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Programming manual SCU-series

HB-37500-820-10-12F-EN SCU Programming manual

Page 195 of 252

Status: 19.03.2021

- Signoidal speed profile

(S-shape)

The sinoidal speed profile shows the change of speed over the time, or rather, the course of speed
over the time.

Max. acceleration AM

Value of maximum acceleration within BX

S-smoothing time VZ

The smoothing time VZ means the period in which speed does not change linearily, or rather, the
period for acceleration change from a=0 or a=amax or vice versa.

Monitored limit curves at a sinoidal course of speed

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Summary of Contents for SCU Series

Page 1: ...Programming manual SCU series HB 37500 820 10 12F EN SCU Programming manual Page 1 of 252 Status 19 03 2021 Programming manual For the SCU series With SafePLC2 ...

Page 2: ...0 D 92637 Weiden GERMANY Phone 49 0 961 48244 0 E mail info bbh net Web www bbh products de Responsible for the compilation of the documents Gerhard Bauer Managing Director BBH Products This document is subject to German copyright Copying processing and any kind of use beyond the limits of copyright require the written consent of the respective author or creator INFORMATION Before programming the ...

Page 3: ...alid documents 16 2 6 General safety information 17 3 Requirements 18 3 1 SCU unit 18 3 2 Network connection 18 3 2 1 EtherCAT 18 3 2 1 1 EtherCAT data transfer 19 3 2 2 FSoE 19 3 2 3 FSoE and EtherCAT 20 4 Selecting and parameterizing the SCU via SafePLC 21 4 1 Terms 21 4 2 Installation 24 4 2 1 System requirements 24 4 2 2 Installation process 25 4 2 3 Hardlock 28 4 2 4 Uninstalling 28 4 2 5 Run...

Page 4: ... Control via document tabs 44 4 3 10 Plan types 46 4 3 10 1 Terminal Scheme 46 4 3 10 2 Wiring scheme 47 4 3 10 3 Functional scheme 48 4 3 10 3 1 Groups 48 4 3 10 4 Global Network 48 4 3 10 5 Local Network 48 4 3 11 Work surface 49 4 3 12 Library window 50 4 3 13 Properties window 51 4 3 13 1 Structure of the properties window 53 4 3 13 2 Extended Properties menu 54 4 3 13 3 Validation of properti...

Page 5: ...omponents 76 4 4 4 FSoE settings of the units the network options 78 4 4 5 Optional Fieldbus interface 78 4 4 6 Determining the inputs and the outputs of the units 81 4 5 Determining the functions 84 4 6 Embedding of existing Slaves from external companies 85 4 6 1 General information 85 4 6 2 Adjusting the Slaves 85 4 6 2 1 SDC LT i 85 4 6 2 2 EL1904 EL2904 AX5805 AX5806 Beckhoff 88 4 6 3 Embeddi...

Page 6: ... 106 4 6 12 5 Measurement plans 107 4 7 Configuration report 110 4 8 User management 114 4 9 Device interface 115 4 10 Export window 117 4 11 Networks 127 4 11 1 Master to Master SMMC 127 4 11 1 1 Description 127 4 11 1 2 Creation 127 4 11 1 3 Configuration 129 4 11 1 4 Use 131 4 11 2 Fieldbus 133 4 11 2 1 Description 133 4 11 2 2 Creation 133 4 11 2 3 Configuration 134 4 12 Fastchannel 139 4 12 1...

Page 7: ...erview of safety modules 176 4 13 5 3 Muting functions 213 4 13 5 4 Elements of the global network 221 4 13 5 5 Elements of the fieldbus network 222 4 13 5 6 Connections 223 4 13 5 7 Groups 224 4 13 5 7 1 Creating a group 225 4 13 5 7 2 Setting the group administration 227 4 13 5 7 3 Export Import of a function group 228 4 13 5 7 4 Group interface 228 5 Commissioning 230 5 1 Start up sequence 230 ...

Page 8: ...ing 237 5 6 5 2 Axis groups 238 5 7 Safety raleted verification 240 5 7 1 The validation process 240 6 Failure and troubleshooting 241 7 List of abbreviations 242 8 Appendix 244 8 1 CoE object list 244 8 2 Functional Output 246 8 3 Diagnostics Logbook 247 8 4 PLC processing 248 8 4 1 PLC commands 248 8 4 2 Resource assignments 249 8 4 3 PLC operand 251 ...

Page 9: ...e 16 40 Figure 17 Context menu sheet 45 Figure 18 View Terminal scheme 46 Figure 19 Select device window 46 Figure 20 View wiring scheme 47 Figure 21 Context menu of the work surfaces 49 Figure 22 Dragging an item from the library window 50 Figure 23 Properties window with context menu 51 Figure 24 Properties window with information about the currently selected property 52 Figure 25 strucutre Prop...

Page 10: ... window of the device 69 Figure 45 Confirmation button with missing setting red 70 Figure 46 Selection of an input element via the library 70 Figure 47 Inserting the input module 71 Figure 48 information window 72 Figure 49 example sketch 74 Figure 50 FSoE Plan 75 Figure 51 selection of Master 76 Figure 52 selection of Slaves 77 Figure 53 One sheet per unit 77 Figure 54 selection of units 78 Figur...

Page 11: ...locks on the work surface 101 Figure 81 Display of the logical state of inputs and outputs in the selected block 101 Figure 82 Range view in the device interface 103 Figure 83 Overview of the scroll bar for the main diagram 103 Figure 84 Scaling the diagram via the slide bars 104 Figure 85 Selecting an output for export 105 Figure 86 Fields containing device information for the configuration repor...

Page 12: ... global network 130 Figure 113 131 Figure 114 SMMC Terminal Out 131 Figure 115 SMMC Terminal In 132 Figure 116 properties window local network 133 Figure 117 view local network 133 Figure 118 activated non safe use 135 Figure 119 135 Figure 120 function block functional output message data 135 Figure 121 properties window functional output message data 135 Figure 122 functional output with 3 outpu...

Page 13: ... Figure 144 Properties window HiLo semiconductor 157 Figure 145 Properties window Highside semiconductor 158 Figure 146 Properties window Relay 159 Figure 147 Output as auxiliary outputs 160 Figure 148 Listing of the logic functions in the library 164 Figure 149 properties window AND block 165 Figure 150 properties window EXCLUSIVE OR block 165 Figure 151 properties window FLIP FLOP block 166 Figu...

Page 14: ...16 Figure 171 properties window of DEM function 218 Figure 172 properties window of EOS function 220 Figure 173 Library window Global network 221 Figure 174 Terminal Out block of SMMC 221 Figure 175 Terminal In block of SMMC 222 Figure 176 Library window Fieldbus network 222 Figure 177 Properties window of the connections 223 Figure 178 Properties window of Terminal out 224 Figure 179 Group blocke...

Page 15: ...nits The data sheets contain i a the download link for the complete documentation INFORMATION The documentations installation manual programming manual are freely available via the online download INFORMATION Programming software dongle hard lock programming cable etc must be ordered separately 2 3 Terms The term safe is used in accordance with or according to the following standards DIN EN ISO 13...

Page 16: ...th or severe injury if it is not avoided CAUTION Calls your attention to a dangerous situation that can cause slight to moderate injury if it is not avoided NOTICE Calls your attention to possible material damage and other important information 2 5 Valid documents The following documents must be read carefully and must be considered during installation Installation manual SCU HB 37500 810 10 xxF E...

Page 17: ...the programming can cause malfunctions Malfunctions can cause unexpected starts of the complete system WARNING Entries and exits for standard functions or the digital and analogue data transmitted by communication units must not be used for safety related applications Data errors can cause malfunctions which can cause unexpected starts of the system NOTICE All work concerning electrical installati...

Page 18: ...ween the EtherCAT Master and every participant and as a rule running serially from participant to participant Via these connections Ethernet Frames are sent Every network participant must first read the received data filter the data addressed to it and insert the exit data into the Frame Having passed all Slaves the Frame is sent back to the EtherCAT Master As thus every participant can influence ...

Page 19: ...ser data are compiled into data packages and are supplemented with an additionally transferred checksum The transfer is carried out every 1ms Furthermore the transfer is monitored via timer Watchdog which is checked in every network participant Thus any interruption of the data transfer can be safely recognized The checksum is calculated with a CRC 16 16 Bit Cyclic Redundancy Check and allows to r...

Page 20: ...e of the transfer is fixed in the configuration of the EtherCAT Masters As a rule it should be adjusted many times shorter than the cycle time of the FSoE master to grant the update of the data within the Watchdog control time of the FSoE Master The SCU FSoE Master starts the safe data transfer via FSoE receives from the Slave groups e g SIO SDU SSB the data from inputs and evaluates these data Af...

Page 21: ...are constructed in a way that permits you in principle to start with any chapter Experiences in working with a mouse with dialogue windows selection menus etc are of advantage Furthermore you should be acquainted with the basic principles of a programmable logic controller 4 1 Terms SPC The term SPC means S tore Programmed Control The term SPC is exclusively used in the SCU system SafePLC2 Program...

Page 22: ...hical function of a function block An attribute consists of an identifier and a value Routes Horizontal and vertical connections of logical connections in a function block diagram to avoid intersections with function blocks and to connect logical connections with identical connectors in an early phase according to the distance and according to the target function block Signal list Signal lines to ...

Page 23: ...logic Kinds of function blocks More exact identification of a function block within a group e g Emergency Stop Message window Multiline output window embedded in a Windows toolbar The message window displays errors warnings and information from the program to the user The message window can be switched on or off Configuration Configuration is the general term for a monitoring program and the conne...

Page 24: ...d system requirements Processor Intel Core i3 or AMD Quad Core 3 0 GHz or higher Memory 4 GB or more The program uses Net framework 3 5 and 4 0 but the installation wizard also installs the program if the files are missing For Net installation either local files in the component folder or files from the internet can be used If no internet connection is possible the program is installed but the use...

Page 25: ...tallation language English or Deutsch German Information This window only appears during the first installation For the next time the language is stored and the first window to appear is the window with the license agreement In the window of the installation language only the language for the installation is set not the language of the user interface of SafePLC2 After selecting the language click ...

Page 26: ...licked on I Agree a window appears where you can select the target folder where the program shall be installed When you click on Next a window appears where you can select the start folder for quick access to the BBH SafePLC2 program It is also possible to create a quick access in the start menu If you choose this possibility a symbol to start the program appears on the computer s desktop After yo...

