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Before change

→

After change

Operation

DEBUG mode (STOP-
PED)

→ DEBUG mode (RUN)

•

Safety process data communications continue.

•

The variables are initialized and the safety pro-
grams are executed from the beginning.

DEBUG mode (RUN)

→ DEBUG mode (STOP-

PED)

•

Safety process data communications continue.

•

The variables are initialized and the safety pro-
grams are stopped.

•

The forced status of variables is cleared.

RUN mode

→ PROGRAM mode

•

Safety process data communications stop.
The safety input data from the Safety Input
Units is initialized to 0.
The safety output data to the Safety Output
Units is initialized to 0.

•

The variables are initialized and the safety pro-
grams are stopped.

•

The safety programs are deleted from the non-
volatile memory of the Safety CPU Unit.

DEBUG mode (RUN)

→ PROGRAM mode

•

Safety process data communications stop.
The safety input data from the Safety Input
Units is initialized to 0.
The safety output data to the Safety Output
Units is initialized to 0.

•

The variables are initialized and the safety pro-
grams are stopped.

•

The forced status of variables is cleared.

DEBUG mode (STOP-
PED)

→ PROGRAM mode

•

Safety process data communications stop.
The safety input data from the Safety Input
Units is initialized to 0.
The safety output data to the Safety Output
Units is initialized to 0.

Relationship between Establishing Safety Communications and Ex-

ecution of the Safety Programs

The Safety CPU Unit starts execution of the safety programs at the same time the safety process data
communications are established.
The input data that is refreshed from the Safety Input Units is used for processing.

7-3-3

Executable Functions in Each Mode of the Safety CPU Unit

The following table shows the executable functions in each mode of the Safety CPU Unit.

Initializing

PRO-

GRAM

mode

DEBUG mode

RUN mode

RESTORE

mode

STOPPED

RUN

Safety program execution

Not possi-
ble

Not possi-
ble

Not possi-
ble

Possible

Possible

Not possi-
ble

Controlling BOOL varia-
bles, forced refreshing,
and changing present val-
ues

Not possi-
ble

Not possi-
ble

Possible

Possible

Not possi-
ble

Not possi-
ble

Message communications

Possible

Possible

Possible

Possible

Possible

Possible

7 Checking Operation and Actual Operation

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NX-series Safety Control Unit User's Manual (Z930)

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Summary of Contents for NX-SIH400

Page 1: ...Machine Automation Controller NX series Safety Control Unit User s Manual NX SL NX SI NX SO Safety Control Unit Z930 E1 13 ...

Page 2: ...d trademarks of OMRON Corporation in Japan and other countries for OMRON factory automation products Microsoft Windows Windows Vista Excel and Visual Basic are either registered trademarks or trademarks of Microsoft Corporation in the United States and other countries EtherCAT is registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany Safety over EtherCAT is a reg...

Page 3: ...and facilities Personnel with the qualifications authority and responsibility for providing safety at each phase of the lifecycle of the machine design installation operation maintenance and disposal Personnel with a knowledge of functional safety For programming this manual is intended for personnel who understand the programming language specifications in international standard IEC 61131 3 or Ja...

Page 4: ...Introduction 2 NX series Safety Control Unit User s Manual Z930 ...

Page 5: ...ring Safety Control Unit Operation Programming 12 Troubleshooting System Configuration and Setup 11 Safety Data Logging A Appendices I Index 13 Inspection and Maintenance Checking Operation and Actual Operation Calculating Safety Reaction Times Communications Load 7 Sections in this Manual 3 NX series Safety Control Unit User s Manual Z930 ...

Page 6: ... 13849 1 and EN 62061 32 Conformance to UL and CSA Standards 33 Conformance to Shipbuilding Standards 33 Conformance to KC Certification 33 Unit Versions 35 Unit Versions 35 Unit Versions of Units and Sysmac Studio Versions 36 Related Manuals 37 Terminology 39 Revision History 42 Section 1 Overview 1 1 Introduction and Features 1 2 1 1 1 Overview of Safety Control Unit 1 2 1 1 2 Features of Safety...

Page 7: ...nits 3 2 3 1 2 Attaching Markers 3 4 3 1 3 Removing Units 3 5 3 1 4 Installation Orientation 3 6 3 2 Power Supply Types and Wiring 3 8 3 2 1 Applications of I O Power Supply and Supply Methods 3 8 3 2 2 Calculating the Total Current Consumption from I O Power Supply 3 9 3 3 Wiring the Terminals 3 10 3 3 1 Wiring to the Screwless Clamping Terminal Blocks 3 10 3 3 2 Checking Wiring 3 23 Section 4 Sa...

Page 8: ...erNet IP Coupler Unit 5 37 5 9 Exporting Importing Settings Data 5 39 5 9 1 Exporting Importing the Settings for the Entire Slave Terminal 5 39 5 9 2 Exporting Importing the Settings for All the NX Units on a CPU Rack or Slave Terminal 5 41 5 9 3 Exporting Importing Data for Individual Safety CPU Unit 5 42 Section 6 Programming 6 1 POUs Program Organization Units 6 3 6 1 1 POU 6 3 6 1 2 Overview o...

Page 9: ...a Connection to Communications Coupler Unit 7 8 7 3 Operating Modes of the Safety CPU Unit 7 11 7 3 1 Startup Operating Mode and Changing the Operating Mode 7 11 7 3 2 Operation When Changing Operating Mode 7 13 7 3 3 Executable Functions in Each Mode of the Safety CPU Unit 7 14 7 4 Changing to DEBUG Mode 7 17 7 5 Checking External Device Wiring 7 20 7 5 1 Overview of Functions for Checking Wiring...

Page 10: ... 10 8 3 4 Changing FSoE Watchdog Timers 8 10 8 4 EPI Data Packet Interval 8 11 8 4 1 Changing the EPI 8 11 8 4 2 EPI Restrictions 8 11 Section 9 Communications Load 9 1 Adjusting the Communications Load 9 2 9 1 1 Checking Bandwidth Usage for Tag Data Links 9 3 9 1 2 Checking the Device Bandwidth Usage of the CIP Safety Routing 9 4 9 1 3 Relationship between the Number of Packets Used per Second an...

Page 11: ...nsions A 3 A 1 1 Safety CPU Unit A 3 A 1 2 Safety I O Units A 4 A 2 NX Objects A 5 A 2 1 Format of NX Object Descriptions A 5 A 2 2 Safety CPU Unit NX SL3300 NX SL3500 A 5 A 2 3 Safety CPU Unit NX SL5500 NX SL5700 A 7 A 2 4 NX SID800 Safety Input Unit A 11 A 2 5 NX SIH400 Safety Input Unit A 16 A 2 6 NX SOD400 Safety Output Unit A 21 A 2 7 NX SOH200 Safety Output Unit A 25 A 3 Application Examples...

Page 12: ...10 1 Selecting the Items to Print A 94 A 10 2 Items that are Printed A 94 A 11 List of Screwless Clamping Terminal Block Models A 96 A 11 1 Model Notation A 96 A 11 2 List of Terminal Block Models A 96 A 12 I O Response Times for Communications between NX Units on EtherNet IP Slave Terminals A 98 A 13 Units That Support Communications between NX Units A 100 A 14 Checking the Signature Code on the ...

Page 13: ...alone safety control system with EtherNet IP Coupler Units l Building a safety network control system with Communica tion Control Units l Introduction to Safety Control Unit l l Setting devices and hardware NX SL5 Safety CPU Unit l l NX SL3 Safety CPU Unit l NX SI and NX SO Safety I O Units l l NX CSG Communication Control Unit l Software settings NX SL5 Safety CPU Unit l l NX SL3 Safety CPU Unit ...

Page 14: ...nual NX series Communication Control Unit Built in Function User s Manual NX series Safety Control Unit Instructions Reference Manual NX SL5 Safety CPU Unit l l NX SL3 Safety CPU Unit l NX SI and NX SO Safety I O Units l l NX CSG Communication Control Unit l Relevant Manuals 12 NX series Safety Control Unit User s Manual Z930 ...

Page 15: ...as shown below until they click into place Precautions for Correct Use Precautions for Correct Use 4 3 1 Connecting Controller Components Connector Hook Hook holes Slider Lock Release Move the sliders toward the back until they lock into place Level 1 heading Level 2 heading Level 3 heading Level 2 heading A step in a procedure Manual name Special information Level 3 heading Page tab Gives the cur...

Page 16: ...al information to read as required This information is provided to increase understanding or make operation easier Version Information Information on differences in specifications and functionality for Controller with different unit versions and for different versions of the Sysmac Studio is given Precaution on Terminology In this manual the directions in relation to the Units are given in the fol...

Page 17: ...he non complying Product or iii repay or credit Buyer an amount equal to the purchase price of the non complying Product provided that in no event shall Omron be re sponsible for warranty repair indemnity or any other claims or expenses regarding the Products unless Omron s analysis confirms that the Products were properly handled stored installed and maintained and not subject to contamination ab...

Page 18: ...RODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY OR IN LARGE QUANTITIES WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS AND THAT THE OMRON PRODUCT S IS PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIP MENT OR SYSTEM Programmable Products Omron Companies shall not be responsible for the user s programming of a programm...

Page 19: ... representative at any time to confirm actual specifications of purchased Product Errors and Omissions Information presented by Omron Companies has been checked and is believed to be accurate how ever no responsibility is assumed for clerical typographical or proofreading errors or omissions Terms and Conditions Agreement 17 NX series Safety Control Unit User s Manual Z930 ...

