About the Book
oThe Smart Template Axis Module contains the functionality to parametrize a Schneider Electric axis module in a graphical way and use it in a PacDrive 3 Template or in other EcoStruxure Machine Expert software architectures.
oThe module is prepared and optimized to use the operation modes Homing, Manual, Endless, Positioning, MultiCam, and BrakeRelease of an axis module (AXM).
oThe Smart Template Axis Module is based on the library PD_AxisModule (AXM).
This document has been updated for EcoStruxureTM Machine Expert V1.1.
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LOSS OF CONTROL |
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oThe designer of any control scheme must consider the potential failure modes of control paths and, for certain critical control functions, provide a means to achieve a safe state during and after a path failure. Examples of critical control functions are emergency stop and overtravel stop, power outage and restart. oSeparate or redundant control paths must be provided for critical control functions. oSystem control paths may include communication links. Consideration must be given to the implications of unanticipated transmission delays or failures of the link. oObserve all accident prevention regulations and local safety guidelines.1 oEach implementation of this equipment must be individually and thoroughly tested for proper operation before being placed into service. |
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Failure to follow these instructions can result in death, serious injury, or equipment damage. |
1 For additional information, refer to NEMA ICS 1.1 (latest edition), "Safety Guidelines for the Application, Installation, and Maintenance of Solid State Control" and to NEMA ICS 7.1 (latest edition), "Safety Standards for Construction and Guide for Selection, Installation and Operation of Adjustable-Speed Drive Systems" or their equivalent governing your particular location.
Before you attempt to provide a solution (machine or process) for a specific application using the POUs found in the library, you must consider, conduct and complete best practices. These practices include, but are not limited to, risk analysis, functional safety, component compatibility, testing and system validation as they relate to this library.
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IMPROPER USE OF PROGRAM ORGANIZATION UNITS |
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oPerform a safety-related analysis for the application and the devices installed. oEnsure that the Program Organization Units (POUs) are compatible with the devices in the system and have no unintended effects on the proper functioning of the system. oUse appropriate parameters, especially limit values, and observe machine wear and stop behavior. oVerify that the sensors and actuators are compatible with the selected POUs. oThoroughly test all functions during verification and commissioning in all operation modes. oProvide independent methods for critical control functions (emergency stop, conditions for limit values being exceeded, etc.) according to a safety-related analysis, respective rules, and regulations. |
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Failure to follow these instructions can result in death, serious injury, or equipment damage. |
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UNINTENDED EQUIPMENT OPERATION |
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Always evaluate the return values when using POUs of a library. |
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Failure to follow these instructions can result in death, serious injury, or equipment damage. |
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UNINTENDED EQUIPMENT OPERATION |
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oOnly use software approved by Schneider Electric for use with this equipment. oUpdate your application program every time you change the physical hardware configuration. |
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Failure to follow these instructions can result in death, serious injury, or equipment damage. |
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UNINTENDED EQUIPMENT OPERATION |
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Update your application program as required, paying particular attention to I/O address adjustments, whenever you modify the hardware configuration. |
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Failure to follow these instructions can result in death, serious injury, or equipment damage. |
Incomplete file transfers, such as data files, application files and/or firmware files, may have serious consequences for your machine or controller. If you remove power, or if there is a power outage or communication interruption during a file transfer, your machine may become inoperative, or your application may attempt to operate on a corrupted data file. If an interruption occurs, reattempt the transfer. Be sure to include in your risk analysis the impact of corrupted data files.
