IndraDrive STO Teaser.png

Setup IndraDrive SafeMotion for Safe Torque Off with Safe Stop 1

ctrlXProgrammatore
Established Member
Introduction

In this article we show you how to configure an IndraDrive with the SafeMotion (SMO) option using only the Safe Torque Off (STO) function with Safe Stop 1 (SS1)/Category 1 Stop and no other SafeMotion functions.

Hardware, firmware, software and documents
Hardware

The following IndraDrive hardware is supported: Cs, C, M, Mi, or ML with control unit platform Cxx02 and safety technology S3, S4, S5, SB, or SD.

IndraDrive Mi Cabint Free SafeMotion OptionsIndraDrive Mi Cabint Free SafeMotion OptionsIndraDrive Cabint SafeMotion OptionsIndraDrive Cabint SafeMotion Options

Required Firmware

FWA-INDRV*-MPx-20VRS-D5-1-xxx-xx or FWA-INDRV*-MPx-21VRS-D5-1-xxx-xx

Required Software

SWA-IWORKS-DS*-15VRS-D0-DVD**-COPY

Applicable Documents
Bosch Rexroth IndraDrive STO Commissioning
General IndraDrive STO configuration
  • Connect to IndraDrive with IndraWorks.
  • Save parameter file (STO Only Starting Parameters R1.zip) attached to this article then extract to a known location on the PC (i.e. Desktop).

Expand Axis [1] default\SafeMotion [Not active, functionally blocked]: default\Commissioning then double click “Serial commissioning…”

Click on “Copy of an Axis (1:1 Copy)”:

Serial commissioning copy of an axis 1:1 copySerial commissioning copy of an axis 1:1 copy

Click “Select parameter file”, select file “STO Only Starting Parameters R1.par” then click “Open”:

Select parameter file xSTO Only Starting Parameters R1.par"Select parameter file xSTO Only Starting Parameters R1.par"

Select “Only load image of safety technology parameters” then click “Next”:

Only load image of safety technology parametersOnly load image of safety technology parameters

Click “Next” to start parameter load process:

Start parameter load processStart parameter load process

After the file (parameters) are done loading click the “Identify SafeMotion” button. Follow the instructions to ensure the parameters were loaded to the correct axis then click “Apply Axis Identifier”. After the SMO axis identifier is applied click “OK”:

Apply axis identifierApply axis identifier

The serial commissioning load parameters process is completed, click “Exit” then “X” to close the “Serial Commissioning” window:

Exit serial commissioningExit serial commissioning

Expand Axis [1] default\SafeMotion (Locked): STO_Axis\Commissioning\Configuration\Safety bus communication then double click “Type and addressing”. Click the checkbox to confirm this is the axis to be parameterized then click “OK”:

Type and addressing confirm axisType and addressing confirm axis

Use the pull-down menu to select the desired safety bus communication protocol:

Select desired safety bus communication protocolSelect desired safety bus communication protocol

When changing the safety bus communication protocol, you will be prompted for the SMO Password. Enter “Rexroth” then click on “Unlock SMO” then click “Yes” on the two popup windows to enter parameterization level 1 and SMO configuration mode (SCM):

Unlock SMOUnlock SMO

The Target UNID or slave address for all safety bus communications are assigned in three steps:

  1. Enter the Target UNID or address then click on “Write”
  2. Verify the Target UNID or address then click on “Apply”
  3. Click on “Confirm Target UNID\Address” button

NOTE: The following examples are shown for HSZ Zone Module, Local I/O X41, and all the safety bus communication protocols,: CIP Safety on Sercos (CSoS), FailSafe over EtherCAT (FSoE), PROFIsafe, and CIP Safety on EtherNet/IP (CSoE). Please follow the setup for the safety bus communication protocol for your application. CSoE and Local I/O X41 are only available with firmware MPx21.

CIP Safety on Sercos (CSoS) Configuration

Enter the desired “Safety Device ID (SDID)” then click “Write Target UNID” button:

CSoS Write Target UNIDCSoS Write Target UNID

The “Write Target UNID” button is now greyed out. Confirm the “Target UNID (TUNID)” value is correct in the “Verification display” area then click “Apply”:

CSoS Write Target UNIDCSoS Write Target UNID

The “Confirm Target UNID” button is now active. Click the “Confirm Target UNID” button then click “Yes” to assign\confirm the Target UNID for this axis:

CSoE Confirm Target UNIDCSoE Confirm Target UNID

The CIP Safety on Sercos (CSoS) Target UNID is completed:

CIP Safety on Sercos (CSoS) Target UNID completedCIP Safety on Sercos (CSoS) Target UNID completed

FailSafe over EtherCAT (FSoE) Configuration

Enter the desired “FSoE slave address” then click “Write FSoE slave address” button:

