SlideShare ist ein Scribd-Unternehmen logo
CMAFH Drive For Technology 2010
 Drive and Motor Safety

                                    CMAFH
                          Drive For Technology 2010

                                 Drive and Motor Safety
                         Gary Thrall
               Senior Product Support Engineer
                 Bosch Rexroth Corporation


Safety on Board –
 Safety on Board –
Integrated, certified and consistent
 Integrated, certified and consistent
 Electric Drives and Controls   2009-02-26; BRC/SPD G. Kobs                                                                                              1
 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
Drive and Motor Safety


        New European Standards

        IndraDrive safety functions according new standards
            IndraDrive C/ M

        Coming soon – IndraDrive Cs L4 option
           STO and SBC




                                                           Safety on Board –
                                                            Safety on Board –
                                                           Integrated, certified and consistent
                                                            Integrated, certified and consistent

Electric Drives and Controls   2009-02-26; BRC/SPD G. Kobs                                                                                              2
© Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
   Passport into European Community market (EEA)




                                                                                                                     European Machinery Directive

Machine Builder




                                                                            Fulfilling harmonized
                                                                         standards the manufacturer
                                                                         can assume that the safety
                                                                           aspects of the machine
                                  EC                                          directive are met

                                                                            EN 13849-1 (EN 954-1)
                                                                                      EN 62061
                                                                                                EN 61800-5-2
   Electric Drives and Controls   2009-02-26; BRC/SPD G. Kobs                                                                                              3
   © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
Change of Safety Standards

                                                                                                                     Today

                              European Machinery Directive
                               98/37/EG                                                                                        2006/42/EG

                                                                                                                              January 2010
            Machine Builder




                              EN 954-1
                              Valid Standard                                   Period 3 years                            Extended 2 more years

                              EN ISO 13849-1                                         Transition                                          Transition
                                                                                                                                         Valid Standard
                                                                       November 2006                                      December 2009
                              EN 62061
                                                                                                                                         Valid Standard
                                               January 2006

                              EN 61800-5-2
            Components




                                                                                                                                        Valid Standard
                                                                                November 2007
                              IEC 61508
                                                                                                                                        Valid Standard



Electric Drives and Controls       2009-02-26; BRC/SPD G. Kobs                                                                                            4
© Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
Performance Level of EN ISO 13849-1:2006

The Performance Level is defined by
   Category (architecture), identical to EN 954-1 and C-Standards
   MTTFd (Meantime to dangerous failure in one channel)

                                                                                   Denotation of MTTFd                                            Range of MTTFd
                                                                                                   Low                                3 years <= MTTFd < 10 years
                                                                                               Medium                                10 years <= MTTFd < 30 years
                                                                                                  High                              30 years <= MTTFd < 100 years

        DC (Diagnostic Coverage): Share of detected failures

                                                                                      Denotation of DC                                              Range of DC
                                                                                                  None                                                  DC < 60%
                                                                                                   Low                                        60% <= DC < 90%
                                                                                               Medium                                         90% <= DC < 99%
                                                                                                  High                                                  99% <= DC

        CCF (Common Cause Failures affecting both channels)
        Measures against systematic failures
Electric Drives and Controls   2009-02-26; BRC/SPD G. Kobs                                                                                                          5
© Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010 Performance Level of EN
ISO 13849-1:2006




                 A Performance Level d could be achieved by:

                   Cat. 3                                                                             Cat. 2
                   DCavg = medium                                              or                     DCavg . = medium
                   MTTFd = medium                                                                     MTTFd = high
Electric Drives and Controls   2009-02-26; BRC/SPD G. Kobs                                                                                              6
© Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
EN 62061 and EN 13849-1

                            Safety Integrity Level                       Probability of dangerous                              Performance Level
                                     SIL                                   failure per hour (1/h)                                     PL
                                 IEC 61508                                          PFHd                                           ISO 13849
                                            -                                     >= 10-5 to 10-4                                            a




                                                                                                                                                        ISO 13849
             IEC 62061


                                           1                                   >= 3 x 10-6 to 10-5                                           b
                                           1                                   >= 10-6 to 3 x 10-6                                           c
                                           2                                      >= 10-7 to 10-6                                            d
                                           3                                      >= 10-8 to 10-7                                            e
                                           4                                             < 10-8                                               -


                         electrical, electronic and                                                                       All Technologies
                               programmable
                                                                                                           Simplified Estimation (worst case)
                              calculation formula                                                                     regarding to:
                         for subsystem architectures
                                                                                                        HW Structure (Category like EN 954)
                                                                                                            Diagnostic Coverage (DC)
                                                                                                                 Reliability MTTFd
                                                                                                         Failure of Common Cause (CC)

                                          PFHd – Probability of a dangerous Failure per Hour

Electric Drives and Controls   2009-02-26; BRC/SPD G. Kobs                                                                                                          7
© Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
Performance Level in total

        Performance Level of the combination of SRP/CS




                SRP/CS1                                 SRP/CS2                                         SRP/CS3                           SRP/CS4
                  PL1                                     PL2                                             PL3                               PL4
                                                                                                                                            SRP/CS5
                                                                                                                                              PL5
                                                                                                                                              SRP/CS6
                  Cat 3                                   Cat 3                                            Cat 3                                PL6
                                                                                                                                                SRP/CS7
                                                                                                                                                  PL7
                                                                                                                                                  SRP/CS8
                                                                                                                                                    PL8
                                                                                                                                                    SRP/CS9
                                                                                                                                                      PL9
                   PFHtotal = PFHSensor + PFHIO + PFHSafetyPLC + n x PFHDrive                                                                           Cat 3

                   PFHtotal = 2,29 10-7 + 4,29 10-8 + 2,47 10-8 + 6 x 4,29 10-8

                   PFHtotal = 5,54 10-7 < 10-6 -> PL d

                   EN ISO 13849-1:2006 Category 3 PL d
Electric Drives and Controls   2009-02-26; BRC/SPD G. Kobs                                                                                                      8
© Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
SafeMotion - More than just Switching Off!

        The evolution of safety technology
                                               Safety reaction                                    Safety condition

                                                Switching off                                         SafeMotion




Electric Drives and Controls   2008-11-07; BRC/SPM; J. Ost                                                                                              9
© Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
   Conventional versus Integrated




        controller
        enable                                                                        additional
                            E                                                                                                          E         Channel 1




                                                                                                                                                             two-channel switching-off
                                                                                      feedback


                                                                          M               G                                                                                              M

  external
monitoring
    unit                                                                                                                               E         Channel 2

(standstill,
 speed, ...)                 Drive                                                                                                      Drive


                                                                                                                                           Drive-integrated
        Conventional safety solution
                                                                                                                                           safety technology


 Electric Drives and Controls   2008-11-07; BRC/SPM; J. Ost                                                                                                                                  10
 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
     Safety On Board with IndraDrive


                                                                                                                                        Note:
                                                                                                                                        - only Safe Torque Off
                                                                                                                                          in BASIC


                                                                                                                                         Encoders with only TTL
                                                                                                                                       interface or only serial interface
                                                                                                                                       are not allowed for integrated
                                                                                                                                       safety technology functions.
                                                                                                                                         All encoders with 1 Vpp signals
3 principles are realized to detect latent failures
                                                                                                                                       (e. g. EnDat, HIPERFACE,...)
      Dual channel data operation with diversity
                                                                                                                                       and all resolvers supported by
      Cross data comparison of safety related functions                                                                                the encoder interface can be
      Dynamization of static modes                                                                                                     used for integrated safety
Due to this method one single failure may not deactivate the safety                                                                    technology. It is always the
function                                                                                                                               feedback at X4 connector that is
--> Category 3 (recommended Safety level in most guidelines)                                                                           evaluated.
A risk analysis by the machine builder and end user is required in
accordance to Annex I of the European Community Directive for machines
98/37/EG
    Electric Drives and Controls   2009-02-26; BRC/SPD G. Kobs                                                                                                              11
    © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
Selection of safety functions

                SafeMotion – Functional Safety in Automation Technology


                                             Communication                                                                         Safe Communication
                        Control                                                                                  Safe              (Profisafe, SERCOS III Safety)
                                                                                                                Control




                                    Auto Set-up                                                                           Auto Set-up

                                                  E     Channel 1                                                                            Channel 1

                                                                      T w o .-c h a n n e l in te rru p t




                                                                                                                                                         T w o -c h a n n e l in te rru p t
                                                                                                            M     E                                                                           M



                                                  E     Channel 2                                                                            Channel 2




                                                                                                                                        Drive
                                                  Drive

                                                         Option S2                                                                          Option S2
                                                         24V / 24V                                                                      Safe communication
Electric Drives and Controls   2009-02-26; BRC/SPD G. Kobs                                                                                                                                        12
© Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
Safety on Board - Functional Safety


Safe Torque Off                                                                                    Safe Motion


STO using 24V / 24V or 24V / 0V                                                                    SLS using 24 V/ 24V

               X41             channel 1                                                                        X31/X32            channel 1
                                                                                                                                                        common
                                                   power section
                                                                                                                                                          parts
                                                                                                                                                                  transducer
               X41             channel 2                                                                           X41             channel 2



One L2 PFH value independent from control
(opener / closer, opener / opener)
                                                                                                    SLS using SERCOS / 24V

                                                                                                               SERCOS              channel 1
            Preliminary information                                                                                                                     common
                                                                                                                                                                  transducer
                                                                                                                                                          parts
                                                                                                                   X41             channel 2
            Safe Torque Off:
            PFH                                         = 2 * 10 -9 1/h
                                                                                                   One S2 PFH value independent from the control
                                                                                                   and the safety technology feature.
            Safe Motion:
                                                                                                   Separate PFH value for the feedback
            PFH drive and feedback                       = 5 * 10 -8 1/h

