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.
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
- IndraDrive Integrated Safety Technology "Safe Motion" (MPx-18 and above)
- IndraDrive MPx-21 Functions
- IndraDrive MPx-20 Functions
- IndraDrive MPx-16 to MPx-21 and PSB Parameters
- IndraDrive MPx-16 to MPx-21 and PSB Diagnostics
- IndraDrive Ethernet/IP Communications with Allen-Bradley PLC AOIs Website
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)”:
Click “Select parameter file”, select file “STO Only Starting Parameters R1.par” then click “Open”:
Select “Only load image of safety technology parameters” then click “Next”:
Click “Next” to start 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”:
The serial commissioning load parameters process is completed, click “Exit” then “X” to close the “Serial Commissioning” window:
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”:
Use the pull-down menu to select the 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):
The Target UNID or slave address for all safety bus communications are assigned in three steps:
- Enter the Target UNID or address then click on “Write”
- Verify the Target UNID or address then click on “Apply”
- 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:
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”:
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:
The CIP Safety on Sercos (CSoS) Target UNID is completed:
FailSafe over EtherCAT (FSoE) Configuration
Enter the desired “FSoE slave address” then click “Write FSoE slave address” button:
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”:
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:
FailSafe over EtherCAT (FSoE) slave address is completed:
PROFIsafe over PROFINET Configuration
Enter the desired “PROFIsafe F-Device address” then click “Write PROFIsafe F-Device address” button:
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”:
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:
PROFIsafe F-Device address is 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:
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”:
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:
CIP Safety on EtherNet/IP (CSoE) Target UNID is 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)
The SMO Status can be read in the safety PLC using the bits in the SMO Status Word:
The “Emergency stop signal (ES)” is used as the safe out with an input pair wired as the input selection:
“Mode selection signal (MS)” is used as the safe out with a constant or static high (1) input signal:
HSZ Zone Module
Select “SafeMotion 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:
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)
Network 1 is used to select the Function Block “Safe constant selection” with “Mode selection signal (MS)” as the safe out:
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:
X41 Local I/O
NOTE: MPx21 firmware must be used for X41 local I/O selection.
Select “SafeMotion without safety bus communication”:
Open “Safety zone and door locking” then select “Axis acknowledges safety independently (no zone node)”:
If local I/O X41 is going to be used, then these inputs must be configured under “Signal 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”:
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)
Network 1 is used to select the Function Block “Safe constant selection” with “Mode selection signal (MS)” as the safe out:
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:
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”.
- Click “Apply for SMO” to copy the error reaction from the standard firmware
- Click “Apply” to confirm the values copied from the standard firmware side.
- Once the changes are applied the window shows no more exclamation marks, error reaction configuration is complete:
Exit SMO configuration - Parameter Mode
The axis configuration for STO is now complete.
- Right click on SafeMotion (Unlocked, SCM): STO_Axis then select “Exit SMO configuration mode (SCM)”.
- Once SMO configuration mode (SCM) has been exited click on “OM”:
The axis is now in operating mode:
Video from Rexroth YouTube Channel
Downloads
