Document Outline

• SM301 safety module
  • Contents
  • 1 About this documentation
    • 1.1 Document history
    • 1.2 Conventions used
    • 1.3 Terminology used
    • 1.4 Definition of the notes used
  • 2 Introduction
    • 2.1 Terms and abbreviations used in drive-based safety
    • 2.2 Function mode of the safety module
    • 2.3 Functional range of SM301 (short overview)
    • 2.4 Integration into the application
    • 2.5 Parameter setting & configuration
      • 2.5.1 Required settings in the controller
      • 2.5.2 "LS_SafetyModuleInterface" system block
        • 2.5.2.1 Status information
        • 2.5.2.2 I/O status information
        • 2.5.2.3 Control information
      • 2.5.3 "SMI_SafetyModuleInterface" system block for 9400 ServoPLC
    • 2.6 Error management
      • 2.6.1 Logbook function in the controller
      • 2.6.2 Logbook function in the SM301
  • 3 Safe configuration
    • 3.1 Changing parameter settings
    • 3.2 Importing/exporting parameter settings
    • 3.3 Plausibility check
    • 3.4 Compatibility mode
    • 3.5 Protection of the safe parameters by project-related password entry
    • 3.6 General parameters
      • 3.6.1 Setting of the safety address
      • 3.6.2 Safe speed measurement and position detection
    • 3.7 Safe inputs
    • 3.8 Safe output
      • 3.8.1 Case study 1: "Safety door"
      • 3.8.2 Case study 2: "Signalling"
    • 3.9 Safety functions
      • 3.9.1 Safe stop
        • 3.9.1.1 Priorisation
        • 3.9.1.2 Restart behaviour
        • 3.9.1.3 Emergency stop function (SSE)
        • 3.9.1.4 Safe torque off (STO)
        • 3.9.1.5 Safe stop 1 (SS1)
        • 3.9.1.6 Safe stop 2 (SS2)
        • 3.9.1.7 Ramp monitoring (SS1/SS2)
      • 3.9.2 Safe speed limitation
        • 3.9.2.1 Safe maximum speed (SMS)
        • 3.9.2.2 Safely limited speed (SLS)
        • 3.9.2.3 Error analysis for the functions SMS and SLS
      • 3.9.3 Operation mode selection
        • 3.9.3.1 Operation mode selector (OMS)
        • 3.9.3.2 Enable switch (ES)
      • 3.9.4 Cascading (CAS)
      • 3.9.5 Safe direction (SDI)
    • 3.10 Safety bus
      • 3.10.1 PROFIsafe connection
        • 3.10.1.1 PROFIsafe output data
        • 3.10.1.2 PROFIsafe input data
  • 4 Safe parameter transfer
    • 4.1 Sending safe data
    • 4.2 Read safe data from device
    • 4.3 Write parameter set into file
    • 4.4 Read parameter set out of file
    • 4.5 General reset of the device
    • 4.6 Password management
  • 5 Parameter reference
    • 5.1 Parameter list
      • C15000 | Status of safety functions
      • C15003 | Command status
      • C15010 | Parameter set status
      • C15011 | Parameter CRC
      • C15013 | Parameter set creation time
      • C15014 | Time of RTC parameter setting
      • C15015 | Time of sec. parameter setting
      • C15016 | Parameter set version
      • C15017 | Stored module ID
      • C15030 | SD-In sensor type
      • C15031 | SD-In sensor function
      • C15032 | SD-In free assignment
      • C15033 | SD-In discrepancy time
      • C15034 | SD-In input delay
      • C15035 | CAS: Cascading
      • C15036 | CAS: Stop delay
      • C15040 | Input image
      • C15051 | SD-Out switching condition
      • C15052 | SD-Out switching condition
      • C15055 | SD-Out logic function
      • C15060 | Output image
      • C15100 | S bus: Configuration