Electric Drives and Controls    2008-11-07; BRC/SPM; J. Ost                                                                                                                    13
© Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
Functional Safety According to ISO 13849-1

        Verification with SISTEMA
            Library for certified and standard components                                                                               IEC 61508
                                                IEC 61508                                     IEC 61508                              IEC 61800-5-2
              SRP/CS1                                 SRP/CS2                                    SRP/CS3                                     SRP/CS4
                                                                                                                                              SRP/CS5
                PL1                                     PL2                                        PL3                                         SRP/CS6
                                                                                                                                                PL4
                                                                                                                                                SRP/CS7
                                                                                                                                                 PL5
                                                                                                                                                 SRP/CS8
                                                                                                                                                  SRP/CS9
                                                                                                                                                  PL6
                                                                                                                                                   PL7
                                                                                                                                                    PL8
                                                                                                                                                     PL9

     safety switches                              safety I/O                                  safety PLC                                      safety drives

      Certified components                                                                                                                                   ISO 13849



                           S                        input DP                            DP PPC SII                                         IndraDrive


                           S                                                                                                                            K1
     safety switches  I/O                                                                          PLC                                             Drive
     Standard components                                                                                                                                     ISO 13849

Electric Drives and Controls   2008-11-07; BRC/SPM; J. Ost                                                                                                               14
© Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
Certification according to new Standards

                                              Safe Motion
                                IndraDrive
   EN 954-1


                       Since 2004 more than 100,000
                              installed drives
                                Category 3



                Development project “New Standards”

                Hardware Modification of Control Units
   IEC 61508




                      CSH….-L1-…. -> CSH….-L2-….
                      CSH….-S1-…. -> CSH….-S2-….
                      CSB….-L1-…. -> CSB….-L2-….                                                                             Deliverable since July 2009
                      CDB….-L1-…. -> CDB….-L2-….
                      CDB….-S1-…. -> CDB….-S2-….

                New Firmware Version MPX07VRS

Electric Drives and Controls   2009-02-26; BRC/SPD G. Kobs                                                                                                 15
© Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
SafeMotion – Preliminary Data

Safe Torque Off (L2):

        EN ISO 13849-1:2006 Category 3 PL = e

        IEC 61508
        EN 62061:2005
        EN 61800-5-2:2007                                         SIL3

        PFHd =                                                    2 * 10 -9 1/h

        MTTFd =                                                   100 years (limitation by standard)

        Mission Time =                                            20 years




  The PFH values are based on a 100% duty cycle (24h/ 365 days)
Electric Drives and Controls   2009-02-26; BRC/SPD G. Kobs                                                                                              16
© Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
SafeMotion – Preliminary Data

Safe Motion (S2):

        EN ISO 13849-1:2006 Category 3 PL = d

        IEC 61508
        EN 62061:2005
        EN 61800-5-2:2007                                         SIL2

        PFHd Drive =                                              3 * 10 -8 1/h
        PFHd Feedback =                                           2 * 10 -8 1/h                       (Stegmann/ Heidenhain motor feedback)


        MTTFd =                                                   100 years (limitation by standard)

        Mission Time =                                            20 years
  To calculate the MTTFd value for a drive and feedback combination: Add the PFH values and convert
  then into a MTTFd value. Do not add the MTTFd values since they are limited to 100 years.

  The PFH values are based on a 100% duty cycle (24h/ 365 days)
Electric Drives and Controls   2009-02-26; BRC/SPD G. Kobs                                                                                              17
© Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
 SafeMotion – Preliminary Data


                          Safety Integrity Level                         Probability of dangerous                             Performance Level
                                   SIL                                     failure per hour (1/h)                                    PL
                               IEC 61508                                            PFHd                                          ISO 13849
                                           -                                     >= 10-5 to 10-4                                             a




                                                                                                                                                         ISO 13849
            IEC 62061




                                          1                                   >= 3 x 10-6 to 10-5                                            b
                                          1                                   >= 10-6 to 3 x 10-6                                            c
                                          2                                      >= 10-7 to 10-6                                             d
                                          3                                      >= 10-8 to 10-7                                             e
                                          4                                             < 10-8                                               -




Preliminary Data for IndraDrive, Safety on Board

Safe Torque Off: PFHd                                                                  = 2 * 10 -9 1/h = 2 % of max. SIL3 value

Safe Motion:                            PFHd Drive and feedback = 5 * 10 -8 1/h = 5 % of max. SIL2 value


 Electric Drives and Controls   2009-02-26; BRC/SPD G. Kobs                                                                                                          18
 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
  IEC 61800-5-2 – New Terminology (not all available)
                                                                                                           Safe Torque Off                               STO
                                                                                                           Safe Stop 1                                   SS1
                                                                                                           Safe Stop 2                                   SS2
                                                                                                           Safe Operating Stop                          SOS
  EN 61800-5-2: 2007
                                                                                                           Safely-monitored Deceleration                SMD 1)
  Functional safety for speed variable drives
                                                                                                           Safely-limited Acceleration                   SLA
                                                                                                           Safe Acceleration Range                       SAR
                                                                                                           Safely-limited Speed                          SLS
                                                                                                           Safe Speed Range                              SSR
                                                                                                           Safe Speed Monitor                           SSM
                                                                                                           Safe Maximum Speed                           SMS 1)
                                                                                                           Safely-limited Increment                      SLI




                                                                                                                                                                 1) Not defined in IEC 61800-5-2
                                                                                                           Safe Direction                                SDI
                                                                                                           Safely-limited Position                       SLP
                                                                                                           Safely-monitored Position                    SMP 1)
                                                                                                           Safe Brake Control                            SBC
                                                                                                           Safe Braking and Holding
                                                                                                           System                                       SBS 1)
                                                                                                           Safely-limited Torque                         SLT
                                                                                                           Safe Torque Range                             STR
                                                                                                           Safe Motor Temperature                       SMT

Electric Drives and Controls   2008-11-07; BRC/SPM; J. Ost                                                 Safe Cam                                      SCA                                       19
© Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
   Terms of EN 61800-5-2 – New Terminology (available)

           EN 61800-5-2: 2007
           Functional safety for speed variable drives (C-standard)
           New terms and definitions

                                                                                           Safety
EN 954-1 Rexroth Safety functions                                                          option         IEC 61800-5-2 Terms                                                   Abk.
Safety related starting lookout                                                              L2           Safe Torque off                                                       STO
Safety related standstill                                                                    S2           Safe Stop 1                                                           SS1
Safety related operational stop                                                              S2           Safe Stop 2                                                           SS2
Safety related operational stop                                                              S2           Safe Operating Stop                                                   SOS
Safety related drive interlock                                                               S2           Safe Stop 1 (Emergency Stop)                                         SS1 ES
Safety related monitored stopping process                                                    S2           Safely-Monitored Deceleration * 1                                     SMD
Safety related reduced speed                                                                 S2           Safely-Limited Speed                                                  SLS
Safety related limited increment                                                             S2           Safely-Limited Increment                                               SLI
Safety related direction of motion                                                           S2           Safe Direction                                                         SDI
Safety related absolute position                                                             S2           Safely-Monitored Position                                             SMP
Safety related absolute end position                                                         S2           Safely-Limited Position                                               SLP
Safety related control of a door locking device                                              S2           Safe Door Locking * 1                                                 SDL
Communication via PROFIsafe                                                                  S2           Safe Communication * 1                                                SCO
Safety related in-/outputs via PROFIsafe                                                     S2           Safe I/O *1                                                            SIO
                                                                                                                                                                           1
Safety related braking and holding system                                                    S2           Safe Braking and Holding System                                       SBS

                                                                                                                                                           *1   Not defined in EN 61800-5-2
   Electric Drives and Controls   2009-02-26; BRC/SPD G. Kobs                                                                                                                                 20
   © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
Drive-Integrated Safety Features


                                                                                             Safe Torque Off (STO)
                                                                                             Safe Stop 1 (SS1)
                                                                                             Safe Stop 1 - Emergency Stop (SS1-ES)
                                                                                             Safe Stop 2 (SS2, SOS)
                                                                                             Safely Monitored Deceleration (SMD)
                                                                                             Safely Limited Speed (SLS)
                                                                                             Safe Maximum Speed (SMS)
                                                                                             Safely Limited Increment (SLI)
                                                                                             Safe Direction (SDI)
                                                                                             Safely Monitored Position (SMP)
                                                                                             Safely Limited Position (SLP)
                                                                                             Safe Door Locking (SDL)
                                                                                             Safe I/O interface for Safety-PLC (SIO)
                                                                                new          Safe Braking and Holding System (SBS)



Electric Drives and Controls   2008-11-07; BRC/SPM; J. Ost                                                                                              21
© Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
      Drive Based Safety Functions

             Safe Torque Off (STO)




                                                                  Safe Torque off (Stop Category 0*)
v

                                                                            Drive is torque-less
        t0                                      t                           Power is cut safely (pulse inhibit)




                                                                                                                                * according to EN 60204-1
    Electric Drives and Controls   2009-02-26; BRC/SPD G. Kobs                                                                                              22
    © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
     Drive Based Safety Functions

         Safe Stop 1 (SS1) / Safe Stop 2 (SS2)


                                                                                 Controlled Stopping according to stop
 v                                                                               category 1* (SS1)
                                                                                     monitored stopping, control or drive
                                                                                     controlled with safe deceleration
                                                                 t
                                                                                     Torque-less standstill of the drives
              t0                          t1
                                                                                     Power is cut safely (STO)



                                                                                 Controlled Stopping according to stop
                                                                                 category 2* (SS2)
                                                                                     monitored stopping, control or drive
                                                                                     controlled
v, s
                                                                     t               controlled standstill after stopping, no
                   t0                          t1
                                                                                     power off (SOS)
                                                                                                   * according to EN 60204-1
 Electric Drives and Controls   2009-02-26; BRC/SPD G. Kobs                                                                                              23
 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
         Drive Based Safety Functions

                Safely Limited Speed (SLS) / Safely Limited Increment (SLI)


            v                                                                            Within the Safe Mode a safely limited
                                                                                         speed and / or a safely limited
                                                                                         increment can be enabled (enabling
                                                                                         device)

                         t0           t1                               t

                                                                                                  30
                                                                                         In case the speed/increment monitoring
        v, s
v, s                                                                                     window will be triggered the drive will
                                                                                         be safely stopped automatically in
                                                                        t                accordance with the stop category 1.