Page 27: ... for Windows updates during the installation of the USB drivers After the installation is completed the following window appears By placing the tick mark in the box you can choose if the program shall be started immediately or later If the tick mark is placed after you have clicked on Finish the dialogue window closes after you have clicked on it and the program starts During installation the desk...

Page 28: ...ardlock to the USB port all functions are available again 4 2 4 Uninstalling To uninstall SafePLC2 you can either use the quick access in the start menu or the function Uninstall a program on the Windows Control Panel If you want to reinstall the program and at the same time change the installation language you must delete the registration key Installation language under the branching HKEY_CURRENT...

Page 29: ...indow of SafePLC2 Via the window function surface the window s size can be adapted and the window can be minimized maximized or closed The window is divided in the following elements 1 Title bar with tool bar for quick access 2 Start menu 3 Ribbon menu tabs with groups 4 Browser 5 Control via document tabs with plant tabs top and sheet tabs bottom 6 Work surface 7 Library window 8 Properties windo...

Page 30: ...set layout in the register tab Window Note that this command deletes the user layout The deleted user layout cannot be restored Figure 5 window tab layout reset 4 3 2 2 Docking By docking the application s layout can be personalized Every section except Plans and Sheets can be pulled out of the application window and can be dropped in a different section or in a register group Figure 6 Personalize...

Page 31: ... 2021 Figure 7 Docking 4 3 2 3 Automatic hide Every section containing the symbol for automatic hide can be transferred to the background automatically The user can switch off automatic hide and can make the section visible again by again clicking on the symbol for automatic hide Figure 8 Automatic hide ...

Page 32: ...ick access are Save via keyboard with über die Tastatur mit Ctrl S Cancel Strg Z and Repeat Strg Y The application title consists of the current document name the currently registered user and the application name with an asterik which indicates that at least one change has been effected that has not been saved By clicking on the application menu the context menu of the application window can be c...

Page 33: ...ments used last The last document is shown first 1 New Creates a new empty project When a new project is opened the program asks the user if the changes in the old document shall be saved 2 Open Opens either an existing SafePLC2 document or a document with a complete library If a new document is opened the program asks the user if the changes in the old document shall be saved 3 Save Saves the doc...

Page 34: ...0 Print 6 Export library Export of a SafePLC2 library to a splib file 7 Import Import of a SafePLC2 libray from a pak file 8 Change user With this command a user can log in or log out is not indicated separately 9 user s service settings Here users can be changed 10 Settings In the Settings window application settings can be changed cf chapter 4 3 11 Settings 11 Help Opens the help window of SafeP...

Page 35: ... right hand corner If the menu ribbon was minimized the user must click on the corresponding tab This tab opens automatically and closes again if it is no longer clicked on The user can also call the tabs by pressing the Alt button and the QuickInfo button shown on the menu ribbon Figure 11 menu of the ribbon quick info buttons Afterwards again QuickInfo buttons appear beside every function in the...

Page 36: ...function is enabled the user can pan the range either with the left mouse button or with the middle mouse button 3 Work surface Canvas The switch button Auto arrange Arrange automatically serves to switch within the mode for automatic arrangement If the function is enabled elements are arranged automatically Not all plans support automatic arrangement The Re arrange button serves to rearrange elem...

Page 37: ...leased If a document is blocked the user cannot edit the document However the user can select elements and cange between plans or sheets 4 3 5 2 Windows Via the corresponding switch button the user can show or hide windows The Browser switch button serves to switch on or off the user interface The Library switch button serves to switch on or off the library window on the user interface The Propert...

Page 38: ...switch button serves to display the window for document administration Figure 13 Document properties The window contains the document tabs and the device tabs The document tab consists of Developer s name name of the responsible programmer developer Comment Via this input field descriptive text can be entered For example this input field serves to enter program or parameter changes during the oper...

Page 39: ...ion For further information concerning the edited fields cf chapter 6 Configuration report Connection settings For further information cf chapter 4 7 7 1 Program transfer to device Report settings Select the format PDF or Excel for the report to be produced Figure 14 Window Document properties Device informations With the switch button Reset layout the application s layout is rest to default ...

Page 40: ...ility of the work surface can be granted by hiding the desired element types or connection types It is possible to select from two filter categories elements and connection Every group contains several filters If the function is disabled the filter elements or the connection of a certain filter are no longer displayed on the work surface Figure 15 Figure 16 ...

Page 41: ...e either by pressing the Shift button adding a block to the selection or via the Ctrl button removing of a block from the selection Cursor above the block or the connection emphasis of the block or of the connection Shift button left mouse button on a function block adds a block to the selection Ctrl left mouse button on a function block removes a block from the selection Delete button deletes the...

Page 42: ...ndo Ctrl A Select all Ctrl Del Delete Ctrl C Copy selected elements Ctrl X Cut selected elements Ctrl V Paste selected elements Esc Cancel Backspace key Remove previous connection point while drawing a connection Ctrl F Calling of the global search Ctrl F Display of the search elements only if message window is active Shift key F11 Creation of a new sheet Ctrl tab key Shifting between plans F1 Dis...

Page 43: ...er Every node in the browser can be faded in or hidden The user can rename every node either by a double click on the node or via the context menu Several selections can be made by holding the Ctrl button or the Shift button The selection in the browser is adjusted to the selection on the work surface If a function plan has been selected and if inputs outputs or sensor elements are inserted in the...

Page 44: ... navigating via the document tab the user can switch between plans and sheets Plan registers are situated at the top of the window and sheets are situated at the bottom of the window Please observe that by default only the register tabs the terminal scheme the wiring scheme and the functional scheme are visible The other tabs networks groups SD bus groups are displayed only under particular circum...

Page 45: ...ew sheet to the current plan Move Backward Shift to the left shifts the current sheet one position to the left Move Forward Shift to the right shifts the current sheet one position tot he right Delete deletes the current sheet This command is not available if only one sheet exists Rename renames the current sheet Change permissions shows the permissions dialog ...

Page 46: ...scheme shows a simplified schema of selected devices and peripheral devices of the SCU system Figure 18 View Terminal scheme Terminal scheme If function blocks are inserted into the connetion diagram the elements are automatically coupled with the device If several devices are indicated in the connection diagram the user must add peripheral devices to the corresponding device Otherwise the dialogu...

Page 47: ...d in some cases it may happen that connections are displayed unfavourably However this does not influence the functioning If the corresponding element is moved the connection wiring is redrawn and possibly appears in a clearer way Figure 20 View wiring scheme 24 V This line shows a permanent tension of 24 V DC The SCU module requires a 24 V DC power supply GND This line shows the permanently insta...

Page 48: ...ne flag setting block input terminal Cf the chapter Connections Tip Use the comment field in the window Eigenschaften Properties to enter the connecting points This information simplifies the use of additional connecting point outputs This contributes to to a clear arrangement 4 3 10 3 1 Groups Gruppen contains one sheet per group for every group block from the function plan After tha group block ...

Page 49: ... scrolling with the mouse wheel while pressing the Ctrl key Using the mouse wheel and pressing the Shift key the user can scroll horizontally through the work surface Every work surface saves its own zoom factor Figure 21 Context menu of the work surfaces With Select all all elements and connections or a work surface are selected With Paste all elements and connections from the clipboard are inser...

Page 50: ...down folders Every folder contains one element or several elements Folders and elements are filtered in the browser or in the work surface With the buttons Large icons and Small icons situated at the top of the window you can switch between the view sizes of the elements To insert an element into a document the user must drag the element from the window Library to the work surface and drop it ther...

Page 51: ...ment By default the properties are grouped in categories To reverse this setting the user must click on the Uncategorized button With Search element the desired property can be found fast and easily If the property value is set to the default value a white symbol appears beside the name of the property If a value is set that does not correspond to the default value the symbol is black After clicki...

Page 52: ... selected property In the window Properties you can show the properties of a selected object and change them In this section different editing fields are displayed depending on the requirements These editing fields include input fields drop down lists and links to individual software dialogues You open the window Properties by clicking on the Properties button in the Window tab of the menu ribbon ...

Page 53: ...on fields to change the order of the property list According to categories lists all properties and property values fort he selected object according to the category To reduce the number of properties you can hide categories Categories are displayed in alphabetical order 3 Search field to filter properties according to the entered text 4 Button to open the pop up menu Extended Properties 5 The des...

Page 54: ... With Erweiterte Optionen Extended Options the user can execute property specific commands Figure 26 Property window with extended Options Reset value The user can reset the selected property to a default value Export property The user can export the selected property to any element superior in the hierarchy Figure 27 Dialogue Export property ...

Page 55: ...rted property on a Master device 4 3 13 3 Validation of properties 4 3 13 3 1 Input validation The input validation controls if an entered value is situated within the section specified by the properties and if this value contains invalid characters If the value is invalid a red rectangle is drawn around the editor Figure 29 Value of the property Number of Input Connectors is not within the range ...

Page 56: ...e of a value validation After the property maximum speed has been changed in 5 4 3 13 3 3 Adaption With the special validation function Adaption a property value can be evaluated If the value does not comply with the function s restrictions the function updates the value and a message window appears giving the reason why the value was invalid Figure 31 Example of an adaption After the property val...

Page 57: ...unction block data within their respective contexts Figure 32 view message window 4 3 14 1 Quickly jump to an element By clicking on the coloured block IDs in the message window it is possilbe to jump to an element The working surface scrolls to the desired position and the element is visible 4 3 14 2 Search field Use Ctrl F to open the search field Note that this key combination only functions if...

Page 58: ...the search method 4 3 14 3 Context menu in the message window Figure 34 message window with context menu Search Panel shows or hides the search field Copy copies the selected text in the clipboard The text is available vor inserting Select all selects the whole text Clear all deletes the whole text 4 3 15 Global search Figure 35 Global search Global Search is an important search instrument The tex...

Page 59: ...n To show the settings click on Settings Figure 36 Define search settings Beside the familiar settings e g Match case or Match whole word the global search can also search for ID name or comment Additonally it can be fixed from which plans results shall be displayed 4 3 15 2 Quickly jump to an element If you click on the block ID the program immediately jumps to this block ...

Page 60: ...op bottom and the grid on the print can be switched on or off Menu group Zoom Zoom In enlarges the content in the preview window 10 Zoom Out reduces the content in the preview windowster 10 Actaul size sets the size of the content at 100 Page Width shows the page in full width Whole Page shows the whole page in the preview window Two Pages shows two pages simultaneously Menu group Scheme selection...

