EN / Safe Torque Off Function For ACSM1, ACS850 And ACQ810 .
ABB DrivesApplication guideSafe torque off function for ACSM1, ACS850 and ACQ810 drives
Safe torque off function for ACSM1, ACS850 and ACQ810drivesApplication guide3AFE68929814 REV HENEFFECTIVE: 2013-01-25 2013 ABB Oy. All Rights Reserved.
5Table of contentsTable of contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Safe torque off (STO) function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Program features, settings and diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9Operation of the STO function and its diagnostics function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9Diagnostic parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9STO status indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11Monitoring the delay between the STO inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12STO function activation and indication delays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13Wiring principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Single drive module with internal power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Single drive module with internal power supply, single channel . . . . . . . . . . . . . . . . . . . . . .Single drive module with external power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Single drive module with external power supply, single channel . . . . . . . . . . . . . . . . . . . . . .Multiple drive modules with internal power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Multiple drive modules with external power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Multiple drive modules with internal power supply, single channel . . . . . . . . . . . . . . . . . . . .Multiple drive modules with external power supply, single channel . . . . . . . . . . . . . . . . . . . .131314141516171819Start-up and validation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21Validating the operation of a safety function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Authorized person . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Acceptance test reports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Start-up checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21212122Maintenance, fault tracing and diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23Alarm messages generated by the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23Fault messages generated by the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25STO components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25STO safety relay type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25Table of contents
6STO cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25Data related to safety standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27TÜV certificate – ACSM1, ACS850 and ACQ810 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28Declaration of Conformity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29Further information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31Product and service inquiries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31Product training . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31Providing feedback on ABB Drives manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31Document library on the Internet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31Table of contents
7Safe torque off (STO) functionWhat this chapter containsThis chapter describes the Safe torque off function of the drive and gives instructionson its implementing.DescriptionThe drive supports the Safe torque off function according to standards EN 61800-52: 2007, EN 62061: 2005/ AC:2010, EN ISO 13849-1: 2008/ AC: 2009, EN ISO13849-2: 2008, EN 60204-1: 2006/ AC: 2010 and IEC 61508 ed. 2: 2010. Thefunction also corresponds to an uncontrolled stop in accordance with category 0 ofEN 60204-1 and the Prevention of unexpected start-up of EN 1037.The STO may be used where power removal is required to prevent an unexpectedstart. The function disables the control voltage of the power semiconductors of thedrive output stage, thus preventing the inverter from generating the voltage requiredto rotate the motor (see diagram below). By using this function, short-time operations(like cleaning) and/or maintenance work on non-electrical parts of the machinery canbe performed without switching off the power supply to the drive.ACSM1JCUOUT1 24 VOUT2KIN1IN2Control logicUDC AU2, V2, W2UDC–(K) Activation switch, emergency stop push button or contacts of a safety relaySafe torque off (STO) function