       Electric Drives and Controls    2009-02-26; BRC/SPD G. Kobs                                                                                             24
       © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
    Drive Based Safety Functions

        Safe Direction (SDI)


                                                                                     In addition a safe direction (right, left)
 v
                                                                                     can be defined.



0                                                                   t

                                                                                     In case the direction changes the drive
                                                                                     will be safely stopped automatically in
                                                                                     accordance with the stop category 1.




Electric Drives and Controls   2009-02-26; BRC/SPD G. Kobs                                                                                              25
© Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
       Drive Based Safety Functions

           Safe Maximum Speed (SMS1)



                                                                                              The monitoring of a safely limited maximum
                                                                                              speed is active always, regardless the
                                                                                              operation mode of the drive
vMax
                                                                                              (Automatic/Manual Mode)



                                                                                                                   120
                                                                         t
                                                                                              In case the parameterized maximum speed
                                                                                              will be exceeded the drive will be safely
                                                                                              stopped automatically in accordance with
                                                                                              the stop category 1.




   Electric Drives and Controls   2009-02-26; BRC/SPD G. Kobs                                                               1) Not defined in IEC 61800-5-2   26
   © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
Drive Based Safety Functions

        Safely Monitored Position (SMP1)




                                                                                                                In the safe operation mode
                            Working Area                                                                        a working area (absolute
                                                                                                                position) can be defined

                                                                                                                In case the parameterized
                                                                                                                working area will be left, the
                                                                                                                drive will be safely stopped
      Position 1                                             Position 2                                         automatically in accordance
                                                                                                                with the stop category 1.




                                                                                                                         1) Not defined in IEC 61800-5-2

Electric Drives and Controls   2009-02-26; BRC/SPD G. Kobs                                                                                                 27
© Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
  Drive Based Safety Functions

        Safely Limited Position (SLP)
           active in normal and safe operation mode
              - The drive is not able to cross the limited switches
              - The drive is stopped automatically when the available
                deceleration torque would not be sufficient to stop the load
                before the parameterized position area will be left
           Offers cost saving by replacing hardware position limit switch



       v                                                                           v max

                                 Max.                                                                                                                     Max.
                                 deceleration                                                                                                             deceleration
                                                                                                                                                                  s
                 Positive                                                                                                                               Negative
                 Limit Switch                                                                                                                           Limit Switch



Electric Drives and Controls   2009-02-26; BRC/SPD G. Kobs                                                                                                               28
© Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
 Drive Based Safety Functions

Safely Monitored Deceleration – safety in the stopping process

 NC-controlled stopping process with safely
  monitored deceleration (SMD)
                                                                                                            n                                                    SMD
  Braking of coupled drives: It may occur that
  individual axes must still accelerate, in order to
  stop the total movement

  Safe stop in a defined time due to predictive
  behavior of the drive

  The drive checks each cycle whether it is
  possible to stop within the time t1. If this is not
  possible such as by wrong set point of the
  control, the drive takes over the braking.


                                                                                                                                                            t1


    Electric Drives and Controls   2009-02-26; BRC/SPD G. Kobs                                                                                                         29
    © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
 Safety on Board - Safe Braking and Holding System

Safe braking and holding system – a new milestone

 Safe Braking and Holding System (SBS)

  Fall protection for axes with gravity loads

  Operator protection in special operating mode

  World’s only on board solution which complies with
  EN ISO 13849-1, Cat. 3 PL d and EN 62061 SIL 2

  Two independent brakes separately controlled and
  monitored by redundant, diverse channels in the drive

  Escalation strategy to protect the mechanical
  subsystems

  Active as well after energy cutting by emergency stop



    Electric Drives and Controls   2009-02-26; BRC/SPD G. Kobs                                                                                              30
    © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
  Safety on Board - Safe Braking and Holding System

                                                                                                          During automatic operation the
                                                                                                          machines and equipment are
                                                                                                          running at full speed without
                                                                                                          operators

                                                                                                          During special operation mode
                                                                                                          persons may be present in the
                                                                                                          machine when following special
                                                                                                          safety precautions
                                                                                                           - Configuration
                                                                                                           - Measuring
                                                                                                           - Troubleshooting

                                                                                                          Vertical or inclined axes can even
                                                                                                          present a danger when they are
                                                                                                          switched off and inadvertently coming
                                                                                                          down

Electric Drives and Controls   2009-02-26; BRC/SPD G. Kobs                                                                                              31
© Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
  Safety on Board - Safe Braking and Holding System

                                                                                                                Fall protection of
                                                                                                                gravity-loaded axes
                                                                                                                Personal protection of
                                                                                                                operators during special
                                                                                                                operation mode


                                                                                                                 • Safe
                                                                                                                 • Braking and
                                                                                                                 • Holding system



                                                                                                                 Effective even after energy
                                                                                                                 cut-off through emergency stop
Electric Drives and Controls   2009-02-26; BRC/SPD G. Kobs                                                                                              32
© Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
    Safety on Board - Safe Braking and Holding System

  The safe braking and holding system is based on two independent brakes
  which are separately controlled and monitored by the redundant diversified
  channels in the drive.

                                        Safe energy cutting                                                                 Universal integration of
                                                                                                                            different brake types, e.g.




two-channel selection                                                               two-channel
of the safety feature                                                               control of the
e.g. safely-monitored                                                               brakes
deceleration



                                                        IndraDrive                           HAT



  Electric Drives and Controls                Safe feedback
                                 2009-02-26; BRC/SPD G. Kobs                                                                                              33
  © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
 SafeMotion – functional safety in automation technology


IndraDrive with safety functions – a convincing technology

 Safety Technology made by the experts having more than 10 years
 field experience

 Scalable Safety Functions minimize the potential of tampering and
 therefore reduce the hazard for injury caused by passing the safety
 measures

 Increased productivity by reducing downtime

 Online Testing (Failure Detection) during runtime

 Cost savings by reduction of external components and wiring

 Minimal Movement in case of emergency by detecting failures within
 2 ms

 High reliability due to an encapsulated, certified solution

 Stand-alone – whether wired, or with or without a safety PLC


     Electric Drives and Controls   2009-02-26; BRC/SPD G. Kobs                                                                                              34
     © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
    Coming Soon – Safe Torque Off for IndraDrive Cs

Safe Torque Off (L4):     (A new type code to distinguish different features)
   IndraDrive Cs with L4 option is currently expected to go from EW to PT
   (available for sale) by end of May 2010
                Certification by TÜV Rheinland is expected to be done by then
• L4 option will include STO (Safe Torque Off) and SBC (Safe Brake
   Control)
    • SBC is 2-channel control of the standard holding brake so that if there is a
             short in either wire or a failure in one channel, the brake will still be applied.
• L4 STO circuit is completely redesigned from L1/L2
      • has safe mode within a test period. The test pulse is < 1ms.
      • with on-line dynamization, no need for an acknowledgement contact to meet
        Cat. 4, PL e, SIL 3 -- the lifetime issue of the relay contact in the L1/L2 is gone.
• L4 connector for is no longer a D-sub
      • 6-pin cage clamp connector with separate clamp for incoming and outgoing
        wire at each pin
      • daisy-chain up to 25 axes. Just daisy chain 4 terminals with discrete wires
        from one drive to the next. This eliminates the cable management issues of
        the ribbon cable in previous design. Easier and less expensive.