Page 20: ...mage WARNING Caution Symbols The circle and slash symbol indicates operations that you must not do The specific operation is shown in the circle and explained in text This example indicates prohibiting disassembly The triangle symbol indicates precautions including warnings The specific operation is shown in the triangle and explained in text This example indicates a precaution for electric shock ...

Page 21: ...Electrical Equipment of Machines Part 1 General Requirements ISO 13849 1 2 Safety related Parts of Control Systems ISO 14119 Interlocking Devices Associated with Guards Principles for Design and Selection IEC TS 62046 Application of Protective Equipment to Detect the Presence of Per sons IEC 62061 Functional Safety of Safety related Electrical Electronic and Programma ble Electronic Control System...

Page 22: ...country where the devices and equipment incorporating these products are distributed Observing Usage Precautions Carefully read the specifications and precautions as well as all items in the Instruction Manual for your safety product to learn appropriate usage procedures Any deviation from instructions will lead to unexpected device or equipment failure not anticipated by the safety related system...

Page 23: ... select Only Open for the Open Type setting make sure to verify that the origi nator target have correct configurations Serious injury may possibly occur due to loss of required safety functions Before connecting an NX Series Safety Control Unit to the network clear the previous settings Serious injury may possibly occur due to loss of required safety functions Debugging Before you perform safety ...

Page 24: ...d on the Sysmac Studio is for reference only and may differ from the actual wiring diagrams Always confirm the actual wiring and per forming suitable wiring Serious injury may possibly occur due to loss of required safety functions During Power Supply Do not touch any of the terminals or terminal blocks while the power is being supplied Doing so may result in electric shock Do not attempt to take ...

Page 25: ...io The devices or machines may perform unexpected operation regardless of the operat ing mode of the Controller Restoring Data When you restore the Safety CPU Unit confirm that the safety signature for the re stored programs is correct Serious injury may possibly occur due to loss of required safety functions Safety Precautions 23 NX series Safety Control Unit User s Manual Z930 ...

Page 26: ... properly locked into place Do not apply labels or tape to the Unit When the Units are installed or removed adhesive or scraps may adhere to the pins in the NX bus connector which may result in malfunctions Do not touch the pins in the NX bus connector on the Unit Dirt may adhere to the pins in the NX bus connector which may result in malfunctions Example NX Unit 12 mm width NG NG Do not write on ...

Page 27: ...o make sure that they are correct before turning ON the power supply Use the correct wiring parts and tools when you wire the system Otherwise cables may be discon nected to cause short circuit or wire breakage Do not pull on the cables or bend the cables beyond their natural limit Do not place any heavy ob jects on the cables or other wiring lines Doing so may severe the cables When wiring or ins...

Page 28: ...the variables will first take the specified values but they will then be overwritten by the safety program Depending on the difference in the forced status the control system may operate unexpectedly After you clear the memory the Controller operates in the same way as immediately after you create the system configuration with the Controller in the factory default condition Verify that the safety ...

Page 29: ...an NX Unit b Assembling Units c Setting DIP switches or rotary switches d Connecting or wiring cables e Attaching or removing terminal blocks or connectors The Power Supply Unit may continue to supply power to the Controller for a few seconds after the power supply turns OFF The UNIT PWR and I O PWR indicators are lit during this time Confirm that the UNIT PWR and the I O PWR indicators are not li...

Page 30: ...the safety functions operate normally before you start actual operation When you replace a Unit start operation only after you transfer the settings and variables that are required for operation to the new Unit Disposal Dispose of the product according to local ordinances as they apply Precautions for Safe Use 28 NX series Safety Control Unit User s Manual Z930 ...

Page 31: ...lectromagnetic fields d Locations subject to possible exposure to radioactivity e Locations close to power lines Before touching a Unit be sure to first touch a grounded metallic object in order to discharge any static build up Use the rated power supply voltage for the Units that supply power Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supp...

Page 32: ...nal configuration the I O alloca tions of the EtherNet IP Couplers Unit will be changed Check that the operation of the EtherNet IP Coupler Unit is correct For security purposes we recommend that you set a password for the Safety CPU Unit and the project file To avoid the leakage keep the passwords under strict control Especially when you transmit password data through the Internet implement a mea...

Page 33: ...ic Programmable Electronic Safety related Systems Requirements for PLe Performance Level e and for safety category 4 in EN ISO13849 1 The NX series Safety Control Units are also registered for RCM EAC and KC compliance Conformance to EU Directives Applicable Directives EMC Directives Low Voltage Directive Concepts l EMC Directives OMRON devices that comply with EU Directives also conform to the re...

Page 34: ...ommon Emission Standard Radiated emission characteristics 10 m regulations may vary depending on the configuration of the control panel used other devices connected to the control panel wiring and other condi tions You must therefore confirm that the overall machine or equipment in which the NX series Units are used complies with EU Directives This is a Class A product for industrial environments ...

Page 35: ...Other Than the Bridge or Decks A Safety Control Unit must be installed within a control panel Gaps in the door to the control panel must be completely filled or covered with gaskets or other material l Usage Conditions for the Bridge Certified only by Nippon Kaiji Kyokai Class NK A Safety Control Unit must be installed within a control panel Gaps in the door to the control panel must be completely...

Page 36: ...s on page 31 In addi tion attach a clamp core to the port side of the EtherNet IP cable The recommended clamp core is given below Recommended Clamp Core Manufacturer Product Model Turns of cable NEC TOKIN Clamp core ESD SR 250 1 turn Regulations and Standards 34 NX series Safety Control Unit User s Manual Z930 ...

Page 37: ...X series Units A unit version has been introduced to manage the Units in the NX Series according to differences in functionality accom panying Unit upgrades Notation of Unit Versions on Products The unit version is given with the Unit specifications on the side of the Unit or in the notched area Notched area Unit specifications LOT No Lot number and unit version Unit model number Unit version Lot ...

Page 38: ...ions with the Support Software If your NX Unit is connected to a CPU Unit refer to the user s manual of the connected CPU Unit for the confirmation method for the unit version of the NX Unit If your NX Unit is connected to a Communications Coupler Unit refer to the user s manual of the con nected Communications Coupler Unit for the confirmation method for the unit version of the Communi cations Co...

Page 39: ...519 NX ECC Learning how to use the NX series Ether CAT Coupler Unit and EtherCAT Slave Terminals The following items are described the overall system and configuration methods of an EtherCAT Slave Terminal which con sists of an NX series EtherCAT Coupler Unit and NX Units and information on hardware setup and functions to set up control and monitor NX Units through EtherCAT NX series EtherNet IP C...

Page 40: ...ction set IEC 61131 3 specifications are described AC Servomotors Servo Drives G5 Series with Built in EtherCAT Communi cations User s Manual I576 R88M K R88D KN ECT Learning how to use the AC Servomotors Servo Drives with built in EtherCAT Communications Describes the hardware setup methods and functions of the AC Servomotors Servo Drives with built in EtherCAT Com munications The linear motor ty...

Page 41: ...ess data by the communication pro tocol called CIP Safety CIP Safety originator connection and CIP Safety target connection are available depending on the roles of communications CIP Safety originator connection A CIP Safety connection when an own node is a CIP Safety originator CIP Safety target connection A CIP Safety connection when an own node is a CIP Safety target CIP Safety originator A rol...

Page 42: ...onfirmation information to the safety application data if safety val idation testing demonstrates that the safety controls meet the required specifications of a safety system You execute the safety validation from the Sysmac Studio when the Safety CPU Unit is in DEBUG mode The validated safety programs are automatically transferred to the non vola tile memory of the Safety CPU Unit DEBUG mode The ...

Page 43: ...a is shown as the slave parameters The location where the safety application data is stored on the Safety CPU Unit depends on whether the safety programs have been validated Unvalidated safety programs are stored in the main memory while validated safety programs are stored in the non volatile memory safety input function A function that evaluates whether the signals that are input on a safety inp...

Page 44: ...15 Made revisions accompanying the upgrade to Sysmac Studio version 1 13 Corrected mistakes 07 July 2015 4 1 2 Calculating the Safety Reaction Time Corrected numeric values for OMRON Special Safety Input Devices that are used when calculating safety sensor switch response time 4 1 2 Calculating the Safety Reaction Time Corrected the calculation method for safety input refresh time and safety out p...

Page 45: ... 5 Checking External Device Wiring 8 7 2 Data Protection Added the program data protection function Corrected mistakes 11 April 2018 Made revisions accompanying connection to NX series CPU Units Made revisions associated with the addition of UM Safety Mats Corrected mistakes 12 July 2018 Added NX SL5700 and NX SL5500 Corrected mistakes 13 August 2018 Added PFH values Revision History 43 NX series ...

Page 46: ...Revision History 44 NX series Safety Control Unit User s Manual Z930 ...

Page 47: ...X bus of CPU Unit or EtherCAT Network 1 8 1 2 2 Safety Control System Configuration on EtherNet IP Network 1 10 1 2 3 Standalone Safety Control System Configuration 1 10 1 2 4 Types of Safety Control Unit 1 11 1 3 Support Software 1 12 1 3 1 Applicable Support Software 1 12 1 3 2 Connection Method and Procedures for EtherCAT Coupler Units 1 12 1 3 3 Connection Method and Procedures for EtherNet IP...