Page 61: ...he printer from the list showing the operational printers 4 Set the number of copies and pages 5 Select the properties for page configuration e g page size orientation and margins You can also switch on or off the grid on the print 6 In Page Setup you can select the page size the orientation and the margins You can also switch on or off the grid on the print For further printer properties click on...

Page 62: ...ram General information Language selection Theme Settings and enabling of the following functionalities saving of the compilation result in a log file saving of the configuration in a binary file Invalid configured elements are highlighted in red Auto Recovery Information save every x minutes Figure 38 User Path tab in the Settings user window Output to the protocol file and to store the configura...

Page 63: ... of function With library spl2l Very large file size program can be opened with same or newer SafePLC regardless of range of function NOTICE Here all necessary libraries are saved Thus functional uniformity is given although possibly in a new version the function has been changed Storage location of the new library Setting the storage location of the new library file splib Device group of the new ...

Page 64: ...th is indicated on the tab User Paths Restarting SafePLC2 The crash enables the user to store to delete or to skip the autorecovery to make the selection at the next start of SafePLC2 If SafePLC2 is closed in the normal way no data are saved Figure 40 Dialog box Auto recovery Open File This allows to continue the process with the selected recovery file At the next restart of SafePLC2 other stored ...

Page 65: ...User Rights Dialog In the window User Rights dialog the adminstrator can change the user rights for every object in the plan The program works with three specific rights that are valid for each object 1 Read Permisson The properties of an object can be read 2 Write Permission The properties of an object can be changed 3 Linking Permission An object can be linked to another object This window is on...

Page 66: ...If the default user rights are not cancelled every user has default rights he or she assumes from the user group 2 List of elements and of rights of the current selected user NOTICE You can change the rights for every block or every group separately by clicking the right mouse button on the block or on the group and selecting Berechtigung ändern Change Right 4 3 20 2 Tab Gruppen Groups With the ta...

Page 67: ... it can cause problems if logic diagrams are saved in directories with restricted rights 4 4 1 General workflow Drag a symbol from the library or from menu option in the work surface to insert it into the selected plan or diagram If this is possible the element automatically adds a block in the work surface The proposed working steps correspond to the reflections that should be made when planning ...

Page 68: ...licking on the appropriate module inter alia the description window shows the following files programming interface digital I O outputs inputs etc The desired module can be added with Drag Drop Figure 43 Description of the device To continue the process a device must be selected Adding a Slave device If a Master device has been added in the connection diagram a Slave device must be selected in the...

Page 69: ...select among16 ms 24 ms and 32 ms Figure 44 Property window of the device 2 Fixing the peripheral devices in the connection dagram Under Terminal scheme a simplified scheme with selected devices encoders inputs and outputs of the SCU system is shown The necessary modules are linked automatically after they have been inserted The following process is recommended 1 Select the corresponding type of p...

Page 70: ...input and of peripheral modules confirmation button door control Emergency Shut Off light barrier etc is made via the library Input Figure 46 Selection of an input element via the library Add the necessary output modules semiconductor relay etc in the same way The circuit diagram shows the connections between sensors and actuators with the indicated connectors After the necessary peripheral device...

Page 71: ...an be dragged and into the function plan and can be inserted Figure 47 Inserting the input module 4 Definition of monitoring functions and logic modules in the function plan The function plan shows the logic modules and their interconnections Programming of the function plan by Logic elements and processing elements Timers Flipflops releasing elements and terminal blocks Monitoring modules for dri...

Page 72: ... numbers are correctly distributed via the cross connections Creation of a transferable OP programs for the module 6 Program transfer to the safety module by clicking on the device interface After the dialogue window of the device interface has been opened the software automatically compiles the program The program transmission process consists of Setting the COM output or setting of the IP addres...

Page 73: ...s Master 0 Slave x consecutively numbered o Connection ID freely selectable unambiguous status number in the protocol determines the communication sequence After the network structure and its parameters have been determined the network can be programmed via SafePLC2 To program the network the programming manual SafePLC2 must be used or considered Below only those steps supplementary to the SafePLC...

Page 74: ...xle and position switches digital switches via digital input Furthermore the gate may only be released if the central entrance boom is closed external data via EtherCAT from LT i Slave The Slaves in the halls enable the worker to request the opening of the door and of course to reques a stop via emergency stop Partially the modules are integrated in the switch cabinets situated in the different ha...

Page 75: ...s 5 I 4 O FSoE Adr 1 FSoE ID 1 FSoE Slave SIO 11 6 I 2 O FSoE Adr 2 FSoE ID 2 EtherCAT To the central computer FSoE GATE monitoring FSoE Slave SIO 11 3 I 2 O FSoE Adr 3 FSoE ID 3 Slave in switch cabinet hall 15 neighbouring hall Automatic GATE Access clear 1 switch 2 Emergency Stop Barrier release Slave in switch cabinet 1 hall 13 automatic GATE control Gate position simple SINCOS Start button lig...

Page 76: ... the data sheet Local network EtherCAT EtherCAT to the central computer Serial number 4 back of units After the insert of the FSoE Master units automatically the selection folder for Slave units FSoE and EtherCAT is shown Before the folder is hidden Afterwards the Slave units for axle monitoring and IOs can be added In the same window also the inputs and the outputs of the unit can be selected Her...

Page 77: ... predefined and are available at the installation of the SafePLC2 Other units can be inserted by the user see below In the wiring plan a proper sheet is created for each incorporated unit Figure 53 One sheet per unit According to the example the following Slave units are inserted SDU automatic gate switch cabinet 1 hall 13 unit byBBH SIO back of gate switch cabinet 4 hall 13 unit by BBH SIO automa...

Page 78: ... FSoE settings of the units the network options The FSoE Master is automatically set to FSoE and has the preset address 0 cannot be changed 4 4 5 Optional Fieldbus interface With the SCU x EC NM variants an additional Fieldbus interface can be configured 1 First the setting Local Network must be selected in the unit Figure 55 network selection ...

Page 79: ... In case of inserted Slaves the FSoE properties must can be set in the FSoE section in the window Properties For this purpose the respective Slave unit must be selected clicked on again with the mouse The following data can be set Slave address number To determine the Slave ranking in the FSoE network Watchdog time im ms To determine the max permissible delay per unit Connection ID ID To determine...

Page 80: ...2 Status 19 03 2021 The following properties apply to the units in our example SDU SIO1 SIO2 SDC Comment Module address 1 2 3 4 as fixed in plan Cycle timet 8ms 8 ms 8 ms 8ms as per Master Master cycle FSoE Slave addr and ID 1 2 3 4 as fixed n plan FSoE Watchdog 200 ms 200 ms 200 ms 200 ms ...

Page 81: ...dragging it into the main window an input element or an output element from Library upper right window is incorporated Thereby via the query window it is quaried to which unit this element shall be connected automatically Figure 59 assignment to unit The connection from the element to the input the output of the units in the wiring plan takes place automatically NOTICE This assignment by SafePLC2 ...

Page 82: ...utputs are set Master with Start button and Help button Emergency Stop button Reset 2 outputs Figure 60 IO elemente inserted Master The assignment must be made separatel for each unit incl all Slaves here Slave1 Our example Slave 1 with Emergency Stop Reset Start light curtain 4 outputs relays semiconductors for 2 switch cabinets with one signal lamp each Figure 61 IO elements inserted Slave1 ...

Page 83: ...must be given For ths purpose an encoder version can be selected from the library in the Encoder folder Our example sine cosine not connected The connections of the elements are also adopted and displayed in the terminal scheme Figure 62 Terminal scheme with elements NOTICE Units marked in red still have elements that have not been used yet The elements marked in red in the right Library window ha...

Page 84: ...be entered according to the SafePLC programming manual For entering the functions all inputs and outputs of all units in the window Library Window left can be selected The safety functions and the logic functions can be taken from the window Library top right The options of the selected element can be determined in the property window bottom right Figure 63 Safetyfunctions After all functions have...

Page 85: ...units are drawn from the Library in the window Terminal Scheme Together with the corresponding picture the selected units are shown in Local Network and in the Terminal Scheme SDC EL1904 EL2904 AX5805 AX5806 4 6 2 Adjusting the Slaves The Slave units are selected and integrated according to the chapter Selecting the units and network components 4 6 2 1 SDC LT i The wiring scheme shows the SDC Slav...

Page 86: ...eld Axles Afterwards the Profiles of the different axes can be selected in the field Profiles The profiles to be selected can be imported before For every axle x individual parameters can be determined FSoE addresses via the field Slave Address x Connection ID via the field Connection ID x CRC via the field SRA CRC x The Watchdog time in the FSoE network can only be determined equally for all axes...

Page 87: ...roperties The properties of the selected axis can be changed via the window Properties bottom right In doing so the settings must be set according to the encoder s data sheet Examples of settings type scaling direction transmission position limits and speed limits switch off thresholds acceleration etc 3 After all encoder parameters and all network parameters have been set the Slave unit SDC is in...

Page 88: ...units are shown in the Windows Local Network and Terminal Scheme Figure 69 EL und AX In the terminal schemen In the wiring plan one sheet per inserted unit is created According to the inserted Slave unit the connection scheme offers contact points for inputs or outputs Figure 70 IO Slave units EL x904 and Axle Slave units AX580x in the wiring scheme In the wiring scheme the inputs and the outputs ...

Page 89: ...e selceted in the window Properties Example of properties modul address according to network map cycle time longest period of all units in the network unit address according to network plan Slave address according to network plan indicates the order in the network Watchdog time max telegram duration per unit connction ID ID for the sequence of the messages etc Figure 72 Properties of the IO Slave ...

Page 90: ...e parameterised via Properties It directly evaluates the information coming from the inverter The properties of the axis Slave units are identical and are more manageable because the connected axis is selected automatically Figure 73 Properties of the axle Slave units AX 580x After the Slave units have been parametrised they are available in the network ...

Page 91: ...ry These resources can be released again bydeleting the corresponding function blocks To delete a block select the block from the browser or from the work surface Click on it with the right mouse button and select Delete or press Del 4 6 5 Inserting output elements The output elements create the digital connection between one or more external circuit in the system This element of the logic plan ha...

Page 92: ...dules If necessary one module output can be connected with the inputs of other modules but one module input may only be assigned once Furthermore for technical reasons certain module groups cannot be interconnected In case of an invalid connection the programme displays a corresponding warning Only rectangular control points can be created i e the connecting lines always run horizontally or vertic...

