuators on WARNING In this example for electromechanical actuators, the safety door's guard locking is deactivated as follows: When the configured delay time is greater than zero (delaytimeunlock > 0): The timer has expired or the standstill bit ("standstill") is TRUE. When the configured delay time is equal to zero (delaytimeunlock = 0): The standstill bit ("standstill") is TRUE. Make sure that the safety door's guard locking is deactivated only when a hazard no longer exists. Entry ID: , V2.0, 01/

179 27 User Scenario 21: Emergency Stop + Safety Door with Guard Locking at PL d, e/sil 2, Description of the user block FB F21EStopFDoorPLdeSIL23 Figure 27-4 User block FB F21EStopFDoorPLdeSIL23 NOTICE For F-blocks, the enable input (EN) must not be wired. This example assumes that you are using a hinge switch (hingedswitch) as a second channel. However, it is not mandatory to use a hinge switch. The required dual-channel redundancy can also be implemented with a different switch. WARNING Death or severe personal injury may result if you select a delaytimeunlock time that is too short. Customize these times to your requirements, for example to the slow-down time of a hazardous machine, to release the safety door when the delaytimeunlock time has expired. Parameter description The following section describes the inputs and outputs of FB F21EStopFDoorPLdeSIL23. NO: normally open (contact); NC: normally closed (contact) Entry ID: , V2.0, 01/

180 27 User Scenario 21: Emergency Stop + Safety Door with Guard Locking at PL d, e/sil 2, 3 Table 27-3 Inputs of FB F21EStopFDoorPLdeSIL23 Description Symbol Data type Convention Acknowledgment ack BOOL NO 1: Acknowledgment Start request start BOOL NO 1: Start request Stop request stop BOOL NC 0: Stop request Monitoring of magnet in position switch Readback signal from auxiliary contact of contactor K1 Readback signal from auxiliary contact of contactor K2 Emergency stop pushbutton emagnet BOOL NC 0: Magnet in position switch energized 1: Magnet in position switch de-energized readbackk1 readbackk2 BOOL BOOL NC 0: Contactor has picked up estop BOOL NC/NC 0: Emergency stop triggered Position switch sepact BOOL NC 1: Actuator inserted (safety door closed) Hinge switch hingedswitch BOOL NC 1: Unoperated (safety door closed) Position switch value status sepactvs BOOL Hinge switch value status hingedswitchvs BOOL Output K1K2 value status K1K2_VS BOOL Output fdoorcoil value status fdoorcoil_vs BOOL Positive edge required after triggering the safety function to reintegrate F-I/O Chapter 6.2 Chapter 6.2 0: Fault VS: value status Chapter 6.7 Standstill detection standstill BOOL 1: Standstill Simulates the standstill/motion of a machine Time between the control command and the response of the contactors Time delay after shutdown of the actuators to release the safety door. feedbacktime TIME delaytimeunlock TIME When the time has elapsed, the door will be released. Set this time to a sufficiently large value Entry ID: , V2.0, 01/

181 27 User Scenario 21: Emergency Stop + Safety Door with Guard Locking at PL d, e/sil 2, 3 Table 27-4 Outputs of FB F21EStopFDoorPLdeSIL23 Description Symbol Data type Convention Contactors K1/K2 K1K2 BOOL 1: Control command for the contactors Magnet in the position switch Release safety door Release emergency stop Acknowledgment for safety door Acknowledgment required fdoorcoil BOOL 0: Guard locking active releasefdoor BOOL 1: With regard to safety door, start is possible (safety door closed) releaseestop BOOL 1: Emergency stop released and acknowledged ackreqfdoor BOOL 1: Acknowledgment AckReqEStop BOOL required Actuator on F-DQ Information of the F-library blocks. Can be read out, for example, in the standard user program Configuration and parameterization The STEP 7 hardware configuration (HW Config) has already been prepared for commissioning FB F21EStopFDoorPLdeSIL23. Customizations are possible. The associated HW Config can be found in the provided block library. WARNING Inappropriate values for safety-related settings may result in the safety function not being triggered in the event of danger. Please keep this in mind if, due to your requirements, you want to change the settings shown here. For more information on the hardware configuration in this user scenario, please refer to chapter WARNING Death or severe personal injury may result if the actuator starts before the safety door is interlocked. For the following reason, this risk does not exist in the user scenarios described in this document: The guard locking, incl. monitoring, was programmed in a network following the switching of the actuator. This means that the actuator only starts one program cycle after the safety door has been interlocked (switchon condition due to emagnet). Entry ID: , V2.0, 01/