  Electric Drives and Controls   2009-02-26; BRC/SPD G. Kobs                                                                                              35
  © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
             Coming Soon – Safe Torque Off for IndraDrive Cs

SS1 functionality [single axis wired] with                                                                        Single channel STO application over a
anSS1-Fun ktion einer Achse in Verbindung mit einem Sicherh eitsschaltg erät
   external safety device:                                                                                       Einkanalige STO-Anwahl switch device
                                                                                                                  single pole über ein einpoliges Schaltgerät
                                         + 2 4V

                                                                      24 V Dy nam is ierte A us gän ge                                                              24 V Dynamisierte Ausgänge
                       R es et
                                                                      24 V m it < 1 ms Tes tim puls                                                                 24 V mit < 1 ms Testimpuls


                                                        Z
                                                        e
                                                        i
                                                                                                                       Einpoliges Schaltgerät der
                     E x ternes                         t                                                              Kategorie 3, PL d, SIL 2
                     S ic he rh eit s-                  v                     IndraDrive Cs                                                                               IndraDrive Cs
   No t                                                 e                                                              mit Zwangsöffner
                     s c haltgerät                      r                      STO-Option
   Ha lt                                                z                                                              gemäß EN 60947-5-1                                  STO-Option
                     K ate gorie 4,                     ö
                                                                           Kategorie 4, PL e
                     P L e , SI L 3                     g
                                                                                                                                                                        Kategorie 4, PL e
                                                        e                       SIL3
                                                        r
                                                        t
                                                                                                                                                                             SIL3

                   R üc km eldung                                     24 V STO -Anw ahl Ch1
                                                                                                                                                                    24 V STO -Anwahl Ch1
                                                                      24 V S TO -A nwa hl Ch2
                                    E.Stopp                           0 V G roun d fü r Ch1 u nd C h2                                                               24 V STO -Anwahl Ch2
                                         oder                                                                                                                       0 V G round für Ch1 und Ch2
                                   NC-S top p                        A nwahl üb er 2 Ö ffn erk onta kte
                                                                                                                                                                   Anwahl über 1 Öffnerkontakt
    SS1 function multiaxis with an external                                                                        SBC-Funktion
                                                                                                                                SBC Function
    safety deviceAchsen mit external wiring Verdrahtung
      SS1-Funktion mehrerer and Sicherheitsschaltgerät und externer


                                                         24 V                        24 V                 24 V                    24 V
                                                         24 V                        24V                  24 V

                                                                                                                                   SBC-Anwahl Ch 1
                                                                                                                                                                                 Bremse 24 V
                                                                                                                                   Nicht sichere
                                                        STO-Option                 STO-Option                                      Ansteuerung der       ODER
                                                                                                                                   Bremse aus der
                                                        1. Antrieb                  2. Antrieb                                     Standard-FW


                                                                                                                                                                                 Bremse 0 V
                                                         Anwahl Ch1                  Anwahl Ch1
                                                                                                                                   SBC-Anwahl Ch 2
                                                         Anwahl Ch2                  Anwahl Ch2


                                                                0V                       0V                                       0V

           Electric Drives and Controls           2009-02-26; BRC/SPD G. Kobs                                                                                                                     36
           © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
  Safety on Board and Safe Motion - Additional Resources



           www.BoschRexroth.com/safety

           http://www.dguv.de/ifa/en/pra/softwa/sistema/index.jsp or just Google
           “IFA SISTEMA” for BGIA software to calculate PFHd and Performance
           Level to IEC 13849

           www.BoschRexroth.com/MediaDirectory for downloadable manuals
           including Safety on Board Application Manual

           Bosch Rexroth Safety on Board hands-on workshop – next scheduled
           for April 21st and 22nd in Hoffman Estates (more to follow)




Electric Drives and Controls   2009-02-26; BRC/SPD G. Kobs                                                                                              37
© Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
CMAFH Drive For Technology 2010
Functional Safety with Safety on Board




                  Unexpected                                                                                   Safety on Board
                  movements

                  Risk for human                                                                               Always on the
                  and machine.                                                                                 safe side




Electric Drives and Controls   2009-02-26; BRC/SPD G. Kobs                                                                                              38
© Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.

Weitere ähnliche Inhalte

Andere mochten auch

Safety by Design: Soft Safety, Safe PLC and Integrated Drive Technology
Safety by Design: Soft Safety, Safe PLC and Integrated Drive TechnologySafety by Design: Soft Safety, Safe PLC and Integrated Drive Technology
Safety by Design: Soft Safety, Safe PLC and Integrated Drive Technology
CMA/Flodyne/Hydradyne
 
14 febrero-san-valentin-milespowerpoints.com
14 febrero-san-valentin-milespowerpoints.com14 febrero-san-valentin-milespowerpoints.com
14 febrero-san-valentin-milespowerpoints.com
diana galan parra
 
El color
El colorEl color
Carlos quiroa victima de fraude
Carlos quiroa victima de fraudeCarlos quiroa victima de fraude
Carlos quiroa victima de fraude
Carlos Quiroa Victima De Fraude
 
Los mejores médicos son los doctores
Los mejores médicos son los doctoresLos mejores médicos son los doctores
Los mejores médicos son los doctores
Sharonn Begar
 
Bingo. fitxes i cartons
Bingo. fitxes i cartonsBingo. fitxes i cartons
Bingo. fitxes i cartons
Elena Garcia Morell
 
Rpc over-dds-rti-e prosima-twinoaks-submission-v5
Rpc over-dds-rti-e prosima-twinoaks-submission-v5Rpc over-dds-rti-e prosima-twinoaks-submission-v5
Rpc over-dds-rti-e prosima-twinoaks-submission-v5
Gerardo Pardo-Castellote
 
bccMRG-Q106
bccMRG-Q106bccMRG-Q106
bccMRG-Q106
David Brooks
 
HSSE MSc Social Determinants of Health Summative Groupwork with Mr Marmot and...
HSSE MSc Social Determinants of Health Summative Groupwork with Mr Marmot and...HSSE MSc Social Determinants of Health Summative Groupwork with Mr Marmot and...
HSSE MSc Social Determinants of Health Summative Groupwork with Mr Marmot and...
Rosemond Linda Nortey Ogyaadu MSc HSSE, Cert Travel Med
 
VG_web_0412
VG_web_0412VG_web_0412
Sport [Buch]
Sport [Buch]Sport [Buch]
Sport [Buch]
f3_
 
Conference Californian Chocolatiers
Conference Californian ChocolatiersConference Californian Chocolatiers
Conference Californian Chocolatiers
Lauranie Nonotte
 
Incosa en Castilla y León Económica
Incosa en Castilla y León EconómicaIncosa en Castilla y León Económica
Incosa en Castilla y León Económica
Castilla y León Económica
 
Corectivo unidad 1 2 y 3
Corectivo unidad 1 2 y 3  Corectivo unidad 1 2 y 3
Corectivo unidad 1 2 y 3
Yordi700
 
Zona de Alguazas,lorquí,ceutí,torres de cotillas
Zona de Alguazas,lorquí,ceutí,torres de cotillasZona de Alguazas,lorquí,ceutí,torres de cotillas
Zona de Alguazas,lorquí,ceutí,torres de cotillas
melody_laura
 
Scott Hibbard MIT STEX Factory Automation Challenges - an industry perspective
Scott Hibbard MIT STEX Factory Automation Challenges - an industry perspectiveScott Hibbard MIT STEX Factory Automation Challenges - an industry perspective
Scott Hibbard MIT STEX Factory Automation Challenges - an industry perspective
MIT Startup Exchange
 
Imagenes mir 2013
Imagenes mir 2013Imagenes mir 2013
Imagenes mir 2013
Carlos Alfonso
 
Habitat i ninxol ecologic
Habitat i ninxol ecologicHabitat i ninxol ecologic
Habitat i ninxol ecologic
Carles5
 
Capstone project Marketing con redes sociales - Francisco jiménez.
Capstone project Marketing con redes sociales - Francisco jiménez.Capstone project Marketing con redes sociales - Francisco jiménez.
Capstone project Marketing con redes sociales - Francisco jiménez.
Antonio Romero
 
CCC PT Faculty Unemployment Benefits
CCC PT Faculty Unemployment BenefitsCCC PT Faculty Unemployment Benefits
CCC PT Faculty Unemployment Benefits
dpd
 

Andere mochten auch (20)

Safety by Design: Soft Safety, Safe PLC and Integrated Drive Technology
Safety by Design: Soft Safety, Safe PLC and Integrated Drive TechnologySafety by Design: Soft Safety, Safe PLC and Integrated Drive Technology
Safety by Design: Soft Safety, Safe PLC and Integrated Drive Technology
 
14 febrero-san-valentin-milespowerpoints.com
14 febrero-san-valentin-milespowerpoints.com14 febrero-san-valentin-milespowerpoints.com
14 febrero-san-valentin-milespowerpoints.com
 
El color
El colorEl color
El color
 
Carlos quiroa victima de fraude
Carlos quiroa victima de fraudeCarlos quiroa victima de fraude
Carlos quiroa victima de fraude
 
Los mejores médicos son los doctores
Los mejores médicos son los doctoresLos mejores médicos son los doctores
Los mejores médicos son los doctores
 
Bingo. fitxes i cartons
Bingo. fitxes i cartonsBingo. fitxes i cartons
Bingo. fitxes i cartons
 
Rpc over-dds-rti-e prosima-twinoaks-submission-v5
Rpc over-dds-rti-e prosima-twinoaks-submission-v5Rpc over-dds-rti-e prosima-twinoaks-submission-v5
Rpc over-dds-rti-e prosima-twinoaks-submission-v5
 
bccMRG-Q106
bccMRG-Q106bccMRG-Q106
bccMRG-Q106
 
HSSE MSc Social Determinants of Health Summative Groupwork with Mr Marmot and...
HSSE MSc Social Determinants of Health Summative Groupwork with Mr Marmot and...HSSE MSc Social Determinants of Health Summative Groupwork with Mr Marmot and...
HSSE MSc Social Determinants of Health Summative Groupwork with Mr Marmot and...
 