Page 48: ...hat is based on the NJ NX series Machine Automation Control ler 1 Only one Safety CPU Unit can be used in this system 2 Refer to the user s manual of the CPU Unit to be used for details on whether the Safety Control Unit can be connected to the CPU Unit to be used The Safety Control Unit connected to a CPU Unit performs I O communications with the CPU Unit The Safety Control Unit connected to an E...

Page 49: ...ations with other controllers on the same EtherNet IP network when you connect an NX series NX SL5 Unit with an NX series CPU Unit 1 1 Refer to A 17 Version Information on page A 105 for the model numbers and unit versions of the applicable NX series CPU Units In addition you can build a safety control system which performs CIP Safety on EtherNet IP communi cations in a system that does not use an...

Page 50: ...stem enables the safety controls between respective automation systems upon building up each automation system that has the safety control built around EtherCAT which feature high speed and high precision Additional Information CIP Safety on EtherNet IP communications are only available for the combination where an NX SL5 Unit is connected to an NX series CPU Unit or to a Communication Control Uni...

Page 51: ...as a subsystem on the NX Bus of CPU Unit or EtherCAT network Therefore no special safety control communications cables or interface devices are required for safety communications l Easy Creation of an Interface with the Standard Controls You can exchange data between the safety controls that are based on the Safety CPU Unit and the standard controls that are based on the NJ NX series CPU Unit This...

Page 52: ... The shared concepts such as IEC 61131 3 consistent operating procedures one project manage ment integrated debugging and integrated troubleshooting reduce the software workload Support for the IEC 61131 3 Programming Environment l Program Languages Based on the IEC 61131 3 International Standard Programming is possible with the FBD language which is part of the programming language speci fication...

Page 53: ...ncor rect connection for function blocks Safety issues such as the incorrect connection of a standard input to a safety input parameter of a function block Validity of the safety task period These checks help to prevent design regression and help to ensure the reliability of the safety de signs l Debugging function You can connect the Sysmac Studio to perform various types of debugging including m...

Page 54: ...rCAT Coupler Unit with the EtherCAT slave function Safety CPU Unit NX series CPU Unit Coupler Unit Coupler Unit Safety control system NX series NX Bus EtherCAT Integrated System The Safety CPU Unit performs safety process data communications with the Safety I O Units EtherCAT master NX bus master Slave Terminal Slave Terminal Coupler Unit EtherCAT Coupler Unit Safety Input Safety Input Unit Safety...

Page 55: ...rough the EtherCAT network You can use only one Safety CPU Unit on each EtherCAT net work 1 The connectivity of FSoE communications between the OMRON NX series Safety Control Unit is confirmed using the OMRON 1S series Servo Driver You can also mount just a Safety CPU Unit to an EtherCAT Coupler Unit without mounting Safety I O Units as shown in the following figure Standard I O Units 1 can also b...

Page 56: ...erates in the EtherNet IP network Safety CPU Unit EtherNet IP network Safety CPU Unit The device that supports CIP Safety on EtherNet IP such as Safety I O Terminal and Robot Controller NX series CPU Unit NX series CPU Unit Safety control system The Safety CPU Unit performs safety process data communications between the another Safety CPU Units and the device that supports CIP Safety on EtherNet I...

Page 57: ...nformation on page A 105 for the model numbers and unit versions of the applicable NX series EtherNet IP Coupler Units 1 2 4 Types of Safety Control Unit This section provides the Classification of NX series Safety Control Unit Unit classification Introduction Safety CPU Unit This Unit has safety control functions It operates as an NX Unit It also operates as an FSoE master It operates as a CIP Sa...

Page 58: ...onnection and Ethernet connection are functionally identical This is the most common connection method USB Connection to the NX series EtherCAT Coupler Unit This method is functionally limited when compared with a connection to the NJ NX series CPU Unit This connection method is used mainly for debugging Ethernet USB USB Sysmac Studio Sysmac Studio Sysmac Studio Safety CPU Unit NJ NX series CPU Un...

Page 59: ...s cannot be accessed Safety control system USB The Safety I O Units mounted under the other EtherCAT Coupler Unit cannot be accessed Coupler Unit Sysmac Studio NJ NX series EtherCAT Communications System Safety CPU Unit NJ NX series CPU Unit Coupler Unit Safety Output Safety Input Safety Output Safety Input Only the Safety I O Units mounted under the Safety CPU Unit are accessible EtherCAT Precaut...

Page 60: ... and monitor the safety programs for only the Safety CPU Unit and Safety I O Units that are under the EtherNet IP Coupler Unit that the Sysmac Studio is online with The other devices cannot be accessed Safety Control System in EtherNet IP Slave Terminals USB Coupler Unit Safety CPU Unit Safety Control System Sysmac Studio Only the Safety I O Units mounted under the Safety CPU Unit are accessible T...

Page 61: ...p 6 3 Performing Safety Validation Testing Step 6 5 Validating Safety from the Sysmac Studio Transferring the Program to the Non volatile Memory Step 7 Operation Maintenance and Inspection Software Design Designing I O and Processing Designing Tasks Designing User Program Software Settings and Programming Slave and Unit Configurations Controller Setup and Assignment of Device Variables to I O Port...

Page 62: ...afety Devices Select the safety devices for inputs logic and outputs of the safety controls 1 2 System Configuration and Configuration Devices on page 1 8 Section 2 Specifications on page 2 1 2 1 2 Part Names and Func tions on page 2 8 Step 1 3 Designing the In terface between Standard Controls and Safety Con trols Design the interface between the standard con trols and safety controls This is don...

Page 63: ...ations Coupler Units Manuals for the specific NX Units Step 3 Calculating and Verifying Safety Response Performance Step Description Reference Step 3 1 Calculating Safe ty Reaction Time and Safe ty Distance Calculate the safety reaction times and use them to find the safety distances Section 8 Calculating Safety Reaction Times on page 8 1 Step 3 2 Verifying Fulfill ment of Required Specifi cations...

Page 64: ...that program Register the variables that are used in only a specific function block in the local variable ta ble for that function block Writing Algorithms for POUs Write the algorithms for the POUs programs and function blocks using the FBD language 6 5 Programming Operations on page 6 26 Step 4 6 Offline Debugging The Simulator is used to debug the program 6 8 Offline Debugging on page 6 79 Step...

Page 65: ... 11 7 4 Changing to DEBUG Mode on page 7 17 Step 6 2 Checking Opera tion Using the Controller Check all wiring and the operation of the pro gram to check that the Safety Control Unit oper ates as intended 7 6 Functions for Checking Op eration on page 7 27 Step 6 3 Performing Safety Validation Testing Test all safety functions to see if they operate according to designs 7 6 Functions for Checking O...

Page 66: ... error and determine the cause Then remove the error Section 12 Troubleshooting on page 12 1 Step 7 3 Inspection and Replacement Perform periodic maintenance If you find any defects or problems during the in spection replace the affected devices Section 13 Inspection and Maintenance on page 13 1 1 Overview 1 20 NX series Safety Control Unit User s Manual Z930 ...

Page 67: ... 1 2 Part Names and Functions 2 8 2 1 3 Indicators 2 10 2 2 Safety Input Unit 2 16 2 2 1 Models and Specifications 2 16 2 2 2 Part Names and Functions 2 22 2 2 3 Indicators 2 24 2 3 Safety Output Unit 2 28 2 3 1 Models and Specifications 2 28 2 3 2 Part Names and Functions 2 35 2 3 3 Indicators 2 38 2 4 PFH 2 41 2 1 NX series Safety Control Unit User s Manual Z930 2 ...

Page 68: ... 256 points 512 KB 32 1 Free Run refreshing NX SL3500 1 024 points 2 048 KB 128 1 Free Run refreshing NX SL5500 1 024 points 2 048 KB 128 2 Free Run refreshing NX SL5700 2 032 points 4 096 KB 254 2 Free Run refreshing 1 Only FSoE master connections are supported 2 CIP Safety originator connections CIP Safety target connections and FSoE master connections are sup ported General Specifications This ...

Page 69: ...for the Safety CPU Unit Item Description Maximum number of safety I O points This is the number of safety I O points that Safety CPU Unit can control Program capacity This is the capacity of the safety programs in the Unit Number of safety I O connec tions 1 This is the maximum number of Safety I O connections that can be set to this Unit The value is the total number of CIP Safety originator conn...

Page 70: ...y external connection loads or the current consumption of any connected external devices Weight The weight of the Unit Installation orientation and restrictions This is the installation orientation of the Unit Any restrictions to specifications that result from the installation orientation are also given 1 Refer to 5 4 3 Calculating the Number of Connections on page 5 20 for how to calculate the n...

Page 71: ...ts Program capacity 2 048 KB Number of safety I O connections 128 Number of CIP Safety originator connections 0 Number of CIP Safety target connections 0 Number of originators that can be connected with a multi cast connection 0 Number of FSoE master connections 128 I O refreshing method Free Run refreshing External connection terminals None Indicators FS LED VALID LED DEBUG LED TS LED RUN LED Har...

Page 72: ...er of safety I O connections 128 Number of CIP Safety originator con nections 128 Number of CIP Safety target connec tions 4 Number of originators that can be connected with a multi cast connec tion 8 Number of FSoE master connections 128 I O refreshing method Free Run refreshing External connection terminals None Indicators TS indicator NS indicator FS indicator P ERR indicator RUN indicator VALI...

Page 73: ...n Maximum number of safety I O points 2 032 points Program capacity 4 096 KB Number of safety I O connec tions 254 Number of CIP Safety origi nator connections 254 Number of CIP Safety target connections 4 Number of originators that can be connected with a mul ti cast connection 8 Number of FSoE master con nections 254 I O refreshing method Free Run refreshing External connection termi nals None I...