182 27 User Scenario 21: Emergency Stop + Safety Door with Guard Locking at PL d, e/sil 2, Operation of the user scenario For demonstration purposes, this document shows different user scenarios. These scenarios can also be used as verification steps for validation. For information on installing the user scenario, please refer to chapter 6.1. Requirements: No faults Emergency stop released Safety door closed "delaytimeunlock" > 0 Table 27-5 Start actuator No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start Guard locking is activated, then K1K2 picks up 4 Press stop K1K2 drops out; then the timer for the delayed release of the safety door starts. 5 Wait until the timer expires. When the timer has expired, the safety door can be opened. Table 27-6 Safety function: Trigger emergency stop No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start K1K2 picks up 4 Press the emergency stop (estop) K1K2 drops out 5 Release the emergency stop (estop) 6 Press start K1K2 does not pick up (acknowledgment required) 7 Wait until the timer expires. 8 Start again with no. 2 Entry ID: , V2.0, 01/

183 27 User Scenario 21: Emergency Stop + Safety Door with Guard Locking at PL d, e/sil 2, 3 Table 27-7 Safety function: Safety door fault No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start Guard locking is activated, then K1K2 picks up 4 Turn the hinge switch until it outputs "0" signal. K1K2 drops out; then the timer for the delayed release of the safety door starts. 5 Wait until the timer expires. When the timer has expired, the safety door can be opened. 6 Close the safety door 7 Start again with no. 1 Table 27-8 Trigger readback error No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Acknowledgment mandatory when starting the scenario for the first time 3 Press start K1K2 picks up 4 Make sure that K1 or K2 does not drop out when shutting down Simulated welding of the contactor 5 Press stop Readback error is detected 6 Let the contactor drop out 7 Press start K1K2 does not pick up (acknowledgment required) 8 Start with no. 2 Entry ID: , V2.0, 01/

184 28 User Scenario 22: Emergency Stop + Safety Door with Guard Locking at PL c/sil 1 28 User Scenario 22: Emergency Stop + Safety Door with Guard Locking at PL c/sil Sensor/actuator Sensor: Emergency stop pushbutton, position switch Actuator: electromechanical (contactor) 28.2 Safety function This user scenario has the following safety functions: Pressing the emergency stop button safely shuts down the actuator. Safety function with regard to the position of the safety door (interlocking) Opening the safety door during operation safely shuts down the actuator. Safety function with regard to guard locking After shutdown of the actuator, the safety door may only be opened when the actuator no longer constitutes a hazard. Under "Normative assessment of guard locking", chapter 6.2 addresses the situation where there is a safety function with regard to guard locking Hardware and software components Hardware components You need the hardware and software components listed below. Table 28-1 Hardware Component No. Article number CPU 1215FC DC/DC/RLY SM 1226 F- DI8/16x24VDC SM 1226 F-DQ 4x24VDC Enclosed pushbutton (NO) Enclosed pushbutton (NO) Enclosed pushbutton (NC) Emergency stop pushbutton (NC) Position switch with solenoid interlocking (spring-locked) 1 6ES7215-1HF40-0XB0 FW4.2 or higher 1 6ES7226-6BA32-0XB0 1 6ES DA32-0XB0 1 3SU1100-0AB40-1BA0 Green, screw terminal 1 3SU1100-0AB40-1BA0 Blue, screw terminal 1 3SU1100-0AB20-1CA0 Red, screw terminal 1 3SU1100-1HB20-1CF0 1 3SE5322-0SD21 Entry ID: , V2.0, 01/

185 28 User Scenario 22: Emergency Stop + Safety Door with Guard Locking at PL c/sil 1 Component No. Article number Actuator for position switch Software components 1 3SE5000-0AV0 Contactors 1 3RT2015-2BB42 Table 28-2 Software Component No. Article number STEP 7 Basic V15 1 6ES7822-0AA05-0YA5 Or STEP 7 Professional V15 STEP 7 Safety Basic V15 1 6ES7833-1FB15-0YA5 Or STEP 7 Safety Advanced V15 Entry ID: , V2.0, 01/

186 28 User Scenario 22: Emergency Stop + Safety Door with Guard Locking at PL c/sil Wiring The figure below shows the wiring of the hardware components. Figure 28-1 Emergency stop + safety door with guard locking PL c/sil 1 wiring 24V DC M stop start ack L+ M L1 M L+ K1.3.4 emagnet.2 standstill.1.0 Vs1 0+ K fdoorcoil.1 sepact.0 estop In the safety program, the NC auxiliary contacts of the contactors K1 and K2 are termed "feedback1" and "feedback2". Entry ID: , V2.0, 01/

187 28 User Scenario 22: Emergency Stop + Safety Door with Guard Locking at PL c/sil 1 Due to the use of the FB FDBACK F-library block, it is useful to monitor readback. Basically, monitoring the readback signals is not required for PL c/sil 1. In the safety program, the signals of the position switch are defined as follows: sepact (monitoring of the actuator position) sepact (monitoring of the locking device position) fdoorcoil (control of guard locking) The following figure shows the wiring on the position switch and therefore complements the above connection diagram. Figure 28-2 Internal terminals of the position switch with solenoid interlocking sepact (F-DI) CH + (F-DQ) emagnet (standard DI) Vs1 (F-DI) L+ (F-CPU) CH (F-DQ) 28.5 Brief description of the core functionality The following flowchart provides a concise description of the core functionality. Before starting the scenario for the first time, open and close the safety door once. Then acknowledge with ack=1. Entry ID: , V2.0, 01/