Page 93: ...so supperted User defined connecting lines remain unchanged until the shifting of a connected function block forces the recalculation oft he control points cf the button Grouping Add segment To add a segment to the connecting line press the right mouse button ánd select Add segment Figure 74 Add segment To add a node double click on the connecting lie or press the right mous button and select Sele...

Page 94: ...ying open connections SafePLC2 ensures that all connections between function blocks can be opened Connectors that are not connected are recognised as errors Verifying of non referenced Anschluss ein Connection on and Anschluss aus Connection off SafePLC2 ensures that all terminal blocks entered in the logic plan are used Open references are recognised as errors Verifying the value ranges of the mo...

Page 95: ...g function block can be easily identified in case of an error message CRC backup After a successful compiler accomplishment a total of three CRC signatures is created CRC for equipment configuration signature for the programme and for the parameter data Parameter CRC signature for parameter data Program CRC signature for the program NOTICE If an existing SafePLC2 program is opened with a later ver...

Page 96: ...cument tab the user can add the developer s and enter a comment The tab Master Device consists of device information and connection settings This menu can also be called via the button Document Properties in the menu ribbon menu Figure 76 More detailed current transmission statuses or errors that may have occurred are displayed in the message window Due to restricted space this window is not enabl...

Page 97: ...onfigured Ethernet The IP address must be configured PC sided separation After 8 s at the latest the system detects that the connection no longer exists and cannot be restored automatically if the connection shall be re established SCU sided separation After 10 s at the latest the system detects that the connection no longer exists However the connection is re established automatically if the phys...

Page 98: ... The diagnosis window consists of the following sheets Process image Shows the statuses of all addresses of the input image and the output image in the SCU module The CRC of the active configuration is displayed together with the status of the internal transmission meter The meter reading increases with every transmission to the SCU module and can serve as reference for documentation purposes Syst...

Page 99: ... the input jumpers in the encoder interface If one of the stress values is 0 the encoder is defective or not connected The value of the input jumper must be interpreted differently With incremental encoders 0 jumper OK 1 error With SSI encoders 0 receiver operation 1 SSI encoder operation Alarm mute displays the active functions for alarm mute Function block allows the selective monitoring of prev...

Page 100: ...in the work surface When doing a diagnosis in the work surface the current input statuses and the current output statuses are shown in the plan according to their logic state 0 red line or 1 yellow line The logic state is indicated in the work surface beside the connection ID When the tab Function Block in the diagnosis window is left and another diagnosis type is opened i e another tab e g Encode...

Page 101: ...he symbol address the logic value and the description of every addedd block If a the diagnosis of a function block is carried out the current input statuses and the current output statuses are shown in the selected block according to their logic status 0 or 1 Figure 81 Display of the logical state of inputs and outputs in the selected block A block can be removed from the monitoring list by markin...

Page 102: ...iles can be diagnosed if the information in the function chart matches with the functions in the actively connected SCU system Information The integrated trouble shooting function requires an intensive data transfer between the SCU system and SafePLC2 This can cause a temporary delay in the display of data Thus recent status changes at module outputsmay not be detected ATTENTION If the SCU module ...

Page 103: ... in the device interface 1 Overview scroll bar 2 Main diagram window 3 Signal output window All available graphic functions read the required process data ONLINE from the active SCU via the communication station for time based display Current values are displayed on the right side of the range monitoring move to the left during the recording and then disappear from the left edge of the screen Even...

Page 104: ...or the measuring length configured in the encoder The Y values refer to the selected plan The plan cannot be changed during a current measuring Device selection of the device Axis If several identical functions are used these can be selected and can be shown separately in this selection The values of these measuring data are shown for the relevant cursor positions By scaling the displayed diagram ...

Page 105: ... the file the range data are written as ASCII values The índividual values have XML tags so that the recording can be used for documentation purposes or for the analysis connected to encoder configuration The data can also be shown with the Microsoft Explorer or with another XML viewer Load With this control surface a measurement saved under the range function of an XML file can be loaded in the r...

Page 106: ...e stored in the cache The recoring memory is aprox 15 minutes Measurement automatically stops when the cache is full The preceding measurement is automatically saved as ScopeTempData ScpXml During position oriented measurement the configured measuring range of the set axis is shown on the X axis NOTICE When the plan is changed recorded data from the preceding measurements get lost When the window ...

Page 107: ...ng Acceleration behaviour and speed behaviour of the drive Detection of thresholds Output acceleration in r min s in red Position A in r in green Position B in r in yellow Rotational speed in rpm in blue Selectable SCU output in grey Two cursor values positionable Information Optionally the assigned colours can be adjusted Velocity encoder Function Recording of the current velocity of system A and...

Page 108: ...ains below the limit speed the system is not switched off Output Acceleration in rpm s in red Lower limit speed in rpm in green Upper limit speed in rpm in yellow Current speed in rpm in blue Selectable SCU output in grey Two cursor values positionable Information Optionally the assigned colours can be adjusted SEL time based Function Recording of process data for velocity and acceleration or via ...

Page 109: ...yellow Function status in blue Selectable SCU output in grey Two cursor values positionable The limit indicates the speed limit SCA filter Function Monitoring of an adjustable position range with assigned minimum and maximum values and maximum speed velocity Recording of process data for the velocity via the period of time Visualisation oft he current position in the form of a parallel cursor Appl...

Page 110: ... equipment configuration This function is only available with an active connection to an SMX system This function can also be enabled by selecting the field Validierungsbericht erstellen Create Validation Report or via the symbol in the toolbar In the window Document Properties information and description can be enteredd or edited Figure 86 Fields containing device information for the configuratio...

Page 111: ... only after the logic plan has been crated The created file pdf has the same name and is situated in the same list as the corresponding logic plan Step Editing the report s header In the header the ollowing fields can be edited End customer customer s name Installation name project name Installation site project site Installation name project manager Configuration configuration name Creation date ...

Page 112: ...ber Plant fax fax number Customer operator of the equipment Customer phone phone number Customer fax fax number Suppliert manufacturer of the device the equipment Supplier phone phone number Supplier fax no fax number Manufacturer commisioning of the equipment Manufacturer phone phone number Manufacturer fax Fax number Version document version AKZ plant identification ...

Page 113: ...tion of extended devices Transmission meter This field can also be edited Number of axles Total number of axles Functional test To create the validation report the correct programme data and the correct parameter data must be loaded The test engineer must revalidate all configured data in the printed report by verifying the programmed functions on the equipment the device All set limit values of t...

Page 114: ...nction blocks are grey disnabled Furthermore in function blocks that have already been added the parameters can t be changed any more For unlocking a password is necessary In this case the configured values and the functional modules of a disabled diagram can be displayed but they cannot be modified This function ensures that unauthorized persons can t modify the logic diagram NOTICE Logic diagram...

Page 115: ...e Stop Stops the programme sequence in the Connected Verify Compares the application of the SafePLC to that on the SCU system by means of the CRC Connection Settings Opens the document properties with the connection settings To create a connection with an SCU system the transmission parameters must be set accordingly Connection Sends or reads the current configuration to into the file This functio...

Page 116: ... Scope Dies ermöglicht eine Onlinediagnose verschiedener Prozessdaten Block Diagnostics With this button selected elements in the device diagnostics window can be added the the Function Block tab This tab is only activated if the device window is displayed Close Closes the device interface Status bar of the device interface 1 Compilation display a Compiled Current file has been compiled b Not comp...

Page 117: ...tatus a Stop Stops the transmitted programme b Carry out Starts the transmitted programme c Initialise Programme initialises the device d None No connected device only status Disconnected 6 Alarm status only in case of an alarm a Alarm case of alarm with number of errors 7 Connected COM port NOTICE The diagnosis function is discribed in the chapter Diagnostics For further information about the ran...

Page 118: ...ces for parameter export appears Figure 90 The following menus are available File Edit View Connection and Validation Commands in the Datei File Figure 91 parameter export menu file Save Saves export parameters Save as Indicates how data are exported They can be exported as single files or as project containers PMT package files The project container can be protected by a password To protect the f...

Page 119: ... 10 12F EN SCU Programming manual Page 119 of 252 Status 19 03 2021 Figure 92 Export option window Exit Close the parameter export window Commands in the Edit menu The commands in this menu are intended for work in the Parameters tab Figure 93 ...

Page 120: ...ted value Value change is also achieved by double clicking on the value with the left mouse button Select All Selects all parameters in the Parameter tab for a selected element e g encoder Activate Selected Enables the selected parameters sets in the Parameter tab Activate All Enables all parameters sets for a selected element e g encoder Activate Global Enables all parameters sets for all element...

Page 121: ... the values the Enter password dialog box appears Unblock Values Unblocks the value that has been blocked before by the Sperren Block command You are not asked for a password because in this environment you are the administrator who has set the password Commands in the View menu Figure 97 parameter export menu view Languages Changes the language for the user surface and the names of the parameters...

Page 122: ... the SCU is connected or not Figure 99 Surface of disconnected SCU Figure 100 Surface if SCU is connected and runs Settings Opens the window for the connection window To establish a connection in an SCU system the transition parameters must be set accordingly Connect Starts the connection to the SCU system Disconnect Disconnects Trennt die aktive Verbindung Run Starts the programme sequence in the...

Page 123: ...ving of parameters Generate report creates a PDF file or an Excel file of the current SCU configuration for the connected device The text file lists the parameters of the configured modules and of the IL program The print must be approved and released within the TÜV certification and according to the necessary guidelines These functions can also be activated in the control surface by selecting the...

Page 124: ...nected mode Stop Stops the program sequence in the Connected mode Settings opens the window for the connection settings To establish a connection to an SCU system the transmission parameters must be set accordingly Create export creates an export Validate and save validates and saves parameters Create report creates a PDF file or an Excel file of the connected device The text file lists the parame...

Page 125: ...he position chart For further information about the PRF function c f chapters 10 3 3 7 and TD 37350 820 11 xxF PRF description of the application Send SMF matrix Safe Matrix Function transmits position data of the coordinate matrix For further information about the SMF function cf TD 37350 820 11 xxF SMF Überwachungsfunktion SMF TD 37350 820 22 xxF SMF control function SafePMT Another instrument f...

Page 126: ...his information with the exported parameters These boxes can also be blocked Blocked boxes cannot be edited after having been exported to and opened in another program Figure 106 project tab The Parameters tab All parameters and their values can be shown After the parameters have been activated they can be edited To edit the parameters use the command in the Edit menu or the mouse buttons ...