VG_web_0412
VG_web_0412VG_web_0412
VG_web_0412
 
Sport [Buch]
Sport [Buch]Sport [Buch]
Sport [Buch]
 
Conference Californian Chocolatiers
Conference Californian ChocolatiersConference Californian Chocolatiers
Conference Californian Chocolatiers
 
Incosa en Castilla y León Económica
Incosa en Castilla y León EconómicaIncosa en Castilla y León Económica
Incosa en Castilla y León Económica
 
Corectivo unidad 1 2 y 3
Corectivo unidad 1 2 y 3  Corectivo unidad 1 2 y 3
Corectivo unidad 1 2 y 3
 
Zona de Alguazas,lorquí,ceutí,torres de cotillas
Zona de Alguazas,lorquí,ceutí,torres de cotillasZona de Alguazas,lorquí,ceutí,torres de cotillas
Zona de Alguazas,lorquí,ceutí,torres de cotillas
 
Scott Hibbard MIT STEX Factory Automation Challenges - an industry perspective
Scott Hibbard MIT STEX Factory Automation Challenges - an industry perspectiveScott Hibbard MIT STEX Factory Automation Challenges - an industry perspective
Scott Hibbard MIT STEX Factory Automation Challenges - an industry perspective
 
Imagenes mir 2013
Imagenes mir 2013Imagenes mir 2013
Imagenes mir 2013
 
Habitat i ninxol ecologic
Habitat i ninxol ecologicHabitat i ninxol ecologic
Habitat i ninxol ecologic
 
Capstone project Marketing con redes sociales - Francisco jiménez.
Capstone project Marketing con redes sociales - Francisco jiménez.Capstone project Marketing con redes sociales - Francisco jiménez.
Capstone project Marketing con redes sociales - Francisco jiménez.
 
CCC PT Faculty Unemployment Benefits
CCC PT Faculty Unemployment BenefitsCCC PT Faculty Unemployment Benefits
CCC PT Faculty Unemployment Benefits
 

Ähnlich wie Drive and motor safety

IndraMotion_MLC rexroth PLC overview basic
IndraMotion_MLC rexroth PLC overview basicIndraMotion_MLC rexroth PLC overview basic
IndraMotion_MLC rexroth PLC overview basic
Phuoc Huynh
 
2012 01 ec declaration of conformity ajd-ikd,tsd de-en
2012 01 ec declaration of conformity ajd-ikd,tsd de-en2012 01 ec declaration of conformity ajd-ikd,tsd de-en
2012 01 ec declaration of conformity ajd-ikd,tsd de-en
Katarina Lakičević
 
Broschuere_EMV-Pruefung_TUeV SUeD SENTON.pdf
Broschuere_EMV-Pruefung_TUeV SUeD SENTON.pdfBroschuere_EMV-Pruefung_TUeV SUeD SENTON.pdf
Broschuere_EMV-Pruefung_TUeV SUeD SENTON.pdf
unn | UNITED NEWS NETWORK GmbH
 
2014 01 ec-declaration of conformity axial-de-en
2014 01 ec-declaration of conformity axial-de-en2014 01 ec-declaration of conformity axial-de-en
2014 01 ec-declaration of conformity axial-de-en
Katarina Lakičević
 
Windenergie
WindenergieWindenergie
Ifm AS-Interface Deutsch 2008-2009
Ifm AS-Interface Deutsch 2008-2009Ifm AS-Interface Deutsch 2008-2009
Ifm AS-Interface Deutsch 2008-2009
ifm electronic gmbh
 
kuehn-digital_09
kuehn-digital_09kuehn-digital_09
kuehn-digital_09
telst
 
S5 td390x2
S5 td390x2S5 td390x2
S5 td390x2
bigfuck
 
S5 td390x2
S5 td390x2S5 td390x2
S5 td390x2
bigfuck
 
Vectron DE: Diesel elektrische Universallokomotive
Vectron DE: Diesel elektrische UniversallokomotiveVectron DE: Diesel elektrische Universallokomotive
Vectron DE: Diesel elektrische Universallokomotive
RollingOnRails
 
XXL-Dokumentation im Anlagenbau - Lauer/Grossmann
XXL-Dokumentation im Anlagenbau - Lauer/GrossmannXXL-Dokumentation im Anlagenbau - Lauer/Grossmann
XXL-Dokumentation im Anlagenbau - Lauer/Grossmann
tecom
 
Black hawk monofase deuk fn
Black hawk monofase deuk fnBlack hawk monofase deuk fn
Black hawk monofase deuk fn
POWERGEN SRL
 
AX5G KORG GUITAR EFFECTS OPERATION MANUAL
AX5G KORG GUITAR EFFECTS OPERATION MANUALAX5G KORG GUITAR EFFECTS OPERATION MANUAL
AX5G KORG GUITAR EFFECTS OPERATION MANUAL
dainelfattah
 
Ldb Двигатели, редукторы, контроллеры Dunkermotoren / AMETEK
Ldb Двигатели, редукторы, контроллеры Dunkermotoren / AMETEKLdb Двигатели, редукторы, контроллеры Dunkermotoren / AMETEK
Ldb Двигатели, редукторы, контроллеры Dunkermotoren / AMETEK
Arve
 

Ähnlich wie Drive and motor safety (15)

IndraMotion_MLC rexroth PLC overview basic
IndraMotion_MLC rexroth PLC overview basicIndraMotion_MLC rexroth PLC overview basic
IndraMotion_MLC rexroth PLC overview basic
 
2012 01 ec declaration of conformity ajd-ikd,tsd de-en
2012 01 ec declaration of conformity ajd-ikd,tsd de-en2012 01 ec declaration of conformity ajd-ikd,tsd de-en
2012 01 ec declaration of conformity ajd-ikd,tsd de-en
 
8 bea 460-web
8 bea 460-web8 bea 460-web
8 bea 460-web
 
Broschuere_EMV-Pruefung_TUeV SUeD SENTON.pdf
Broschuere_EMV-Pruefung_TUeV SUeD SENTON.pdfBroschuere_EMV-Pruefung_TUeV SUeD SENTON.pdf
Broschuere_EMV-Pruefung_TUeV SUeD SENTON.pdf
 
2014 01 ec-declaration of conformity axial-de-en
2014 01 ec-declaration of conformity axial-de-en2014 01 ec-declaration of conformity axial-de-en
2014 01 ec-declaration of conformity axial-de-en
 
Windenergie
WindenergieWindenergie
Windenergie
 
Ifm AS-Interface Deutsch 2008-2009
Ifm AS-Interface Deutsch 2008-2009Ifm AS-Interface Deutsch 2008-2009
Ifm AS-Interface Deutsch 2008-2009
 
kuehn-digital_09
kuehn-digital_09kuehn-digital_09
kuehn-digital_09
 
S5 td390x2
S5 td390x2S5 td390x2
S5 td390x2
 
S5 td390x2
S5 td390x2S5 td390x2
S5 td390x2
 
Vectron DE: Diesel elektrische Universallokomotive
Vectron DE: Diesel elektrische UniversallokomotiveVectron DE: Diesel elektrische Universallokomotive
Vectron DE: Diesel elektrische Universallokomotive
 
XXL-Dokumentation im Anlagenbau - Lauer/Grossmann
XXL-Dokumentation im Anlagenbau - Lauer/GrossmannXXL-Dokumentation im Anlagenbau - Lauer/Grossmann
XXL-Dokumentation im Anlagenbau - Lauer/Grossmann
 
Black hawk monofase deuk fn
Black hawk monofase deuk fnBlack hawk monofase deuk fn
Black hawk monofase deuk fn
 
AX5G KORG GUITAR EFFECTS OPERATION MANUAL
AX5G KORG GUITAR EFFECTS OPERATION MANUALAX5G KORG GUITAR EFFECTS OPERATION MANUAL
AX5G KORG GUITAR EFFECTS OPERATION MANUAL
 
Ldb Двигатели, редукторы, контроллеры Dunkermotoren / AMETEK
Ldb Двигатели, редукторы, контроллеры Dunkermotoren / AMETEKLdb Двигатели, редукторы, контроллеры Dunkermotoren / AMETEK
Ldb Двигатели, редукторы, контроллеры Dunkermotoren / AMETEK
 

Mehr von CMA/Flodyne/Hydradyne

Drive for Technology 2014 Invitation
Drive for Technology 2014 InvitationDrive for Technology 2014 Invitation
Drive for Technology 2014 Invitation
CMA/Flodyne/Hydradyne
 
Reducing Electrical Enclosure Size
Reducing Electrical Enclosure SizeReducing Electrical Enclosure Size
Reducing Electrical Enclosure Size
CMA/Flodyne/Hydradyne
 
Reducing Electrical Control Panel Size
Reducing Electrical Control Panel SizeReducing Electrical Control Panel Size
Reducing Electrical Control Panel Size
CMA/Flodyne/Hydradyne
 
Eaton XT IEC Motor Control
Eaton XT IEC Motor ControlEaton XT IEC Motor Control
Eaton XT IEC Motor Control
CMA/Flodyne/Hydradyne
 
Do You Know CMA/Flodyne/Hydradyne?
Do You Know CMA/Flodyne/Hydradyne?Do You Know CMA/Flodyne/Hydradyne?
Do You Know CMA/Flodyne/Hydradyne?
CMA/Flodyne/Hydradyne
 
Aluminum Framing Fast Track Program
Aluminum Framing Fast Track ProgramAluminum Framing Fast Track Program
Aluminum Framing Fast Track Program
CMA/Flodyne/Hydradyne
 
Sensing & Feedback Technologies
Sensing & Feedback TechnologiesSensing & Feedback Technologies
Sensing & Feedback Technologies
CMA/Flodyne/Hydradyne
 
Safety Relays and Controllers
Safety Relays and ControllersSafety Relays and Controllers
Safety Relays and Controllers
CMA/Flodyne/Hydradyne
 
Safety by Design: Soft Guarding
Safety by Design: Soft GuardingSafety by Design: Soft Guarding
Safety by Design: Soft Guarding
CMA/Flodyne/Hydradyne
 
