CMMS-AS-C4-3A-G2. STO (Safe Torque Off) 8047494 1503b [8047490]

CMMS-AS-C4-3A-G2 STO (Safe Torque Off) 8047494 1503b [8047490]

CMMS-AS-C4-3A-G2 GDCP-CMMS-AS-G2-S1-DE Pilz und PNOZ : : : 1. 2 Festo GDCP-CMMS-AS-G2-S1-DE 1503b

CMMS-AS-C4-3A-G2 CMMS-AS-C4-3A-G2... 5... 5... 5... 5... 6 1... 7 1.1... 7 1.1.1... 7 1.1.2... 7 1.1.3... 8 1.1.4 EN ISO 13849-1... 8 1.2... 9 1.2.1... 9 1.2.2 ()... 9 1.2.3 (DC)... 9 1.2.4... 10 2 STO... 11 2.1... 11 2.1.1... 11 2.1.2... 11 2.2... 12 2.2.1 STO... 13 2.2.2 [X1] [X3]... 15 2.2.3... 16 2.3 STO Safe Torque Off... 17 2.3.1... 17 2.3.2 STO... 18 2.3.3 STO... 19 2.3.4 STO... 20 2.4 SS1 Safe Stop 1... 21 2.4.1... 21 2.4.2 SS1... 23 2.4.3 SS1 STO... 24 2.4.4 SS1... 25 2.4.5... 26 2.5... 27 Festo GDCP-CMMS-AS-G2-S1-ZH 1503b 3

CMMS-AS-C4-3A-G2 3... 28 3.1 /... 28 3.2... 28 3.2.1... 28 3.2.2 [X1] [X3]... 29 4... 30 4.1... 30 4.2,... 31 5... 33 5.1... 33 5.2... 33 5.3... 33 5.3.1... 33 5.3.2... 33 6... 35 6.1... 35 6.2... 35 A... 36 A.1... 36 A.1.1... 36 A.1.2, CMMS-AS-...-G2... 37 A.1.3 [X1],[X3]... 38 B... 40 4 Festo GDCP-CMMS-AS-G2-S1-ZH 1503b

CMMS-AS-C4-3A-G2 CMMS-AS-...-G2, STO Safe Torque Off CMMS-AS-...-G2 CMMS-AS-...-G2,, GDCP-CMMS-AS-G2-HW-... ( Tab. 2.) 1 : CMMS-AS-...-G2 Rev 01, FW 1.4.0.2.4,,GDCP-CMMS-AS-G2-HW-..., Festo : EN 60204-1:2006/A1:2009-02 EN 61800-5-1:2007-09 EN ISO 12100:2010-11 EN 61800-2:1998-04 EN 61800-5-2:2007-10 EN ISO 13849-1:2008-06 Tab. 1 Festo GDCP-CMMS-AS-G2-S1-ZH 1503b 5

CMMS-AS-C4-3A-G2, : GDCP-CMMS-AS-G2-HW-... CMMS-AS () GDCP-CMMD-AS-HW-... CMMD-AS GDCP-CMMS-ST-G2-HW-... CMMS-ST GDCP-CMMS/D-FW-... CMMS-AS CMMD-AS CMMS-ST / FCT STO GDCP-CMMS-AS-G2-S1-... CMMS-AS STO (Safe Torque GDCP-CMMD-AS-S1-... CMMD-AS Off) GDCP-CMMS-ST-G2-S1-... CMMS-ST FHPP GDCP-CMMS/D-C-HP-... CiA 402 GDCP-CMMS/D-C-CO-... CMMS-AS CMMD-AS CMMS-ST CMMS-AS CMMD-AS CMMS-ST : CAN (CANopen) CAMC-PB (PROFIBUS) CAMC-DN (DeviceNet) FHPP(Festo ), PROFIBUS DeviceNet CANopen : CAN (CANopen, DriveBus) CiA 402 (DS 402) g CMMS-AS CMMS-AS Festo Configuration Tool CMMD-AS CMMD-AS CMMS-ST CMMS-ST Tab. 2 : CD-ROM () :www.festo.com/sp 6 Festo GDCP-CMMS-AS-G2-S1-ZH 1503b

1 1 1.1 1.1.1 CMMS-AS-...-G2 CMMS-AS-...-G2,, GDCP-CMMS-AS-G2-HW-...( Tab. 2, 6 ),, A.1, 1.1.2 CMMS-AS-...-G2 : Safe Torque Off (STO) EN ISO 13849-1, 3 / PL d CMMS-AS-...-G2,, :,,, A.1, A.1, Tab. A.6, Festo GDCP-CMMS-AS-G2-S1-ZH 1503b 7