Page 127: ... Global Network and confirm with OK The second Master is added and the tab Global Network appears After an SMMC network with at least 2 Master devices has been created the window does not appear any more when the next Master device with SMMC support is added and the device is automatically added to the global network up to 4 devices If you want to replace a Master device by another device you must...

Page 128: ...Programming manual SCU series HB 37500 820 10 12F EN SCU Programming manual Page 128 of 252 Status 19 03 2021 Figure 108 View global network SMMC ...

Page 129: ...tus 19 03 2021 4 11 1 3 Configuration Joint configuration If the user clicks on the SMMC line in the global network Figure 109 global network SMMC line or if he selects SMMC in the browser Figure 110 The SMMC properties in the properties window The SMMC properties appear in the properties window ...

Page 130: ... entered SMMC Master adress This is the address of the device in the SMMC network The SMMC Master device has the address 0 The ranking in the plan and the Master address are interconnected The first device from top to bottom is the Master and has the addres 0 The second device has the address 1 the third device has the address 2 and the last device has the address 3 If the user changes the ranking...

Page 131: ...1 4 Use Every device can write 16 bit as output on SMMC By the connection with SMMC these bits are defined as Terminal off SMMC Terminal Out Output connection Every device can write 16 bit as output on SMMC By the connection to SMMC these bits are defined as SMMC Terminal Out SMMC output connection Figure 114 SMMC Terminal Out ...

Page 132: ...t group SMMC ATermianl Out connection are available in the library as elements that can be used individually for every Master for input configuration in the function chart Afterwards an instance can be generated as SMMC Terminal In connection This instance can be used as bridge in the function plans of other modules The connection behaves like a normal output with the exception that the correspond...

Page 133: ...ks PROFINET currently only safe data EtherCAT currently only safe data TCP IP Safe networks PROFISAFE FSoE Slave 4 11 2 2 Creation If the device supports fieldbus a feldbus field is shown in the property window By marking the corresponding box the fieldbus can be switched on or off Figure 116 properties window local network If a fiedlbus is enabled for a device a network line is created for this p...

Page 134: ...roperties of this network the user can either click on the fieldbus line or he can select the fieldbus in the browser via the properties window with defined propertiesThe properties of this network can be configured with the user clicking on the fieldbus line or with the user selecting the fieldbus in the browser library via the properties window with predefined propertiest For information transmi...

Page 135: ...yTCP IP is available that can be used as communication interface for SafePLC2 Diagnostics data are only transmitted via the EtherCAT connection FSoE Master The data can be parametrised via the functional outputs A maximum of 136 functional outputs can be configured The configuration of process data is not possible Figure 119 Figure 120 function block functional output message data Figure 121 prope...

Page 136: ...of 252 Status 19 03 2021 In one block also more than one functional output can be configured The illustration shows a functional output with 3 outputs Figure 122 functional output with 3 outputs Properties window of a functional output Figure 123 Properties window of a functional output ...

Page 137: ...e Logical data input settings range from 8 bit to 96 bit Logical data output same range as for logical data input 8 bis96 Bit The values fieldbus input and fieldbus output indicate the number of bits used by the safe connections Safe connections fieldbus input and fieldbus output each bit can only be used once For every block the number of bits can be set within the range of 1 to 32 The bits used ...

Page 138: ...t function block and properties window Process data outputs for the SCU Currently only the status can be transmitted as a process data word Figure 127 properties window Fieldbus EtherCAT Reset via network If safe communication is used a device set alarm messsages can be configured via safe communication Figure 128 reset from network ...

Page 139: ...an be operated in the Fastchannel mode The processing time of a Fastchannel connection is indicated in the installation manual 4 12 1 2 Creating a FastChannel connection In the Master device a Fastchannel connection can be activated After the activation of the Fastchannel connection a Fastchannel function chart is displayed FastChannelDE where Fastchannel data can be concatenated via IL Figure 129...

Page 140: ... must be activated Figure 130 FastChannel function plan FC connection activated in slave unit properties window NOTICE Slave units that are configured with Fastchannel can only be used in the Fastchannel fucntion chart Mixed operation with Slave units with without Fastchannel connection is possible Observe that the units with Fastchannel are configured within the first module addresses A maximum 4...

Page 141: ...espect to programme size and with respect to the library Logical program concatenation between Standard function chart and the Fastchannel function chart takes place via the function blocks FastChannel Flag Input and FastChannel Flag Output Once per device cycle these data are exchanged between the two function charts Attention Program concatenations must consider the reaction time of the Standard...

Page 142: ... FSoE Slave output bit Figure 132 Access ID selection of Slave number and bit number FastChannel Input Reading of FSoE Slave input bit Figure 133 Access ID selection of Slave number and bit number merker FastChannel Merker Output Flagbit for use in the Standard function chart Figure 134 Access ID selection of bit number of flag ...

Page 143: ...nnel Merker Input Reading of flag bit from Standard function chart to FastChannel function chart Figure 135 Access ID selection of bit number of flag Programne example Enabling of output on Slave device via Standard function chart standard reactiontime and disabling via FastChannel processing FastChannel response time ...

Page 144: ... in the properties window Figure 136 View of the library terminal scheme selected Figure 137 View of the library function chart selected The resource control of the block elements of the SCU system managest he available elements The number of available elements can be restricted By automatic control of the block elements of the SCU module only available elements are enabled in the program Above al...

Page 145: ...h other via the SMMC network NOTE In the modular series I O devices can be configured to the maximum number of Slave devices 4 13 1 2 Slave devices A Slave device is an extension module offering more I O connections or allowing the control of more axles There are two types of Slave devices I O extensions enlarge the number of inputs and outputs Axle extension modules can be used to monitor additio...

Page 146: ... of view of the SCU module are situated outside the device can be added or configured only in the terminal scheme or in the circuit diagram Except the operation mode switch every input element provides a logic output signal 0 or 1 for further processing in the SPC The units are structures according to their application and according to the type of the input signal Thus a targeted resource monitori...

Page 147: ... g E1 that have not yet been used The identifiers are assigned by the user A double allocation of the input signals is prohibited If the resources of the SCU module are nearly exhausted and if the selection of the switch type required too many input signals the selection list remains empty In this case a switch type with fewer connections must be used Test of the cross connection Source of the inp...

Page 148: ...lows This one time triggering of the input element during the start or during reset of monitored equipment warrants the functioning of the input element at the time of start A start test can be carried out for all elements except the selection switch for the operation mode An activated start test is indicated by a red rectangle around an inserted function block Every input block can carry out an a...

Page 149: ...ts 4 2 N C s time monitored 2 opening contacts time monitored Emergency stop monitored Door control Switch type Description Comment 3 2 N C 2 opening contacts Door monitorl with higher requirements 4 2 N C time monitored 2 opening contacts time monitored Door monitor l monitored t 5 1 N O 1 N C 1 closing contact 1 opening contact Door monitor wit higher requirements 6 1 N O 1 N C time monitored 1 ...

Page 150: ... opening contact Activation switch standard rd 2 1 N O 1 closing contacts 3 2 N C 2 opening contacts Activation switch with higher requirements 4 2 N C time controlled 2 opening contacts time monitored Activation switch monitored Master switch Switch type is not supported with this device type Light barrier Switch type Description Comment 3 2 N C 2 opening contacts Light barrier with higher requir...

Page 151: ...n If the status of the switch is changed the SafePLC programme warrants that the outputs of the module are disabled Attention standard 60204 Part1 Section 9 2 3 Sensor Switch type Description Comment 1 1 N C 1 opening contactt Sensor input standard 2 1 N O 1 closing contacts Sensor input standard 3 2 N C 2 opening contacts Sensor input with thigher requirements 4 2 N C time monitored 2 opening con...

Page 152: ...es of the start element the reset element Use of the monitored states With the start monitoring being enabled automatically a special AWL code segment for the monitoring of an assigned input segment during a restart or during the reset of an alarm of the equipment to be monitored the alarm tob e monitored is created This is This function relevant test of a peripheral element e g triggering of an e...

Page 153: ... E1 switch function E2 start button M X1 auxiliary flag 1 LD E 1 AND E 2 S M X1 LD NOT E 1 R M X1 LD M X1 AND E 1 ST IE X Start Taster Ausgang Schaltfunktion Start monitored t Manual start after equipment reset with monitoring of start circuit for static 1 signal The output of the input element changes to 1 if the safety circuit is closed according to the switch type and the start button has been ...

Page 154: ...ut signal no 1 Like with the input elements this selection list is used to determine the input in the SCU module with which the button for the start element shall be connected Internally this input is restricted to the assignation to a basic module I0 1 to I0 14 Use as alarm reset normally open contact If this option is set the corresponding button can be used to reset to quit a device alarm that ...

Page 155: ... is created automatically and can be used to be processed with a logic function With this option the reset function the confirmation function in the logic plan is available for further processing In this case the output of the function block is created automatically and can be used for the connection with a logic function Normally this logic reset signal is used to confirm RS FlipFlops This option...

Page 156: ...43 List of output elements The output blocks create the digital connection between one or several external switching circuits in the SCU system Every block is triggered by a logic input signal 0 or 1 via the function chart EMU monitoring With this device variant EMU cannot be used The functionality can be realised via monitoring block EDM ...

Page 157: ...circuit or LOSIDE M connection can be selected as standard outputs The use of simple standard outputs is not suitable for safety outputs Redundant This option obliges a combination HISIDE outputs and LOSIDE outputs as auxiliary output or safey output HiLo semiconductors can be used individually as standard outputs or grouped as safety outputs for details see the installation manual For exact conta...

Page 158: ...Programming manual SCU series HB 37500 820 10 12F EN SCU Programming manual Page 158 of 252 Status 19 03 2021 Highside semiconductor Figure 145 Properties window Highside semiconductor ...

Page 159: ... Properties window Relay Output type Standard 2 simple relays K1 to K2 can be evaluated independently Redundant Two relay outputs are combined and are always interconnected NOTICE Observe the explanatíons in the installation manual when inserting a relay in safety applications For EMU monitoring c f the chapter EMU monitoring ...

Page 160: ...gramming manual Page 160 of 252 Status 19 03 2021 Semiconductor Figure 147 Output as auxiliary outputs Certain semiconductor outputs can only be used as auxiliary outputs Thus they are not suitable for safety applications For details see the installlation manual ...

Page 161: ...oder range in the function chart or in the browser Configuration only concerns the control software of the encoder For correct functioning an advanced hardware setting of the encoder interface For details concerning this subject c f the installation manual of the SCU module Properties of the ncoder range Parameters depend on the encoder type Parameter Description Value Non safe encoder resolution ...