Safety by design: Hard Guarding
Safety by design: Hard GuardingSafety by design: Hard Guarding
Safety by design: Hard Guarding
CMA/Flodyne/Hydradyne
 
New Trends in Automation
New Trends in AutomationNew Trends in Automation
New Trends in Automation
CMA/Flodyne/Hydradyne
 
Lean Manufacturing and Ergonomic Workcell Design
Lean Manufacturing and Ergonomic Workcell DesignLean Manufacturing and Ergonomic Workcell Design
Lean Manufacturing and Ergonomic Workcell Design
CMA/Flodyne/Hydradyne
 
Industrial Wireless Communication
Industrial Wireless CommunicationIndustrial Wireless Communication
Industrial Wireless Communication
CMA/Flodyne/Hydradyne
 
Hydraulic Proportional & Servo Technologies
Hydraulic Proportional & Servo TechnologiesHydraulic Proportional & Servo Technologies
Hydraulic Proportional & Servo Technologies
CMA/Flodyne/Hydradyne
 
Hydraulic Maintenance and Troubleshooting
Hydraulic Maintenance and TroubleshootingHydraulic Maintenance and Troubleshooting
Hydraulic Maintenance and Troubleshooting
CMA/Flodyne/Hydradyne
 
Enclosure climatecontrol
Enclosure climatecontrolEnclosure climatecontrol
Enclosure climatecontrol
CMA/Flodyne/Hydradyne
 

Mehr von CMA/Flodyne/Hydradyne (16)

Drive for Technology 2014 Invitation
Drive for Technology 2014 InvitationDrive for Technology 2014 Invitation
Drive for Technology 2014 Invitation
 
Reducing Electrical Enclosure Size
Reducing Electrical Enclosure SizeReducing Electrical Enclosure Size
Reducing Electrical Enclosure Size
 
Reducing Electrical Control Panel Size
Reducing Electrical Control Panel SizeReducing Electrical Control Panel Size
Reducing Electrical Control Panel Size
 
Eaton XT IEC Motor Control
Eaton XT IEC Motor ControlEaton XT IEC Motor Control
Eaton XT IEC Motor Control
 
Do You Know CMA/Flodyne/Hydradyne?
Do You Know CMA/Flodyne/Hydradyne?Do You Know CMA/Flodyne/Hydradyne?
Do You Know CMA/Flodyne/Hydradyne?
 
Aluminum Framing Fast Track Program
Aluminum Framing Fast Track ProgramAluminum Framing Fast Track Program
Aluminum Framing Fast Track Program
 
Sensing & Feedback Technologies
Sensing & Feedback TechnologiesSensing & Feedback Technologies
Sensing & Feedback Technologies
 
Safety Relays and Controllers
Safety Relays and ControllersSafety Relays and Controllers
Safety Relays and Controllers
 
Safety by Design: Soft Guarding
Safety by Design: Soft GuardingSafety by Design: Soft Guarding
Safety by Design: Soft Guarding
 
Safety by design: Hard Guarding
Safety by design: Hard GuardingSafety by design: Hard Guarding
Safety by design: Hard Guarding
 
New Trends in Automation
New Trends in AutomationNew Trends in Automation
New Trends in Automation
 
Lean Manufacturing and Ergonomic Workcell Design
Lean Manufacturing and Ergonomic Workcell DesignLean Manufacturing and Ergonomic Workcell Design
Lean Manufacturing and Ergonomic Workcell Design
 
Industrial Wireless Communication
Industrial Wireless CommunicationIndustrial Wireless Communication
Industrial Wireless Communication
 
Hydraulic Proportional & Servo Technologies
Hydraulic Proportional & Servo TechnologiesHydraulic Proportional & Servo Technologies
Hydraulic Proportional & Servo Technologies
 
Hydraulic Maintenance and Troubleshooting
Hydraulic Maintenance and TroubleshootingHydraulic Maintenance and Troubleshooting
Hydraulic Maintenance and Troubleshooting
 
Enclosure climatecontrol
Enclosure climatecontrolEnclosure climatecontrol
Enclosure climatecontrol
 