188 28 User Scenario 22: Emergency Stop + Safety Door with Guard Locking at PL c/sil 1 Figure 28-3 Emergency stop + safety door with guard locking core functionality Start No Safety door closed and e-stop released? Stop request? Actuator stops No Previous stop was operational stop? No Timer starts Acknowledge Timer No expired or standstill =1? Start condition met Safety door interlocking is released Actuator on WARNING In this example for electromechanical actuators, the safety door's guard locking is deactivated as follows: When the configured delay time is greater than zero (delaytimeunlock > 0): The timer has expired or the standstill bit ("standstill") is TRUE. When the configured delay time is equal to zero (delaytimeunlock = 0): The standstill bit ("standstill") is TRUE. Make sure that the safety door's guard locking is deactivated only when a hazard no longer exists. Entry ID: , V2.0, 01/

189 28 User Scenario 22: Emergency Stop + Safety Door with Guard Locking at PL c/sil Description of the user block FB F22EStopFDoorPLcSIL1 Figure 28-4 User block FB F22EStopFDoorPLcSIL1 NOTICE For F-blocks, the enable input (EN) must not be wired. WARNING Death or severe personal injury may result if you select a delaytimeunlock time that is too short. Customize these times to your requirements, for example to the slow-down time of a hazardous machine, to release the safety door when the delaytimeunlock time has expired. Parameter description The following section describes the inputs and outputs of FB F22EStopFDoorPLcSIL1. NO: normally open (contact); NC: normally closed (contact) Entry ID: , V2.0, 01/

190 28 User Scenario 22: Emergency Stop + Safety Door with Guard Locking at PL c/sil 1 Table 28-3 Inputs of FB F22EStopFDoorPLcSIL1 Description Symbol Data type Convention Acknowledgment ack BOOL NO 1: Acknowledgment Positive edge required after triggering the safety function to reintegrate F-I/O Start request start BOOL NO 1: Start request Stop request stop BOOL NC 0: Stop request Monitoring of magnet in position switch Readback signal from auxiliary contact of contactor K1 Emergency stop pushbutton emagnet BOOL NC 0: Magnet in position switch energized 1: Magnet in position switch de-energized readbackk1 BOOL NC 0: Contactor has picked up estop BOOL NC/NC 0: Emergency stop triggered Position switch sepact BOOL NC 1: Actuator inserted (safety door closed) Chapter 6.2 Chapter 6.2 Position switch value status sepactvs BOOL 0: Fault Output K1 value status K1_VS BOOL VS: value status Chapter 6.7 Standstill detection standstill BOOL 1: Standstill Simulates the standstill/motion of a machine Time between the control command and the response of the contactor feedbacktime TIME Time delay after shutdown of the actuators to release the safety door. delaytimeunlock TIME When the time has elapsed, the door will be released. Set this time to a sufficiently large value Entry ID: , V2.0, 01/

191 28 User Scenario 22: Emergency Stop + Safety Door with Guard Locking at PL c/sil 1 Table 28-4 Outputs of FB F22EStopFDoorPLcSIL1 Description Symbol Data type Convention Contactor K1 K1 BOOL 1: Actuator switched (contactor has picked up) Magnet in the position switch Release safety door Release emergency stop Acknowledgment for safety door Acknowledgment required fdoorcoil BOOL 0: Guard locking active releasefdoor BOOL 1: With regard to safety door, start is possible (safety door closed) releaseestop BOOL 1: Emergency stop released and acknowledged ackreqfdoor BOOL 1: Acknowledgment AckReqEStop BOOL required Actuator on F-DQ Information of the F-library blocks. Can be read out, for example, in the standard user program Configuration and parameterization The STEP 7 hardware configuration (HW Config) has already been prepared for commissioning FB F22EStopFDoorPLcSIL1. Customizations are possible. The associated HW Config can be found in the provided block library. WARNING Inappropriate values for safety-related settings may result in the safety function not being triggered in the event of danger. Please keep this in mind if, due to your requirements, you want to change the settings shown here. For more information on the hardware configuration in this user scenario, please refer to chapter Entry ID: , V2.0, 01/

192 28 User Scenario 22: Emergency Stop + Safety Door with Guard Locking at PL c/sil Operation of the user scenario For demonstration purposes, this document shows different user scenarios. These scenarios can also be used as verification steps for validation. For information on installing the user scenario, please refer to chapter 6.1. Requirements: No faults Emergency stop released Safety door closed "delaytimeunlock" > 0 Table 28-5 Start actuator No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start Guard locking is activated, then K1 picks up 4 Press stop K1 drops out; then the timer for the delayed release of the safety door starts. 5 Wait until the timer expires. When the timer has expired, the safety door can be opened. Table 28-6 Safety function: Trigger emergency stop No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start K1 picks up 4 Press the emergency stop (estop) K1 drops out 5 Release the emergency stop (estop) 6 Press start K1 does not pick up (acknowledgment required) 7 Start again with no. 2 Entry ID: , V2.0, 01/