8 The contacts of the safety circuit must open/close within 200 ms of each other. The maximum cable length between the drive and the safety switch is 25 m(82 ft).ACS850 and ACQ810JCUOUT1 24 VOUT2KIN1IN2Control logicUDC AU2, V2, W2UDC–(K) Activation switch, emergency stop push button or contacts of a safety relay The contacts of the safety circuit must open/close within 200 ms of each other. The maximum cable length between the drive and the safety switch is 25 m(82 ft).WARNING! The Safe torque off function does not disconnect the voltage of the mainand auxiliary circuits from the drive. Therefore maintenance work on electrical partsof the drive or the motor can only be carried out after isolating the drive system fromthe main supply.Note: It is not recommended to stop the drive by using the Safe torque off function. Ifa running drive is stopped by using the function, the drive will trip and stop bycoasting. If this is not acceptable e.g. causes danger, the drive and machinery mustbe stopped using the appropriate stopping mode before using this function.Note concerning permanent magnet motor drives in case of a multiple IGBTpower semiconductor failure: In spite of the activation of the Safe torque offfunction, the drive system can produce an alignment torque which maximally rotatesthe motor shaft by 180/p degrees. p denotes the pole pair number.Safe torque off (STO) function
9Program features, settings and diagnosticsOperation of the STO function and its diagnostics functionWhen both STO inputs are energized, the STO function is in the standby state andthe drive operates normally. If the STO inputs are de-energized, the STO functionawakes, stops the drive and disables start. Start is possible only after the STO inputshave been energized, and any faults of the drive have been reset.Diagnostic parameterThe way of operation of the STO diagnostics function is selected by a drive controlprogram parameter. This parameter is 46.07 STO DIAGNOSTIC for ACSM1 drivesand 30.07 Sto diagnostic for ACS850 and ACQ810 drives. By default, the drive tripswhenever one or both of the two STO inputs is de-energized. This is appropriatewhen no external control is used and the STO inputs are constantly kept energizedby short-circuiting them. When external STO control is taken into use, the user mustchange the setting to avoid unnecessary fault trips.Program features, settings and diagnostics
10The table below describes the operation of the STO function in detail depending on: value of the diagnostic parameter (see section Diagnostic parameter on page 9) status of the STO inputs.Value ofdiagnosticparameterStatus of STO inputsFaultAlarmNoOnly AlarmHow the STO operatesWhen drive isSTO functionDe-energizedstopped or runningawakes and trips the drive. Fault code: F-0031.energizedstopped or runningis on standby. Drive operates normally.One energized, otherde-energized 1)stopped or runningawakes and trips the drive. Fault code: F-0021or F-0022.De-energizedstoppedawakes, disables start and generates an alarm.Alarm code: A-2003.runningawakes and trips the drive. Fault code: F-0031.energizedstopped or runningis on standby. Drive operates normally.One energized, otherde-energized 1)stopped or runningawakes and trips the drive. Fault code: F-0021or F-0022.De-energizedstoppedawakes and disables start. No STO statusindication (alarm, etc.).runningawakes and trips the drive. Fault code: F-0031.energizedstopped or runningis on standby. Drive operates normally.One energized, otherde-energized 1)stopped or runningawakes and trips the drive. Fault code: F-0021or F-0022.De-energizedstopped or runningawakes, disables start and generates an alarm.Alarm code: A-2003.One energized, otherde-energized 1)stopped or runningawakes and trips the drive. Fault code: F-0021or F-0022.1) Theoperation delay between the inputs is excessive. See section STO function activation and indication delays onpage 12.Program features, settings and diagnostics
11STO status indicationsAlarm and status bitsACSM1:08.05 ALARM WORD 1 bit 4STO mode changeACS850:08.05 Alarm word1 bit 4ACQ810:08.05 Alarm word1 bit 1ACSM1:06.02 STATUS WORD 2 bit 10STO status. 1: STO function active, drive start disabled.0: STO function inactive, drive operation enabled.ACS850 and ACQ810:06.02 Status word2 bit 10Digital outputsACSM1:12.04 DIO1 OUT PTR12.05 DIO2 OUT PTR12.06 DIO3 OUT PTRSelects a drive signal to be connected to digital output.ACS850 and ACQ810:14.03 DIO1 out src14.07 DIO2 out srcRelay outputsACSM1:12.12 RO1 OUT PTRSelects a drive signal to be connected to relay output.ACS850:14.42 RO1 src14.45 RO2 src14.48 RO3 srcACQ810:14.42 RO1 src14.45 RO2 srcAlarms and faultsSee chapter Maintenance, fault tracing and diagnostics.Program features, settings and diagnostics
12Monitoring the delay between the STO inputsThe STO function monitors the switching time difference between the STO inputs. Ifthe time difference exceeds 200 ms, the drive trips on a fault. The fault indicationdepends on the value of diagnostic parameter: F-0031 with setting Fault or when thedrive is running, F-0021 or F-0022 with setting Alarm or No when the drive is at thestopped state.STO function activation and indication delaysSTO mode1) and drive statusSTO mode:AnyDrive status:AnySTO mode:AnyDrive status:RunningSTO mode:FaultDrive status:StoppedSTO mode:No or AlarmDrive status:Stopped1) Value2) STOSTO activation andindication delays 2,3)STO activation delay: 1msSTO indication delay: 20 msSTO indication delay: 20 msSTO indication delay: 220 msof diagnostic parameteractivation delay delay between energizing the STO relay and switching off the drive outputbridge3) STOindication delay delay between energizing the STO relay and the digital output of the drive thatindicates the STO statusProgram features, settings and diagnostics
