CMMS-ST-C8-7-G2 STO (Safe Torque Off) 8047492 1503a [8047475]
CMMS-ST-C8-7-G2 GDCP-CMMS-ST-G2-S1-DE Pilz und PNOZ. : : : 1. 2 Festo GDCP-CMMS-ST-G2-S1-DE 1503a
CMMS-ST-C8-7-G2 CMMS-ST-C8-7-G2... 5... 5... 5... 5... 6 1... 7 1.1... 7 1.1.1... 7 1.1.2... 7 1.1.3... 8 1.1.4 EN ISO 13849-1... 8 1.2... 9 1.2.1... 9 1.2.2 ()... 9 1.2.3 (DC)... 9 1.2.4... 10 2 STO... 11 2.1... 11 2.1.1... 11 2.1.2... 11 2.2... 12 2.2.1 STO... 13 2.2.2 [X1] [X3]... 15 2.2.3... 16 2.3 STO Safe Torque Off... 17 2.3.1... 17 2.3.2 STO... 18 2.3.3 STO... 19 2.3.4 STO... 20 2.4 SS1 Safe Stop 1... 21 2.4.1... 21 2.4.2 SS1... 23 2.4.3 SS1 STO... 24 2.4.4 SS1... 25 2.4.5... 26 2.5... 27 Festo GDCP-CMMS-ST-G2-S1-ZH 1503a 3
CMMS-ST-C8-7-G2 3... 28 3.1 /... 28 3.2... 28 3.2.1... 28 3.2.2 [X1] [X3]... 29 4... 30 4.1... 30 4.2,... 31 5... 33 5.1... 33 5.2... 33 5.3... 33 5.3.1... 33 5.3.2... 33 6... 35 6.1... 35 6.2... 35 A... 36 A.1... 36 A.1.1... 36 A.1.2, CMMS-ST-...-G2... 37 A.1.3 [X1],[X3]... 38 B... 40 4 Festo GDCP-CMMS-ST-G2-S1-ZH 1503a
CMMS-ST-C8-7-G2 CMMS-ST-...-G2, STO Safe Torque Off CMMS-ST-...-G2 CMMS-ST-...-G2,, GDCP-CMMS-ST-G2-HW-... ( Tab. 2) 1 : CMMS-ST-...-G2 Rev 05, FW 1.4.0.1.4,,GDCP-CMMS-ST-G2-HW-..., Festo : EN 60204-1:2006/A1:2009-02 EN 61800-5-1:2007-09 EN ISO 12100:2010-11 EN 61800-2:1998-04 EN 61800-5-2:2007-10 EN ISO 13849-1:2008-06 Tab. 1 Festo GDCP-CMMS-ST-G2-S1-ZH 1503a 5
CMMS-ST-C8-7-G2, : GDCP-CMMS-AS-G2-HW-... CMMS-AS () GDCP-CMMD-AS-HW-... CMMD-AS GDCP-CMMS-ST-G2-HW-... CMMS-ST GDCP-CMMS/D-FW-... CMMS-AS CMMD-AS CMMS-ST / FCT STO GDCP-CMMS-AS-G2-S1-... CMMS-AS STO (Safe Torque GDCP-CMMD-AS-S1-... CMMD-AS Off) GDCP-CMMS-ST-G2-S1-... CMMS-ST FHPP GDCP-CMMS/D-C-HP-... CiA 402 GDCP-CMMS/D-C-CO-... CMMS-AS CMMD-AS CMMS-ST CMMS-AS CMMD-AS CMMS-ST : CAN (CANopen) CAMC-PB (PROFIBUS) CAMC-DN (DeviceNet) FHPP(Festo ), PROFIBUS DeviceNet CANopen : CAN (CANopen, DriveBus) CiA 402 (DS 402) g CMMS-AS CMMS-AS Festo Configuration Tool CMMD-AS CMMD-AS CMMS-ST CMMS-ST Tab. 2 : CD-ROM () :www.festo.com/sp 6 Festo GDCP-CMMS-ST-G2-S1-ZH 1503a
1 1 1.1 1.1.1 CMMS-ST-...-G2 CMMS-ST-...-G2,, GDCP-CMMS-ST-G2-HW-...( Tab. 2, 6 ),, A.1, 1.1.2 CMMS-ST-...-G2 : Safe Torque Off (STO) EN ISO 13849-1, 3 / PL d CMMS-ST-...-G2,, :,,, A.1, A.1, Tab. A.6, Festo GDCP-CMMS-ST-G2-S1-ZH 1503a 7