1, 1.1.3 :, ( ) (: ), STO! STO (Safe Torque Off), (,GDCP-CMMS-AS-G2-HW-...)!,(, A.1,Tab. A.1 Tab. A.6) 1.1.4 EN ISO 13849-1 STO CMMS-AS-...-G2 EN ISO 13849-1 3 / PL d EN ISO 13849-1 3 / PL d 8 Festo GDCP-CMMS-AS-G2-S1-ZH 1503b

1 1.2 (: ) :,,,,, : 1.2.1 : ( A.1) 1.2.2 () :,,, 1.2.3 (DC) 5.3,, :,, CMMS-AS-...-G2 Festo GDCP-CMMS-AS-G2-S1-ZH 1503b 9

1 1.2.4 STO CE A.1 EG, www.festo.com/sp 10 Festo GDCP-CMMS-AS-G2-S1-ZH 1503b

2 STO 2 STO 2.1 2.1.1,,,,,,,,, 2.1.2 CMMS-AS-...-G2 2 STO 1 4 3 2 1 2 I/O [X1] Fig. 2.1 CMMS-AS-...-G2 3 4 STO [X3] Festo GDCP-CMMS-AS-G2-S1-ZH 1503b 11

2 STO 2.2 CMMS-AS-...-G2 : Safe Torque Off (STO),, CMMS AS... G2, 1 (SS1) 1) STO 2, : 0 SS1 Safe Stop 1 1 2, : 1 1) Tab. 2.1 12 Festo GDCP-CMMS-AS-G2-S1-ZH 1503b

2 STO 2.2.1 STO, ( Safe Torque Off, STO) Fig. 2.2: (PWM) STO X3.2 X1.21( ) ( ) = = 15 V - IGBT (+15 V_TR) +15 V_TR_ 2. DIN5 µc DIN4 DIN4 PWM 1. IGBT Fig. 2.2 CMMS-AS-...-G2 Safe Torque Off (STO),,, Festo GDCP-CMMS-AS-G2-S1-ZH 1503b 13

2 STO, (: ) STO Safe Torque Off,,,: STO, 5 ms,,, CMMS-AS-...-G2, STO, STO, Festo -! STO :,:,,, CMMS-AS-...-G2, STO ( 2 ), / :,8 45 14 Festo GDCP-CMMS-AS-G2-S1-ZH 1503b

2 STO 2.2.2 [X1] [X3] 3.2 : 25 [X1] ( 1 ) ( SS1 ) 6 [X3] ( 2 ) 24 V CMMS-AS-...-G2 Tab. A.6 A.1.3 (OSSD) [X1] 6 GND24 9 DIN5 ( -) 18 +24 V 24 V 21 DIN4 ( -) [X3] 1 24 V ( 24 V DC ) 2 Rel : = =, 3 0 V 5 1 (NC1) Safe Torque Off (STO) 6 2 (NC2) = Safe Torque Off (STO) () Tab. 2.2 EN ISO 13849 1, 3,PL d STO,,,, : 1. : [X1] ( PWM ;IGBT ) 2. : [X3] IGBT (IGBT, PWM IGBT) (μp), E 05 2 ( ) Festo GDCP-CMMS-AS-G2-S1-ZH 1503b 15

2 STO : Safe Torque off ([X3] 5 6) : STO (: 24, STO ),,: PLC, Tab. A.7 A.1.3 24 V,, Rel [X3.2] ( 100 ms), NC1/NC2,, 24V,0V [X1] [X3] CMMS-AS-...-G2 [X1] [X3] 24 V NC1/NC2, Tab. A.8 A.1.3 2.2.3,: STO 2.3 SS1 2.4 16 Festo GDCP-CMMS-AS-G2-S1-ZH 1503b

2 STO 2.3 STO Safe Torque Off L1 N PE 24 V DC 0 V DC 4 T3 T1 T3 T3 3 s1 11 21 S2 13 T1 13 T1 23 12 22 14 14 24 2 O1 O2 S11 S21 S22 S12 T1 Pilz PNOZ s3 S34 Y32 -X3 2 3 REL 0 V 5 6 NC1 NC2 -X1 9 DIN5 21 DIN4 -X9 T2 Festo CMMS-AS-...-G2 +24 V 0 V 1 1 (T2, ) 2 (T1) Fig. 2.3 STO 3 4 (T3, 24 V) 2.3.1 CMMS-AS-...-G2 Pilz PNOZ s3, (STO), (S1),: :,, : / DIN4 [X1.21], Rel [X3.2], Festo GDCP-CMMS-AS-G2-S1-ZH 1503b 17