193 28 User Scenario 22: Emergency Stop + Safety Door with Guard Locking at PL c/sil 1 Table 28-7 Trigger readback error No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press ack Required when starting the scenario for the first time and after each opening of the safety door. 3 Press start K1 picks up 4 Make sure that K1 does not drop out when shutting down Simulated welding of the contactor 5 Press stop Readback error is detected 6 Let the contactor drop out 7 Press start K1 does not pick up (acknowledgment required) 8 Start with no. 2 Entry ID: , V2.0, 01/

194 29 User Scenario 23: Emergency Stop + Safety Door with Guard Locking at PL d/sil 2 29 User Scenario 23: Emergency Stop + Safety Door with Guard Locking at PL d/sil Sensor/actuator Sensor: Emergency stop pushbutton, position switch Actuator: electric (SINAMICS G120) 29.2 Safety function This user scenario has the following safety functions: Pressing the emergency stop button safely shuts down the actuator. Safety function with regard to the position of the safety door (interlocking) When the safety door is opened during normal mode (no SLS), the SINAMICS G120 is safely shut down. When the safety door is opened with SLS selected, the SINAMICS G120 runs at a safe speed. Safety function with regard to guard locking After shutdown of the actuator, the safety door may only be opened when the actuator no longer constitutes a hazard. Under "Normative assessment of guard locking", chapter 6.2 addresses the situation where there is a safety function with regard to guard locking Hardware and software components Hardware components You need the hardware and software components listed below. Table 29-1 Hardware Component No. Article number CPU 1215FC DC/DC/RLY SM 1226 F- DI8/16x24VDC SM 1226 F-DQ 4x24VDC Enclosed pushbutton (NO) Enclosed pushbutton (NO) Enclosed pushbutton (NC) Emergency stop pushbutton (NC) 1 6ES7215-1HF40-0XB0 FW4.2 or higher 1 6ES7226-6BA32-0XB0 1 6ES DA32-0XB0 1 3SU1100-0AB40-1BA0 Green, screw terminal 2 3SU1100-0AB40-1BA0 Blue, screw terminal 1 3SU1100-0AB20-1CA0 Red, screw terminal 1 3SU1100-1HB20-1CF0 Entry ID: , V2.0, 01/

195 29 User Scenario 23: Emergency Stop + Safety Door with Guard Locking at PL d/sil 2 Component No. Article number 2 nd NC for emergency stop Position switch with solenoid interlocking (spring-locked) 1 3SU1400-1AA10-1CA0 1 3SE5322-0SD21 Hinge switch 1 3SE5132-0LU21 Actuator for position switch SINAMICS G120 CU240E-2 PN-F SINAMICS G120 PM SE5000-0AV0 1 6SL3244-0BB13-1FA0 1 6SL3224-0BE17-5UA0 Software components Table 29-2 Software Component No. Article number STEP 7 Basic V15 1 6ES7822-0AA05-0YA5 Or STEP 7 Professional V15 STEP 7 Safety Basic V15 SINAMICS Startdrive 1 6ES7833-1FB15-0YA5 Or STEP 7 Safety Advanced V15 1 6SL3072-4EA02-0XG0 SINAMICS Startdrive V15 Entry ID: , V2.0, 01/

196 29 User Scenario 23: Emergency Stop + Safety Door with Guard Locking at PL d/sil 2 Figure 29-1 Emergency stop + safety door with guard locking PL d/sil 2 wiring 24V DC M stop start ack L+ M L1 M L+.3 emagnet.1.0 Vs fdoorcoil PROFINET IE.1 hingedswitch Vs2.0 sepact estop In the safety program, the NC auxiliary contacts of the contactors K1 and K2 are termed "feedback1" and "feedback2". In the safety program, the signals of the position switch are defined as follows: sepact (monitoring of the actuator position) sepact (monitoring of the locking device position) fdoorcoil (control of guard locking) Entry ID: , V2.0, 01/

197 29 User Scenario 23: Emergency Stop + Safety Door with Guard Locking at PL d/sil 2 The following figure shows the wiring on the position switch and therefore complements the above connection diagram. Figure 29-2 Internal terminals of the position switch with solenoid interlocking sepact (F-DI) CH + (F-DQ) emagnet (standard DI) Vs1 (F-DI) L+ (F-CPU) CH (F-DQ) 29.4 Wiring The figure below shows the wiring of the hardware components Brief description of the core functionality The following flowchart provides a concise description of the core functionality. Before starting the scenario for the first time, open and close the safety door once. Then acknowledge with ack=1. Entry ID: , V2.0, 01/

