PowerFlex 70 Safe-Off Control EtherNet/IP Guard I/O Safety Module and GuardLogix Integrated Safety Controller

Transcription

1 Safety Application Example PowerFlex 70 Safe-Off Control EtherNet/IP Guard I/O Safety Module and GuardLogix Integrated Safety Controller Safety Rating: Category 3 (also see Achieving a Cat. 4 Safety Rating) according to EN954-1 Introduction...2 Important User Information...2 General Safety Information...3 Description...4 Setup and Wiring...5 Configure...8 Programming...13 Performance Data...17 Achieving a Cat. 4 Safety Rating...19 Additional Resources...22

2 2 Introduction Important User Information In September 2006, NFPA 79 added an exception to the requirement for disconnection of an actuator any time an E-stop is invoked. Safety PLCs and other programmable devices such as drives are now allowed to be the final switching element, provided they are designed to relevant safety standards. This change is also in effect in IEC With this modification, manufacturers will see a significant cost savings in terms of equipment, wiring, and cabinet space. DriveGuard safety solutions for Allen-Bradley PowerFlex AC drives prevent a drive from delivering rotational energy to motors by integrating an optional safety board in series with the power switching signals. Along with a separate dedicated enable input on the base drive, this option provides a certified solution that meets EN954-1, Category 3 (safe-off and protection against restart). Features and Benefits This application setup offers the following features and benefits: This configuration increases the life of the drive because of the use of soft stopping, such as removal of power to the gate firing circuits of the drive s output power devices. This configuration requires a smaller panel size by using a control contactor included within the PowerFlex DriveGuard drives to replace external power contactors. A drive with safe-off capabilities can offer increased productivity through reduced downtime. Solid state equipment has operational characteristics differing from those of electromechanical equipment. Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls (publication SGI-1.1 available from your local Rockwell Automation sales office or online at describes some important differences between solid state equipment and hard-wired electromechanical devices. Because of this difference, and also because of the wide variety of uses for solid state equipment, all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable. In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment. The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and diagrams. No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this manual. Publication SAFETY-AT017B-EN-P July 2011

3 3 Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is prohibited. Throughout this manual, when necessary, we use notes to make you aware of safety considerations. Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or death, property damage, or economic loss. Identifies information that is critical for successful application and understanding of the product. Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence. Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be present. Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous temperatures. General Safety Information This application example is for advanced users and assumes that you are trained and experienced in safety system requirements. A risk assessment should be performed to make sure all task and hazard combinations have been identified and addressed. The risk assessment may require additional circuitry to reduce the risk to a tolerable level. Safety circuits must take into consideration safety distance calculations which are not part of the scope of this document. Contact Rockwell Automation to find out more about our safety risk assessment services. Publication SAFETY-AT017B-EN-P-July 2011

4 4 Description This application example shows how to control a PowerFlex 70 drive with DriveGuard Safe-Off, via a GuardLogix integrated safety controller and an EtherNet/IP Guard I/O safety module. An emergency stop pushbutton and a Trojan gate interlock switch are used as safety inputs within this safety system. Safety Function The EtherNet/IP Guard I/O safety module uses its test pulse outputs to continually send pulses over the E-stop and interlock switch safety circuits in order to detect faults. These faults include shorts to 24V DC and between channels. The GuardLogix safety controller monitors the status of the E-stop pushbutton and safety interlock switch. When the interlock conditions defined within programming logic are satisfied, the safety outputs of the EtherNet/IP Guard I/O safety module can be enabled. These safety outputs are used to control the Safe-Off and Drive Enable inputs on the PowerFlex 70 drive. This example meets the requirements of Category 3 according to EN954-1, which is Safe-Off and protection against restart. Example Bill of Material This application example uses these components. Part Number Description Quantity 1791ES-IB8XOBV4 Safety I/O module with solid state outputs L61S GuardLogix safety controller LSP GuardLogix safety partner A4 4 slot chassis ENBT/A Ethernet module PA72 ControlLogix power supply 1 440K-T11365 Trojan Interlock, 2NC + 1NO, MBB, QD, Fully Flex 1 A t t 800FM-MT44 E-stop Button 40mm, maintained, twist to release 1 ti ti 800F P-F4 800F pushbutton, red 1 800F P-F0 800F pushbutton, amber 1 20AB4P2A3NYNNG1 PowerFlex 70 drive 1 20A-DG01 DriveGuard Safe-Off board 1 Publication SAFETY-AT017B-EN-P July 2011