Page 74: ...and restrictions 2 Installation orientation Upright installation Restriction None 1 The cable length for the Units that supply power to the corresponding Unit must be up to 20 m 2 Only NX102 CPU Units and Communication Control Units can be connected NX1P2 CPU Units or Commu nications Coupler Units cannot be connected 2 1 2 Part Names and Functions This section describes the names and functions of ...

Page 75: ...are given l NX SL5500 SL5700 D D E C I F E A G H C C B E B B G H E Let ter Name Function A Marker attachment loca tion The locations where markers are attached The markers made by OMRON are installed for the factory setting Commercially available markers can also be installed Refer to 3 1 2 Attaching Markers on page 3 4 B Protrusions for removing the Unit The protrusions to hold when removing the ...

Page 76: ...may cause serious injury in the event of an accident NX SL3300 SL3500 A B Letter Name Function A Model number display Displays part of the model number of the Safety CPU Unit B Indicators Show the current operating status and communications status of the Safety CPU Unit The rest of this section gives the indicator specifications l TS Indicator The TS indicator shows the current status of the Safet...

Page 77: ...Power is not being supplied or a fatal fault has occurred 1 For approximately 30 seconds after the power supply to the Safety CPU Unit is turned ON a Safety Process Data Communications Initialization Error event is not registered as an error if the Safety I O Units do not exist During that time the FS indicator will flash green l RUN Indicator The RUN indicator shows the execution status of the sa...

Page 78: ...urred Refer to 7 3 Operating Modes of the Safety CPU Unit on page 7 11 for details on the relationship between the operating modes of the Safety CPU Unit and the indicators NX SL5500 SL5700 A B C Letter Name Function A Model number display Displays part of the model number of the Safety CPU Unit B Seven segment Indicator Displays detailed information on the Safety CPU Unit C Indicators Show the cu...

Page 79: ...ished Red Flashing at 1 s intervals A CIP Safety communications error occurred 1 Not lit The CIP Safety communications are not executed 1 For approximately 30 seconds after the power supply to the Safety CPU Unit is turned ON the CIP Safety Target Does Not Exist is not registered as an error During that time the NS indicator will flash red l FS Indicator The FS indicator shows the FSoE communicati...

Page 80: ... from when the power supply is turned ON until RUN or PROGRAM mode is entered Not lit Operation is in progress in PROGRAM mode or DEBUG mode STOPPED or a fatal fault has occurred l DEBUG Indicator The DEBUG indicator shows the status whether the debug function can be executed on Safety CPU Unit Refer to 6 8 3 Controlling BOOL Variables Changing Present Values and Using Forced Refresh ing on page 6...

Page 81: ...ty signature is not confirmed is dis played While a CIP Safety originator connection is being established the indica tor flashes When all the CIP Safety originator connections are establish ed the indicator is lit When an error occurs Refer to 12 2 1 Troubleshooting the Main Errors in the Safety CPU Unit on page 12 3 When a signature code is checked Refer to A 14 Checking the Signature Code on the...

Page 82: ...nal I O common Rated input voltage OMRON Special Safety Input Devices Number of safety slave connec tions I O refresh ing method NX SIH400 4 points 2 points Sinking in puts PNP 24 VDC Can be con nected 1 Free Run re freshing NX SID800 8 points 2 points Sinking in puts PNP 24 VDC Cannot be connected 1 Free Run re freshing General Specifications This section provides the general specifications of th...

Page 83: ...allation method DIN Track IEC 60715 TH35 7 5 TH35 15 Individual Specifications This section provides the individual specifications of the Safety Input Unit l Datasheet Items for Safety Input Unit The following table gives the meaning of the datasheet items for the Safety Input Units Item Specification Number of safety input points This is the number of safety input points on the Unit Number of tes...

Page 84: ...ength between the input circuits and the internal circuits of the Unit I O power supply method This is the method that is used to supply I O power to the Unit Current capacity of I O power supply terminal This is the current capacity of the I O power supply terminals IOV IOG on the Unit When you supply I O power to external devices that are con nected to the Unit make sure that the total power doe...

Page 85: ...ion Insulation resistance 20 MΩ min between isolated circuits at 100 VDC Dielectric strength 510 VAC between isolated circuits for 1 minute at a leakage current of 5 mA max I O power supply method Power supplied from the NX bus Current capacity of I O power supply terminals No applicable terminals NX Unit power consumption Connected to a CPU Unit or a Communication Control Unit 1 10 W max Connecte...

Page 86: ...ns Overvoltage protection circuit and short detection test outputs 1 Only NX102 CPU Units and Communication Control Units can be connected NX1P2 CPU Units cannot be connected l NX SID800 Item Specification Number of safety input points 8 points Number of test output points 2 points Internal I O common PNP sinking inputs Rated input voltage 24 VDC 20 4 to 28 8 VDC OMRON Special Safety Input De vice...

Page 87: ... No applicable terminals NX Unit power consumption Connected to a CPU UNIT or a Communication Control Unit 1 10 W max Connected to a Communications Coupler Unit 0 75 W max Current consumption from I O power supply 20 mA max Weight 70 g max Circuit layout Internal Circuits T0 1 Terminal block Si0 7 I O power supply I O power supply I O power supply I O power supply NX bus connector left NX bus conn...

Page 88: ... Name Function A Marker attachment loca tion The locations where markers are attached The markers made by OMRON are installed for the factory setting Commercially available markers can also be installed Refer to 3 1 2 Attaching Markers on page 3 4 B NX bus connector This is the NX series bus connector C Unit hookup guides These guides are used to connect two Units D DIN Track mounting hooks These ...

Page 89: ...type B 16 terminal type C A A1 A2 A3 A4 A5 A6 A7 A8 B1 B2 B3 B4 B5 B6 B7 B8 A1 A2 A3 A4 A5 A6 A7 A8 B1 B2 B3 B4 B5 B6 B7 B8 NX TB 1 8 terminal type B 16 terminal type C A A1 A2 A3 A4 A5 A6 A7 A8 B1 B2 B3 B4 B5 B6 B7 B8 A1 A2 A3 A4 A5 A6 A7 A8 B1 B2 B3 B4 B5 B6 B7 B8 2 Specifications 2 23 NX series Safety Control Unit User s Manual Z930 2 2 Safety Input Unit 2 2 2 2 Part Names and Functions ...

Page 90: ... with white letters on a dark background is the NX TB 2 Terminal Block You can mount either type of Terminal Block to a Unit with a terminal current capacity of 4 A max You can only mount the NX TB 2 Terminal Block to the Units that the current capacity specifica tion of the terminals is greater than 4 A Applicable Terminal Blocks for Each Unit Model The following table gives the Terminal Blocks t...

Page 91: ...ber indication is red on all Safety Control Units B Indicators Show the current operating status and communications status of the Safety I O Units Safety Input Unit Operation Status Indicators Indicators to show the operation status of the Safety Input Unit are located in the center of the front side of the Safety Input Unit The following section describes the specifications of each indicator IN I...

Page 92: ...re are no er rors in any Safety I O Units functions Flashing at 1 s intervals The FSoE connections are being established Red Flashing at 1 s intervals An FSoE communications error safety input terminal error or other minor error has occurred Not lit Power is not being supplied or a fatal fault has occurred l IN Indicator The IN indicator shows the signal input status of the safety input terminal T...

Page 93: ...r to 12 2 1 Troubleshooting the Main Errors in the Safety CPU Unit on page 12 3 for details on the relationship between the errors of the Safety Input Unit and the indicators 2 Specifications 2 27 NX series Safety Control Unit User s Manual Z930 2 2 Safety Input Unit 2 2 2 3 Indicators ...

Page 94: ...on Maximum load current Rated voltage Number of safety slave connec tions I O refreshing method NX SOH200 2 points Sourcing out puts PNP 2 0 A point 4 0 A Unit at 40 C 2 5 A Unit at 55 C 24 VDC 1 Free Run re freshing NX SOD400 4 points Sourcing out puts PNP 0 5 A point and 2 0 A Unit 24 VDC 1 Free Run re freshing General Specifications This section provides the general specifications of the Safety...

Page 95: ... TH35 15 Individual Specifications This section provides the individual specifications of the Safety Output Unit l Datasheet Items for Safety Output Unit The following table gives the meaning of the datasheet items for the Safety Output Units Item Specification Number of safety output points This is the number of safety output points on the Unit Internal I O common This is the polarity that the Un...

Page 96: ...O power to external devices that are connected to the Unit make sure that the total power does not ex ceed this value NX Unit power consumption This is the power consumption of the Unit from the NX bus power sup ply Current consumption from I O pow er supply This is the current consumption of the Unit from the I O power supply This value does not include the load current of any external connection...

Page 97: ...C Dielectric strength 510 VAC between isolated circuits for 1 minute at a leakage current of 5 mA max I O power sup ply method Power supplied from the NX bus Current ca pacity of I O power supply terminals IOG 2 A terminal max NX Unit power consumption Connected to a CPU UNIT or a Communication Control Unit 1 05 W max Connected to a Communications Coupler Unit 0 70 W max Current con sumption from ...

Page 98: ...o1 Safety output terminals IOG I O power supply 0 V So0 Safety Output Unit NX SOH200 A1 B1 A8 B8 So1 L L IOG IOG NC NC NC NC Refer to 4 3 2 Safety Output Function on page 4 32 for details 2 Specifications 2 32 NX series Safety Control Unit User s Manual Z930 ...