Drive and motor safety

  • 1. CMAFH Drive For Technology 2010 Drive and Motor Safety CMAFH Drive For Technology 2010 Drive and Motor Safety Gary Thrall Senior Product Support Engineer Bosch Rexroth Corporation Safety on Board – Safety on Board – Integrated, certified and consistent Integrated, certified and consistent Electric Drives and Controls 2009-02-26; BRC/SPD G. Kobs 1 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 2. CMAFH Drive For Technology 2010 Drive and Motor Safety New European Standards IndraDrive safety functions according new standards IndraDrive C/ M Coming soon – IndraDrive Cs L4 option STO and SBC Safety on Board – Safety on Board – Integrated, certified and consistent Integrated, certified and consistent Electric Drives and Controls 2009-02-26; BRC/SPD G. Kobs 2 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 3. CMAFH Drive For Technology 2010 Passport into European Community market (EEA) European Machinery Directive Machine Builder Fulfilling harmonized standards the manufacturer can assume that the safety aspects of the machine EC directive are met EN 13849-1 (EN 954-1) EN 62061 EN 61800-5-2 Electric Drives and Controls 2009-02-26; BRC/SPD G. Kobs 3 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 4. CMAFH Drive For Technology 2010 Change of Safety Standards Today European Machinery Directive 98/37/EG 2006/42/EG January 2010 Machine Builder EN 954-1 Valid Standard Period 3 years Extended 2 more years EN ISO 13849-1 Transition Transition Valid Standard November 2006 December 2009 EN 62061 Valid Standard January 2006 EN 61800-5-2 Components Valid Standard November 2007 IEC 61508 Valid Standard Electric Drives and Controls 2009-02-26; BRC/SPD G. Kobs 4 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 5. CMAFH Drive For Technology 2010 Performance Level of EN ISO 13849-1:2006 The Performance Level is defined by Category (architecture), identical to EN 954-1 and C-Standards MTTFd (Meantime to dangerous failure in one channel) Denotation of MTTFd Range of MTTFd Low 3 years <= MTTFd < 10 years Medium 10 years <= MTTFd < 30 years High 30 years <= MTTFd < 100 years DC (Diagnostic Coverage): Share of detected failures Denotation of DC Range of DC None DC < 60% Low 60% <= DC < 90% Medium 90% <= DC < 99% High 99% <= DC CCF (Common Cause Failures affecting both channels) Measures against systematic failures Electric Drives and Controls 2009-02-26; BRC/SPD G. Kobs 5 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 6. CMAFH Drive For Technology 2010 Performance Level of EN ISO 13849-1:2006 A Performance Level d could be achieved by: Cat. 3 Cat. 2 DCavg = medium or DCavg . = medium MTTFd = medium MTTFd = high Electric Drives and Controls 2009-02-26; BRC/SPD G. Kobs 6 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 7. CMAFH Drive For Technology 2010 EN 62061 and EN 13849-1 Safety Integrity Level Probability of dangerous Performance Level SIL failure per hour (1/h) PL IEC 61508 PFHd ISO 13849 - >= 10-5 to 10-4 a ISO 13849 IEC 62061 1 >= 3 x 10-6 to 10-5 b 1 >= 10-6 to 3 x 10-6 c 2 >= 10-7 to 10-6 d 3 >= 10-8 to 10-7 e 4 < 10-8 - electrical, electronic and All Technologies programmable Simplified Estimation (worst case) calculation formula regarding to: for subsystem architectures HW Structure (Category like EN 954) Diagnostic Coverage (DC) Reliability MTTFd Failure of Common Cause (CC) PFHd – Probability of a dangerous Failure per Hour Electric Drives and Controls 2009-02-26; BRC/SPD G. Kobs 7 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 8. CMAFH Drive For Technology 2010 Performance Level in total Performance Level of the combination of SRP/CS SRP/CS1 SRP/CS2 SRP/CS3 SRP/CS4 PL1 PL2 PL3 PL4 SRP/CS5 PL5 SRP/CS6 Cat 3 Cat 3 Cat 3 PL6 SRP/CS7 PL7 SRP/CS8 PL8 SRP/CS9 PL9 PFHtotal = PFHSensor + PFHIO + PFHSafetyPLC + n x PFHDrive Cat 3 PFHtotal = 2,29 10-7 + 4,29 10-8 + 2,47 10-8 + 6 x 4,29 10-8 PFHtotal = 5,54 10-7 < 10-6 -> PL d EN ISO 13849-1:2006 Category 3 PL d Electric Drives and Controls 2009-02-26; BRC/SPD G. Kobs 8 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 9. CMAFH Drive For Technology 2010 SafeMotion - More than just Switching Off! The evolution of safety technology Safety reaction Safety condition Switching off SafeMotion Electric Drives and Controls 2008-11-07; BRC/SPM; J. Ost 9 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 10. CMAFH Drive For Technology 2010 Conventional versus Integrated controller enable additional E E Channel 1 two-channel switching-off feedback M G M external monitoring unit E Channel 2 (standstill, speed, ...) Drive Drive Drive-integrated Conventional safety solution safety technology Electric Drives and Controls 2008-11-07; BRC/SPM; J. Ost 10 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 11. CMAFH Drive For Technology 2010 Safety On Board with IndraDrive Note: - only Safe Torque Off in BASIC Encoders with only TTL interface or only serial interface are not allowed for integrated safety technology functions. All encoders with 1 Vpp signals 3 principles are realized to detect latent failures (e. g. EnDat, HIPERFACE,...) Dual channel data operation with diversity and all resolvers supported by Cross data comparison of safety related functions the encoder interface can be Dynamization of static modes used for integrated safety Due to this method one single failure may not deactivate the safety technology. It is always the function feedback at X4 connector that is --> Category 3 (recommended Safety level in most guidelines) evaluated. A risk analysis by the machine builder and end user is required in accordance to Annex I of the European Community Directive for machines 98/37/EG Electric Drives and Controls 2009-02-26; BRC/SPD G. Kobs 11 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 12. CMAFH Drive For Technology 2010 Selection of safety functions SafeMotion – Functional Safety in Automation Technology Communication Safe Communication Control Safe (Profisafe, SERCOS III Safety) Control Auto Set-up Auto Set-up E Channel 1 Channel 1 T w o .-c h a n n e l in te rru p t T w o -c h a n n e l in te rru p t M E M E Channel 2 Channel 2 Drive Drive Option S2 Option S2 24V / 24V Safe communication Electric Drives and Controls 2009-02-26; BRC/SPD G. Kobs 12 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 13. CMAFH Drive For Technology 2010 Safety on Board - Functional Safety Safe Torque Off Safe Motion STO using 24V / 24V or 24V / 0V SLS using 24 V/ 24V X41 channel 1 X31/X32 channel 1 common power section parts transducer X41 channel 2 X41 channel 2 One L2 PFH value independent from control (opener / closer, opener / opener) SLS using SERCOS / 24V SERCOS channel 1 Preliminary information common transducer parts X41 channel 2 Safe Torque Off: PFH = 2 * 10 -9 1/h One S2 PFH value independent from the control and the safety technology feature. Safe Motion: Separate PFH value for the feedback PFH drive and feedback = 5 * 10 -8 1/h Electric Drives and Controls 2008-11-07; BRC/SPM; J. Ost 13 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 14. CMAFH Drive For Technology 2010 Functional Safety According to ISO 13849-1 Verification with SISTEMA Library for certified and standard components IEC 61508 IEC 61508 IEC 61508 IEC 61800-5-2 SRP/CS1 SRP/CS2 SRP/CS3 SRP/CS4 SRP/CS5 PL1 PL2 PL3 SRP/CS6 PL4 SRP/CS7 PL5 SRP/CS8 SRP/CS9 PL6 PL7 PL8 PL9 safety switches safety I/O safety PLC safety drives Certified components ISO 13849 S input DP DP PPC SII IndraDrive S K1 safety switches I/O PLC Drive Standard components ISO 13849 Electric Drives and Controls 2008-11-07; BRC/SPM; J. Ost 14 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 15. CMAFH Drive For Technology 2010 Certification according to new Standards Safe Motion IndraDrive EN 954-1 Since 2004 more than 100,000 installed drives Category 3 Development project “New Standards” Hardware Modification of Control Units IEC 61508 CSH….-L1-…. -> CSH….-L2-…. CSH….-S1-…. -> CSH….-S2-…. CSB….-L1-…. -> CSB….-L2-…. Deliverable since July 2009 CDB….-L1-…. -> CDB….-L2-…. CDB….-S1-…. -> CDB….-S2-…. New Firmware Version MPX07VRS Electric Drives and Controls 2009-02-26; BRC/SPD G. Kobs 15 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 16. CMAFH Drive For Technology 2010 SafeMotion – Preliminary Data Safe Torque Off (L2): EN ISO 13849-1:2006 Category 3 PL = e IEC 61508 EN 62061:2005 EN 61800-5-2:2007 SIL3 PFHd = 2 * 10 -9 1/h MTTFd = 100 years (limitation by standard) Mission Time = 20 years The PFH values are based on a 100% duty cycle (24h/ 365 days) Electric Drives and Controls 2009-02-26; BRC/SPD G. Kobs 16 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 17. CMAFH Drive For Technology 2010 SafeMotion – Preliminary Data Safe Motion (S2): EN ISO 13849-1:2006 Category 3 PL = d IEC 61508 EN 62061:2005 EN 61800-5-2:2007 SIL2 PFHd Drive = 3 * 10 -8 1/h PFHd Feedback = 2 * 10 -8 1/h (Stegmann/ Heidenhain motor feedback) MTTFd = 100 years (limitation by standard) Mission Time = 20 years To calculate the MTTFd value for a drive and feedback combination: Add the PFH values and convert then into a MTTFd value. Do not add the MTTFd values since they are limited to 100 years. The PFH values are based on a 100% duty cycle (24h/ 365 days) Electric Drives and Controls 2009-02-26; BRC/SPD G. Kobs 17 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 18. CMAFH Drive For Technology 2010 SafeMotion – Preliminary Data Safety Integrity Level Probability of dangerous Performance Level SIL failure per hour (1/h) PL IEC 61508 PFHd ISO 13849 - >= 10-5 to 10-4 a ISO 13849 IEC 62061 1 >= 3 x 10-6 to 10-5 b 1 >= 10-6 to 3 x 10-6 c 2 >= 10-7 to 10-6 d 3 >= 10-8 to 10-7 e 4 < 10-8 - Preliminary Data for IndraDrive, Safety on Board Safe Torque Off: PFHd = 2 * 10 -9 1/h = 2 % of max. SIL3 value Safe Motion: PFHd Drive and feedback = 5 * 10 -8 1/h = 5 % of max. SIL2 value Electric Drives and Controls 2009-02-26; BRC/SPD G. Kobs 18 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 19. CMAFH Drive For Technology 2010 IEC 61800-5-2 – New Terminology (not all available) Safe Torque Off STO Safe Stop 1 SS1 Safe Stop 2 SS2 Safe Operating Stop SOS EN 61800-5-2: 2007 Safely-monitored Deceleration SMD 1) Functional safety for speed variable drives Safely-limited Acceleration SLA Safe Acceleration Range SAR Safely-limited Speed SLS Safe Speed Range SSR Safe Speed Monitor SSM Safe Maximum Speed SMS 1) Safely-limited Increment SLI 1) Not defined in IEC 61800-5-2 Safe Direction SDI Safely-limited Position SLP Safely-monitored Position SMP 1) Safe Brake Control SBC Safe Braking and Holding System SBS 1) Safely-limited Torque SLT Safe Torque Range STR Safe Motor Temperature SMT Electric Drives and Controls 2008-11-07; BRC/SPM; J. Ost Safe Cam SCA 19 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 20. CMAFH Drive For Technology 2010 Terms of EN 61800-5-2 – New Terminology (available) EN 61800-5-2: 2007 Functional safety for speed variable drives (C-standard) New terms and definitions Safety EN 954-1 Rexroth Safety functions option IEC 61800-5-2 Terms Abk. Safety related starting lookout L2 Safe Torque off STO Safety related standstill S2 Safe Stop 1 SS1 Safety related operational stop S2 Safe Stop 2 SS2 Safety related operational stop S2 Safe Operating Stop SOS Safety related drive interlock S2 Safe Stop 1 (Emergency Stop) SS1 ES Safety related monitored stopping process S2 Safely-Monitored Deceleration * 1 SMD Safety related reduced speed S2 Safely-Limited Speed SLS Safety related limited increment S2 Safely-Limited Increment SLI Safety related direction of motion S2 Safe Direction SDI Safety related absolute position S2 Safely-Monitored Position SMP Safety related absolute end position S2 Safely-Limited Position SLP Safety related control of a door locking device S2 Safe Door Locking * 1 SDL Communication via PROFIsafe S2 Safe Communication * 1 SCO Safety related in-/outputs via PROFIsafe S2 Safe I/O *1 SIO 