Festo Контроллер двигателя CMMD-AS - Manual (Page 82)

4. Functional safety engineering
82 Festo P.BE-CMMD-AS-HW-EN 1002NH
Create readiness to operate, description of timing diagram
Before switching it on again, make sure that all hazards have been eliminated and the
system can be safely placed in operation again. If there are areas inside that can be
entered, a manual acknowledgement must be made via the optional S2 button (see
switching example).
In order to switch the output stage of the CMMD-AS servo controller active again and thus
operate the connected motor, the following steps must occur:
1. Activation of the relay for switching the supply voltage of the end stage driver (2
nd
switch-off path) occurs at time t1 via [X3.1/2] with 24 V between pin 2 and pin 3.
2. The driver supply is then charged.
3. The potential-free acknowledgment contact ([X3.1/2] pins 5 and 6) for plausibility
checking of the relay activation opens a maximum of 20 ms after t1 (t2 – t1) and the
driver supply is switched off.
4. Approx. 10 ms after the acknowledgment contact opens, the "H" on the display goes
out at time t3.
5. The time for the end stage enable ([X1.1/2], DIN4) is largely freely selectable (t4 – t1).
The enable may occur at the same time as the relay is activated, but it must occur
approx.10 µs (t5 – t4) before the rising edge of the controller enable ([X1.1/2], DIN5),
depending on the application.
6. The rising edge of the controller enable at time t5 releases the motor holding brake
(if present) and the end stage enable occurs. The brake can only be released when the
relay for switching the driver supply is engaged, since this controls a MOSFET in the
holding brake circuit. Using the parametrising software, a travel start delay time (t6 –
t5) can be set that regulates the drive at a speed of "0" for the specified time and,
after this delay, causes it to move at the set speed at time t6.
7. At time t7 the drive has reached the set speed. The requires ramp settings can be
parameterised using the FCT parameterising software.
Note
If external forces (e.g. hanging loads) have an effect on the drive,
additional measures (e.g. mechanical brakes) are necessary to
avoid hazards.
The "Safe Stop 1" (SS1) stop function, in which the drive is brought
to standstill in a controlled manner, is then always preferred.