5 5 Setup and Wiring For detailed information on installing and wiring, refer to the product manuals listed in the Additional Resources. System Overview GuardLogix Controller EtherNet/IP Guard I/O EtherNet/IP Emergency Stop Fault Reset PowerFlex 70 with DriveGuard Circuit Reset Trojan Interlock Switch Wiring This diagram shows the appropriate wiring. Publication SAFETY-AT017B-EN-P-July 2011

6 6 Wiring Considerations The following wiring considerations should be addressed for your application: The common for the digital input board on the PowerFlex 70 must be tied to the output common for the 1791ES- IB8XOBV4 module. This application example requires that a digital input on the PowerFlex 70 drive be configured for Drive Enable. This input must be controlled by the Guard I/O Safety module. The Drive Enable digital input on the PowerFlex 70 drive is a solid state circuit. For this reason, the safety outputs on the Guard I/O safety module must not be configured for Safety Pulse Test as it may interfere with the operation of the digital input. If your risk assessment determines you must pulse test your safety output circuits in order to catch shorts of P terminal to 24V or M terminal to 0V, refer to Achieving a Cat. 4 Safety Rating, for an alternative wiring schematic. Publication SAFETY-AT017B-EN-P July 2011

7 7 Reaction to Faults Based on the wiring and safety module configuration shown in this application example, this section details how the safety module responds to line faults incurred between the safety outputs and the PowerFlex 70 drive: Channel-to-channel Short Channel Start Fault Immediate Reaction Immediate Detection P HI ch-ch LO Yes* M HI ch-ch LO Yes* Short to 24V Channel Start Fault Immediate Reaction Immediate Detection P HI Short HI Undetectable M HI HI P HI LO M HI Short LO Yes* Short to 0V Channel Start Fault Immediate Reaction Immediate Detection P HI Short LO Yes* M HI LO P HI HI M HI Short HI Undetectable Wire OFF Channel Start Fault Immediate Reaction Immediate Detection P HI off LO Yes** M HI LO P HI LO M HI off LO Yes** * These faults result in the output status going LO. The error remains for the duration of the Output Error Latch Time configured in the module properties. ** These faults result in the output status remaining HI. The feedback of the ROUT instruction detects this type of fault. Publication SAFETY-AT017B-EN-P-July 2011

8 8 Fault Exclusion Affecting Category Rating There is a combination of undetected faults that could cause a dangerous failure of the safety function in this application. The accumulation of the following two faults would disable your safety system from stopping the PowerFlex 70 drive: Short of P terminal to 24V Short of M terminal to 0V If a P terminal short to 24V and/or an M terminal short to 0V are faults that must be detected as determined by your risk assessment, refer to Achieving a CAT 4 Safety Rating, for an alternative wiring scheme. Configure Set the Network IP Address for the 1791ES-IB8XOBV4 Module The module ships with the rotary switches set to 999 and DHCP enabled. To support the hardware configuration shown above, use the following configuration. Set the network address using one of the following methods: Adjust the three switches on the front of the module. Use a Dynamic Host Configuration Protocol (DHCP) server, such as Rockwell Automation BootP/DHCP Server Utility. Retrieve the IP address from nonvolatile memory. Using the Rotary Switches to Set the Network IP Address The module reads the switches first to determine if the switches are set to a valid number. Set the network address by adjusting the three switches on the front of the module. Valid settings range from When the switches are set to a valid number, the module s IP address is xxx (xxx represents the number set on the switches). The module s subnet mask is and the gateway address is set to When the module is reading the network address set on the switches, the module does not have a host name assigned to it nor does it use any Domain Name System. If the switches are set to an invalid number (such as 000 or a value greater than 254), the module checks to see if DHCP is enabled. If DHCP is enabled, the module asks for an address from a DHCP server. Publication SAFETY-AT017B-EN-P July 2011

