What the function is good for
If using the Safe Motion (SMO) M8 hardware option, the combined functions Safe Zone Acknowledgement (SZA) and Safe Door Lock (SDL) allow to create the necessary safe functions for one safe area, if several drives are used.
Only if all members of the so called local safety zone are safe (in a safe operation state like EMERGENCY STOP (SMES) or Safe Operational Stop (SMST1 or SMST2)), the complete zone or area is acknowledged to be safe (SZA).
This information then can be used to control a safe door device with the use of the I/O mapper logic in the "Zone master" drive.
Mind: All the drives must be equipped with Safe Motion (SMO) M8 hardware option!
Versions used
All the functions and screen shots are based on:
ctrlX DRIVE Engineering version 01V32
Runtime / Firmware version of drive AXS-V-0604
Prerequisites
A connection to the various ctrlX DRIVE has been successfully established, the devices are correctly wired and 24 V are successfully put on. As well the engineering tool ctrlX DRIVE Engineering has been started.
1. Function
The function follows the following scheme:
EMERGENCY STOP (SMES)
If the EMERGENCY STOP button is pressed, the corresponding safety function at all the drives in the so called local safety zone is activated immediately, which leads to a deceleration of still moving axes. After coming to standstill and acknowledging the EMERGENCY STOP function the drives are shut off and thus torque/force free. The door is released to be opened at that time.
Note, that the “Drive Enable” signal from the control has to be removed before the time entered for the reaction time of the EMERGENCY STOP function is exceeded, thus directly after the standstill is accomplished. Otherwise an error is shown.
If the EMERGENCY STOP button is released again and the door is shut again the Reset button needs to be shortly pressed that the EMERGENCY STOP and thus the function is released again as well. Then the drives can be activated (drive enable be set) again.
Mind that after first time switching on of the devices the Reset button needs to be shortly pressed to initially make the execution of the safe function work.
Mind that the EMERGENCY STOP is always prior to all other safety functions and, if activated, superseding the in before active safety function.
Mode Select - Change to Safety Operation Mode (activating the safe operational stop (SMST2))
If the “Mode Select” is switched, the corresponding safety function at the drives in the so called local safety zone is activated immediately, which leads to a deceleration of a still moving axes. After getting to standstill the drives are in operational stop with torque/force on.
The door in the safe area is released to be opened at that time.
If the Mode Select switch is released again and the door is shut again the Reset button needs to be shortly pressed in order that the safe function SMST2 is released again.
Enabling Control (activating safe motion with limited speed)(SMM1 or SMM2)
If the “Enabling Control” button is pressed additionally to the “Mode Select” switch of the local safety area, the corresponding safety function SMM1 or SMM2 at the drives is activated immediately, which allows the control to set a command with reduced speed. If the “Enabling Control” button is released again the safe operational stop (SMST2) is getting active again.
Switchover of reduced limited speed (SMM1 to SMM2) (at zone nodes only)
If the “Switchover SMM1 to SMM2” switch is activated, the corresponding safety function SMM1 or SMM2 at the drives of the local zone area nodes of the so called local safety area is switched over immediately, which allows the control to set a command with a corresponding reduced speed.
Mind that due to lack of a still free safe input this function is not possible at the local zone area master. This means that the master function should be selected for a drive where one safe reduced speed is sufficient.
2. Wiring of drives
The wiring should be according to the following principles:
3. Parameterization of Zone node drive(s)
The "Zone node" axes must be parameterized like the following:
If the "Axis is part of a local safety zone" and set as "Axis is zone node" the safe input 1 is automatically preset.
The other safe inputs need to be set according to the requested functionality. In here they are set to the following:
Safe input 2: EMERGENCY STOP
Safe input 3: Mode selection signal (to change to safe operation mode)
Safe input 4: Enabling control signal (Enabling pendant)
Safe input 5: Switchover from Safe operation mode SMM1 to SMM2 allowing different safe limited speeds to be selected.
If the "Axis is part of a local safety zone" and set as "Axis is zone node" the safe output 1 is automatically preset.
The I/O mappers should be set according to the following:
4. Parameterization of Zone master drive
The "Zone master" must be parameterized like the following:
If the "Axis is part of a local safety zone" and set as "Axis is zone master" the safe input 1 is automatically preset.
The other safe inputs need to be set according to the requested functionality. In here they are set to
Safe input 2: EMERGENCY STOP
Safe input 3: Mode selection signal (to change to safe operation mode)
Safe input 4: Enabling control signal (Enabling pendant)
Safe input 5: Safe door is locked
If the "Axis is part of a local safety zone" and set as "Axis is zone master" the safe output 1 is automatically preset. The "Safe Door Lock" activation needs to be done using the safe output 3 set to "Push-pull mode".
The safe output 2 is used as dynamization source for all safety related devices like EMERGENCY STOP button or Mode Select switch etc.
The I/O mappers should be set according to the following:
Mind that at first switching on one might get an error at the local safe area master:
In using the normal "Reset" function of the drive (not the one for "Reset" of the safety functions) this can be quit.