2 STO (: ), (: ) SS1 Safe Stop 1 EMMS AS B, 2.3.2 STO STO (, 2.3.4): a) (S1),T1 (13 14 23 24) Rel [X3.2] DIN4 [X1.21] Safe Torque Off b), 5 ms (t1), c) 2.5 ms (t2), d), 12 ms (t STO ),,STO e), - 50... 500 ms (t3) f) Rel [X3.2], 30 ms (t4), NC1/NC2, [X3.5/6] g) 2 (DIN4 [X1.21] Rel [X3.2] ), 720 ms (t5), 7 H 18 Festo GDCP-CMMS-AS-G2-S1-ZH 1503b

2 STO 2.3.3 STO, :, S2 ( ),, (, 2.3.4): 1. ( 2 ), 24V Rel [X3.2] ( 0 V [X3.3]) a) 20 ms (t6) b) NC1/NC2 [X3.5/6] Rel [X3.2], 30 ms (t4) 2. DIN4 [X1.21] (t7) Rel [X3.2] 2, DIN5 [X1.9] 2.5 ms (t8) c), 5 ms (t9),(), FCT (t10), 0, d) 2, 720 ms (t5), 7 H Festo GDCP-CMMS-AS-G2-S1-ZH 1503b 19

2 STO 2.3.4 STO Rel [X3.2] NC1/NC2 [X3.5/6] t4 t4 DIN4 [X1.21] DIN5 [X1.9] t1 t STO t7 t8 t2 ÇÇ ÇÇ t6 t9 BR+ [X6.2] () 7 t1 5 ms t2 2.5 ms t STO 12 ms t3 L 50 500 ms( ) t4 30 ms t5 720 ms t6 20ms Fig. 2.4 STO t3 t5 ÇÇ ÇÇ H t5 t10 t7 t8 2.5 ms t9 5 ms(, ) t10 0 6553 ms( FCT ) 20 Festo GDCP-CMMS-AS-G2-S1-ZH 1503b

2 STO 2.4 SS1 Safe Stop 1 Safe Stop 1 (SS1),,, L1 N PE 24 V DC 0 V DC 4 T3 T1 T3 T3 3 s1 11 21 S2 13 T1 37 T1 13T1 47 12 22 14 38 14 48 O1 O2 S11 S21 S22 S12 S34 Y32 -X3 2 3 REL 0 V 5 6 NC1 NC2 DIN5 -X1 9 21 DIN4 -X9 +24 V 0 V 2 T1 Pilz PNOZ s5 T2 Festo CMMS-AS-...-G2 1 1 (T2, ) 2 (T1) Fig. 2.5 SS1 3 4 (T3, 24 V) 2.4.1 CMMS AS...-G2 Pilz PNOZ s5,,,, :, Festo GDCP-CMMS-AS-G2-S1-ZH 1503b 21

2 STO Pilz PNOZ s5, : /,!,,:, // EMMS AS B, PNOZ ( 2.4.5), STO Quick Stop 22 Festo GDCP-CMMS-AS-G2-S1-ZH 1503b

2 STO 2.4.2 SS1 SS1 (, 2.4.4): a) S1(), T1 (13, 14) DIN5 [X1.9] 5 ms (t1) b) FCT ( Quick Stop ) Quick-Stop, 0 ms 10 s (t2) 2.4.5 c) 0, BR+ [X6.2], (t3),, 150 ms, 0 ms d) t12 (50.. 500 ms), BR+ [X6.2] +,, e) (t3), 5 ms (t4) f) PNOZ (t5) t1 + t2 + t3 + t4 PNOZ,T1 (37 38 47 48), Rel [X3.2] DIN4 [X1.21] g) 12 ms (t STO ),,STO h) Rel [X3.2], 30 ms (t6), NC1/NC2, [X3.5/6] i) 2 (DIN4 [X1.21] Rel [X3.2] ), 720 ms (t5), 7 H Festo GDCP-CMMS-AS-G2-S1-ZH 1503b 23

2 STO 2.4.3 SS1 STO, :,, S2 ( ) 2.4.4, [X1] DIN 5,, SS1,(, 2.4.4): 1. ( 2 ), 24V Rel [X3.2] ( 0 V [X3.3]) a) 20 ms (t8) b) NC1/NC2 [X3.5/6] Rel [X3.2], 30 ms (t6) 2. DIN4 [X1.21] (t9) Rel [X3.2] 2, DIN5 [X1.9] 2.5 ms (t10) c), 5 ms (t11),(), FCT (t13) 0 t13, t13 d) 2, 720 ms (t7), 7 H 24 Festo GDCP-CMMS-AS-G2-S1-ZH 1503b