9 9 The DHCP server also assigns other transport control protocol (TCP) parameters. Using the Rockwell Automation BootP/DHCP Server Utility Follow these steps to use the Rockwell Automation BootP/DHCP Server Utility to set the Network IP Address. 1. Identify the target module by the MAC address listed on the EtherNet/IP Guard I/O safety module. The MAC address is displayed in the BootP/DHCP Server Utility as shown. 2. Select the entry with the MAC address that corresponds with your target module to define the address and Transport Control Parameters for the module. 3. After the new IP address is displayed in the BootP/DHCP Server Utility, disable BootP/DHCP. If DHCP is not enabled, the module uses the IP address (along with other TCP configurable parameters) stored in nonvolatile memory. Publication SAFETY-AT017B-EN-P-July 2011

10 10 Configuring the 1791ES-IB8XOBV4 Guard I/O Safety Module in RSLogix 5000 Software In the RSLogix 5000 project, the 1791ES-IB8XOBV4 module is added to the I/O Configuration under the 1756-ENBT EtherNet/IP bridge module, as shown. Set the Module Properties The 1791ES-IB8XOBV4 module is configured as follows. 1. On the General tab of the 1791ES-IB8OBV4 Module Properties dialog box, configure the following fields: Name: Unique module name IP Address: IP address of target module Publication SAFETY-AT017B-EN-P July 2011

11 11 2. Click Change to open the Module Definition dialog box. 3. Configure the module as shown below. Combined Status consolidates all eight input status bits into a single status bit. The same is true for Output Data. For status bits for individual input/output/test points, choose an alternative Input/Output Status data format. 4. Make edits on the Connection and Safety tabs to match your application requirements. This example uses the default data in the Connection and Safety tabs shown below. The data should be changed based on the throughput requirements of your system. Publication SAFETY-AT017B-EN-P-July 2011

12 12 Edit the Module s Input Configuration 1. Select the Input Configuration tab. 2. Select one of the following under Point Mode: Standard Input circuits not tested internally Safety Input circuits tested internally Safety Pulse Test Input circuits tested internally and wired to a Test Source for Pulse-Testing 3. Select Inputs 0 and 1 for the E-stop. These are configured as Safety Pulse Test and utilize Test Sources 0 and 1, respectively. 4. Select Inputs 2 and 3 for the Interlock Switch. These are configured as Safety Pulse Test and utilize Test Sources 0 and 1, respectively. 5. Select Inputs 4 and 5 for the Safety Circuit and Fault Reset buttons. These are not safety inputs so they are configured as Standard. 6. Select Input 7 to monitor the feedback from the Safe-Off relay in the PowerFlex 70 drive. This is a Standard input. Edit the Module s Test Output Configuration 1. Select the Test Output tab. 2. Configure Test Outputs 0 and 1 as Pulse Test. Publication SAFETY-AT017B-EN-P July 2011

13 13 3. Configure Output 7 as a Power Supply for the monitoring circuit. Edit the Module s Output Configuration 1. Select the Output tab. 2. Configure Output points 6 and 7 as Safety outputs because they are used to control the Safe-Off relay and Drive Enable digital input in the PowerFlex 70 drive. To prevent the test pulse from causing the drive enable digital input to malfunction, Rockwell Automation recommends that the safety outputs are configured as Safety. Programming This section details how to program your GuardLogix project based on the wiring and configuration detailed in the previous sections. The programming code for this application example was generated using the Safety Accelerator Toolkit for GuardLogix Systems publication, IASIMP-QS005. This toolkit provides easy-to-use system design, programming, and diagnostic tools to assist you in the rapid development and deployment of your safety systems using Rockwell Automation s GuardLogix controller, Guard I/O, and safety devices. Publication SAFETY-AT017B-EN-P-July 2011

