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SAFEX and IndraDrive - FSoE

SAFEX and IndraDrive - FSoE

dhg
Established Member

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

dhg_0-1677572726148.png

dhg_1-1677572740089.png

dhg_0-1677573137335.png

  • IndraDrive FSoE 

dhg_4-1677572853984.png

  • Safety program

dhg_0-1677573266010.png

  • 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!

4 REPLIES 4

Drives_Uwe
Community Moderator
Community Moderator

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
Established Member

Yes, EtherCAT master is present:

dhg_1-1677667400513.png

I forced ModeSelectionSignal but same result:

dhg_2-1677667449793.png

 

 

AllAutomation
Community Moderator
Community Moderator

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
Established Member

Hello,

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

dhg_0-1678102373378.png

Thank you for the support!

 

 

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