Page 162: ...ries HB 37500 820 10 12F EN SCU Programming manual Page 162 of 252 Status 19 03 2021 4 13 4 2 Setting the axle To use the encoder for monitoring functions the axisisust be confgured The settings depend on the encoder type used ...

Page 163: ...Direction of Rotation Direction of rotation Clockwise Counter Clockwise Motor Shaft rev Transmission ratio drive meter Driving Shaft rev Transmission ratio gear denominator Feed constant Ratio distance encoder revolution meter Driving Shaft rev Ration distance encoder revolution denominator Negative Position Limit Minimum measuring length Positive Positions Limit Maximum measuring length Maximum s...

Page 164: ...he basis for the creation of a programme for the safety application They allow the logic connection of the inputs with monitoring fuctions with the outputs The insert of function blocks is only possible in the Funktionsplan function block view Otherwise the corresponding menu options are deactivated The menu options are deactivated if the resources for a module are already exhauseted e g after all...

Page 165: ...is 0 Figure 149 properties window AND block NOTICE The number of input connections can only be reduced in case of free connections If all connectors are connected these connections must be deleted before EXCLUSIVE OR block EXCLUSIVE OR connections of 2 output signals from other functon blocks The XOR module provides the logical result 1 if the input has the input signal 1 and if the input has the ...

Page 166: ...element is 0 The logical result changes to 1 if an edge change from 0 to 1 occurs in the Setting input The output stays 0 even if the state in the Setting switches to 0 again The logical result switiches to 0 if an edge change from 0 to 1 occurs in the Setting input If both inputs are set to 1 the result is 0 Figure 151 properties window FLIP FLOP block NOTICE The desired switching state in this e...

Page 167: ...nctioning like RS FlipFlop If both inputs are set to 1 the result is 0 Figure 152 properties window cFLIP FLOP block NOTICE After configuration data have been loaded on the safety block the result is reset Logics 1 block This module always provides the value 1 This function can be used for programming static states in the function chart Example assignation of an input that is not used to a directi...

Page 168: ... the value 1 This function can be used for programming static states in the function block Figure 154 properties window of configurable boolean NOT block The logical result of this function block is the negation of the input signal Here the term negation signifies that the logical result is reversed negated Figure 155 properties window of NOT function block ...

Page 169: ... of 252 Status 19 03 2021 OR Block OR connections of not more than 5 output signals from other function blocks The OR connection provides the signal state 1 for at least one input with the signal state 1 Otherwise the signal state is 0 Figure 156 properties window of OR function block ...

Page 170: ...xed time lag the result is 1 or 0 Figure 157 properties window Timer Block ID Timer number The timer number can be set when the timer is plugged in If all timers are used the timer command in the menu is disabled Delay desired period during which the timer shall run T min 16 ms T max 2592 000 000ms 43 200min 720h NOTICE The programmable values equal an integral multiple of the cycle time ...

Page 171: ...ime diagram Fall delayed Falling edge Delayed closing Rising edge Impulse Rising edge Periodical Rising edge Save permanent According to function Voltage proof saving of timer value After unit POR the timer value saved last is loaded again After loading of configuration data on the SCP unit the saved timer value reset again 0 Note t PLC timer valuet ...

Page 172: ...e Signal at block output changes to high if rising edge is detected at block input Output signal remains set for one cycle Negative Evaluation of falling edge Signal at block output changes to high if falling edge is detected at block input Output signal remains set for one cycle Positive and Negative Evaluation of rising falling edge Signal at blockoutput switches to high if rising falling edge i...

Page 173: ... of reset start Monitored Release condition reacts to the faling Edge Restart signal The falling flank must occur Min Restart Restart Pulse and 15s after activation Type of restart Manually Release condition reacts to the rising Edge Restart signal Restart Evaluation of Restart signal after selection of type Restart condition Restart condition As condition a high signal is expected Restart require...

Page 174: ...ns are fulfilled Dummy block The signal channel enables the functional transmission of data from the process image to a connectec fieldbus The signal channel consists of two parts The first part consist of logic data with 56 bit The second part consists of a process data channel with a width of 64 bit The data to be transmitted can be freely assigned by a Profi generator ...

Page 175: ...ns are an important function of of the SCU system The safety functions are preset functions for Preset functions are available for Speed monitoring Position detection Monitoring of limits and target positions Funktional emergency monitoring Standstill monitoring Direction monitoring Function monitoring of external shut off devices Reset functions Muting ...

Page 176: ...es SBR 2 Procession on GBox SRS 12 RUN RUN internal Yes No No SRX 48 RUN Yes Non No SEL 16 RUN Yes Yes Yes SLP 12 RUN Yes No Yes SCA 48 RUN Yes Yes No SSX 18 RUN Yes No Yes SLI 12 RUN Yes No Yes SDI 12 RUN Yes No Yes SLS 48 RUN Yes Yes Yes SOS 16 RUN Yes Yes Yes ECS 12 RUN Only on GBox Yes No Yes MPM 2 RUN Yes No Yes If the shut off shall be displayed externally by a monitoring function e g a cont...

Page 177: ...ction active inactive RESET function no reset necessary Description of the function At the activation of Disconnect Block the FSoE connection of the participant must be disables and the process data are disabled 0 At the deactivation of the Disconnect Block the Master block tries to restore the FSoE connection to the Slave If the connection has been successfully established the FSoE Slave continue...

Page 178: ...t down the FSoE connection of the Slave blockon which the function shall act Timeout Timeout in ms until FSoE connection is actively expected after deativation of the Disconnect block Signal Description Enable 0 FSoE connection is not interrupted 1 FSoE connection shall be shut down Output 0 FSoE connection is inactive 1 FSoE connection is active ...

Page 179: ...ircle For applications according to category 4 of EN 954 1 for these switch devices among others functional monitoring is required For functional monitoring the switching devices must be equipped with positivey driven auxiliary contacts Input activation signal external switch contact Reset of external switch contact RESET function Up to 6 resets are configurable Description of the function Test of...

Page 180: ...00 msec Release time Variable time window turn off delay for test of the switch contactss Min TEDM 16 msec Max TEDM 3000 msec Reset Selection of Reset Signal PLC block Description Enable Activationsignal for EDM monitoring Feedback Read back signal for external switch contact monitoring Switch contact monitoring Result Activation signal at output 0 EDMnot t OK 1 EDM OK Error Error diagnosis EDM 0 ...

Page 181: ...atively via RESET function in the Input elements group Function button at the front part of a basic unit Input of F Bus Reset NOTICE Reset can only be carried out if the current position is within the configured travel range Description of the function Calculation of the current velocity V from the position signal X Determination of the stop distance related to the current status of acceleration a...

Page 182: ... Max Position V0 maximum sped for X1 BX X X2 BX F type of the speed profile trapezoidal or sigmoid Trapezoidal BX brakes procimity range Sigmoidal AM maximum acceleration DA type of acceleration Sigmoid velocity profile BX brakes proximity range X1 min position X2 max position VZ scattering time S AM max acceleration UG OG range of max acceleration Positionsverlauf ...

Page 183: ...Output function Range HI LO X X OR X X2 X X X1 AND X X1 BX AND V limit curve X X X2 BX AND X X2 AND V limit curve X X X1 AND X X1 BX AND V limit curve X X X2 BX AND X X2 AND V limit curve X Limit curve velocity profile deduced from current parametrization Figure 159properties window of SEL monitoring Parameters ...

Page 184: ...lculation method for the stop distance in relation to limit position Sinoidal Quadratic calculation method for the stop distance in relation to the limit position Lower limit position X1 Lower limit position Upper limit position X2 Upper limit position Max acceleration Max acceleration value within BX Time of S ramp Edge time of acceleration time from acceleration 0 to max acceleration Reset Selec...

Page 185: ... is connected with the main drive axis of the linear length measuring system The drive functions with an electric motor with an integrated motor feedback system and an intermediate gear 1 Limit position The referential zero postion of the main drive axle is situated in the top dead center The subordinate mechanical follow up is X1 5 mm The lower limit position is ati 600 mm a 5 mm safety limit X2 ...

Page 186: ...on button at the front side of a basis group Fieldbus Reset Input Description of the function Calculation of the current velocity V from the position signal X Determination of the stop distancein relation to the current statuses of acceleration and velocity Cyclical determination of the Stop_DistanzAkt f V a with a acceleration Comparison Posakt Stop_Distanceakt Target_Pos Comparison Posakt Stop_D...

Page 187: ...ing Parameters Curve type Linear Linear calculating method for the stop distance in relation to the target position BX brake ration proximity range X2 X0 measured length cf encoder configuration X1 target position cw cw input enabled posact stop_distanceact target_pos ccw ccw input enabled PosAkt stop_distanceact target_pos BX BX X1 V0 X V X0 X2 ccw cw ...

Page 188: ...ange At the same time the input dialogue is enlarged by the SOS function The recording of a position with the Teach in option can only be carried out during a standstill with the SOS function being enabled and the SLP function being disabled For the recording of a position the two signals Set and Quit are necessary These signals appear as input connections of the function module if the TeachÏn opt...

Page 189: ...ct Stop_distance act target_pos position tolerance ccw enabled PosAct Stop_distance act target_pos position tolerance NOTICE If the TeachIn function is used the monitoring limit is enlarged by the position tolerance value Without the TeachIn function the position tolerance value is zero For the input Setting either a push button switch must be used or two position switcheslinked with AND must be a...

Page 190: ...ange with assigned minimum limit and maximum limit In the permitted range additionally monitoring of the speed Input standardised position and velocity signal X and V by encoder interface RESET function The violation of the permitted monitoring range is not saved No RESET confirmation is necessary Description of the function Comparison of the current position to parametrised range limits Compariso...

Page 191: ... 37500 820 10 12F EN SCU Programming manual Page 191 of 252 Status 19 03 2021 Output function Range HI LO X X1 OR X X2 X X X1 AND X X2 AND V V0 X X X1 AND X X2 AND V V0 X Ranges can be defined as overlapping and as nested V0 V X1 X2 X ...

Page 192: ...s Permanent activationn If this option is set the monitoring function has an input connection The function is active from the start of the device Lower limit position X1 Lower limit position Upper limit position X2 Upper limit position Speed threshold Maximum permissible speed in set position range Max acceleration Maximum permitted acceleration in set postion range ...