1, 1.1.3 :, ( ), (: ), STO! STO (Safe Torque Off), (,GDCP-CMMS-ST-G2-HW-...)!,(, A.1,Tab. A.1 Tab. A.6) 1.1.4 EN ISO 13849-1 STO CMMS-ST-...-G2 EN ISO 13849-1 3 / PL d EN ISO 13849-1 3 / PL d 8 Festo GDCP-CMMS-ST-G2-S1-ZH 1503a
1 1.2 (: ) :,,,,, : 1.2.1 : ( A.1) 1.2.2 () :,,, 1.2.3 (DC) 5.3,, :,, CMMS-ST-...-G2 Festo GDCP-CMMS-ST-G2-S1-ZH 1503a 9
1 1.2.4 STO CE A.1 EG, www.festo.com/sp 10 Festo GDCP-CMMS-ST-G2-S1-ZH 1503a
2 STO 2 STO 2.1 2.1.1,,,,,,,,, 2.1.2 CMMS-ST-...-G2 2 STO 1 3 4 2 1 2 I/O [X1] Fig. 2.1 CMMS-ST-...-G2 3 4 STO [X3] Festo GDCP-CMMS-ST-G2-S1-ZH 1503a 11
2 STO 2.2 CMMS-ST-...-G2 : Safe Torque Off (STO),, CMMS AS... G2, 1 (SS1) 1) STO 2, : 0 SS1 Safe Stop 1 1 2, : 1 1) Tab. 2.1 12 Festo GDCP-CMMS-ST-G2-S1-ZH 1503a
2 STO 2.2.1 STO, ( Safe Torque Off, STO) Fig. 2.2: (PWM) STO X3.2 X1.21( ) ( ) = = 12 V - MOSFET (+12 V_TR) +12 V_TR_ 2. µc 8 8 4 1,2,3,4 4 2 DIN5 DIN4 DIN4 PWM 1. MOSFET- Fig. 2.2 CMMS-ST-...-G2 Safe Torque Off (STO),,,, (: ) STO Safe Torque Off, Festo GDCP-CMMS-ST-G2-S1-ZH 1503a 13
2 STO,,: STO, 5 ms,,, CMMS-ST-...-G2, STO, STO, Festo -! STO :,:,,, CMMS-ST-...-G2, STO ( 2 ), / : 50 3.6 14 Festo GDCP-CMMS-ST-G2-S1-ZH 1503a
2 STO 2.2.2 [X1] [X3] 3.2 : 25 [X1] ( 1 ) ( SS1 ) 6 [X3] ( 2 ) 24 V CMMS-ST-...-G2 Tab. A.6 A.1.3 (OSSD) [X1] 6 GND24 9 DIN5 ( -) 18 +24 V 24 V 21 DIN4 ( -) [X3] 1 24 V ( DC 24 V ) 2 Rel : = =, 3 0 V 5 1 (NC1) Safe Torque Off (STO) 6 2 (NC2) = Safe Torque Off (STO) () Tab. 2.2 EN ISO 13849 1, 3,PL d STO,,,, : 1. : [X1] ( PWM ;MOSFET ) 2. : [X3] MOSFET ( MOSFET, MOSFET PWM ) (μp), E 05 2 ( ) Festo GDCP-CMMS-ST-G2-S1-ZH 1503a 15
2 STO : Safe Torque off ([X3] 5 6) : STO (: 24, STO ),,: PLC, Tab. A.7 A.1.3 24 V,, Rel [X3.2] ( 100 ms), NC1/NC2,, 24 V,0 V [X1] [X3] CMMS-ST-...-G2 [X1] [X3] 24 V NC1/NC2, Tab. A.8 A.1.3 2.2.3,: STO 2.3 SS1 2.4 16 Festo GDCP-CMMS-ST-G2-S1-ZH 1503a
2 STO 2.3 STO Safe Torque Off FE 48 V DC 24 V DC 0 V DC 4 T3 T1 T3 T3 3 s1 11 21 S2 13 T1 13 T1 23 12 22 14 14 24 2 O1 O2 S11 S21 S22 S12 T1 Pilz PNOZ s3 S34 Y32 -X3 2 3 REL 0 V 5 6 NC1 NC2 -X1 9 DIN5 21 DIN4 -X9 ZK + T2 Festo CMMS-ST-...-G2 24 V 0 V 1 1 (T2, ) 2 (T1) Fig. 2.3 STO 3 4 (T3, 24 V) 2.3.1 CMMS-ST-...-G2 Pilz PNOZ s3, (STO), (S1),: :,, : / DIN4 [X1.21], Rel [X3.2], Festo GDCP-CMMS-ST-G2-S1-ZH 1503a 17