13InstallationWiring principlesWiring principles are shown in the diagrams below. See chapter Technical data forthe cable specification and possible safety relay types.Safe torque off connector is X6 in ACSM1 drives XSTO in ACS850 and ACQ810 drives.AGND connector is X4:3 in ACSM1 drives XAI:3 in ACS850 and ACQ810 drives.Single drive module with internal power supplyDriveX6 or XSTO:1X6 or XSTO:2Safety relayX6 or XSTO:3X6 or XSTO:4Installation
14Single drive module with internal power supply, single channelDriveX6 or XSTO:1X6 or XSTO:2Safety relayX6 or XSTO:3X6 or XSTO:4Single drive module with external power supply 24 V DC externalpower supplyDrive- AGNDX6 or XSTO:1X6 or XSTO:2X6 or XSTO:3X6 or XSTO:4InstallationSafety relay
15Single drive module with external power supply, single channel 24 V DC externalpower supplyDrive- AGNDX6 or XSTO:1X6 or XSTO:2Safety relayX6 or XSTO:3X6 or XSTO:4Installation
16Multiple drive modules with internal power supplyDriveX6 or XSTO:1X6 or XSTO:2AGNDX6 or XSTO:3X6 or XSTO:4DriveX6 or XSTO:1X6 or XSTO:2AGNDX6 or XSTO:3X6 or XSTO:4.DriveX6 or XSTO:1X6 or XSTO:2AGNDX6 or XSTO:3X6 or XSTO:4InstallationSafety relay
17Multiple drive modules with external power supplyDriveX6 or XSTO:1X6 or XSTO:2 24 V DC externalpower supply- AGNDSafety relayX6 or XSTO:3X6 or XSTO:4DriveX6 or XSTO:1X6 or XSTO:2AGNDX6 or XSTO:3X6 or XSTO:4.DriveX6 or XSTO:1X6 or XSTO:2AGNDX6 or XSTO:3X6 or XSTO:4Installation
18Multiple drive modules with internal power supply, single channelDriveX6 or XSTO:1X6 or XSTO:2AGNDX6 or XSTO:3X6 or XSTO:4DriveX6 or XSTO:1X6 or XSTO:2AGNDX6 or XSTO:3X6 or XSTO:4.DriveX6 or XSTO:1X6 or XSTO:2AGNDX6 or XSTO:3X6 or XSTO:4InstallationSafety relay
19Multiple drive modules with external power supply, single channelDrive 24 V DC externalpower supply- X6 or XSTO:1X6 or XSTO:2AGNDSafety relayX6 or XSTO:3X6 or XSTO:4DriveX6 or XSTO:1X6 or XSTO:2AGNDX6 or XSTO:3X6 or XSTO:4.DriveX6 or XSTO:1X6 or XSTO:2AGNDX6 or XSTO:3X6 or XSTO:4Installation
20Installation
21Start-up and validationValidating the operation of a safety functionIEC 61508, EN IEC 62061 and EN ISO 13849 require that the final assembler of themachine validates the operation of the safety function with an acceptance test. Theacceptance tests for the standard safety functions of the drive are described in thedrive manuals. The tests for the optional safety functions are described in theappropriate option manuals.The acceptance test must be performed: at initial start-up of the safety function after any changes related to the safety function (wiring, components, settings,etc.) after any maintenance work related to the safety function.Authorized personThe acceptance test of the safety function must be carried out by an authorizedperson with expertise and knowledge of the safety function. The test must bedocumented and signed by the authorized person.Acceptance test reportsSigned acceptance test reports must be stored in the logbook of the machine. Thereport shall include documentation of start-up activities and test results, referencesto failure reports and resolution of failures. Any new acceptance tests performed dueto changes or maintenance shall be logged into the logbook.Start-up and validation
22Start-up checklistActionEnsure that the drive can be run and stopped freely during the commissioning.Stop the drive (if running), switch the input power off and isolate the drive from the power lineby a disconnector.Check the STO circuit connections against the circuit diagram.Check that the shield of the STO input cable is grounded to the drive frame (see the drivehardware manual).Close the disconnector and switch the power on.Select the STO diagnostics mode by diagnostic parameter (see page 9)(change Fault to Alarm, No or Only Alarm).Select the stop mode of the drive by parameter 11.03.Test the operation of the STO function when the motor is stopped: Give a stop command for the drive (if running) and wait until the motor shaft is at standstill. Activate the STO circuit and give a start command for the drive. Ensure that the motor stays at standstill and the drive operates as described in sectionOperation of the STO function and its diagnostics function on page 9. Inactivate the STO circuit.Restart the drive and check that the motor runs normally.Test the operation of the STO function when the motor is running: Start the drive and ensure the motor is running. Activate the STO circuit. Ensure that the motor stops and the drive trips. Reset the fault and try to start the drive. Ensure that the motor stays at standstill and the drive operates as described in sectionOperation of the STO function and its diagnostics function on page 9. Inactivate the STO circuit.Restart the drive and check that the motor runs normally.Document and sign the acceptance test report which verifies that the safety function is safeand accepted to operation.Start-up and validation