Page 99: ... installation the ambient temperature is re stricted as shown below according to the total Unit load current 2 1 0 4 3 20 30 40 50 10 0 Load current A Ambient Operating Temperature C Protective functions Overvoltage protection circuit and short detection 1 Only NX102 CPU Units and Communication Control Units can be connected NX1P2 CPU Units cannot be connected l NX SOD400 Item Specification Number...

Page 100: ... isolated circuits at 100 VDC Dielectric strength 510 VAC between isolated circuits for 1 minute at a leakage current of 5 mA max I O power supply method Power supplied from the NX bus Current capacity of I O power supply terminals IOG A3 and B3 2 A terminal max IOG A7 and B7 0 5 A terminal max NX Unit power consump tion Connected to a CPU UNIT or a Communication Control Unit 1 10 W max Connected ...

Page 101: ...ible in the upright installation orientation Connected to a Communications Coupler Unit Six possible orientations Restriction None Protective functions Overvoltage protection circuit and short detection 1 Only NX102 CPU Units and Communication Control Units can be connected NX1P2 CPU Units cannot be connected 2 3 2 Part Names and Functions This section provides the names and functions of the parts...

Page 102: ...the Unit The protrusions to hold when removing the Unit F Indicators The indicators show the current operating status of the Safety Output Unit or signal I O status Refer to 2 3 3 Indicators on page 2 38 G Terminal block The terminal block is used to connect external devices H Unit specifications The specifications of the Safety Output Unit are given Terminal Blocks There are two models of screwle...

Page 103: ...dditional Information The 8 terminal type does not have terminal holes and release holes for following terminal num bers A2 A4 A6 A8 B2 B4 B6 and B8 There are two types of Terminal Blocks in terms of current capacity 10 A for the NX TB 2 Termi nal Blocks and 4 A for the NX TB 1 Terminal Blocks To differentiate between the two types of Terminal Blocks use the terminal number column indications The ...

Page 104: ... tion on the models of terminal blocks 2 3 3 Indicators This section describes the indicators of the Safety Output Unit WARNING Do not use the status of the indicators on the NX series Safety Control Units for safety operations This will compromise the safety functions of the Unit and may cause serious injury in the event of an accident The indicator pattern depends on the number of output points ...

Page 105: ...or other recoverable minor error that is attributed to the NX bus has occurred Not lit There is no Unit power supply The Unit is restarting Waiting for initialization to start l FS Indicator The FS indicator shows the FSoE communications status and safety function status of the Safety Output Unit The following table lists the possible states for this indicator and what they mean Color Status Meani...

Page 106: ...put terminals The following table lists the possible states for this indicator and what they mean Color Status Meaning Red Lit An error has occurred in the safety output terminal Flashing at 1 s intervals An error has occurred in the safety output terminal for the other channel of the dual channel I O Not lit No error has occurred in the safety output terminal Refer to 12 2 1 Troubleshooting the M...

Page 107: ... Safety CPU Unit Model PFH NX SL3300 3 1E 10 NX SL3500 3 0E 10 NX SL5500 5 0E 11 NX SL5700 5 0E 11 l Safety Input Unit Model PFH NX SID800 1 5E 9 1 4 3E 10 2 NX SIH400 1 4E 9 1 3 1E 10 2 1 This value includes PFH value of FSoE connection 2 This value does not include PFH value of FSoE connection l Safety Output Unit Model PFH NX SOD400 1 6E 9 1 5 5E 10 2 NX SOH200 1 4E 9 1 3 6E 10 2 1 This value i...

Page 108: ...2 Specifications 2 42 NX series Safety Control Unit User s Manual Z930 ...

Page 109: ...ing Units 3 5 3 1 4 Installation Orientation 3 6 3 2 Power Supply Types and Wiring 3 8 3 2 1 Applications of I O Power Supply and Supply Methods 3 8 3 2 2 Calculating the Total Current Consumption from I O Power Supply 3 9 3 3 Wiring the Terminals 3 10 3 3 1 Wiring to the Screwless Clamping Terminal Blocks 3 10 3 3 2 Checking Wiring 3 23 3 1 NX series Safety Control Unit User s Manual Z930 3 ...

Page 110: ...Use Do not apply labels or tape to the Unit When the Unit is installed or removed adhesive or scraps may adhere to the pins in the NX bus connector which may result in malfunctions Do not touch the pins in the NX bus connector on the Unit Dirt may adhere to the pins in the NX bus connector which may result in malfunctions Example NX Unit 12 mm width NG NG Do not write on an NX Unit with ink within...

Page 111: ...ge the Unit hookup guides on a new Unit with the Unit hookup guides on the previously mounted NX Unit Unit hookup guides Unit hookup guides 2 Slide the NX Unit in on the hookup guides 3 Press the NX Unit with a certain amount of force against the DIN Track until you hear the DIN Track mounting hook lock into place When you mount the NX Unit it is not necessary to release the DIN track mounting hoo...

Page 112: ...upler Unit for information on how to mount the Communications Coupler Unit and how to mount the NX Unit to the Communica tions Coupler Unit 3 1 2 Attaching Markers You can attach markers to the NX Units and to the terminal blocks to identify them The plastic markers made by OMRON are installed for the factory setting The ID information can be written on them Commercially available markers can also...

Page 113: ...ercially available special printers 3 1 3 Removing Units Precautions for Safe Use Always turn OFF the Unit power supply and I O power supply before you remove the NX Unit 1 Use a flat blade screwdriver or similar tool to pull up the DIN Track mounting hook on the NX Unit to remove Flat blade screwdriver DIN Track mounting hook 2 As shown in the following figure place your fingers on the protrusion...

Page 114: ...nits at the same time all of the NX Units will come off 3 1 4 Installation Orientation Installation Orientation in the Case of a CPU Unit Orientation is possible only in the upright installation orientation Upper Lower However there are restrictions on the specifications depending on the NX Units to be used Refer to the user s manuals for the NX Units and System Units that you will use for details...

Page 115: ...ns Coupler Units NX Units and NX series System Units that you will use Precautions for Safe Use For the installation orientations in the following figure support the cables e g with a duct so that the End Plate on the bottom is not subjected to the weight of the cables The weight of the cables may cause the bottom End Plate to slide downward so that the Slave Terminal is no longer secured to the D...

Page 116: ...ications of I O Power Supply and Supply Methods The applications of I O power supply and supply methods for the Safety Control Unit are given as fol lows Note that the Safety Control Unit does not use I O power supply Applications of I O Power Supply The I O power supply is used for the following applications Driving the I O circuits of the Safety Input Unit or Safety Output Unit Input current to ...

Page 117: ...urrent consumption of the I O power supply from the NX bus The total I O current consumption from the NX bus is the sum of the following the current consump tion from the I O power supply for the NX Units that receive power from the I O power supply from the NX bus the current consumption of those I O circuits and the current consumption of connected ex ternal devices The current consumption of ex...

Page 118: ...ck If you connect the ferrules all you need to do to connect the wires is to insert the ferrules into the terminal holes Wiring Terminals The terminals to be wired are as follows I O power supply terminals I O terminals Applicable Wires You can connect twisted wires solid wires or ferrules attached to twisted wires to the screwless clamping terminal block The applicable wire dimensions and prepara...

Page 119: ...AI0 5 8 0 5 20 AI0 5 10 AI0 75 8 0 75 18 AI0 75 10 AI1 0 8 1 0 18 AI1 0 10 AI1 5 8 1 5 16 AI1 5 10 Ground termi nals AI2 5 10 2 0 1 All ter minals except ground termi nals Weidmuller H0 14 12 0 14 26 Weidmuller Applicable wire sizes are given in pa rentheses PZ6 Roto 0 14 to 6 mm2 AWG26 to 10 H0 25 12 0 25 24 H0 34 12 0 34 22 H0 5 14 0 5 20 H0 5 16 H0 75 14 0 75 18 H0 75 16 H1 0 14 1 0 18 H1 0 16 ...

Page 120: ...ot pos sible Ground terminals Possible Possible Possi ble 2 Possi ble 2 2 0 mm2 9 to 10 mm 1 Secure wires to the screwless clamping terminal block Refer to Securing Wires on page 3 13 for how to secure wires 2 With the NX TB 1 Terminal Block use twisted wires to connect the ground terminal Do not use a solid wire Conductor length stripping length Precautions for Correct Use Use cables with suitabl...

Page 121: ...i nals 2 A max No No No No No Greater than 2 A and 4 A or less Not possible Yes Not possible Greater than 4 A Yes Not possible Ground termi nals No No No No Use the following procedure to secure the wires 1 Prepare a cable tie A cable tie can be used with a width of 4 mm or less and a thickness of 1 5 mm or less Select a cable tie correctly for the operating environment 1 5 mm or less 4 0 mm or le...

Page 122: ... wires with a cable tie and secure them to the screwless clamping terminal block Secure wires within the range of 30 mm from the screwless clamping terminal block 30 mm 3 Installation and Wiring 3 14 NX series Safety Control Unit User s Manual Z930 ...

Page 123: ...ew 2 5 mm dia Recommended screwdriver Model Manufacturer SZF 0 0 4X2 5 Phoenix Contact l Connecting Ferrules Insert the ferrule straight into the terminal hole You do not need to insert a flat blade screwdriver into the release hole Ferrule After you make a connection make sure that the ferrule is securely connected to the terminal block 3 Installation and Wiring 3 15 NX series Safety Control Unit...

