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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 Options IndraDrive 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 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)”: Serial 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 “Only load image of safety technology parameters” then click “Next”: Only load image of safety technology parameters Click “Next” to start parameter load process: 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”: Apply axis identifier The serial commissioning load parameters process is completed, click “Exit” then “X” to close the “Serial Commissioning” window: Exit 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 axis Use the pull-down menu to select the desired safety bus communication protocol: Select 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 SMO 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: CSoS 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 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 UNID The CIP Safety on Sercos (CSoS) Target UNID is completed: CIP 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 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 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 address FailSafe over EtherCAT (FSoE) slave address is completed: FailSafe 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 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 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 address PROFIsafe F-Device address is completed: PROFIsafe 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 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 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 UNID CIP Safety on EtherNet/IP (CSoE) Target UNID is completed: CIP 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 Word The SMO Status can be read in the safety PLC using the bits in the SMO Status Word: SMO 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 ES “Mode selection signal (MS)” is used as the safe out with a constant or static high (1) input signal: Mode selection signal MS HSZ Zone Module Select “SafeMotion without safety bus communication”: 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: Safety 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 Word SMO 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 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 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 communication Open “Safety zone and door locking” then select “Axis acknowledges safety independently (no zone node)”: Safety 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 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 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 Word SMO 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 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 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”. 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: Error Reaction 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”: Exit SMO configuration - Parameter Mode The axis is now in operating mode: Axis is in operating mode Video from Rexroth YouTube Channel   Downloads SMO with only STO with Safe Stop1 (Version 4) - PDF File STO Only Starting Parameters - ZIP File ... View more

Introduction In this article we show to you how to connect a Fortress amGard proNet interlock via Safety over EtherCAT (FSoE) with a SAFEX-C1x SAFETY controller. Topology Overview General Information All functions and screen shots are based on: ctrlX SAFETY Engineering version >= 1.7.3.9558 SAFEX Runtime / Firmware version >= 1.0.1.45 ctrlX WORKS version >= 1.20.5 Fortress amGard proNet The Fortress amGard proNet is available with the solenoid controlled by either the safety controller or standard controller. This is depicted in the model number: “NM” indicates the solenoid is controlled by the standard controller. “NR” indicates the solenoid is controlled by the safety controller. In this example a unit with the solenoid controlled by the standard controller was used with the following ESI file: HL1S6SKV11SVRALY0000NNMLGLRP7EINPF09 ESI_Fortress_amGard_proNet 1.xml Further details including the ESI file are available from Fortress.  Prerequisites A connection to the SAFEX-C1x SAFETY control and ctrlX CORE have been successfully established. The devices are correctly wired and have been powered on with 24V. Engineering tools ctrlX SAFETY and ctrlX WORKS have been started. ctrlX CORE has EtherCAT Master, PLC app and licenses for each app installed. ctrlX I/O Engineering Open ctrlX I/O Engineering from ctrlX WORKS: ctrlX WORKS Engineering Tools Open Tools\Device Repository: ctrlX I/O Engineering Device Repository Click “Install..”: Device Repository Select Fortress ESI file, click “Open”: Device Repository Select ESI File The Fortress amGard proNet device is added, click “Close”: Device Repository Device Added If needed repeat the process for SAFEX-C1x ESI file installation. Select File\New Project: ctrlX I/O Engineering New Project Select ctrlX CORE I/O, enter name and location of project then click “OK”: ctrlX I/O Engineering New Project Template Selection A new project was created, right click on “ethercatmaster (EtherCAT Master)” then “Scan for Devices…”: ctrlX I/O Engineering Scan for Devices The SAFEX-C12 and amGard proNet are found. Click “Insert all newly scanned devices” then OK: Insert Scanned Devices The devices are added to the project: Scanned Devices Added to Project Expand SAFEX_C12 (SAFEX-C12) then right click on FSoE Connection_1\Plug Device…: Plug Device The Fortress interlock requires 4 bytes in/4 bytes out, select this data length then click “Plug Device”: Plug Device Data Length Selection The FSoE connection is added to the project: FSoE Connection Added to Project This step is required for the module used in this example. It may or may not be required for your module. Expand amGard_proNet (amGard proNet) then right