198 29 User Scenario 23: Emergency Stop + Safety Door with Guard Locking at PL d/sil 2 Figure 29-3 Emergency stop + safety door with guard locking core functionality Start No E-stop released? No SLS selected by operator? SLS active Door interlocking active SLS inactive Safety door closed? No Door interlocking deactivated Stop command? No STO active? No Acknowledgment request? No Acknowledgment request Acknowledged No Stop command? No Actuator stops (STO) Operational stop? Start conditions met Actuator stops Door interlocking active Timer expired? No Actuator on Door interlocking deactivated WARNING In this example for electric actuators, the safety door's guard locking is deactivated when the timer has expired. For moving parts, a hazard cannot be automatically ruled out when the timer has expired. Make sure that the safety door's guard locking is deactivated only when a hazard no longer exists. Entry ID: , V2.0, 01/

199 29 User Scenario 23: Emergency Stop + Safety Door with Guard Locking at PL d/sil Description of the user block FB F23EStopFDoorGuardLockingPLdSIL2 Figure 29-4 User block FB F23EStopFDoorGuardLockingPLdSIL2 NOTICE For F-blocks, the enable input (EN) must not be wired. This example assumes that you are using a hinge switch (hingedswitch) as a second channel. However, it is not mandatory to use a hinge switch. The required dual-channel redundancy can also be implemented with a different switch. NOTE If you want to use the extended safety function SLS in the drive, you have to set the bit SS1 also on TRUE. This is solved in network 3 of the FB F23EStopFDoorGuardLockingPLdSIL2. There you can fit the address of SS1 if necessary. WARNING Death or severe personal injury may result if you select a delaytimeunlock time that is too short. Customize these times to your requirements, for example to the slow-down time of a hazardous machine, to release the safety door when the delaytimeunlock time has expired. Entry ID: , V2.0, 01/

200 29 User Scenario 23: Emergency Stop + Safety Door with Guard Locking at PL d/sil 2 Parameter description The following section describes the inputs and outputs of FB F23EStopFDoorSIL2PLd. NO: normally open (contact); NC: normally closed (contact) Table 29-3 Inputs of FB F23EStopFDoorGuardLockingPLdSIL2 Description Symbol Data type Convention Acknowledgment ack BOOL NO 1: Acknowledgment Start request start BOOL NO 1: Start request Stop request stop BOOL NC 0: Stop request Monitoring of magnet in position switch Emergency stop pushbutton emagnet BOOL NC 0: Magnet in position switch energized 1: Magnet in position switch de-energized estop BOOL NC/NC 0: Emergency stop triggered SLS request reqsls BOOL NO 1: SLS requested SLS feedback from drive fdbacksls BOOL 1: SLS active STO feedback from drive fdbacksto BOOL 1: STO active Power-on inhibit of drive drivelockout BOOL 1: Power-on inhibit active Positive edge required after triggering the safety function to reintegrate F-I/O Chapter 6.2 Position switch sepact BOOL NC 1: Actuator inserted (safety door closed) Chapter 6.2 Hinge switch hingedswitch BOOL NC 1: Unoperated (safety door closed) Position switch value status sepactvs BOOL Hinge switch value status hingedswitchvs BOOL Output fdoorcoil value status fdoorcoil_vs BOOL 0: Fault VS: value status Chapter 6.7 In the position switch: Time between the response of feedbacktime TIME Entry ID: , V2.0, 01/

201 29 User Scenario 23: Emergency Stop + Safety Door with Guard Locking at PL d/sil 2 Description Symbol Data type the magnet and the monitoring contact Time delay after shutdown of the actuators to release the safety door. Convention delaytimeunlock TIME When the time has elapsed, the door will be released. Set this time to a sufficiently large value Table 29-4 Outputs of FB F23EStopFDoorGuardLockingPLdSIL2 Description Symbol Data type Convention "Safe Torque Off" power supply to drive interrupted. "Safely Limited Speed" Acknowledge internal drive event Start enable of drive Magnet in the position switch Release emergency stop Acknowledgment required Release safety door Acknowledgment for safety door STO BOOL 0: STO active SLS BOOL 0: SLS active internaleventack BOOL 1: Acknowledgment ondrive BOOL 1: Start enable fdoorcoil BOOL 0: Guard locking active releaseestop BOOL 1: Emergency stop released and acknowledged ackreqestop BOOL 1: Acknowledgment required releasefdoor BOOL 1: With regard to safety door, start is possible (safety door closed) ackreqfdoor BOOL 1: Acknowledgment required Information of the F-library blocks. Can be read out, for example, in the standard user program. Entry ID: , V2.0, 01/