Page 124: ...ole Flat blade screwdriver 2 Leave the flat blade screwdriver pressed into the release hole and insert the twisted wire or the solid wire into the terminal hole Insert the twisted wire or the solid wire until the stripped portion is no longer visible to prevent shorting 2 Twisted wire or Solid wire 3 Remove the flat blade screwdriver from the release hole 3 After you make a connection make sure th...

Page 125: ...g so may severe the cable l Removing Wires Use the following procedure to remove the wires from the terminal block The removal process is the same for both ferrules and twisted solid wires 1 Press the flat blade screwdriver diagonally into the release hole The optimal angle for insertion is between 10 to 15 If you press in the screwdriver correctly you will feel the spring in the release hole 1 10...

Page 126: ...N or less Applying excessive force may damage the terminal block Do not tilt or twist the flat blade screwdriver while it is pressed into the release hole Doing so may break the terminal block NG NG Make sure that all wiring is correct Do not bend the cable forcibly Doing so may severe the cable Removing a Terminal Block 1 Press the lock lever on the terminal block and pull out the top of the term...

Page 127: ...minal block will click into place on the Unit After you mount the terminal block make sure that it is locked to the Unit Guide Hook Mount a Terminal Block that is applicable to the model of each Unit Refer to Applicable Terminal Blocks for Each Unit Model page 2 24 page 2 37 for the applicable Terminal Blocks 3 Installation and Wiring 3 19 NX series Safety Control Unit User s Manual Z930 3 3 Wirin...

Page 128: ... connected to each other You can use these pins to create a combination in which the wrong terminal block cannot be attached because the pin patterns do not match Terminal block Unit Cannot be attached l Types of Coding Pins There are two types of Coding Pins both with their own unique shape one for terminal blocks and one for Units Three pins come with each runner For terminal block For Unit Codi...

Page 129: ...Terminal block Unit 1 2 3 4 5 6 No 1 No 2 No 3 No 4 No 5 No 6 No 7 No 8 No 9 No 10 No 11 No 12 No 13 No 14 No 15 No 16 No 17 No 18 No 19 No 20 1 2 3 4 5 6 1 2 3 4 5 6 1 2 3 4 5 6 Holes used by OMRON Holes for incorrect attachment prevention pin locations Pin locations for Unit Pattern Holes used by OMRON Holes for incorrect attachment prevention pin locations 3 Installation and Wiring 3 21 NX seri...

Page 130: ...ved for use by OMRON you will not be able to mount the terminal block to the Unit Do not use Coding Pins that have been attached and removed l Inserting the Coding Pins 1 Hold the pins by the runner and insert a pin into one of the incorrect attachment prevention holes on the terminal block or on the Unit Terminal block Unit 2 Rotate the runner to break off the Coding Pin Terminal block 3 Installa...

Page 131: ...m the operation of the connected external device If you use the I O Map you can also monitor and perform forced refreshing even if the variables are not defined or the algorithms are not created Therefore you can easily check the wiring Refer to Section 7 Checking Operation and Actual Operation on page 7 1 for the monitoring and forced refreshing operations 3 Installation and Wiring 3 23 NX series...

Page 132: ...3 Installation and Wiring 3 24 NX series Safety Control Unit User s Manual Z930 ...

Page 133: ...etwork 4 2 4 1 2 Safety Control System on EtherNet IP Network 4 4 4 1 3 Standalone Safety Control System 4 6 4 2 I O System 4 8 4 2 1 Relationship between the Types of Signals and the Types of Com munications 4 8 4 2 2 Safety Data Types and Standard Data Types 4 8 4 2 3 Specifying Safety Data Types and Standard Data Types 4 9 4 3 Safety I O Function 4 10 4 3 1 Safety Input Function 4 10 4 3 2 Safe...

Page 134: ...y process data communications Standard process data communications C Safety control system Standard process data communications B A 1 You cannot send outputs to the Safety Output Units You can input the output values The safety control system consists of the Safety CPU Unit and Safety I O Units The Safety CPU Unit performs safety controls with the Safety I O Units through safety process data commu...

Page 135: ...he same Slave Terminal Safety I O Unit on the Slave Terminal on the EtherCAT network EtherCAT slave with the FSoE slave function on the EtherCAT network OMRON 1S series Servo Driver In the example above the Safety CPU Unit operates as a master of safety process data communica tions The 1S series Servo Driver or the Safety I O Unit operates as a slave of safety process data communications The NJ NX...

Page 136: ...ety on EtherNet IP device through safety process data communications Dashed arrows in the above fig ure The Safety CPU Unit can perform standard I O control with a standard CPU Unit through standard process data communications Dashed arrows in the above figure Relationship between Master and Slaves during Safety Process Da ta Communications The relationships for safety process data communications ...

Page 137: ...B The Safety CPU Unit can also behave as a slave in the safety process data communications while serving as a master of the safety process data communications Using this feature you can configure a system where the two Safety CPU Units can mutually monitor and control their operations as shown in the above figure Relationship between Master and Slaves during Standard Process Data Communications Th...

Page 138: ...U Unit Safety I O Units and standard I O Units can perform standard I O with the Com munications Coupler Unit through standard process data communications Section B in the above figure The standard CPU Unit can indirectly monitor the operating status of the safety control system through standard process data communications when the Communications Coupler Unit is connected Sec tion C in the above f...

Page 139: ...ss data communications are shown in the following figure Standard process data communications Standard CPU Unit S M Standard master Standard slave Communications between NX Units S S S M S S S M S S Safety CPU Unit Coupler Unit Safety Output Safety Input Safety CPU Unit Coupler Unit Safety Output Safety Input Standard output Standard input EtherNet IP The standard controller performs standard proc...

Page 140: ...the I O Map of the Sysmac Studio 4 2 1 Relationship between the Types of Signals and the Types of Communications The safety control system uses the communications that are described below to process all I O with safety inputs safety outputs standard inputs standard outputs and standard controls The exchange of signals with safety inputs and safety outputs is done with safety process data com munic...

Page 141: ...m external devices Safety data type Safety outputs to external devices Standard inputs from external devices Standard data type Standard outputs to external devices Internal safety related signals with no I O with any external devi ces Safety data type Internal standard related signals with no I O with any external de vices Standard data type 4 2 3 Specifying Safety Data Types and Standard Data Ty...

Page 142: ...e with mechanical contacts Dual channel equivalent input EDM feedback Device with mechanical contacts Single channel Reset switch Device with mechanical contacts standard in put Single Channel with Test Pulse Single Channel without Test Pulse Safety light curtain Device with semiconductor output Dual channel equivalent input Safety laser scanner Device with semiconductor output Dual channel equiva...

Page 143: ... the safety input terminals from the Sysmac Studio by select ing the types of external devices that are connected Refer to the 4 3 Safety I O Function on page 4 10 for details Connecting Input Devices This section describes the connection methods for input devices l Devices with Mechanical Contacts A device with mechanical contacts such as an emergency stop pushbutton or safety limit switch is use...

Page 144: ...ac Studio Settings Dual channel Input When I O Short Detection between Lines Is Not Required NX SI T0 Si0 Si1 Example of Sysmac Studio Settings 4 Safety Control Unit Operation 4 12 NX series Safety Control Unit User s Manual Z930 ...

Page 145: ...ort Detection between Lines Is Required NX SI T1 T0 Si0 Si1 Example of Sysmac Studio Settings 4 Safety Control Unit Operation 4 13 NX series Safety Control Unit User s Manual Z930 4 3 Safety I O Function 4 4 3 1 Safety Input Function ...

Page 146: ...he following methods Dual channel equivalent input With Test Pulse Dual channel complementary input Without Test Pulse and With Test Pulse l Devices with Semiconductor Outputs The signal from a device with a semiconductor output such as a light curtain is input to a safety input terminal Si Si0 Si1 IOV IOG IOV IOG 24 VDC 0 V NX bus connection Safety Light Curtain The unit that supplies the I O pow...

Page 147: ...F 30 μs max 30 µs max Check the specifications of the connected device for the maximum cable length l E3ZS E3FS Single beam Safety Sensors An OMRON E3ZS E3FS Single beam Safety Sensor is connected as shown in the following figure Single beam Safety Sensors IOV IOG IOV IOG T0 Si0 24 VDC 0 V Emitter Receiver Brown Brown Blue Pink Pink Blue Black The unit that supplies the I O power to the NX bus NX ...

Page 148: ...4 Safety Control Unit Operation 4 16 NX series Safety Control Unit User s Manual Z930 ...

Page 149: ...ngle Beam Safety Sensor L1 L2 L3 100m L1 L2 L4 100m L1 L2 L3 L4 The E3ZS E3FS Single beam Safety Sensor can be used in a Type 2 or lower or PLc or low er application It cannot be used in a Type 3 or higher or PLd or higher application If you use more than one Single beam Safety Sensor it may not always be possible to detect shorts between wires Therefore to satisfy safety category 2 the cables mus...

Page 150: ...one test output terminal is used Connect the D40A D40Z Non Contact Door Switch input white line n Units n 10 max Non contact Door Switches 24 VDC 0 V IOV IOV IOG IOG Ln 1 L1 Ln 2 L2 L1 L2 Ln 1 Ln 2 100 m NX bus connection NX SIoooo T0 Si0 Si1 The unit that supplies the I O power to the NX bus White Black Blue Brown White Black Blue Brown White Black Blue Brown Example of Sysmac Studio Settings 4 S...