Assign and Write FSoE slave addressAssign and Write FSoE slave address

The “Write FSoE slave address” button is now greyed out. Confirm the “FSoE slave address” value is correct in the “Verification display” area then click “Apply”:

Apply FSoE slave addressApply FSoE slave address

The “Confirm FSoE slave address” button is now active. Click the “Confirm FSoE slave address” button then click “Yes” to assign\confirm the FSoE slave address for this axis:

Confirm FSoE slave addressConfirm FSoE slave address

FailSafe over EtherCAT (FSoE) slave address is completed:

FailSafe over EtherCAT FSoE slave address completedFailSafe over EtherCAT FSoE slave address completed

PROFIsafe over PROFINET Configuration

Enter the desired “PROFIsafe F-Device address” then click “Write PROFIsafe F-Device address” button:

PROFIsafe F-Device addressPROFIsafe F-Device address

The “Write PROFIsafe F-Device address” button is now greyed out. Confirm the “PROFIsafe F-Device address” value is correct in the “Verification display” area then click “Apply”:

Apply PROFIsafe F-Device addressApply PROFIsafe F-Device address

The “Confirm PROFIsafe F-Device address” button is now active. Click the “Confirm PROFIsafe F-Device address” button then click “Yes” to assign\confirm the PROFIsafe F-Device address for this axis:

Confirm PROFIsafe F-Device addressConfirm PROFIsafe F-Device address

PROFIsafe F-Device address is completed:

PROFIsafe F-Device address completedPROFIsafe F-Device address completed

CIP Safety over EtherNet/IP (CSoE) Configuration

NOTE: MPx21 firmware must be used for CIP Safety on EtherNet/IP (CSoE) selection.

The “Safety Device ID (SDID)” should be automatically copied from the “Master communication” screen. These values must match, do not change the “Safety Device ID (SDID)” on this screen. Click the “Write Target UNID” button:

CSoE Write Target UNIDCSoE Write Target UNID

The “Write Target UNID” button is now greyed out. Confirm the “Target UNID (TUNID)” value is correct in the “Verification display” area then click “Apply”:

CSoE Apply Target UNIDCSoE Apply Target UNID

The “Confirm Target UNID” button is now active. Click the “Confirm Target UNID” button then click “Yes” to assign\confirm the Target UNID for this axis:

CSoE Confirm Target UNIDCSoE Confirm Target UNID

CIP Safety on EtherNet/IP (CSoE) Target UNID is completed:

CIP Safety on EtherNet IP CSoE Target UNID completedCIP Safety on EtherNet IP CSoE Target UNID completed

Safety PLC Programming Example

The IndraDrive requires two signals to be set high (1) in the SMO Control Word from the safety PLC for normal operation:

            Bit 0 Mode selection signal (MS) and Bit 1 Emergency stop signal (SMES)

In this example the Emergency stop signal (SMES) bit will be used to transition in or out of STO:

  • Emergency stop signal (SMES) set to high (1) = normal operation
  • Emergency stop signal (SMES) set to low (0) = STO
  • The Mode selection signal (MS) will be set to high (1)

SMO Control WordSMO Control Word

The SMO Status can be read in the safety PLC using the bits in the SMO Status Word:

SMO Status WordSMO Status Word

The “Emergency stop signal (ES)” is used as the safe out with an input pair wired as the input selection:

Emergency stop signal ESEmergency stop signal ES

“Mode selection signal (MS)” is used as the safe out with a constant or static high (1) input signal:

Mode selection signal MSMode selection signal MS

HSZ Zone Module

Select “SafeMotion without safety bus communication”:

SafeMotion without safety bus communicationSafeMotion without safety bus communication

Open “Safety zone and door locking” then select “Axis is zone master” or “Axis is zone node” depending on where the axis is in the zone network, configure other options for your application:

Safety zone and door lockingSafety zone and door locking

Programming Example Using I/O Mapper with HSZ Zone Module

The IndraDrive requires two signals to be set high (1) in the SMO Control Word from I/O Mapper for normal operation:

            Bit 0 Mode selection signal (MS) and Bit 1 Emergency stop signal (SMES)

In this example the Emergency stop signal (SMES) bit will be used to transition in or out of STO:

  • Emergency stop signal (SMES) set to high (1) = normal operation
  • Emergency stop signal (SMES) set to low (0) = STO
  • The Mode selection signal (MS) will be set to high (1)

SMO Control WordSMO Control Word

SMO Status WordSMO Status Word

Network 1 is used to select the Function Block “Safe constant selection” with “Mode selection signal (MS)” as the safe out:

Network 1 with xMode selection signal MS.Network 1 with xMode selection signal MS.

Network 2 is used to select the Function Block “Safe connector” with “Emergency stop signal (ES)” as the safe out. The input pair wired to the HSZ Zone Module is used for the safe in:

Network 2 with Emergency stop signal ESNetwork 2 with Emergency stop signal ES

X41 Local I/O

NOTE: MPx21 firmware must be used for X41 local I/O selection.

