Festo Контроллер двигателя CMMD-AS - Manual (Page 94)

4. Functional safety engineering
94 Festo P.BE-CMMD-AS-HW-EN 1002NH
Explanations of the sample circuit
The sample circuit shows a combination of the CMMD-AS with two PILZ PNOZ XV2P safety
switch devices. An emergency stop in combination with a protective door is drawn as a
switch device. In total, three logic elements can be switched in series. A door position
switch can also be used that keeps the protective door closed until the drive has stopped
or the "Driver supply acknowledgment" signal indicates a safe state and the plausibility
check is successful.
Technical data, such as max. current, etc. can be found in the data sheet of the safety
switch devices.
4.3.7 EMERGENCY STOP request, monitoring of protective door
After the Emergency Stop button is actuated or the protective door is opened, the N/O
contact of K1 and K2 (13, 14) opens immediately. This results in the immediate removal of
the controller release and introduces the ramp function of the controller. The controller
brakes with the set Quick Stop delay. After reaching a speed of 0, the drive is controlled at
this setpoint value for a parametrisable switch-off delay time (ty). This adjustable time is
the delay required to apply the motor holding brake. This time depends on the holding
brake used and must be parameterised by the user. For applications without a holding
brake, this time can be set to 0. After this time, the internal output stage enable is
switched off by the
.
After the delay time of the PNOZ has expired, the two delay contacts of K1 (37, 38 and 47,
48) open. Then the activation of the driver supply relay and end stage enable are switched
off at the same time.
Note
The ramp function of the motor controller's Quick Stop delay is not
monitored.
The unintended opening of the protective door must be prevented in the system.
When the PILZ PNOZ XV2P is used, a two-channel operation with cross-circuit recognition
is possible. This permits recognition of earth faults in the start and input circuit,
short circuits in the input/start circuit, cross circuits in the input circuit.
Warning
The standard motor holding brake or an external motor holding
brake controlled by the drive controller is not suitable for
protecting people.
Vertical axes must be additionally secured against falling or
sliding down when the motor is switched off with, for example,
- mechanical locking of the vertical axis,
- external braking, safety catch or clamping devices or
- sufficient weight compensation of the axis.
Note
If EMERGENCY STOP is requested, the external brake is
immediately switched on, if needed.