Page 151: ...L1 L2 Ln 2 in the figure above for the D40A or D40Z Non contact Switches is 100 m max The D40A Non contact Door Switch can be used in a Safety Category 3 or lower or a PLd or lower application It cannot be used in a Safety Category 4 or PLe application The D40Z Non contact Door Switch can be used in a Safety Category 4 or lower or a PLe or lower application l UM UMA Safety Mats OMRON UM UMA Safety...

Page 152: ...an one Safety Mat or Safety Edge from the same test output terminal Black White Brown Blue Black White Brown Blue Si0 Si1 T0 NX SIH400 T1 Si3 Si2 Safety mat The total wiring length L1 L2 Ln 1 for the UM UMA Safety Mats is 100 m max The UM UMA Safety Mats can be used in a Safety Category 3 or lower or a PLd or lower application They cannot be used in a Safety Category 4 or PLe application l SGE Saf...

Page 153: ...n T0 NX SIH400 T1 Si0 Si1 Ln 1 L1 L2 Ln L3 n Units n 5 max Safety edge Example of Sysmac Studio Settings 4 Safety Control Unit Operation 4 21 NX series Safety Control Unit User s Manual Z930 4 3 Safety I O Function 4 4 3 1 Safety Input Function ...

Page 154: ...fety Edges is 100 m max The SGE Safety Edge can be used in a Safety Category 3 or lower or a PLd or lower applica tion It cannot be used in a Safety Category 4 or PLe application Types of Safety Input Functions The types of safety input functions that are performed by the Safety Input Unit is shown below For the safety input functions the safety signals that are input to the safety input terminals...

Page 155: ...output terminals A two input logic check is made for a safety mat This function monitors the voltage range of the I O power supply to ensure the operation of the internal circuits ON delays and OFF delays can be set to prevent malfunctions caused by noise or by chattering of externally connected devices When safety terminal inputs are used as dual channels the two inputs are checked for consistenc...

Page 156: ...external device when the Test Pulse Diagnosis parameter is set to with Test Pulse Setting Description Mechanical Con tact The test pulse is connected to a device with mechanical contacts The test output signal pulse output is input to the safety input terminal through the mechanical contact device The following can be detected Contact of the input signal line with the positive side of the power su...

Page 157: ...of the other input An error occurs if the value of the other input does not change within the set discrepancy time The discrepancy time can be set to any of the following eight values between 500 ms and 64 000 ms 1 500 ms 2 1000 ms 3 2000 ms 4 4000 ms 5 8000 ms 6 16000 ms 7 32000 ms 8 64000 ms The discrepancy time cannot be set in Single Channel Mode l Relationship between the Single Dual Setting ...

Page 158: ...nship between Safety Mat Status and Safety Input Data for Safety Mat Safety Edge Inputs n Even number Single Dual Safety mat safety edge status Safety input data Meaning of status Si n Si n 1 Safety Mat Safety Edge Without load 1 0 1 Active ON With load 0 0 1 Inactive OFF 1 If the terminals are set to Dual Channel Mode the safety program in the Safety CPU Unit must access the safety input data for...

Page 159: ...Safety input terminal 1 Safety input data 0 before dual evaluation Safety input data 1 before dual evaluation Safety input data 0 I O indicator yellow 0 I O indicator yellow 1 I O indicator red 1 I O indicator red 0 OFF ON Discrepancy time Discrepancy time OFF Safety input terminal 0 OFF ON OFF Operation for Dual channel Equivalent Inputs Discrepancy Error 4 Safety Control Unit Operation 4 27 NX s...

Page 160: ... that can be detected for safety input terminals are determined by the parameter settings The following table gives the errors that are detected for each parameter setting l Devices with Mechanical Contacts and Devices with Semiconductor Out puts Setting Error detection Single Dual Test pulse Contact with posi tive side of power line Ground fault 1 Disconnection Short circuits in input wiring Sing...

Page 161: ...t turns ON or OFF Detecta ble 1 To detect ground faults the 0 V line of the external power supply must be grounded 2 Detection is possible with the OSSD diagnostic function of the light curtain or laser scanner l Single beam Safety Sensors Non contact Door Switches Safety Mats and Safety Edges Input device Error detection Contact with positive side of power line Ground fault 1 Disconnec tion Short...

Page 162: ...lter can be used with dual channel evaluation Precautions for Correct Use If an OFF delay is used the OFF delay time affects the safety reaction time Add the OFF delay time to the safety reaction time Refer to Section 8 Calculating Safety Reaction Times on page 8 1 l Operation with an ON Delay You can filter out ON pulses for the width that is set with the ON delay time Internal timer Safety input...

Page 163: ...d Counter cleared Internal timer OFF delay Counter cleared Counter cleared Safety input terminals ON OFF ON OFF ON OFF OFF delay ON delay Test Output Terminal Short Detection The test output terminal short detection prevents the internal circuits of the test output terminals from being destroyed if an overcurrent flows due to a ground fault or other cause If an overcurrent is detected the safety i...

Page 164: ... Examples Safety devices that can be connected to PNP outputs Safety relays contactors or safety inputs from servo drives Additional Information The connection of incandescent lamps is not supported Connect them to an NX series Digital Output Unit Setting the Safety Functions for Safety Output Terminals You can easily set the safety functions of the safety output terminals from the Sysmac Studio b...

Page 165: ...nit even if the IOG line is broken I O power supply 24 VDC Load NX ECCo NX SOo L IOG IOG So0 IOV Connecting Output Devices This section describes the connection methods for output devices l Safety Relays and Contactors Connect a safety relay or contactor as shown in the following figure 4 Safety Control Unit Operation 4 33 NX series Safety Control Unit User s Manual Z930 4 3 Safety I O Function 4 ...

Page 166: ... 1 Safety Input Function on page 4 10 l Connecting More Than One Output Device The IOG terminals on the Safety Output Unit are connected internally in the Unit Make sure that the current that flows through each IOG terminal is less than the current capacity of the I O power supply terminals If the wiring is shared for the IOG lines to the output devices the sum of the output currents will flow in ...

Page 167: ...Unit Safety input terminals Safety output terminals Self diagnosis Test Pulse Evaluation With test pulse Without test pulse Dual channel equivalent Make sure that the two outputs have the same value Single channel There is no redundancy Dual channel evaluation Other Functions I O power supply monitoring I O power supply OFF circuit test When safety output terminals are used as dual channels the tw...

Page 168: ...e connected control device to make sure it will not malfunc tion due to these OFF pulses Dual Channel Evaluation The use of dual channel equivalent outputs lets you control two safety output terminals with one safety output data from the safety program If an error is detected in either of the two output terminals the outputs to the external devices are both turned OFF Single Channel Safety program...

Page 169: ...erminal Meaning of status So x So x Single Channel 0 0 Inactive OFF 1 1 Active ON Relationship between Safety Output Data and Signals Output from Safety Output Terminals for Dual channel Equivalent Outputs n Even number Single Dual Safety output data Output signal on the safety output terminal Meaning of status So x So n So n 1 Dual Channel Equiva lent 0 0 OFF 0 OFF Inactive OFF 1 1 ON 1 ON Active...

Page 170: ...tor status is held 1 s min Operation for Dual channel Equivalent Outputs Normal Operation I O indicator red 0 I O indicator red 1 I O indicator yellow 0 I O indicator yellow 1 Safety output data 0 Safety output command value Safety output terminal 0 Safety output terminal 1 OFF ON OFF Operation for Dual channel Equivalent Outputs Test Pulse Evaluation Error 4 Safety Control Unit Operation 4 38 NX ...

Page 171: ...on Error detection Contact with posi tive side of power line Ground fault 1 Short circuits in output wiring Output ON Output OFF Output ON Output OFF Short cir cuit when both out puts are ON Short cir cuit when both out puts are OFF Short cir cuit when one output is ON and the other is OFF Without Test Pulse Test pulses are not output when the out put is ON Not de tectable Detecta ble Detect able ...

Page 172: ...nused terminals I O Power Supply OFF Circuit Test Internal Circuit Diagnosis The I O power supply OFF circuit test shuts OFF the I O power supply and diagnoses the function that shuts OFF the I O power supply to see if it is operating correctly If an internal circuit fault is detected by this function all safety output terminals for the Unit are turned OFF This test is executed at the following tw...

Page 173: ... Communications 5 13 5 4 3 Calculating the Number of Connections 5 20 5 5 Safety I O Functions 5 23 5 6 Registering Device Variables 5 26 5 7 Exposing Variables to Standard Controllers 5 30 5 7 1 Exposing Global Variables 5 30 5 7 2 Setting Exposed Variables 5 31 5 7 3 Safety CPU Unit Status 5 35 5 7 4 I O Ports for Safety I O Units 5 36 5 7 5 I O Refreshing Method 5 36 5 8 Setting Standard Proces...

Page 174: ...ollowing order 1 Configure and set up the safety control system 2 Set up safety process data communications 3 Select the connected input devices and output devices to set up the input terminals and output terminals 4 Register the device variables 5 Expose the variables to the standard controller 5 System Configuration and Setup 5 2 NX series Safety Control Unit User s Manual Z930 ...

Page 175: ...er and a Programming Layer Use the Controller Selection Box to select the Safety CPU Unit or NJ NX series CPU Unit b Edit Pane The Edit Pane is used to display and edit the data for any of the items c Toolbox The Toolbox shows the objects that you can use to edit the data that is displayed in the Edit Pane Search and Re place Pane In this pane you can search for and replace strings in the data in ...