click on Interlock_IO (Deactivated)\Plug Device.:   Add Standard Interlock I/O Select “Interlock Standard IO then click “Plug Device”: Interlock Standard I/O Plug Device Selection The control for the solenoid from the standard I/O has been added: Standard Interlock I/O Added to Project Double click on “ethercatmaster (EtherCAT Master)” then “Slave to slave” tab to add the FSoE connections between the SAFEX-C12 SAFETY controller and amGard proNet interlock: Slave to Slave Data Mapping First the SAFEX-C12 FSoE outputs to the amGard proNet interlock inputs will be added. On the “Source” side expand SAFEX_C12 [SAFEX-C12]\FSoE_Connection1 [FSoE Master Connection 4 Bytes In/4 Bytes out 0 bye safety parameter 620D] then select 0x1A00 FSoE SafetySlaveMessage 04 Bytes In [88 Bits]: SAFEX-C1x Source Data Selection On the “Destination” side expand amGard_proNet [amGard proNet]\Safety_Module [Safety Module] then select 0x1600 RxSPDU [88 bits] then click “Add connection”: amGard proNet Destination Data Selection The connection is added to the project: Slave to Slave Data Mapping Complete Now the amGard proNet interlock outputs to SAFEX-C12 FSoE inputs will be added. On the “Source” side expand amGard_proNet [amGard proNet]\Safety_Module [Safety Module] then select 0xA00 TxSPDU [88 bits]: amGard proNet Source Data Selection On the “Destination” side expand SAFEX_C12 [SAFEX-C12]\FSoE_Connection1 [FSoE Master Connection 4 Bytes In/4 Bytes out 0 bye safety parameter 620D] then select 0x1600 FSoE SafetyMasterMessage 04 Bytes Out [88 Bits] then click “Add connection”: SAFEX-C1x Destination Data Selection The connection is added to the project: Slave to Slave Data Mapping Complete The I/O configuration is completed and can be downloaded to the CORE. Click on the “Download” icon from the tool bar and ensure the project downloads successfully: ctrlX I/O Engineering Download ctrlX PLC Engineering Open ctrlX PLC Engineering from ctrlX WORKS: ctrlX WORKS Engineering Tools Select File\New Project: ctrlX PLC Engineering New Project Select ctrlX CORE hardware type, enter name and location of project then click “OK”: ctrlX PLC Engineering New Project Template Selection A new project was created, right click on “DataLayer_Realtime\Select realtime data\Selectively from ctrlX CORE…”: Read I/O Configuration Data from CORE Use the pull-down menu to Select Source: Control ethercat_master_instance_ethercatmaster, check the boxes for all devices then click “Applies all currently selected control data to the PLC project.” Click close: Source Selection The SAFEX-C12 and amGard proNet interlock devices are added to the PLC project: I/O Devices Added to PLC Project Here is an overview of the Fortress amGard proNet I/O from the documentation. Please see the Fortress website for the latest documentation and additional information: Fortress amGard proNet I/O The following PLC program was created only as a functional example for demonstration purposes of the communications. It is not written to meet any specific PL or SIL rating nor any specific risk assessment. Programming methods must be used to meet your specific application requirements: PLC I/O Variables Declaration and Program PLC I/O Variables Declaration and Program Online ctrlX SAFETY Engineering Open ctrlX SAFETY Engineering then select “Slave Device Editor” from the Main Menu: ctrlX SAFETY Engineering Slave Device Editor Click “Import Slave Device” icon: Slave Device Import Select Fortress ESI file, click “Open”: ESI File Selection Click amGard proNet checkbox, click “Import”: Fortress amGard proNet ESI File Import Click “OK” to close the Slave Device Editor and finish the import process: Close Slave Device Editor Library Loading If needed expand Master\ctrlX SAFETY in the Library window then drag and drop the control type you have in the workspace area: SAFEX-C1x Selection In this case a SAFEX-C12 has been added: SAFEX-C1x Added to Project Expand Slave Device\Fortress Interlocks\Network Interlocks then drag and drop an amGard proNet to the workspace area: Fortress amGard proNet added to project In the properties window for the amGard proNet select the Profile type using the pulldown menu: Fortress amGard proNet Profile Selection The Slave Address must match the address on the unit set with the DIP switches. Please see the Fortress website for the latest documentation and additional information on setting the FSoE Slave Address: Fortress amGard proNet Slave Address For this example the DIP switches were set to Slave Address 1. The Connection ID must match the Connection ID used in ctrlX I/O Engineering. In this example the Connection ID used was 1. The ECat Address must match the address assigned by the EtherCAT master in ctrlX I/O Engineering. In this example the ECat Address assigned was 1002. These values will be used in the properties along with changing the Name: Fortress amGard proNet Properties The Safety Module profile was added to the configuration and can now be used in the Functional Scheme: Fortress amGard proNet Profile Function Block Since the module used for this example is configured to use the standard controller for control of the solenoid. Programming can be added to monitor the bits. The following ctrlX SAFETY program was created only as a functional example for demonstration purposes of the communications. It is not written to meet any specific PL or SIL rating nor any specific risk assessment. Programming methods must be used to meet your specific application requirements: Fortress amGard proNet Profile Function Block Online ctrlX Example Projects The following example projects are included in the SAFEX-C1x - Fortress Example Projects.zip available for download below: ctrlX I/O Engineering ctrlX PLC Engineering ctrlX SAFETY Engineering Additional  Resources How-to All about ctrlX AUTOMATION Quick Start Guide ctrlX CORE Quick Start Guide Licensing Create safety PLC project with ctrlX SAFETY Engineering Set up a ctrlX CORE and PLC Programming Downloads ... View more