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UNINTENDED EQUIPMENT OPERATION, DATA LOSS, OR FILE CORRUPTION |
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oDo not interrupt an ongoing data transfer. oIf the transfer is interrupted for any reason, re-initiate the transfer. oDo not place your machine into service until the file transfer has completed successfully, unless you have accounted for corrupted files in your risk analysis and have taken appropriate steps to prevent any potentially serious consequences due to unsuccessful file transfers. |
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Failure to follow these instructions can result in death, serious injury, or equipment damage. |
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UNINTENDED MOVEMENT OF THE AXIS |
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oEnsure the proper functioning of the functional safety equipment before commissioning. oEnsure that you can stop axis movements at any time using functional safety equipment (limit switch, emergency stop) before and during commissioning. |
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Failure to follow these instructions can result in death, serious injury, or equipment damage. |
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UNINTENDED MOVEMENT OF THE SLAVE AXIS |
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Deactivate the POU that instructs the slave, or disconnect the connection from the master, if the slave axis stops independently from the master. |
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Failure to follow these instructions can result in death, serious injury, or equipment damage. |
Motion function blocks, except for the Homing function blocks, can only be activated after the mechanical position reference has been established. This is especially important after the start-up of the Sercos motion bus.
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INCORRECT HOMING REFERENCE TO MECHANICAL SYSTEM |
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Ensure that a valid mechanical position reference exists by performing commissioning tests for all operating modes. |
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Failure to follow these instructions can result in death, serious injury, or equipment damage. |
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Document title |
Reference |
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Smart Template Modules User Guide |
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PD_AxisModule Library Guide |
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PD_Template Library Guide |
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PD_PacDriveLib Library Guide |
Terminology Derived from Standards
The technical terms, terminology, symbols and the corresponding descriptions in this manual, or that appear in or on the products themselves, are generally derived from the terms or definitions of international standards.
In the area of functional safety systems, drives and general automation, this may include, but is not limited to, terms such as safety, safety function, safe state, fault, fault reset, malfunction, failure, error, error message, dangerous, etc.
Among others, these standards include:
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Standard |
Description |
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IEC 61131-2:2007 |
Programmable controllers, part 2: Equipment requirements and tests. |
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ISO 13849-1:2015 |
Safety of machinery: Safety related parts of control systems. General principles for design. |
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EN 61496-1:2013 |
Safety of machinery: Electro-sensitive protective equipment. Part 1: General requirements and tests. |
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ISO 12100:2010 |
Safety of machinery - General principles for design - Risk assessment and risk reduction |
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EN 60204-1:2006 |
Safety of machinery - Electrical equipment of machines - Part 1: General requirements |
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ISO 14119:2013 |
Safety of machinery - Interlocking devices associated with guards - Principles for design and selection |
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ISO 13850:2015 |
Safety of machinery - Emergency stop - Principles for design |
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IEC 62061:2015 |
Safety of machinery - Functional safety of safety-related electrical, electronic, and electronic programmable control systems |
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IEC 61508-1:2010 |
Functional safety of electrical/electronic/programmable electronic safety-related systems: General requirements. |
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IEC 61508-2:2010 |
Functional safety of electrical/electronic/programmable electronic safety-related systems: Requirements for electrical/electronic/programmable electronic safety-related systems. |
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IEC 61508-3:2010 |
Functional safety of electrical/electronic/programmable electronic safety-related systems: Software requirements. |
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IEC 61784-3:2016 |
Industrial communication networks - Profiles - Part 3: Functional safety fieldbuses - General rules and profile definitions. |
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2006/42/EC |
Machinery Directive |
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2014/30/EU |
Electromagnetic Compatibility Directive |
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2014/35/EU |
Low Voltage Directive |
In addition, terms used in the present document may tangentially be used as they are derived from other standards such as:
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Standard |
Description |
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IEC 60034 series |
Rotating electrical machines |
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IEC 61800 series |
Adjustable speed electrical power drive systems |
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IEC 61158 series |
Digital data communications for measurement and control – Fieldbus for use in industrial control systems |
Finally, the term zone of operation may be used in conjunction with the description of specific hazards, and is defined as it is for a hazard zone or danger zone in the Machinery Directive (2006/42/EC) and ISO 12100:2010.
NOTE: The aforementioned standards may or may not apply to the specific products cited in the present documentation. For more information concerning the individual standards applicable to the products described herein, see the characteristics tables for those product references.