2 STO 2.4.4 SS1 Rel [X3.2] NC1/NC2 [X3.5/6] t5 t6 t6 DIN4 [X1.21] DIN5 [X1.9] t9 t10 7 t1 t ST O ÇÇ ÇÇ ÇÇ ÇÇ t7 t8 H t7 t11 t13 BR+ [X6.2] t2 t3 t4 () t12 t1 5 ms t2 = 0 ms 10 s( FCT Quick-Stop ) t3 = 0 6553 ms( FCT ) t4 5 ms t5 PNOZ ( t1 + t2 + t3 + t4) t STO 12 ms t6 30 ms Fig. 2.6 SS1 t7 720 ms t8 20 ms t9 t10 2.5 ms t11 5 ms(, ) t12 = 50 500 ms( ) t13 = 0 6553 ms( FCT ) Festo GDCP-CMMS-AS-G2-S1-ZH 1503b 25

2 STO 2.4.5, FCT, = 0 <= 10 ms, FCT Trace,, FCT,( Trace ), Fig. 2.7 : (t2):210 ms :150 ms( FCT) (t4) :5 ms() :210 ms + 150 ms + 5 ms = 365 ms ():10 % PNOZ (t5) :400 ms 26 Festo GDCP-CMMS-AS-G2-S1-ZH 1503b

2 STO Pilz PNOZ s5 Pilz PNOZ s5,,,:10 % 2.5 /, Pilz PNOZ,,,,,: Festo GDCP-CMMS-AS-G2-S1-ZH 1503b 27

3 3 3.1 / CMMS-AS-...-G2,,,GDCP-CMMS-AS-G2-HW-... ( Tab. 2) 3.2 3.2.1, EN 60204-1, EN 60204-1 (Protective Extra-Low Voltage, PELV) PELV EN 60204-1 PELV EN 60204-1 PELV, EN 60204-1 ( )(, ) 24 V EN 60204-1 ( ),,: 1.5 mm² ESD, (ESD), ESD (: ) 28 Festo GDCP-CMMS-AS-G2-S1-ZH 1503b

3 3.2.2 [X1] [X3] CMMS-AS-...-G2, [X1] [X3] [X1] 6 GND24 0 V 9 DIN5 0 V / 24 V ( -) 21 18 9 6 18 24 V +24 V DC ( 24 V DC ) 1 21 DIN4 0 V / 24 V ( -) Tab. 3.1 [X1],() [X3] 1 6 1 24 V +24 V DC (24 V DC ) 2 Rel 0 V / 24 V 3 0 V 0 V 4 5 1 (NC1) 25 V AC, Safe Torque Off (STO) 6 2 (NC2) 30 V DC, 2 A Tab. 3.2 [X3]() STO Safe Torque Off, DIN4 [X1.21] Rel [X3.2] 2.3, Fig. 2.3 : A.1.3,Tab. A.9 2.3 2.4 Festo GDCP-CMMS-AS-G2-S1-ZH 1503b 29

4 4,!,:,,, 4.2,, 2.3 2.4 4.1 : 1. ( 3.1 ) 2. ( 3.2 ) PE? 30 Festo GDCP-CMMS-AS-G2-S1-ZH 1503b

4 4.2, STO, 1.? 0 0 0 2., 1 :, 0 0 0 2 :, 3 :,? 3.,? 0 0 0 4.? 0 0 0 5.,? 0 0 0 6. 0 0 0? 7.? 0 0 0 8. / /,? 0 0 0 9.? Tab. 4.1 EN ISO 12100 () 0 0 0 Festo GDCP-CMMS-AS-G2-S1-ZH 1503b 31

4 1.? 0 0 0 2.? 0 0 0 3.,? : 0 0 0 e) : CMMS-AS-...-G2 ( ) 0 0 0 f) ( )? 0 0 0? 0 0 0 X1 X3? 0 0 0,? 0 0 0 g) : 0 0 0? 0 0 0 Rel (X3.2)? 0 0 0 DIN4 (X1.21)? Rel (X3.2) DIN4 (X1.21),? NC1/NC2 : NC1 NC2,??,,, Tab. 4.2 EN ISO 13849-1 -2 () 0 0 0 0 0 0 0 0 0 0 0 0 32 Festo GDCP-CMMS-AS-G2-S1-ZH 1503b

