ABB FSO-21, User Manual

Page: 212 / 540

212 PROFIsafe
Note : The states of all FSO inputs and outputs are shown in the PROFIsafe
message. These states show also the states of SBC outputs and feedback inputs.

FSO module modes and states
When the FSO module is connected to a safety PLC via the PROFIsafe
communications bus, the FSO module can be in the following modes and states:
• Start-up mode
• Configuration mode
• Fail-safe mode
• RUN states:
• Operational
• Safe (User acknowledgement request)
• Safe (Module passivation)
• Safe (Module passivation & reintegration)
• Safe (Module passivation with a command).
The FSO module modes and states are described in the following two figures and
tables.
The first figure shows the modes, states and transitions during normal operation. The
second figure shows the modes, states and transitions when fatal errors in the FSO
module occur or when cycling power of the FSO module.
Note : If PROFIsafe is not configured, see the FSO states described in section FSO
states on page 60 in chapter Safety functions .
Note : If PROFIsafe is configured, the FSO module stays in the Start-up mode until it
has received valid F-Parameters from the safety PLC.
Intege
r16 6 Safe_speed_MSB The current motor speed value from the FSO
(MSB).
Intege
r16 7 Safe_speed_LSB The current motor speed value from the FSO
(LSB).
Intege
r16 8 Safe_position_MSB Safe position value (MSB).
Intege
r16 9 Safe_position_LSB Safe position value (LSB).
*)
The safety PLC must ignore the value of the reserved bits. This ensures the compatibility
with future versions of the PROFIsafe profile where the reserved bits may be used.
Type Octet Bit Name Description