202 29 User Scenario 23: Emergency Stop + Safety Door with Guard Locking at PL d/sil Configuration and parameterization The STEP 7 hardware configuration (HW Config) has already been prepared for commissioning FB F23EStopFDoorGuardLockingPLdSIL2. Customizations are possible. The associated HW Config can be found in the provided block library. NOTE The provided block library includes the drive project "Drive_1". This includes our individual parametrization for testing the functionalities of the examples. You have to execute your own commissioning of the SINAMICS G120 in case of use. The following link takes you to a document that explains how to control the SINAMICS G120 using the S F-CPU via PROFIsafe: WARNING Inappropriate values for safety-related settings may result in the safety function not being triggered in the event of danger. Please keep this in mind if, due to your requirements, you want to change the settings shown here. For more information on the hardware configuration in this user scenario, please refer to chapter Operation of the user scenario For demonstration purposes, this document shows different user scenarios. These scenarios can also be used as verification steps for validation. For information on installing the user scenario, please refer to chapter 6.1. Requirements: No faults Emergency stop released Safety door closed No power-on inhibit on the SINAMICS G120 Acknowledge a power-on inhibit on the SINAMICS G120 in the same way as internal faults with "ack". Entry ID: , V2.0, 01/

203 29 User Scenario 23: Emergency Stop + Safety Door with Guard Locking at PL d/sil 2 Table 29-5 Start actuator No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press "ack" Required when starting the scenario for the first time and after each opening of the safety door. 3 Press "start" Guard locking is activated ("fdoorcoil"=0) "ondrive"=1 "STO"=1, "SLS"=1 4 Press "stop" "ondrive"=0 Timer for delayed release of safety door starts. 5 Wait until the timer expires. When the timer has expired, the safety door can be opened ("fdoorcoil"=1). Table 29-6 Safety function: Trigger emergency stop No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press "ack" Required when starting the scenario for the first time and after each opening of the safety door. 3 Press "start" Guard locking is activated ("fdoorcoil"=0) "ondrive"=1 "STO"=1, "SLS"=1 4 Press the emergency stop (estop) "ondrive"=0 Timer for delayed release of safety door starts. "STO"=0, "SLS"=1 5 Release the emergency stop (estop) "STO"=0, "SLS"=1 6 Wait until the timer expires. 7 Start again with no. 2 "STO"=1, "SLS"=1 Entry ID: , V2.0, 01/

204 29 User Scenario 23: Emergency Stop + Safety Door with Guard Locking at PL d/sil 2 Table 29-7 Toggle between normal mode and SLS No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Press "ack" Required when starting the scenario for the first time and after each opening of the safety door. 3 Press "start" Guard locking is activated ("fdoorcoil"=0) "ondrive"=1 "STO"=1, "SLS"=1 4 Switch to SLS ( "reqsls"=1, "fdbacksls"=1) "fdoorcoil"=1: You can open the door "STO"=1, "SLS"=0 5 Close the door and return from SLS to normal mode "fdoorcoil"=0: Door interlocked "STO"=1, "SLS"=1 6 Press "stop" "ondrive"=0 Timer for delayed release of safety door starts. "STO"=1, "SLS"=1 7 Wait until the timer expires. When the timer has expired, the safety door can be opened ("fdoorcoil"=1). "STO"=1, "SLS"=1 Table 29-8 SLS from standstill (n=0) No. Action Comment 1 Open and close the safety door When starting the scenario for the first time or in the event of a safety door fault, open and close the door completely. 2 Switch to SLS ("reqsls"=0) To start at SLS from a standstill, the door must be closed. "fdoorcoil"=1: You can open the door "ondrive"=0 "STO"=1, "SLS"=0, "fdbacksls"=0 3 Press "ack" Required when starting the scenario for the first time and after each opening of the safety door. 4 Press "start" "ondrive"=1 "STO"=1, "SLS"=0 "reqsls"=1, "fdbacksls"=1 5 Press "stop" "ondrive"=0 "STO"=0, "SLS"=0 "stop" (OFF1 in the drive) automatically triggers STO. 6 Press "ack" "STO"=1, "SLS"=0 7 Start again with no. 4 Entry ID: , V2.0, 01/

205 29 User Scenario 23: Emergency Stop + Safety Door with Guard Locking at PL d/sil 2 When switching to SLS with the safety door closed and "ondrive"=0 (OFF1 active in the drive) and the drive does not start, it goes to STO after a few seconds Additional information on engineering This scenario provides you with additional information when implementing emergency stop safety door including guard locking SINAMICS G Emergency stop In addition to the explanation in chapter 4.2, the following section provides you with information on implementing the emergency stop in the safety program. The "ESTOP1" function block certified by TÜV is used to implement the emergency stop. In TIA Portal, you will find this function block in "Basic instructions > Safety functions". Figure 29-5 TÜV-certified FB ESTOP1 in the "Safety functions" folder of TIA Portal It is called in FB F23EStopFDoorGuardLockingPLdSIL2 of the safety program. In the safety program, the 1oo2 evaluation uses only the lower channel (0) of the emergency stop's channels 0 and 8. The evaluation type (1oo1 or 1oo2) cannot by identified by the call of the ESTOP1 FB (E STOP parameter), but by the hardware configuration (see Figure 4-6). Figure 29-6 FB ESTOP1 call The Q output ensures safe shutdown in STO and prevents the system from restarting as long as the emergency stop has not yet been released and acknowledged: (1: Emergency stop released and available.) Entry ID: , V2.0, 01/