5 5 5.1 : 24 5.2 CMMS-AS-...-G2 A.1.3,Tab. A.7 5.3 5.3.1 H :STO, Tab. 5.1 5.3.2, E ( Error) (xx) (y),:e 5 1 0,:- 1 7 0 -, STO Code CiA 402,,GDCP-CMMS-AS-G2-HW-... Festo GDCP-CMMS-AS-G2-S1-ZH 1503b 33

5,,,, 05 05-2 8000h PS off (), 45 STO 45-0 8000h PS off STO, STO,, STO :?, 45-1 8000h PS off STO, STO,, STO :?, 45-2 8000h PS off STO, STO, 45-3 8087h DIN4 PS off 34 Festo GDCP-CMMS-AS-G2-S1-ZH 1503b

6 6 6.1, 6.2 Festo GDCP-CMMS-AS-G2-S1-ZH 1503b 35

A A A.1 A.1.1 STO EN 61800-5-2: (STO, Safe Torque Off) 3 EN ISO 13849-1 Performance Level PL d Performance Level EN ISO 13849-1 PFH d [h -1 ] 8.32 x 10) (Probability of dangerous Failures per Hour) T [ ] 20 (Proof Test Interval), EN ISO 13849-1,, Tab. A.6 MTTF d [ ] 2521 (Mean time to dangerous failure) Tab. A.1 : ( Tab. A.6),STO : CMMS-AS- G2 Rev 01: n op 5000 / a CMMS-AS- G2 Rev 02: n op 500000 / a 1.1.4 ( www.festo.com/sp), STO Tab. A.2 : 36 Festo GDCP-CMMS-AS-G2-S1-ZH 1503b

A A.1.2, CMMS-AS-...-G2 CMMS-AS-...-G2,, GDCP-CMMS-AS-G2-HW-... CE () 2006/42/EC 2006/95/EC 2004/108/EC,:, Tab. A.3 : [m] 1000 10% 1000 m [m] 1000 2000 [%] 0 90 ( ) IP20 I III EN 61800-5-1 2 [ C] 0 +40 [K] 4 % [ C] +40 +50 [ C] 25 +70 EN 61800-5-1, 5.2.6.4 EN 61800-2, 4.3.3 Tab. A.4 : Festo GDCP-CMMS-AS-G2-S1-ZH 1503b 37

A A.1.3 [X1],[X3] DIN4, DIN5 [X1.21, X1.9] [V DC] 24( 0 V) [V DC] 19.2 28.8 [ma] 2.5( ; 3) [V DC] 13.1 [V DC] 3.4 [ms] 5 [ms] 8 [мкс], Tab. A.5 :[X1] Rel [X3.2] [V DC] 24( 0 V) [V DC] 19.2 28.8 [ma] 20( ; 30) [V DC] 17.9 [V DC] 2.5 [ms] 12 [ms] 20 [мкс],, n op CMMS-AS-...-G2 Rev 01 [n op ] 100 000 CMMS-AS-...-G2 Rev 02 [n op ] 10 x 10 6 Tab. A.6 : Rel [X3] NC1, NC2 [X3.5, X3.6], [V DC] 30 [ma] 2000(30 V ) [ms] ( 1) + 9 ms) [ms] ( 1) + 9 ms), n op (24 V I = 10 ma, ) CMMS-AS-...-G2 Rev 01 [n op ] 100 000 CMMS-AS-...-G2 Rev 02 [n op ] 10 x 10 6 1) Tab. A.6 Tab. A.7 : NC1/NC2 [X3] 38 Festo GDCP-CMMS-AS-G2-S1-ZH 1503b

A 24 V,0 V [X3.1, X3.3] ( [X9], ) [V DC] 24 [ma] 100( ) [V] 1() Tab. A.8 : [X3] [X3] [m] 30, / (,) [mm²] 0.25 0.5 [mm²] 2 x 0.25() M2 [Nm] 0.22 0.25 Tab. A.9 :[X3] Festo GDCP-CMMS-AS-G2-S1-ZH 1503b 39

B B / FCT MTTF d Festo Configuration Tool, Mean Time To Failure (dangerous): 100 % (: ), EN ISO 13849-1 (Probability of dangerous Failures per Hour) PFH d PL Performance Level EN ISO 13849-1: a e STO Safe Torque Off, T, EN ISO 13849-1 EN ISO 13849-1, 1-4 EN 60204-1 : EN 60204-1 :,,,, Tab. B.1 40 Festo GDCP-CMMS-AS-G2-S1-ZH 1503b

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