2 STO (: ), (: ) SS1 Safe Stop 1 EMMS ST B, 2.3.2 STO STO (, 2.3.4): a) (S1),T1 (13 14 23 24) Rel [X3.2] DIN4 [X1.21] Safe Torque Off b), 5 ms (t1), c) 2.5 ms (t2), d), 12 ms (t STO ),,STO e), - 50... 500 ms (t3) f) Rel [X3.2], 30 ms (t4), NC1/NC2, [X3.5/6] g) 2 (DIN4 [X1.21] Rel [X3.2] ), 720 ms (t5), 7 H 18 Festo GDCP-CMMS-ST-G2-S1-ZH 1503a
2 STO 2.3.3 STO, :, S2 ( ),, (, 2.3.4): 1. ( 2 ), 24 V Rel [X3.2] ( 0 V [X3.3]) a) 20 ms (t6) b) NC1/NC2 [X3.5/6] Rel [X3.2], 30 ms (t4) 2. DIN4 [X1.21] (t7) Rel [X3.2] 2, DIN5 [X1.9] 2.5 ms (t8) c), 5 ms (t9),(), FCT (t10), 0, d) 2, 720 ms (t5), 7 H Festo GDCP-CMMS-ST-G2-S1-ZH 1503a 19
2 STO 2.3.4 STO Rel [X3.2] NC1/NC2 [X3.5/6] t4 t4 DIN4 [X1.21] DIN5 [X1.9] t1 t STO t7 t8 ÇÇ t9 t2 t6 BR+ [X6.2] () t3 t10 7 t5 ÇÇ H t5 t1 5 ms t2 2.5 ms t STO 12 ms t3 L 50 500 ms( ) t4 30 ms t5 720 ms t6 20 ms Fig. 2.4 STO t7 t8 2.5 ms t9 5 ms(, ) t10 0 6553 ms( FCT ) 20 Festo GDCP-CMMS-ST-G2-S1-ZH 1503a
2 STO 2.4 SS1 Safe Stop 1 Safe Stop 1 (SS1),,, FE 48 V DC 24 V DC 0 V DC 4 T3 T1 T3 T3 3 s1 11 21 S2 13 T1 37 T1 13T1 47 12 22 14 38 14 48 O1 O2 S11 S21 S22 S12 S34 Y32 -X3 2 3 REL 0 V 5 6 NC1 NC2 -X1 9 DIN5 21 DIN4 -X9 ZK + 24 V 0 V 2 T1 Pilz PNOZ s5 T2 Festo CMMS-ST-...-G2 1 1 (T2, ) 2 (T1) Fig. 2.5 SS1 3 4 (T3, 24 V) 2.4.1 CMMS ST...-G2 Pilz PNOZ s5,,,, :, Festo GDCP-CMMS-ST-G2-S1-ZH 1503a 21
2 STO Pilz PNOZ s5, : /,!,,:, // EMMS ST B, PNOZ ( 2.4.5), STO Quick Stop 22 Festo GDCP-CMMS-ST-G2-S1-ZH 1503a
2 STO 2.4.2 SS1 SS1 (, 2.4.4): a) S1(), T1 (13, 14) DIN5 [X1.9] 5 ms (t1) b) FCT ( Quick Stop ) Quick-Stop, 0 ms 10 s (t2) 2.4.5 c) 0, BR+ [X6.2], (t3),, 150 ms, 0 ms d) t11 (50.. 500 ms), BR+ [X6.2] +,, e) (t3), 5 ms (t4) f) PNOZ (t5) t1 + t2 + t3 + t4 PNOZ,T1 (37 38 47 48), Rel [X3.2] DIN4 [X1.21] g) 12 ms (t STO ),,STO h) Rel [X3.2], 30 ms (t6), NC1/NC2, [X3.5/6] i) 2 (DIN4 [X1.21] Rel [X3.2] ), 720 ms (t5), 7 H Festo GDCP-CMMS-ST-G2-S1-ZH 1503a 23
2 STO 2.4.3 SS1 STO, :, S2 ( ), [X1] DIN 5,, SS1,(, 2.4.4): 1. ( 2 ), 24 V Rel [X3.2] ( 0 V [X3.3]) a) 20 ms (t8) b) NC1/NC2 [X3.5/6] Rel [X3.2], 30 ms (t6) 2. DIN4 [X1.21] (t9) Rel [X3.2] 2, DIN5 [X1.9] 2.5 ms (t10) c),( ), FCT (t12) 0 t12, t12 d) 2, 720 ms (t7), 7 H 24 Festo GDCP-CMMS-ST-G2-S1-ZH 1503a