Page 193: ...fety relevant way The active movement to be monitored is a linear movement An absolute encoder isdirectly interlocked with the main feed axis as a linear path measurement system The main axis is the referential axis for the SCU unit 1 Range selection With the position monitor the position of the main axis in the upper zero point shall be monitored The upper zero is also the referential zero point ...

Page 194: ...arm Reset block Before the reset in the monotored periphery an operating state must have been achieved in which the Enable input of the function is set to zero Description of the function Monitoring of the process of a controlled EMERGENCY STOP by comparison of the speed drop over time to a parametrised monitoring limit curve The monitoring limit curve results from latency time the maximum speed d...

Page 195: ...ows the change of speed over the time or rather the course of speed over the time Max acceleration AM Value of maximum acceleration within BX S smoothing time VZ The smoothing time VZ means the period in which speed does not change linearily or rather the period for acceleration change from a 0 or a amax or vice versa Monitored limit curves at a sinoidal course of speed ...

Page 196: ...2 after the expected standstill the SOS function is activated automatically Figure 162 properties window of SSX Monitoring Parameter Stop category 1 This option allows monitoring the controlled EMERGENCY STOP according to EN 60604 According to the definition in the standard the current supply must be disconnected after the standstill of the drive The separation is supported by the shift of the ini...

Page 197: ... Status 19 03 2021 Curve type liear curve typ Linear speed and constand acceleration curve for the stop sequence Sinoidal curve type Sinoidal speed an linear acceleration curve for the stop sequence Latency time standard Latency time until the ocurrence of the delay Max speed speed threshold ...

Page 198: ...olute encoder is connected to this main drive axis of the linear length measuring system The drive functions with an electric motor with an integrated motor feedback system and an in termediate transmission 1 Selection of the stop category To keep machine downtime and restarts as short as possible the stop category must be used according to DIN 60604 1 kontrollierter Stopp mit nachfolgend aktiv ge...

Page 199: ...in case of a triggering event Otherwise the SLI block could not be reset again When activating the function it must be programme technically ensured that CW and CCW never become 1 at the same time Otherwise an alarm is emitted Description of the function Montoring of the maximum permitted increment relative travel range for continuous travel in the jog mode Calculation of the current rotational di...

Page 200: ...lative travel distance max increment X V 0 AND DIRECTION FLAG RIGHTS OR Relative travel distance max increment X V 0 AND DIRECTION FLAG LEFT OR AND Relative travel distance max increment X Figure 163 properties window of SLI function Parameters Increment Maximum relative travel distance after activation of the monitoring function XI threshold Tolerance threshold for the monitoring of the travel di...

Page 201: ...encoder is monitored input of max travel distance according to risk analysis with a tolerance 55 mm 2 Monitoring of the travel distance Permitted travel distance in opposite direction creep movement of the drive 1 mm s 3 Monitoring input The monitoring has two inputs to indicate the direction An active direction signal activates the monitoring function After the actication of the monitoring device...

Page 202: ...nts Function button at the front side of a basis group Fieldbus input via Reset block NOTICE It must be programme technically ensured that the inputs of the SDI block do not remain on 1 in the event of a trigger Otherwise the SDI block could not be reset any more If the function is activated it must be programme technically ensured that at no time CW and CCW become 1 at the same time because other...

Page 203: ...Status 19 03 2021 Figure 164 properties window of SDI function Parameters Speed monitoring mode Maximum tolerance threshold for speed in opposite direction Position monitoring mode Maximum tolerance threshold for position in opposite direction Reset Select Reset Example of an activation axis 1 ...

Page 204: ...ment The drive functions wih an elecric motor wih and integrated motor feedback system and an intermediate transmission 1 Input for the monitoring function Speed monitoring only incremental encoder available Speed 2 Speed monitoring Permitted speed in opposite direction creep movement of drive from the plant parameterr 1 mm s Monitoring input The monitoring module has two inputs to indicate the di...

Page 205: ... The RESET confirmation is alternatively carried out via RESET function in the group of the input elements Function button at the front side of a basis group Fieldbus inputs via Reset block Description of the function Monitoring of the maximum speed or the maximum rotational speed of a drive Calculation of the current speed V from the position signal or rather from the digital speed signal X Compa...

Page 206: ...165 properties window of SLS function Activate permanently Activate permanently The monitoring function is always active and does not have an input connector Speed tolerance To activate speed monitoring Travel monitoring Currently not supported Error distance monitoring Currently not supported Reset Selection of Reset ...

Page 207: ...in the group of the input elements Function button at the front side of a basis group Fieldbus input via Reset block NOTICE it must be program technically ensured that the input of the SOS block does not remain 1 in case of a trigger event Otherwise the input cannot be reset Description of the function Standstill monitoring of the drive at current position with released drive and if necessary with...

Page 208: ...ing mode for standstill upto a minimum speed threshold or up to a position range Maximum speed tolerance maximum position tolerance Minimum speed or a permitted relative deviation from the current position at the time when the SOS function was enabled Fastchannel Currently not supported Acceleration monitoring Optional maximum value for speed monitoring during an active SOS function Reset Selectio...

Page 209: ...on machine the access to the work zone shall be released for manual insert or for manual configuration shall be releasedat certain positions of the main drivee axis In this position the drive remains active and is only monitored for standstill The limits of the expansion stroke are variable and shall be monitored in an electronically safety relevant way instead of being monitored by a mechanical s...

Page 210: ...tted monitoring range is stored and a confirmation is necessary The confirmation can be made in the following way RESET function in thegroup of the input elements Function button on the front side of a base modules Element for fieldbus reset Functional description Monitoring of the synchronous movement of a configurable Master axis with an axis that is available in the system The nomination or rat...

Page 211: ...ber of axes Number of comparative axes 1 12 Permanent If the function is enabled it is permanently enabled Type Selection between Absolute onfiguration of the offset of the referential axis to the comparative axis Incremental calculation of the offset of the referential axis to the comparative axis with rising activation of the function NOTICE If incremental is used the activation of Permanent per...

Page 212: ...ator Numerator for the nomination of the position to the Master axis Denominator Denominator for standardization position to Master axis Ratio Display of nominator denominator Offset Only with Type Absolute The offset is added on comparison axis Tolerance Tolerance for comparison of Master with comparison axisergleichsachse Delta Pos Pos Tolerance ...

Page 213: ...on of the permitted monitoring range is stored and requires a RESET confirmation The confirmation can alternatively be made via RESET function in the group of the input elements Function button on the front side of a basic unit Input of fieldbus reset NOTICE This function can considerably influence the safety of an application It must be ensured that no safety critical situations occur due to the ...

Page 214: ...nge of the application Figure 169 properties window of ICS function Description of the function By the activation of these ICS elements all possible alarms of tne monitoring of the digital inputs like Monitoring for correct impulses are muted on the input lines according to the respective configuration and inputs like Monitoring of the correct function are muted on the input lines of an input acco...

Page 215: ...SE encoder alarm is deleted when the speed moderation becomes inactive The saved alarm status generates an alarm an alarm when a different safety function is activated during the alarm mute Output The output signalizes the status of this function only diagnostics Depending on the damping function the output is deleted Safey information The speed threshold of the active safety function should alway...

Page 216: ...le The enabling of DEM takes place when the door is closed The closed status is controlled with a block for the door control Highest PI level Ple input must be Ple Door control signal must be Ple 2 pole 2 pole positive door contact in the electrical and in the mechanical layout according to Ple in SCU input interface with active short circuit control Figure 170 function time diagram ...

Page 217: ...er_Diag marker for encoder error Encoder alarm DEM_Output Encoder monitoring true no alarm occurred irrelevant irrelevant irrelevant true true 1 untrue Irrelevant irrelevant untrue true 1 true irrelevant irrelevant untrue untrue 0 Encoder monitoring untrue an alarm occurred true irrelevant irrelevant untrue untrue 0 untrue true untrue untrue untrue 0 untrue true true untrue true 1 untrue untrue ir...

Page 218: ...this case is exceeded the muting function is enabled If the activation is permanently disabled additionally the status of the function block input is linked NOTICE The limit speed also determines the maximum input values for the speed limit in the functions SLS SOS SLI and SCA The input values of the functions SLS SOS SLI and SCA must always be lower than the muted speed limit Hysteresis To preven...

Page 219: ...justed to a preset paranetrizable value by the revaluation and the setting of the shift value Input position signal X by the encoder interface Selection module axis and encoder RESET function no reset necessary Operation The activation of this function starts with a rising edge at the input of this function The EOS function can be used only afterthe activation position processing and after setting...

Page 220: ...coder value An operational activation of the EOS function must be excluded The function serves for maintenance and servicing This must be ensured by the selection of appropriate equipment Appropriate equipment is e g key operated switches that are accessible only for qualified maintenance and service personnel Suitable organisational measures must be taken to grant the continuation of the physical...

Page 221: ...an SMMC output block and the corresponding input elements Figure 173 Library window Global network SMMC Terminal Out Connection point output This block is an output of the SMMC Every device can write 16 bits as output on SMMC By the connction to SMMC these bits are defined as Terminal out Figure 174 Terminal Out block of SMMC The user can change the name of every output connection used ...

Page 222: ... to 16 Device selection of SMMC device Bits The range of the available bits depends on theselected number of bits Name The user can choose a name fort he connection 4 13 5 5 Elements of the fieldbus network In the library the elements of the fieldbus network are shown in the folder of the fiebus network The elements of the fieldbus network are shown in the library in the fieldbus folder if the Fun...

Page 223: ...hosen if a new output is chosen When the input with the corresponding number has been chosen the output with the corresponding number can be added For identical multiport connection points drag the connections out of the browser window Figure 177 Properties window of the connections Connection number identification number of the terminal point NOTICE When deleting connection point elements that ar...

Page 224: ...irection selection of the direction of the connection point on the desktop Terminal In identification code of the set connection number NOTICE As this element refers to the set connection point the comment for this element is shown 4 13 5 7 Groups Function groups connect several function blocks to a superior logic structure This matching block group is created within the function group and is conn...

Page 225: ... The block types that cannot be included in a group are ffiltered An info display shows the filteredblocks 3 Adding function blocks to the group The group s work surface can either be selected with a double click in the group frame or via the group sheet of a browser tree In this section function blocks can be inserted shifted or deleted If the group has not been deactivated the blocks are automat...

Page 226: ... group outputin th library of thegroup interface and inserting it ino the corresponding group block or in the group in the function chart After you have added a block to a group the group interface is added For further information cf the chapter Group interface 4 Creating conncetions cf the chapter Circuit 5 Connecting the group interface Via the above mentioned interface the function blocks withi...