14 14 Safety Tags The safety logic shown below requires the creation and use of the following safety tags. Safety Logic The following code should be programmed in a routine within your Safety Task in the GuardLogix controller. Publication SAFETY-AT017B-EN-P July 2011 Emergency Stop Safety Logic The E-stop instruction provides SIL 3 level diagnostics for a dualchannel emergency stop function. The E-stop monitors input channels for consistency and detects and traps faults (inconsistency greater than 500 ms). The Reset Type is configured as Automatic for continuous monitoring of input device states. Using Automatic reset functionally moves the Safety Output Reset function from the E-stop instruction (Circuit Reset) to the Safety Output logic. Because the Circuit Reset function is not performed

15 15 within this instruction, a dummy tag named None is used as a placeholder. Input status is not monitored because the input data will go LO if the channel faults. The safety code in the safety output routine will prevent outputs from restarting if the E-stops reset automatically. The InputOK status is used as one of the permissives in the safety output routines. Gate Switch Safety Logic The RIN instruction provides SIL 3 level diagnostics for a channel Redundant Input function. The RIN monitors input channels for consistency and detects and traps faults (inconsistency greater than 500 ms). In this application, the RIN instruction monitors the status of the two channels from the Trojan interlock switch. Publication SAFETY-AT017B-EN-P-July 2011

16 16 Safety Input Interlock Rung This rung includes the safety device input interlocks, with tag names Sts_Zone1_EStop_InputOK and Sts_Zone1_GateSwitch_InputOK, that energize the Sts_Zone1_InputsOK OTE instruction. These interlock tags are driven by the individual safety device input logic rungs shown earlier. The Sts_Zone1_InputsOK tag is then included in the Output Enable Rung which drives the ROUT instruction. Output Enable Rung This rung provides the operator action required to reset or enable the safety zone output. The operator action is a HI transition of Cmd_Zone1_SafetyReset. It latches the output enable until either a demand is placed on a safety input, there is an input channel or output channel fault, or a feedback fault on the output circuit. The Sts_Zone1_InputsOK will go LO in the event of a demand on any safety input(s) or fault on any safety input channel(s) within the zone. The CombinedOutputStatus will go LO if any output channel on the 1791ES Guard I/O module faults or there is a connection timeout to the I/O module. The.FP feedback fault present drops out the output enable in the event of a feedback fault, so that reset or enable cannot occur without operator action. Publication SAFETY-AT017B-EN-P July 2011

17 17 Safety Output Rungs This rung controls the dual outputs on the 1791ES Guard I/O module named CellGuard1. The ROUT instruction outputs, O1 and O2, are used to drive the safety outputs 06 and 07 (Tags: CellGuard1:O.Pt06Data and CellGuard1:O.Pt07Data) which are wired to the PowerFlex 70 Safe-Off relay and Drive Enable digital input. Reassignment of the feedback and output channels must be made to match your unique safety wiring configuration. Performance Data Worst-case Reaction Time Based on Safety System Typically, both channels are HI coming from the interlock switch and the E-stop. If any one channel goes LO, the corresponding filter timer configured in the 1791ES-IB8OBV4 module starts. If the channel is still LO when the filter times out, the output is turned OFF. Publication SAFETY-AT017B-EN-P-July 2011

18 18 Worst case, the time it takes to occur is the sum of the A to E path as described below. C B A D E A Input Module Delay 16 ms + on/off delay filters B Input Connection Reaction Time Limit (CTRL) The Connection Reaction Time Limit is configured in the 1791ES Module Properties within RSLogix 5000 software. The Input Connection defaults to 4 x RPI. C GuardLogix Delay The maximum delay for the GuardLogix controller is: Period + Task Watchdog D Output Connection Reaction Time Limit E Output Module Delay = 6ms Worst Case Reaction Time = A + B + C + D + E Publication SAFETY-AT017B-EN-P July 2011

