SAFEX and IndraDrive - FSoE

[dhg]

Hello,

I am facing problems with the following safety architecture:

• SAFEX-C.12 as FSoE master
• IndraDrive SafeMotion with MPC21 as FSoE slave

Being the configuration:

• SAFEX

• IndraDrive FSoE 

• Safety program

• ctrlX Safety Engineering version is 1.7

There is no safety communication between them. The SAFEX stays in RunIntern and IndraDrive in SMES state. 

I don't see where else to look.

If you need further information let me know. 

Thank you!

[Drives_Uwe · Accepted solution]

Additionally to the SAFEX control you need an EtherCAT master like the ctrlX CORE. Is such an EtherCAT master present?

As well I see that you have to force the ModeSelectionSignal to "1" for the FB to the drive.

[dhg]

Yes, EtherCAT master is present:

I forced ModeSelectionSignal but same result:

[AllAutomation · Accepted solution]

Hello @dhg ,

FSoE-Connections are no direct cross communication connections as with Sercos or EtherNet/IP. The EtherCAT-Master manages these connections as part of the transport layer EtherCAT.

Currently we support/recommend to copy the data within a (recommended) fieldbus-synchronous or short-time cyclic task (possible in case of low timing requirements: 10-20ms). If you do not implement this copy action, the FSoE-Connections are not closed and the FSoE-Master remains in RUNintern, since there is no feedback from the FSoE-Slaves.

Annotation: We will provide a Cross Communication Configurator as part of ctrlX CORE's IO Engineering that closes some gaps and avoids the need to create application code for the FSoE-Connections.

@Dias : I did not find the sample program for the FSoE-Connection. Can you please add that sample code as an solution (HowTo, Example) to help users in general?

The core functionality is shown in this sample code snippet:

// Deklaration
FSoE_MasterSN15000204Input AT %IB0: ARRAY[0..27] OF BYTE;
FSoE_MasterSN15000204Output AT %QB0: ARRAY[0..27] OF BYTE;
FSoE_SlaveSN15000214Input AT %IB74: ARRAY[0..27] OF BYTE;
FSoE_SlaveSN15000214Output AT %QB94: ARRAY[0..27] OF BYTE;
bClearErrorSN15000204 AT %QX76.0: BOOL;
bClearErrorSN15000214 AT %QX170.0: BOOL;
bClearError: BOOL;

// Programm
// Mapping FSoE-Data from FSoE-Master to FSoE-Slave
FSoE_SlaveSN15000214Output:= FSoE_MasterSN15000204Input;
// Mapping FSoE-Data from FSoE-Slave to FSoE-Master
FSoE_MasterSN15000204Output:= FSoE_SlaveSN15000214Input;

// Example for functional exchange
bClearErrorSN15000204:= bClearError;
bClearErrorSN15000214:= bClearError;

The whole context is part of the attached extract of the 2022 WebSeminar for Application Engineers.

HTH

Your ctrlX SAFETY team

[dhg]

Hello,

After adding the following code in the PLC (ctrlX CORE), it is working. 

Thank you for the support!

[Xiaoyin]

My drive keep at SMES. What's the matter.

and I want to know how to set the configuration via IO engineering? Is selection for ' FSOE_Connection_1'  correct?

[ctrlXProgrammatore]

Hello @Xiaoyin,

Yes, the selection for FSoE_Connection_1 is correct for ctrlX DRIVE (2 bytes in/2 bytes out).

I believe this is related to the following post and working now. If not, please let us know. https://developer.community.boschrexroth.com/t5/ctrlX-SAFETY/How-to-deal-with-F3452/m-p/102356#M480