Page 227: ...ck administration of the frame is deactivated and the blocks are connected to the group Module cannot be deleted from the group any more but parameter configuration is still permitted When a group frame is deleted also all group blocks are deleted No new blocks can be added to the group The group status disabled is indicated by the lock symbol in the upper left hand corner Figure 179 Group blocked...

Page 228: ... In case of resource errors you must make sure that the sensor settings correspond to the requirements of the group This applies especially if position dependent modules have been used in the function groups SEL SLP SCA 4 13 5 7 4 Group interface The blocks of the group interface are the interface from the function group to the elements outside the group Connections to function blocks outside the ...

Page 229: ...s element shows the connection of the function blocks outside the group to external group elements If possible the block shall be situated on the left side of the group area The output connection must be forwarded within the group Group output With this symbol a result is transmitted from the group to external elements of the function block diagram Input blocks output blocks can only be deleted in...

Page 230: ...ected according to the current logic state 5 STOP In the stop mode parameter data and programmedata can be loaded externally 6 Fehler Error Error mode of the assemblyt All outputs disconnected Error can only be reset via ON OFF oft he unit 7 Alarm Alarm mode of the assembly All outputs disconnected Alarm cn be reset via digital output or via front side acknowledgement button 8 Lokalbetrieb Local m...

Page 231: ...ssembly is in the in a safe operating state Error status can be reset Red Permanently lit Fatal error the assembly is in the safe operation mode NOTICE For all operating states except RUN the outputs are passivated i e switched off safely In rhe RUN state the state of the outputs is dependent on the implemented PLC programme 5 4 Parametrization Parametrisation is carried out via the programme Safe...

Page 232: ...arantee the functioning of the implemented safety function the user must test the parameters and the links After commissioning and parametrisation have been completed the user must test these functions This functional testing must be documented Documenting is supported by the parametrizing software SafePLC2 On the last two pages general details can be furnished with respect to the installation The...

Page 233: ... 10 12F EN SCU Programming manual Page 233 of 252 Status 19 03 2021 On the first page general information must be filled in Figure 181 Example page 1 configuration report Afterwards the configured values and the user programme must be validated ...

Page 234: ... manual SCU series HB 37500 820 10 12F EN SCU Programming manual Page 234 of 252 Status 19 03 2021 5 6 2 Validating the configuration All set parameters must be checked and confirmed Example SCA configuration data ...

Page 235: ...rogramme is structured in the following way Index sequential nof line in AWL programme Command for all permitted commands c f the list PLC commands Operand for the processing code cf the list PLC operand There are three operand types Type1 Operand x x bit number Typ2 Operand x y x Index assembly instance y bit number Typ3 Operand x y z x index assembly y Instance operand z bit number ...

Page 236: ...d in the AWL code SQH marks the start of an input element and SQC marks the end of an input element SQH marks the number of the input element SQC marks the backup value of the input element logic Input elements marked with SQH SQC must only be checked with respect to their instance and with respect to their bit location Their logic is checked in the assembly ...

Page 237: ...ng The following functions are cascadable SEL SLS SOS The following code is generated Example SOS LD MX x ST DriveSOS_EN0 0 0 NOT AND MX y OR DriveSOS0 0 0 ST MX y ST DriveSOS0 0 0 SCA Special casel LD MX x ST DriveSCA_EN0 0 0 NOT OR DriveSCA0 0 0 ST DriveSCA0 0 0 If enable unconditioned is used the following code is generated Example SLS S1 DriveSLS_EN0 0 0 With all other monitoring functions sim...

Page 238: ... block is one monitoring block is provided for every axis in an axis group In the IL code the individual results are summarized AND SLS Example SLS axis group with 3 axes Attention Special function SCA Example SCA mit 2 axes Special function SRS Result axis group is already edited in the function Thus the result of the smallest entity is used Example SRS axis group with 6 axes Figure 182 Special f...

Page 239: ...amming manual SCU series HB 37500 820 10 12F EN SCU Programming manual Page 239 of 252 Status 19 03 2021 NOTICE special function SRX Result axis group is differently linked Example SRX axis group with 6 axes ...

Page 240: ...inted with their parameters as an itemization of the safety related test Check index for consecutive numeration Check command available in list PLC commands Check operand available in list PLC operand and type correct o entity Slave number o entity cf Process image o Bit number cf Process image Check additional IL code montioring functions Functional test Block configuration data on assembly after...

Page 241: ...should not work properly it autonomously passes into the safe status and indicates the fault status via LED cf installation manual chapter LED display Please check the displayed error code 7 segment display by means of the SCU error code error codes and measures If the error cannot be successfully emitted please contact the LED manufacturer cf Manufacturer ...

Page 242: ...MU Emergency Monitoring Unit Sicherheitsfunktion ELC Emergency Limit Control Sicherheitsfunktion EMV Elektromagnetische Verträglichkeit EN Europanorm EtherCAT EtherCAT Name Datenprotokoll FSoE Fail Safe over EtherCAT Sichere Datenübertragung über EtherCAT Protokoll GND Ground Massepotential 0 VDC H HISIDE High Side Nach Plus schaltender Ausgang 24 VDC HW Hardware I Input Eingang IO Input Output Di...

Page 243: ...e Communication Sichere Kommunikation von Bauteil zu Bauteil SDU Safe Drive Unit Baugruppe FSoE Slave unit to record encoder values SELV Safe Extra Low Voltage Safe fused low vollage SIO Safe IO pe FSoE Slaveunit to record digital inputs digital outputs SMMC Safe Master to Master Communication Sichere Kommunikation von Master zu Master SSB Safe Sensor Box Assembly Baugruppe FSoE slave tp record en...

Page 244: ...U 4 Serial number 1 4 UNSIGNED 32 R Serial number of SCU 0x6 Type label Device 1 0x60B0 Functional Outputs 32 1 UNSIGNED 8 R Functional SCU outputs 0x7 Type label Device 1 0x70B0 Functional Inputs 18 1 UNSIGNED 8 R Functional SCU inputs 0x9 FSoE Connection Communication Parameter 1 0x9nn1 1 Version 2 1 STRING R Supported FSoE Version 01 2 FSoE Slave Adress 1 2 UNSIGNED 16 R FSoE Slave Adress 3 Con...

Page 245: ...d 2 unknown command 3 wrong connection ID 4 wrong CRC 5 watchdog expired 6 wrong FSoE address 7 wrong data 8 wrong communication parameter length 9 wrong communication parameter 10 wrong application parameter length 11 wrong application parameter 12 unexpected session command 13 if failsafe data are communication error failsafe data received Bit 4 0 error in FSoE Master 1 error in FSoE Slave Bit 5...

Page 246: ...al Output 0 7 ByteOut 1 0 7 Functional Output 8 15 ByteOut 2 0 7 Functional Output 16 23 ByteOut 3 0 7 Functional Output 24 31 ByteOut 4 0 7 Functional Output 32 39 ByteOut 5 0 7 Functional Output 40 47 ByteOut 6 0 7 Functional Output 48 55 ByteOut 7 0 7 Functional Output 56 63 ByteOut 8 0 7 Functional Output 64 71 ByteOut 9 0 7 Functional Output 72 79 ByteOut 10 0 7 Functional Output 80 87 ByteOu...

Page 247: ...mal display Info Info decimal display status 1 Fatal Error 2 Alarm 3 Info text display Information number Description 10001 DOWNLOAD Configuration 10002 Not supportedt 10003 Alarm reset 10004 POR 10005 System switched from STOP to RUN 10006 System in STOP mode 10007 SDDC Timeout 10008 SDDC CRC 10009 AI communication 10010 AI communication KI Kommunikation incorrect receive length 10011 AI communic...

Page 248: ...NDD OR All input operands and all output operands Boolean OR OR NOT All input operands and all output operands Negated Boolean OR XOR All input operands and all output operands Boolsches Exklusiv ODER NOT All input operands and all output operands Inverts the value of the accumulator S PLC_FLAG in the output image Sets FlipFlop R PLC_FLAG in the output image FlipFlopreset S1 All input operands and...

Page 249: ... S S M z LD x2 y2 Quelle R R M z 4 Permanent Flipflop RS 2 1 2 Input 2 Output 1 LD MX 0 ST CFlipFlop_EN0 0 LD MX 1 ST CFlipFlop_EN0 1 LD CFlipFlop0 0 ST MX 2 6 Timer 1 1 0 Output 1 Timer freigeben LD x1 y1 ST PLCTimer_EN z 2 Single semiconductor output 1 1 0 Output 1 LD x1 y1 ST DO x_y 2 Semiconductor output Redundant 1 2 0 Output 2 LD x1 y1 ST DO x_P ST DO x_M 3 EDM 2 2 0 Input 2 Output 2 LD MX 0...

Page 250: ...0 ST MX 1 5 Edge deduction falling 1 1 3 0 LD NOT MX 0 AND MX 1 ST MX 2 LD MA 0 ST MX 1 5 Edge deduction rising falling 1 1 3 0 LD MX 0 XOR MX 1 ST MX 2 LD MA 0 ST MX 1 5 Fieldbus In 0 1 0 Output 1 LD FBus_In0 0 1 Fieldbus Out 1 0 0 Input 1 ST FBus_Out0 0 1 Functional In 1 1 2 Input 1 Output 1 SQHx y LD MX 0 AND FE0 0 ST MX 1 SQCx y 5 Functional Out 1 0 1 Input 1 LD MX 0 ST FA0 0 2 ...

Page 251: ...t up test Twohand 1 Result two hand switch Masterswitch 1 Result Master switchr Edge 1 Result edge dectection Restart 1 Result Restart element SDI 2 Digital inputs Master binary inputs Slavee E Address 2 Binary input data Slave assembles FE 2 Functional input SCO_Status 2 SOC status DriveSZMc 3 Result monitoring function SZMc DriveSLSc 3 Result monitoring function SLSc DriveSCUc 3 Result monitorin...

Page 252: ...ble saveable FliipFlop DriveFDB 3 Result FSoE disconnect block DriveFDB_EN 3 Enable FSoE disconnect block DriveSRX 3 Result SafeReferencing DriveSRX_EN 3 Enable SafeReferencing DriveSRS 3 Result SafeReferencing State DriveSRS_EN 3 Enable SafeReferencing State DriveSRTc 3 Result Robotic block DriveSRTc_EN 3 Enable Robotic block DriveSLA 3 Result monitoring function SLA DriveSLA_EN 3 Enable monitori...

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