2 STO 2.4.4 SS1 Rel [X3.2] NC1/NC2 [X3.5/6] t5 t6 t6 DIN4 [X1.21] DIN5 [X1.9] t9 t10 t1 ÇÇ 7 t STO t7 ÇÇ t8 H t7 t12 BR+ [X6.2] t2 t3 t4 () t11 t1 5 ms t2 = 0 ms 10 s( FCT Quick-Stop ) t3 = 0 6553 ms( FCT ) t4 5 ms t5 PNOZ ( t1 + t2 + t3 + t4) t STO 12 ms Fig. 2.6 SS1 t6 30 ms t7 720 ms t8 20 ms t9 t10 2.5 ms t11 = 50 500 ms( ) t12 = 0 6553 ms( FCT ) Festo GDCP-CMMS-ST-G2-S1-ZH 1503a 25
2 STO 2.4.5, FCT, = 0 <= 10 ms, FCT Trace,, FCT,( Trace ), Fig. 2.7 : (t2):210 ms :150 ms( FCT) (t4) :5 ms() :210 ms + 150 ms + 5 ms = 365 ms ():10 % PNOZ (t5) :400 ms 26 Festo GDCP-CMMS-ST-G2-S1-ZH 1503a
2 STO Pilz PNOZ s5 Pilz PNOZ s5,,,:10 % 2.5 /, Pilz PNOZ,,,,,: Festo GDCP-CMMS-ST-G2-S1-ZH 1503a 27
3 3 3.1 / CMMS-ST-...-G2,,,GDCP-CMMS-ST-G2-HW-... ( Tab. 2) 3.2 3.2.1, EN 60204-1, EN 60204-1 (Protective Extra-Low Voltage, PELV) PELV EN 60204-1 PELV EN 60204-1 PELV, EN 60204-1 ( )(, ) 24 V EN 60204-1 ( ),,: 1.5 mm² ESD, (ESD), ESD (: ) 28 Festo GDCP-CMMS-ST-G2-S1-ZH 1503a
3 3.2.2 [X1] [X3] CMMS-ST-...-G2, [X1] [X3] [X1] 6 GND24 0 V 9 DIN5 0 V / 24 V ( -) 21 18 9 6 18 24 V +24 V DC ( 24 V DC ) 1 21 DIN4 0 V / 24 V ( -) Tab. 3.1 [X1],() [X3] 1 6 1 24 V +24 V DC (24 V DC ) 2 Rel 0 V / 24 V 3 0 V 0 V 4 5 1 (NC1) 25 V AC, Safe Torque Off (STO) 6 2 (NC2) 30 V DC, 2 A Tab. 3.2 [X3]() STO Safe Torque Off, DIN4 [X1.21] Rel [X3.2] 2.3, Fig. 2.3 : A.1.3,Tab. A.9 2.3 2.4 Festo GDCP-CMMS-ST-G2-S1-ZH 1503a 29
4 4,!,:,, 4.2,, 2.3 2.4 4.1 : 1. ( 3.1 ) 2. ( 3.2 ) FE? 30 Festo GDCP-CMMS-ST-G2-S1-ZH 1503a
4 4.2, STO, 1.? 0 0 0 2., 1 :, 0 0 0 2 :, 3 :,? 3.,? 0 0 0 4.? 0 0 0 5.,? 0 0 0 6. 0 0 0? 7.? 0 0 0 8. / /,? 0 0 0 9.? Tab. 4.1 EN ISO 12100 () 0 0 0 Festo GDCP-CMMS-ST-G2-S1-ZH 1503a 31
4 1.? 0 0 0 2.? 0 0 0 3.,? : 0 0 0 e) : CMMS-ST-...-G2 () 0 0 0 f) ( )? 0 0 0? 0 0 0 X1 X3? 0 0 0,? 0 0 0 g) : 0 0 0? 0 0 0 Rel (X3.2)? 0 0 0 DIN4 (X1.21)? Rel (X3.2) DIN4 (X1.21),? NC1/NC2 : NC1 NC2,??,,, Tab. 4.2 EN ISO 13849-1 -2 () 0 0 0 0 0 0 0 0 0 0 0 0 32 Festo GDCP-CMMS-ST-G2-S1-ZH 1503a
5 5 5.1 : 24 5.2 CMMS-ST-...-G2 A.1.3,Tab. A.7 5.3 5.3.1 H :STO, Tab. 5.1 5.3.2, E ( Error) (xx) (y),:e 5 1 0,:- 1 7 0 -, STO Code CiA 402,GDCP-CMMS-ST-G2-HW-... Festo GDCP-CMMS-ST-G2-S1-ZH 1503a 33