      • C15101 | Current DIP switch display
      • C15111 | Safety address
      • C15112 | Effective safety address
      • C15113 | S bus: Filter control data
      • C15115 | S bus: Control data display
      • C15200 | OMS: Stop function
      • C15201 | OMS: Motion function
      • C15202 | OMS: Function at LOW level
      • C15203 | SLI: Safely limited increment
      • C15204 | SLI: Value of position change
      • C15205 | SSE: Emergency stop function
      • C15300 | Restart behaviour
      • C15305 | SS1, SS2: Stopping time
      • C15306 | SS1 mode
      • C15307 | SS1: STO delay after n=0
      • C15308 | SS2 mode
      • C15310 | Speed window (n=0)
      • C15311 | SOS: Tolerance margin (delta p=0)
      • C15312 | SOS: Maximum position change
      • C15315 | SS1, SS2: Ramp monitoring
      • C15316 | SS1, SS2: Ramp - S-ramp time
      • C15317 | SS1, SS2: Ramp - start-offset
      • C15320 | SMS: Maximum speed Nmax
      • C15321 | SMS: Reaction (n>Nmax)
      • C15330 | SLS: Limited speed Nlim
      • C15331 | SLS: Braking time Nlim
      • C15332 | SLS: Reaction (n>Nlim)
      • C15333 | SLS: Permissible direction of movement
      • C15340 | SDI: Normal operation monitoring
      • C15341 | SDI: Delay time
      • C15342 | SDI: Tolerance threshold
      • C15343 | SDI: Error response
      • C15344 | SDI: Maximum position change
      • C15350 | SLS, SMS: Max. response time
      • C15400 | Motor encoder system
      • C15401 | Motor encoder status
      • C15402 | Actual speed - n_safe
      • C15405 | Internal actual speed value
      • C15409 | Motor mounting direction
      • C15410 | Response time of encoder monitoring
      • C15411 | Speed comparison tolerance
      • C15420 | Sin/cos encoder PPR
      • C15430 | Number of resolver pole pairs
      • C15500 | Position encoder system
      • C15501 | Position encoder gearbox factor
      • C15502 | Position encoder mounting direction
      • C15800 | Current error type
      • C15801 | Error history
      • C15805 | Service code
      • C15810 | Service code
      • C15815 | Service code
      • C15820 | Internal actual position value
      • C15821 | Service code
      • C15822 | Service code
      • C15890 | Current time
      • C15891 | Log function
      • C15892 | Log time
      • C15893 | Log status
      • C15900 | Firmware product type
      • C15901 | Firmware compilation date
      • C15902 | Firmware version
    • 5.2 Table of attributes
  • 6 Error messages
    • Internal error, STO activated [0x012f0001]
    • Internal error, SS1 activated [0x012f0002]
    • Internal error, SS2 activated [0x012f0003]
    • Communication error - standard device [0x012f0010]
    • Synchronisation error - standard device [0x012f0011]
    • Safety address invalid (0 or 0xFFFF) [0x012f0021]
    • PROFIsafe communication error [0x012f0022]
    • F_WD_Time exceeded [0x012f0023]
    • PROFIsafe passivated [0x012f0024]
    • PROFIsafe has left data exchange [0x012f0025]
    • PROFIsafe - invalid data [0x012f0026]
    • F-parameter error [0x012f0027]
    • Discrepancy error or functional test SD-In1 [0x012f0031]
    • Discrepancy error or functional test SD-In2 [0x012f0032]
    • Discrepancy error or functional test SD-In3 [0x012f0033]
    • Discrepancy error or functional test SD-In4 [0x012f0034]
    • Internal error - AIS [0x012f0035]
    • Internal error - AIE [0x012f0036]