206 29 User Scenario 23: Emergency Stop + Safety Door with Guard Locking at PL d/sil Safety door including guard locking Safety door In addition to the explanation in chapter 4.2, the following section provides you with information on implementing the safety door with guard locking. Like for the emergency stop, a TÜV-certified function block, "SFDOOR", is available for implementing a safety door. In TIA Portal, you will find this function block, too, in "Basic instructions > Safety functions". It is called in FB F23EStopFDoorGuardLockingPLdSIL2 of the safety program. Unlike the ESTOP1 FB, the SFDOOR FB requires the signals of both position switches (IN1 and IN2). The 1oo2 evaluation is performed within the block. The Q output ensures safe shutdown in STO and prevents the system from restarting as long as the safety door is open and no acknowledgment has been made. When the door is closed and no fault has been saved, a 1 signal is present at the Q output. Figure 29-7 FB SFDOOR call Guard locking Guard locking is monitored using the FDBACK FB. This TÜV-certified function block, too, can be found in the "Safety functions" folder of TIA Portal. Figure 29-8 FB FDBACK call The following applies: When Q=0, the safety door's guard locking is active. In normal mode (no SLS selected), the drive does not start until Q=0. This can be achieved, for example, by Entry ID: , V2.0, 01/

207 29 User Scenario 23: Emergency Stop + Safety Door with Guard Locking at PL d/sil 2 calling the network for starting the drive first and then calling the FDBACK FB and Q or "statfdoorcoil" as a switch-on condition for the drive. The following figure illustrates that in the event of a falling edge of Q, the drive cannot be started until the next program cycle. These conditions do not apply to selected SLS as, in this case, the safety door may be opened during operation. Figure 29-9 Starting the drive considering FB FDBACK Network 5 Conditions for SLS Switch drive Network 6 Entry ID: , V2.0, 01/

208 29 User Scenario 23: Emergency Stop + Safety Door with Guard Locking at PL d/sil SINAMICS G120 General The S F-CPU is operated as an IO controller. Data exchange with the PROFINET-capable drive SINAMICS G120 also includes safety-related data. The following link takes you to a document that explains how to control the SINAMICS G120 using the S F-CPU via PROFIsafe: STO and SLS In this document, you will find a chapter on the "LDrvSafe" library that can be used as an alternative for implementing the tasks described here. For this library, please use the following link: The outputs of FB F23EStopFDoorGuardLockingPLdSIL2 include: STO (Safe Torque Off) SLS (Safely Limited Speed) You will find STO and SLS in control word 1 of the extended drive functions. In the safety program, write to these bits according to the following convention: STO: Byte 0, bit 0 0: Select STO; 1: Deselect STO SLS: Byte 0, bit 4 0: Select SLS; 1: Deselect SLS To deactivate the safety door's guard locking when SLS is active, the appropriate bit from status word 1 of the SINAMICS G120 is evaluated: SLS: Byte 0, bit 4 0: SLS is not active; 1: SLS is active. The following figure shows these bits on FB F23EStopFDoorGuardLockingPLdSIL2: Figure Control and status word on FB F23EStopFDoorGuardLockingPLdSIL2 Feedback from drive (status word 1) Control drive using control word 1 Entry ID: , V2.0, 01/

209 29 User Scenario 23: Emergency Stop + Safety Door with Guard Locking at PL d/sil 2 Stop when SLS active When SLS is active, the converter safely stops the motor torque using the STO safety function. For the user scenarios with safety door and SLS, this means: After a stop at SLS, a restart requires that the safety door be closed. Starting the motor when SLS is active When you have triggered a stop, the SINAMICS G120 expects: Select STO (or SS1). STO is automatically selected by the safety program. Deselect STO (or SS1). STO is automatically deselected by the safety program. When STO has been deselected, wait until the converter is "ready to start". Alternative: When STO has been deselected, wait a certain time before starting the motor. We recommend a waiting time of 200 ms. Start the motor within 5 s after STO has been deselected. For more information about the SINAMICS G120, please refer to the manual: Entry ID: , V2.0, 01/