19 19 Typical Reaction Time of Safety System Typically, both channels are HI coming from the interlock switch and the E-stop. If any one channel goes LO, the corresponding filter timer configured in the 1791ES-IB8OBV4 module starts. If the channel is still LO when the filter times out, the output is turned OFF. Typically, the time it takes to occur is the sum of the A to E path as described below. C B A Achieving a Cat. 4 Safety Rating D A Input Module delay / (max/2) = 8ms + on/off delay filters B Input Connection Reaction Time / Input RPI C GuardLogix Delay The typical delay time for the GuardLogix controller is: (Period / 2) + Task Scan Time D Output Connection Reaction Time / Output RPI = Task Period E Output Module Delay / (max / 2) = 3ms Typical Reaction Time = A + B + C + D + E In order to achieve Cat. 4, modifications must be made to the bill of materials, software configuration, and wiring schematic. The Category 3 solution used a drive enable digital input to the drive and the relay as switching signals to disconnect power to the motor. In that solution, we had no means to monitor the status of the Drive Enable digital input. In the Cat. 4 solution, we replace the Drive Enable input with a safety contactor. E Publication SAFETY-AT017B-EN-P-July 2011

20 20 Modified Bill of Materials A Cat. 4 solution requires a safety contactor which disconnects power to the motor that the PowerFlex 70 is controlling under a hazardous condition. Catalog Number Description Quantity 100S-C43DJ14BC Bulletin 100S Safety Contactor 1 Choose a safety contactor that is rated for your application requirements. Modified Wiring Schematic This wiring diagram, using a safety contactor, illustrates turning off power to the motor under a hazardous condition. The safety contactor is turned on via the outputs from the EtherNet/IP Guard I/O module and feedback from this contactor is linked from the Safe-Off relay contactor and is feedback into Input 7 of the EtherNet/IP Guard I/O module. Publication SAFETY-AT017B-EN-P July 2011

21 21 Modified Configuration The safety Output Configuration for the Guard I/O module can now be configured for Safety Pulse Test. With Safety Pulse Test configured, shorts of the P terminal to 24V and shorts of the M terminal to 0V can be detected during system operation. Publication SAFETY-AT017B-EN-P-July 2011

22 22 Additional Resources For more information about the products used in this example refer to these Resources. Resource CompactBlock Guard I/O EtherNet/IP Safety Modules Publication 1791ES-IN001 Guard I/O Ethernet/P Safety Modules Publication 1791ES-UM001 GuardLogix Safety Application Instruction Set Publication 1756-RM095 GuardLogix Controller Systems Publication 1756-RM03 DriveGuard Safe-Off Option for PowerFlex 70 Drives Publication PFLEX-UM001 Safety Accelerator Toolkit for GuardLogix Systems Quick Start Publication IASIMP-QS005 Description Provides installation instructions for the 1791ES-IB8XOBV4 module Provides operation and troubleshooting information for the 1791 ES-IB8XOBV4 module Describes the Safety Application Instruction Set for the GuardLogix Controller Explains how the GuardLogix controller can be used in safety applications Provides installation, operation, and troubleshooting information for PowerFlex 70 drives with Safe-Off Describes how to use GuardLogix Safety System Design Tools available on the SAFETY-CL002 CD You can view or download publications at To order paper copies of technical documentation, contact your local Rockwell Automation distributor or sales representative. Publication SAFETY-AT017B-EN-P July 2011

23 23 Notes: Publication SAFETY-AT017B-EN-P-July 2011

24 24 Allen-Bradley, ControLogix, DriveGuard, GuardLogix, PowerFlex, and Rockwell Automation are trademarks of Rockwell Automation, Inc. Trademarks not belonging to Rockwell Automation are property of their respective companies. Publication SAFETY-AT017B-EN-P July 2011 Supersedes publication SAFETY-AT017A-EN-P July 2008 Copyright 2011 Rockwell Automation, Inc. All rights reserved. Printed in USA.