Select “SafeMotion without safety bus communication”:

SafeMotion without safety bus communicationSafeMotion without safety bus communication

Open “Safety zone and door locking” then select “Axis acknowledges safety independently (no zone node)”:

Safety zone and door lockingSafety zone and door locking

If local I/O X41 is going to be used, then these inputs must be configured under “Signal control of inputs”:

Signal control of inputsSignal control of inputs

If local I/O X41 will be used as the dynamization source, then this will need to be configured under “Signal control of outputs”:

Signal control of outputsSignal control of outputs

Programming Example Using I/O Mapper with Local I/O X41

The IndraDrive requires two signals to be set high (1) in the SMO Control Word from I/O Mapper for normal operation:

            Bit 0 Mode selection signal (MS) and Bit 1 Emergency stop signal (SMES)

In this example the Emergency stop signal (SMES) bit will be used to transition in or out of STO:

  • Emergency stop signal (SMES) set to high (1) = normal operation
  • Emergency stop signal (SMES) set to low (0) = STO
  • The Mode selection signal (MS) will be set to high (1)

SMO Control WordSMO Control Word

SMO Status WordSMO Status Word

Network 1 is used to select the Function Block “Safe constant selection” with “Mode selection signal (MS)” as the safe out:

Network 1 with Mode selection signal MS.Network 1 with Mode selection signal MS.

Network 2 is used to select the Function Block “Safe connector” with “Emergency stop signal (ES)” as the safe out. The “Safe input pair, IndraDrive (x41)” is used for the safe in:

X41 Local IO Emergency stop signal ESX41 Local IO Emergency stop signal ES

NOTE: The following steps are only required if the error reaction on the standard firmware side have been modified from factory default.

If the error reaction on the standard firmware side has NOT been changed from factory default go to Exit SMO configuration - Parameter Mode

Error Reaction  

The error reaction must be setup the same as the standard firmware. Expand “Axis [1] default\SafeMotion (Unlocked, SCM): STO_Axis\Commissioning\” then double click on “Error Reaction”.

  1. Click “Apply for SMO” to copy the error reaction from the standard firmware
  2. Click “Apply” to confirm the values copied from the standard firmware side.
  3. Once the changes are applied the window shows no more exclamation marks, error reaction configuration is complete:

Error ReactionError Reaction

Exit SMO configuration - Parameter Mode

The axis configuration for STO is now complete.

  1. Right click on SafeMotion (Unlocked, SCM): STO_Axis then select “Exit SMO configuration mode (SCM)”.
  2. Once SMO configuration mode (SCM) has been exited click on “OM”:

Exit SMO configuration - Parameter ModeExit SMO configuration - Parameter Mode

The axis is now in operating mode:

Axis is in operating modeAxis is in operating mode

Video from Rexroth YouTube Channel

 

Downloads
ctrlXProgrammatore
ctrlXProgrammatore
Hello, my name is Tim. I am a member of the ctrlX AUTOMATION Community with a focus on Safety applications. Feel free to reach out if you have any questions!
Must Read
Icon--AD-black-48x48Icon--address-consumer-data-black-48x48Icon--appointment-black-48x48Icon--back-left-black-48x48Icon--calendar-black-48x48Icon--center-alignedIcon--Checkbox-checkIcon--clock-black-48x48Icon--close-black-48x48Icon--compare-black-48x48Icon--confirmation-black-48x48Icon--dealer-details-black-48x48Icon--delete-black-48x48Icon--delivery-black-48x48Icon--down-black-48x48Icon--download-black-48x48Ic-OverlayAlertIcon--externallink-black-48x48Icon-Filledforward-right_adjustedIcon--grid-view-black-48x48IC_gd_Check-Circle170821_Icons_Community170823_Bosch_Icons170823_Bosch_Icons170821_Icons_CommunityIC-logout170821_Icons_Community170825_Bosch_Icons170821_Icons_CommunityIC-shopping-cart2170821_Icons_CommunityIC-upIC_UserIcon--imageIcon--info-i-black-48x48Icon--left-alignedIcon--Less-minimize-black-48x48Icon-FilledIcon--List-Check-grennIcon--List-Check-blackIcon--List-Cross-blackIcon--list-view-mobile-black-48x48Icon--list-view-black-48x48Icon--More-Maximize-black-48x48Icon--my-product-black-48x48Icon--newsletter-black-48x48Icon--payment-black-48x48Icon--print-black-48x48Icon--promotion-black-48x48Icon--registration-black-48x48Icon--Reset-black-48x48Icon--right-alignedshare-circle1Icon--share-black-48x48Icon--shopping-bag-black-48x48Icon-shopping-cartIcon--start-play-black-48x48Icon--store-locator-black-48x48Ic-OverlayAlertIcon--summary-black-48x48tumblrIcon-FilledvineIc-OverlayAlertwhishlist