1 Safety related braking and holding system S2 Safe Braking and Holding System SBS *1 Not defined in EN 61800-5-2 Electric Drives and Controls 2009-02-26; BRC/SPD G. Kobs 20 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 21. CMAFH Drive For Technology 2010 Drive-Integrated Safety Features Safe Torque Off (STO) Safe Stop 1 (SS1) Safe Stop 1 - Emergency Stop (SS1-ES) Safe Stop 2 (SS2, SOS) Safely Monitored Deceleration (SMD) Safely Limited Speed (SLS) Safe Maximum Speed (SMS) Safely Limited Increment (SLI) Safe Direction (SDI) Safely Monitored Position (SMP) Safely Limited Position (SLP) Safe Door Locking (SDL) Safe I/O interface for Safety-PLC (SIO) new Safe Braking and Holding System (SBS) Electric Drives and Controls 2008-11-07; BRC/SPM; J. Ost 21 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 22. CMAFH Drive For Technology 2010 Drive Based Safety Functions Safe Torque Off (STO) Safe Torque off (Stop Category 0*) v Drive is torque-less t0 t Power is cut safely (pulse inhibit) * according to EN 60204-1 Electric Drives and Controls 2009-02-26; BRC/SPD G. Kobs 22 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 23. CMAFH Drive For Technology 2010 Drive Based Safety Functions Safe Stop 1 (SS1) / Safe Stop 2 (SS2) Controlled Stopping according to stop v category 1* (SS1) monitored stopping, control or drive controlled with safe deceleration t Torque-less standstill of the drives t0 t1 Power is cut safely (STO) Controlled Stopping according to stop category 2* (SS2) monitored stopping, control or drive controlled v, s t controlled standstill after stopping, no t0 t1 power off (SOS) * according to EN 60204-1 Electric Drives and Controls 2009-02-26; BRC/SPD G. Kobs 23 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 24. CMAFH Drive For Technology 2010 Drive Based Safety Functions Safely Limited Speed (SLS) / Safely Limited Increment (SLI) v Within the Safe Mode a safely limited speed and / or a safely limited increment can be enabled (enabling device) t0 t1 t 30 In case the speed/increment monitoring v, s v, s window will be triggered the drive will be safely stopped automatically in t accordance with the stop category 1. Electric Drives and Controls 2009-02-26; BRC/SPD G. Kobs 24 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 25. CMAFH Drive For Technology 2010 Drive Based Safety Functions Safe Direction (SDI) In addition a safe direction (right, left) v can be defined. 0 t In case the direction changes the drive will be safely stopped automatically in accordance with the stop category 1. Electric Drives and Controls 2009-02-26; BRC/SPD G. Kobs 25 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 26. CMAFH Drive For Technology 2010 Drive Based Safety Functions Safe Maximum Speed (SMS1) The monitoring of a safely limited maximum speed is active always, regardless the operation mode of the drive vMax (Automatic/Manual Mode) 120 t In case the parameterized maximum speed will be exceeded the drive will be safely stopped automatically in accordance with the stop category 1. Electric Drives and Controls 2009-02-26; BRC/SPD G. Kobs 1) Not defined in IEC 61800-5-2 26 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 27. CMAFH Drive For Technology 2010 Drive Based Safety Functions Safely Monitored Position (SMP1) In the safe operation mode Working Area a working area (absolute position) can be defined In case the parameterized working area will be left, the drive will be safely stopped Position 1 Position 2 automatically in accordance with the stop category 1. 1) Not defined in IEC 61800-5-2 Electric Drives and Controls 2009-02-26; BRC/SPD G. Kobs 27 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 28. CMAFH Drive For Technology 2010 Drive Based Safety Functions Safely Limited Position (SLP) active in normal and safe operation mode - The drive is not able to cross the limited switches - The drive is stopped automatically when the available deceleration torque would not be sufficient to stop the load before the parameterized position area will be left Offers cost saving by replacing hardware position limit switch v v max Max. Max. deceleration deceleration s Positive Negative Limit Switch Limit Switch Electric Drives and Controls 2009-02-26; BRC/SPD G. Kobs 28 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 29. CMAFH Drive For Technology 2010 Drive Based Safety Functions Safely Monitored Deceleration – safety in the stopping process NC-controlled stopping process with safely monitored deceleration (SMD) n SMD Braking of coupled drives: It may occur that individual axes must still accelerate, in order to stop the total movement Safe stop in a defined time due to predictive behavior of the drive The drive checks each cycle whether it is possible to stop within the time t1. If this is not possible such as by wrong set point of the control, the drive takes over the braking. t1 Electric Drives and Controls 2009-02-26; BRC/SPD G. Kobs 29 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 30. CMAFH Drive For Technology 2010 Safety on Board - Safe Braking and Holding System Safe braking and holding system – a new milestone Safe Braking and Holding System (SBS) Fall protection for axes with gravity loads Operator protection in special operating mode World’s only on board solution which complies with EN ISO 13849-1, Cat. 3 PL d and EN 62061 SIL 2 Two independent brakes separately controlled and monitored by redundant, diverse channels in the drive Escalation strategy to protect the mechanical subsystems Active as well after energy cutting by emergency stop Electric Drives and Controls 2009-02-26; BRC/SPD G. Kobs 30 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 31. CMAFH Drive For Technology 2010 Safety on Board - Safe Braking and Holding System During automatic operation the machines and equipment are running at full speed without operators During special operation mode persons may be present in the machine when following special safety precautions - Configuration - Measuring - Troubleshooting Vertical or inclined axes can even present a danger when they are switched off and inadvertently coming down Electric Drives and Controls 2009-02-26; BRC/SPD G. Kobs 31 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 32. CMAFH Drive For Technology 2010 Safety on Board - Safe Braking and Holding System Fall protection of gravity-loaded axes Personal protection of operators during special operation mode • Safe • Braking and • Holding system Effective even after energy cut-off through emergency stop Electric Drives and Controls 2009-02-26; BRC/SPD G. Kobs 32 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 33. CMAFH Drive For Technology 2010 Safety on Board - Safe Braking and Holding System The safe braking and holding system is based on two independent brakes which are separately controlled and monitored by the redundant diversified channels in the drive. Safe energy cutting Universal integration of different brake types, e.g. two-channel selection two-channel of the safety feature control of the e.g. safely-monitored brakes deceleration IndraDrive HAT Electric Drives and Controls Safe feedback 2009-02-26; BRC/SPD G. Kobs 33 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 34. CMAFH Drive For Technology 2010 SafeMotion – functional safety in automation technology IndraDrive with safety functions – a convincing technology Safety Technology made by the experts having more than 10 years field experience Scalable Safety Functions minimize the potential of tampering and therefore reduce the hazard for injury caused by passing the safety measures Increased productivity by reducing downtime Online Testing (Failure Detection) during runtime Cost savings by reduction of external components and wiring Minimal Movement in case of emergency by detecting failures within 2 ms High reliability due to an encapsulated, certified solution Stand-alone – whether wired, or with or without a safety PLC Electric Drives and Controls 2009-02-26; BRC/SPD G. Kobs 34 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 35. CMAFH Drive For Technology 2010 Coming Soon – Safe Torque Off for IndraDrive Cs Safe Torque Off (L4): (A new type code to distinguish different features) IndraDrive Cs with L4 option is currently expected to go from EW to PT (available for sale) by end of May 2010 Certification by TÜV Rheinland is expected to be done by then • L4 option will include STO (Safe Torque Off) and SBC (Safe Brake Control) • SBC is 2-channel control of the standard holding brake so that if there is a short in either wire or a failure in one channel, the brake will still be applied. • L4 STO circuit is completely redesigned from L1/L2 • has safe mode within a test period. The test pulse is < 1ms. • with on-line dynamization, no need for an acknowledgement contact to meet Cat. 4, PL e, SIL 3 -- the lifetime issue of the relay contact in the L1/L2 is gone. • L4 connector for is no longer a D-sub • 6-pin cage clamp connector with separate clamp for incoming and outgoing wire at each pin • daisy-chain up to 25 axes. Just daisy chain 4 terminals with discrete wires from one drive to the next. This eliminates the cable management issues of the ribbon cable in previous design. Easier and less expensive. Electric Drives and Controls 2009-02-26; BRC/SPD G. Kobs 35 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 36. CMAFH Drive For Technology 2010 Coming Soon – Safe Torque Off for IndraDrive Cs SS1 functionality [single axis wired] with Single channel STO application over a anSS1-Fun ktion einer Achse in Verbindung mit einem Sicherh eitsschaltg erät external safety device: Einkanalige STO-Anwahl switch device single pole über ein einpoliges Schaltgerät + 2 4V 24 V Dy nam is ierte A us gän ge 24 V Dynamisierte Ausgänge R es et 24 V m it < 1 ms Tes tim puls 24 V mit < 1 ms Testimpuls Z e i Einpoliges Schaltgerät der E x ternes t Kategorie 3, PL d, SIL 2 S ic he rh eit s- v IndraDrive Cs IndraDrive Cs No t e mit Zwangsöffner s c haltgerät r STO-Option Ha lt z gemäß EN 60947-5-1 STO-Option K ate gorie 4, ö Kategorie 4, PL e P L e , SI L 3 g Kategorie 4, PL e e SIL3 r t SIL3 R üc km eldung 24 V STO -Anw ahl Ch1 24 V STO -Anwahl Ch1 24 V S TO -A nwa hl Ch2 E.Stopp 0 V G roun d fü r Ch1 u nd C h2 24 V STO -Anwahl Ch2 oder 0 V G round für Ch1 und Ch2 NC-S top p A nwahl üb er 2 Ö ffn erk onta kte Anwahl über 1 Öffnerkontakt SS1 function multiaxis with an external SBC-Funktion SBC Function safety deviceAchsen mit external wiring Verdrahtung SS1-Funktion mehrerer and Sicherheitsschaltgerät und externer 24 V 24 V 24 V 24 V 24 V 24V 24 V SBC-Anwahl Ch 1 Bremse 24 V Nicht sichere STO-Option STO-Option Ansteuerung der ODER Bremse aus der 1. Antrieb 2. Antrieb Standard-FW Bremse 0 V Anwahl Ch1 Anwahl Ch1 SBC-Anwahl Ch 2 Anwahl Ch2 Anwahl Ch2 0V 0V 0V Electric Drives and Controls 2009-02-26; BRC/SPD G. Kobs 36 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 37. CMAFH Drive For Technology 2010 Safety on Board and Safe Motion - Additional Resources www.BoschRexroth.com/safety http://www.dguv.de/ifa/en/pra/softwa/sistema/index.jsp or just Google “IFA SISTEMA” for BGIA software to calculate PFHd and Performance Level to IEC 13849 www.BoschRexroth.com/MediaDirectory for downloadable manuals including Safety on Board Application Manual Bosch Rexroth Safety on Board hands-on workshop – next scheduled for April 21st and 22nd in Hoffman Estates (more to follow) Electric Drives and Controls 2009-02-26; BRC/SPD G. Kobs 37 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.
  • 38. CMAFH Drive For Technology 2010 Functional Safety with Safety on Board Unexpected Safety on Board movements Risk for human Always on the and machine. safe side Electric Drives and Controls 2009-02-26; BRC/SPD G. Kobs 38 © Alle Rechte bei Bosch Rexroth AG, auch für den Fall von Schutzrechtsanmeldungen. Jede Verfügungsbefugnis, wie Kopier- und Weitergaberecht, bei uns.