    • Internal error - module switch [0x012f0037]
    • Deactivated SD-In1 = high [0x012f0039]
    • Deactivated SD-In2 = high [0x012f003a]
    • Deactivated SD-In3 = high [0x012f003b]
    • Deactivated SD-In4 = high [0x012f003c]
    • F_Dest_Add unequal F address [0x012f0040]
    • F_Dest_Add = 0 or FFFFhex [0x012f0041]
    • F_Source_Add = 0 or FFFFhex [0x012f0042]
    • F_WD_Time is 0 msec [0x012f0043]
    • F_SIL exceeds technical SIL [0x012f0044]
    • F_CRC_Length error [0x012f0045]
    • F parameter version is incorrect [0x012f0046]
    • PROFIsafe CRC1 error [0x012f0047]
    • Reserved (PROFIsafe standard) [0x012f0048]
    • Reserved (PROFIsafe standard) [0x012f0049]
    • Reserved (PROFIsafe standard) [0x012f004a]
    • Error - SD-Inx / CLx [0x012f0051]
    • Error - SD-Inx / CLx [0x012f0052]
    • Short circuit - SD-Out [0x012f0059]
    • Error - internal disconnecting path [0x012f005d]
    • Test pulse error - internal disconnecting path [0x012f005e]
    • SS1/SS2: Stopping time exceeded [0x012f0061]
    • SLS1: Nlim1 exceeded [0x012f0062]
    • SLS2: Nlim2 exceeded [0x012f0063]
    • SLS3: Nlim3 exceeded [0x012f0064]
    • SLS4: Nlim4 exceeded [0x012f0065]
    • SLS/SMS: Error stop not executed [0x012f0066]
    • SDIpos: Wrong direction [0x012f0067]
    • SDIneg: Wrong direction [0x012f0068]
    • SMS: Nmax exceeded [0x012f0069]
    • SOS: Tolerance limit exceeded [0x012f006a]
    • No encoder system configured [0x012f006b]
    • CAS: Circulation time exceeded [0x012f006c]
    • CAS: Hardware or discrepancy error [0x012f006d]
    • SS1/SS2: Speed ramp exceeded [0x012f006e]
    • SLI: Safely limited increment exceeded [0x012f006f]
    • Stuck at High SD-Out1, channel A [0x012f0080]
    • Stuck at Low SD-Out1, channel A [0x012f0081]
    • Stuck at High SD-Out1, channel B [0x012f0082]
    • Stuck at Low SD-Out1, channel B [0x012f0083]
    • Stuck at High at SD-In1, channel A [0x012f0090]
    • Stuck at High at SD-In1, channel B [0x012f0091]
    • Stuck at High at SD-In2, channel A [0x012f0092]
    • Stuck at High at SD-In2, channel B [0x012f0093]
    • Stuck at High at SD-In3, channel A [0x012f0094]
    • Stuck at High at SD-In3, channel B [0x012f0095]
    • Stuck at High at SD-In4, channel A [0x012f0096]
    • Stuck at High at SD-In4, channel B [0x012f0097]
    • New parameter set deleted [0x012f00a0]
    • New safe parameter set loaded [0x012f00a1]
    • Memory module - parameter set access error [0x012f00a2]
    • Different parameter sets [0x012f00a3]
    • No safe parameter set safety module [0x012f00a4]
    • Defective parameter set safety module [0x012f00a5]
    • Memory module - parameter set format error [0x012f00a6]
    • Parameter set plausibility error [0x012f00a7]
    • Safety parameter set communicaton error [0x012f00a8]
    • Module ID unequal effective safety address [0x012f00a9]
    • Reference voltage error [0x012f00c0]
    • 6V voltage error [0x012f00c1]
    • 5V voltage error [0x012f00c2]
    • 2.6V voltage error [0x012f00c3]
    • Safe speed invalid [0x012f00d0]
    • SSM: Encoder error [0x012f00d1]
    • SSM: Resolver error [0x012f00d2]
    • SSM: Standard device data error [0x012f00d3]
    • SSM: Speed comparison error [0x012f00d4]
    • SSM: Synchronisation error [0x012f00d5]
    • SSM: Wrong PDO version [0x012f00d6]
  • Index
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