210 30 User Scenario 24: Emergency Stop + Safety Door with Guard Locking at PL c/sil 1 30 User Scenario 24: Emergency Stop + Safety Door with Guard Locking at PL c/sil Sensor/actuator Sensor: Emergency stop pushbutton, position switch Actuator: electric (SINAMICS G120) 30.2 Safety function This user scenario has the following safety functions: Pressing the emergency stop button safely shuts down the actuator. Safety function with regard to the position of the safety door (interlocking) When the safety door is opened during normal mode (no SLS), the SINAMICS G120 is safely shut down. When the safety door is opened with SLS selected, the SINAMICS G120 runs at a safe speed. Safety function with regard to guard locking After shutdown of the actuator, the safety door may only be opened when the actuator no longer constitutes a hazard. Under "Normative assessment of guard locking", chapter 6.2 addresses the situation where there is a safety function with regard to guard locking Hardware and software components Hardware components You need the hardware and software components listed below. Table 30-1 Hardware Component No. Article number CPU 1215FC DC/DC/RLY SM 1226 F- DI8/16x24VDC SM 1226 F-DQ 4x24VDC Enclosed pushbutton (NO) Enclosed pushbutton (NO) Enclosed pushbutton (NC) Emergency stop pushbutton (NC) 1 6ES7215-1HF40-0XB0 FW4.2 or higher 1 6ES7226-6BA32-0XB0 1 6ES DA32-0XB0 1 3SU1100-0AB40-1BA0 Green, screw terminal 1 3SU1100-0AB40-1BA0 Blue, screw terminal 1 3SU1100-0AB20-1CA0 Red, screw terminal 1 3SU1100-1HB20-1CF0 Entry ID: , V2.0, 01/

211 30 User Scenario 24: Emergency Stop + Safety Door with Guard Locking at PL c/sil 1 Component No. Article number Position switch with solenoid interlocking (spring-locked) Actuator for position switch SINAMICS G120 CU240E-2 PN-F SINAMICS G120 PM SE5322-0SD21 1 3SE5000-0AV0 1 6SL3244-0BB13-1FA0 1 6SL3224-0BE17-5UA0 Software components Table 30-2 Software Component No. Article number STEP 7 Basic V15 1 6ES7822-0AA05-0YA5 Or STEP 7 Professional V15 STEP 7 Safety Basic V15 SINAMICS Startdrive 1 6ES7833-1FB15-0YA5 Or STEP 7 Safety Advanced V15 1 6SL3072-4EA02-0XG0 SINAMICS Startdrive V15 Entry ID: , V2.0, 01/

212 30 User Scenario 24: Emergency Stop + Safety Door with Guard Locking at PL c/sil Wiring The figure below shows the wiring of the hardware components. Figure 30-1 Emergency stop + safety door with guard locking PL c/sil 1 wiring 24V DC M stop start ack L+ M L1 M L+.3.0 Vs1 emagnet fdoorcoil PROFINET IE sepact.0 estop Vs1 In the safety program, the signals of the position switch are defined as follows: sepact (monitoring of the actuator position) sepact (monitoring of the locking device position) fdoorcoil (control of guard locking) Entry ID: , V2.0, 01/

213 30 User Scenario 24: Emergency Stop + Safety Door with Guard Locking at PL c/sil 1 The following figure shows the wiring on the position switch and therefore complements the above connection diagram. Figure 30-2 Internal terminals of the position switch with solenoid interlocking sepact (F-DI) CH + (F-DQ) emagnet (standard DI) Vs1 (F-DI) L+ (F-CPU) CH (F-DQ) 30.5 Brief description of the core functionality The following flowchart provides a concise description of the core functionality. Before starting the scenario for the first time, open and close the safety door once. Then acknowledge with ack=1. Entry ID: , V2.0, 01/

214 30 User Scenario 24: Emergency Stop + Safety Door with Guard Locking at PL c/sil 1 Figure 30-3 Emergency stop + safety door with guard locking core functionality Start No E-stop released? No SLS selected by operator? SLS active Door interlocking active SLS inactive Safety door closed? No Door interlocking deactivated Stop command? No STO active? No Acknowledgment request? No Acknowledgment request Acknowledged No Stop command? No Actuator stops (STO) Operational stop? Start conditions met Actuator stops Door interlocking active Timer expired? No Actuator on Door interlocking deactivated WARNING In this example for electric actuators, the safety door's guard locking is deactivated when the timer has expired. For moving parts, a hazard cannot be automatically ruled out when the timer has expired. Make sure that the safety door's guard locking is deactivated only when a hazard no longer exists. Entry ID: , V2.0, 01/

215 30 User Scenario 24: Emergency Stop + Safety Door with Guard Locking at PL c/sil Description of the user block FB F24EStopFDoorGuardLockingPLcSIL1 Figure 30-4 User block FB F24EStopFDoorGuardLockingPLcSIL1 NOTE If you want to use the extended safety function SLS in the drive, you have to set the bit SS1 also on TRUE. This is solved in network 3 of the FB F24EStopFDoorGuardLockingPLcSIL1. There you can fit the address of SS1 if necessary. NOTICE For F-blocks, the enable input (EN) must not be wired. WARNING Death or severe personal injury may result if you select a delaytimeunlock time that is too short. Customize these times to your requirements, for example to the slow-down time of a hazardous machine, to release the safety door when the delaytimeunlock time has expired. Parameter description The following section describes the inputs and outputs of FB F24EStopFDoorGuardLockingPLcSIL1. NO: normally open (contact); NC: normally closed (contact) Entry ID: , V2.0, 01/