5,,,, 05 05-2 8000 h PS off (), 45 STO 45-0 8000 h PS off STO, STO,, STO :?, 45-1 8000 h PS off STO, STO,, STO :?, 45-2 8000 h PS off STO, STO, 45-3 8087 h DIN4 PS off 34 Festo GDCP-CMMS-ST-G2-S1-ZH 1503a
6 6 6.1, 6.2 Festo GDCP-CMMS-ST-G2-S1-ZH 1503a 35
A A A.1 A.1.1 STO EN 61800-5-2 : (STO, Safe Torque Off) 3 EN ISO 13849-1 Performance Level PL d Performance Level EN ISO 13849-1 PFH d [h -1 ] 6.64 x 10) (Probability of dangerous Failures per Hour) T [ ] 20 (Proof Test Interval) EN ISO 13849-1,, Tab. A.6 MTTF d [ ] 2521 (Mean time to dangerous failure) Tab. A.1 : ( Tab. A.6),STO : CMMS-ST-...-G2Rev 05 : n op 500 / a CMMS-ST-...-G2Rev 06 : n op 500000 / a 1.1.4, www.festo.com, STO Tab. A.2 : 36 Festo GDCP-CMMS-ST-G2-S1-ZH 1503a
A A.1.2, CMMS-ST-...-G2 CMMS-ST-...-G2,, GDCP-CMMS-ST-G2-HW-... CE () 2006/42/EC 2004/108/EC,:, Tab. A.3 : [m] 1000 10% 1000 m [m] 1000 3000 [%] 0 90 ( ) IP20 III III EN 61800-5-1 2 [ C] 0 +40 [K] 4 % [ C] +40 +50 [ C] 25 +70 EN 61800-5-1, 5.2.6.4 EN 61800-2, 4.3.3 Tab. A.4 : Festo GDCP-CMMS-ST-G2-S1-ZH 1503a 37
A A.1.3 [X1],[X3] DIN4, DIN5 [X1.21, X1.9] [V DC] 24( 0 V) [V DC] 19.2 28.8 [ma] 2.5( ; 3) [V DC] 13.1 [V DC] 3.4 [ms] 3 [ms] 8 [мкс], Tab. A.5 :[X1] Rel [X3.2] [V DC] 24( 0 V) [V DC] 19.2 28.8 [ma] 20( ; 30) [V DC] 17.9 [V DC] 2.5 [ms] 12 [ms] 20 [мкс],, n op CMMS-ST Rev 05 [n op ] 10 000 CMMS-ST Rev 06 [n op ] 10 x 10 6 Tab. A.6 : Rel [X3] NC1, NC2 [X3.5, X3.6], [V DC] 30 [ma] 2000(30 V ) [ms] ( 1) + 9 ms) [ms] ( 1) + 9 ms), n op (24 V I = 10 ma, ) CMMS-ST Rev 05 [n op ] 10 000 CMMS-ST Rev 06 [n op ] 10 x 10 6 1) Tab. A.6 Tab. A.7 : NC1/NC2 [X3] 38 Festo GDCP-CMMS-ST-G2-S1-ZH 1503a
A 24 V, 0 V [X3.1, X3.3] ( [X9], ) [V DC] 24 [ma] 100( ) [V] 1() Tab. A.8 : [X3] [X3] [m] 30, / (,) [mm²] 0.25 0.5 [mm²] 2 x 0.25() M2 [Nm] 0.22 0.25 Tab. A.9 :[X3] Festo GDCP-CMMS-ST-G2-S1-ZH 1503a 39
B B / FCT Festo Configuration Tool, MTTF d Mean Time To Failure (dangerous): 100 % (: ), EN ISO 13849-1 PFH d (Probability of dangerous Failures per Hour) PL Performance Level EN ISO 13849-1: a e STO Safe Torque Off, T, EN ISO 13849-1 EN ISO 13849-1, 1-4 EN 60204-1 : EN 60204-1 :,,,, Tab. B.1 40 Festo GDCP-CMMS-ST-G2-S1-ZH 1503a
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