23Maintenance, fault tracing and diagnosticsMaintenanceInclude the STO operation test described in chapter Start-up and validation to theroutine maintenance program of the machinery that the drive runs.The STO function or STO input terminals do not need any maintenance. Maintainthe drive according to the instructions given in the drive hardware manual.Alarm messages generated by the driveAlarmCauseWhat to doSAFETORQUEOFF(A-2003)The Safe torque off function generates thisindication when the function is activated.Switch the STO function to standby by energizing theSTO inputs. The alarm resets automatically.The indication can be prevented by changing the valueof diagnostic parameter to No.Maintenance, fault tracing and diagnostics
24Fault messages generated by the driveFaultCauseSAFETORQUEOFFSafe torque off related fault:- wrong parameter settingCheck the value of diagnostic parameter. If the value isFault, every STO input switch off (one or both) causesa fault trip.- faulty safety relayCheck the safety relay(s). Both contacts connected tothe drive STO inputs must open or closesimultaneously.- loose wiring contactCheck STO relay wiring.(F-0031)STO1 LOST(F-0021)STO2 LOST(F-0022)What to doSTO1 input (X6: pins 1,3 in ACSM1 orXSTO: pins 1,3 in ACS850 and ACQ810) isde-energized and STO2 input (X6: pins 2,4 inACSM1 or XSTO: pins 2,4 in ACS850 andACQ810) is energized simultaneously due to:- faulty STO relayCheck the operation of the safety relay. Both safetyrelay paths must open or close within 200 ms.- loose wiring contact.Check STO relay wiring.STO1 input (X6: pins 1,3 in ACSM1 orXSTO: pins 1,3 in ACS850 and ACQ810) isenergized and STO2 input (X6: pins 2,4 inACSM1 or XSTO: pins 2,4 in ACS850 andACQ810) is de-energized simultaneously dueto:- faulty STO relayCheck the operation of the safety relay. Both safetyrelay paths must open or close within 200 ms.- loose wiring contact.Check STO relay wiring.Maintenance, fault tracing and diagnostics
25Technical dataSTO componentsSTO safety relay typeGeneral requirementsIEC 61508 and/or IEC 61511 and/or EN/ISO 13849-1Output req
Safe torque off (STO) function 8 The contacts of the safety circuit must open/close within 200 ms of each other. The maximum cab
Motor torque, load torque and selection of motors 2/43 2.1 Motor speed–torque curve Refer to Figure 2.1 where T st starting torque or breakaway torque. T m minimum, pull-in or pull-up torque. T po pull-out, breakdown or maximum torque, obtainable over the entire speed range.
the torque tool. The operator then stops applying torque and the desired value on the torque tool is compared with the value displayed on the torque wrench tester. Again the tool may then need adjustment. Torque screwdrivers: For very small torques, below 5 N.m (0.5 Kgf.m) it is common to use a torque screwdriver rather than a torque wrench.
Reset the torque wrench to the final torque value and tighten bolts to full torque using a cross bolt ci rcle sequence. 1. Finger tighten all bolts using the proper torque sequence. 2. Tighten snuggly with a torque wrench set to 1/2 t he required torque, using the proper torque sequence. 3. Tighten to recommended torque range listed on page 4.
position or torque control modes, accepting commands for motor position or joint torque respectively. The torque com-mands are passed through a feasibility lter which imposes a maximum slew rate and torque control is suppressed when starting from zero velocity at torque levels below 1Nm. Many torque control schemes have been proposed for
FTA9000 FASTENER TORQUE-TENSION LOAD CELL OPERATION MANUAL 2 1.0 INTRODUCTION Fastener torque-tension load cells manufactured by PCB Load & Torque are designed to accurately measure tensile loads and thread torque on threaded fasteners. Input Torque : Torque applied to the fastener (either to the bolt head or nut). Bolt Tension : Bolt
Torque with PTR Ring Maximum Torque with PTR Ring 13-3/8" Yield Torque Rating based on lowest values of pipe body, pin/ring nose, threads, and coupling critical cross section. THESE SPECIFICATIONS DO NOT INCLUDE A SAFETY FACTOR! A shoulder torque MUST be achieved and the shoulder torque value cannot exceed 90% of the Maximum Torque.
Version 12.01.2018 v.LiNK Video-inserter VL3-MIB-4 . Read the manual prior to installation. Technical knowledge is necessary for installation. The . Audi Q7 (4M) MMI 7“ OFF OFF OFF OFF Porsche OFF OFF OFF OFF VW Touran OFF OFF OFF OFF Audi TT (8S) ON OFF .
ECE, ECG, ECI, ECR, ECH Contents 1. Assembly drawings 2. Construction and function 2.1 Construction 2.2 Function 3. Torque limiter design 3.1 Choosing the right torque limiter 3.1.1 Dimensioning of the torque limiter 3.2 Interpretation of the torque 3.3 Dimensioning the bore size 4. Adjustment of the disengagement torque 5. Preparation of .