Page 176: ...lace Results Tab Page shows the results when Search All or Re place All is executed f Filter Pane The Filter Pane allows you to search for color codes and for items with an error icon The results are displayed in a list This manual describes only the functions and operations of the Sysmac Studio that are related to the safety control system Refer to the Sysmac Studio Version 1 Operation Manual Cat...

Page 177: ...ration Configuration Example In order from left to right Safety Input Unit Safety Output Unit Digital Input Unit Digital Output Unit NJ NX series CPU Unit Safety CPU Unit EtherCAT Coupler Unit EtherCAT Coupler Unit Refer to the Sysmac Studio Version 1 Operation Manual Cat No W504 for details on configuring and setting up the NJ NX series CPU Unit l EtherNet IP Slave Terminal Configuration and Sett...

Page 178: ...create a project file 3 Double click EtherCAT under Configurations and Setupin the Multiview Explorer 4 Select Terminal Coupler from the Groups List in the Toolbox The EtherCAT Coupler Unit is displayed below it Drag the Unit and add it to the configuration Drag Drop Click Click 5 Click the Edit Slave Terminal Configuration Button at the bottom of the list of EtherCAT Cou pler Unit settings Or rig...

Page 179: ...This completes the creation of the Controller configuration for an NJ NX series CPU Unit that includes Safety Control Units After the Safety CPU Unit is added to the NJ NX series Controller configuration the Safety CPU Unit will be displayed in the Controller Selection Box in the Multiview Explorer The Safety CPU Unit that was added is displayed below the NJ NX series Controller i e the EtherCAT m...

Page 180: ...roject file 3 Double click NX EIC202 under EtherNet IP Configurations and Setup in the Multiview Ex plorer The Slave Terminal Tab Page is displayed 4 Select Safety CPU Device from the Groups List in the Toolbox The Safety CPU Unit is dis played below it Drag the Safety CPU Unit to the Slave Terminal and add it to the configuration Drag Drop Click 5 Select Safety Digital Input Device or Safety Digi...

Page 181: ...e names must be unique within the same safety control configuration If you specify the same name for more than one Unit an error will occur Text string N where is a serial number from 1 Model name Not pos sible Model of Safety Control Unit Product name Not pos sible This is the product name Unit version Not pos sible Unit version of the Safety Control Unit NX Unit num ber Not pos sible This number...

Page 182: ...dit for the Safety Control Unit 5 3 3 Procedure to Change the Model of the Safety Control Unit After you create the Controller configuration you can change the model or unit version of the Safety Control Unit without changing the saved settings information Use the following procedure to change the Safety CPU Unit You can also change the model of a Safety I O Unit with essentially the same procedur...

Page 183: ...y validation again after you change the model If you change the model of a Safety Control Unit recalculate the safety reaction times The safety reaction times may change if you change the model 5 System Configuration and Setup 5 11 NX series Safety Control Unit User s Manual Z930 5 3 Controller Configuration and Setup of the Safety Control Units 5 5 3 3 Procedure to Change the Model of the Safety ...

Page 184: ...splays the NX Unit number of the Safety I O Unit Active Ena ble Disable Possi ble The communications setting for FSoE communications is displayed Selected Enabled This setting assigns the Safety I O Unit to the Safety CPU Unit as a communications node and displays the I O ports for that Unit in the I O Map Not selected Disabled This setting does not assign the Safety I O Unit to the Safety CPU Uni...

Page 185: ...formation You can change the FSoE watchdog timers and the WDT auto setting with Sysmac Studio version 1 10 or higher You can change the FSoE slave addresses with Sysmac Studio version 1 11 or higher 5 4 2 Setting Up the CIP Safety Communications Safety Network Number Settings The Safety Network Number SNN is a unique number assigned to the safety network In the CIP Safety it is used for uniquely i...

Page 186: ...mber Settings Tab Page Originator Connection Settings To use the Safety CPU Unit as an originator device for CIP Safety the CIP Safety communications need to be set Use the following procedure to set the CIP Safety communications l Adding Target Devices Use the following procedure to add a target device to open a CIP Safety connection 1 In the Multiview Explorer select the target Safety CPU Unit i...

Page 187: ...ata direction of each connection In Data to be received from the target device Out Data to be sent to the target device Target I O Assembly I O Assembly name of the target device with which a connection is to be opened is displayed Active Enable disable each connection Selected Connection is active Not selected Connection is inactive EPI ms Specifies the Expected Packet Interval data update cycle ...

Page 188: ...splayed Change the displayed settings according to the actual target device settings The settings depend on a type of the target device as shown in the following table Target device type Setting Items Safety CPU Unit IP Address Specify the IP address for the built in EtherNet IP port of the NX102 CPU Unit NX Unit Number Specify the NX Unit number of the Safety CPU Unit Safety network number NX bus...

Page 189: ...Device Perform configuration of the target device when a connection is established For the Safety CPU Unit this item cannot be selected Check Safety Signature Uses the safety signature to check if the target devices are properly configured when establishing the connection The safety signature consists of the Safety Configuration CRC and the Safety Configuration Time Stamp When the target device is...

Page 190: ...ed 2 Specify the connection parameters and click the OK Button A new connection is added to the connection list Target I O Assembly Settings To execute the CIP Safety I O communications between the Safety CPU Units you need to configure the I O Assembly settings on the target Safety CPU Unit This section describes the procedure to enable or disable the I O Assembly on the I O Assembly Set tings Ta...

Page 191: ... Map Tab Page Export Button Exports the target device settings as a file extension tds The following lists the types of selectable I O Assembly Name Assembly num ber Data direction Size InputAssembly 1 768 0x300 Input Data sent to the origi nator device 16 bytes SAFEBOOL 128 InputAssembly 2 769 0x0301 Input Data sent to the origi nator device 16 bytes SAFEBOOL 128 InputAssembly 3 770 0x0302 Input ...

Page 192: ...ariables You can check the usage on the Memory Usage Pane of the Sysmac Studio Counting the Number of CIP Safety Originator Connections For the CIP Safety originator connections you can establish a unidirectional input or output com munication with a CIP Safety target per connection Two connections are used to establish bidir ectional input and output communications Counting the Number of CIP Safe...

Page 193: ...culating the Number of Routable CIP Safety Connections for the NX series CPU Unit You must specify the total number m n of targets that establish connections as an originator m and originators that establish connections as a target n which must be set within the maximum number of routable CIP Safety connections for the Communication Control Unit If you set the num ber that exceeds the maximum numb...

Page 194: ...ries Servo Drive 1S series Servo Drive Safety Input Unit Safety Output Unit FSoE Slave S FSoE Master M CIP Safety Target T CIP Safety Originator O S S S S S S S S M M M T T O T O O Single cast Connection Multi cast Connection Number of targets that estab lish connections as an origi nator m Number of originators that establish connections as a target n Total m n NX series CPU Unit A 2 2 4 NX serie...

Page 195: ...c d The items in the Parameters Tab Page of safety slave unit setting are described below Letter Name Function a NX Bus Master List Pane This pane lists NX bus masters to which the Safety I O Unit that can perform safety communications with the Safety CPU Unit is mounted b NX Unit Config uration Pane This pane shows the configuration of the NX Units that are connected to the NX bus master c Toolbo...

Page 196: ...d I O terminal Drag Drop Enter a comment When you drag the device to connect to a terminal where it can be dropped a mark appears below the mouse cursor as shown below 4 When you complete the settings the following is displayed Change the settings and enter comments 5 System Configuration and Setup 5 24 NX series Safety Control Unit User s Manual Z930 ...

Page 197: ...lect an input device that cannot be set for a Safety Input Unit an error will occur and the frame around the input device will be displayed in red Additional Information The I O terminal comments on the Parameters Tab Page are linked to the device variable com ments and the global variable comments 5 System Configuration and Setup 5 25 NX series Safety Control Unit User s Manual Z930 5 5 Safety I ...

Page 198: ...ou can create the device variable for the I O ports by manually entering the device variable name or by creating them automatically 1 On the Safety CPU Unit Setup and Programming View select Configurations and Setup and double click I O Map The I O Map will be displayed Automatically create the device variable name DeviceName_PortName If the safety I O terminals to which devices are connected are ...

Page 199: ... Safety CPU Unit are descri bed in this section l NX SIH400 Safety Input Unit Port Data type R W Name Description De fault Si00 Logical Value SAFE BOOL R Si00 Logical Value Gives the status of safety input terminal Si00 0 OFF 1 ON 0 Si01 Logical Value SAFE BOOL R Si01 Logical Value Gives the status of safety input terminal Si01 0 OFF 1 ON 0 Si02 Logical Value SAFE BOOL R Si02 Logical Value Gives t...

Page 200: ...ection is active Use it for an input to the Activate termi nal on a safety FB or for safety connection disconnection applications 0 Safety Input Terminal Sta tus SAFE BOOL R Safety Input Terminal Status This flag indicates the status of the safety input terminals 0 An error has occurred on one of the safety input terminals 1 All of the safety input terminals are normal no errors 0 l NX SOH200 Safe...

Page 201: ...curred on one of the safety out put terminals 1 All of the safety output terminals are normal no errors 0 So00 Output Value SAFE BOOL W So00 Output Value Gives the status of safety output terminal So00 0 OFF 1 ON 0 So01 Output Value SAFE BOOL W So01 Output Value Gives the status of safety output terminal So01 0 OFF 1 ON 0 So02 Output Value SAFE BOOL W So02 Output Value Gives the status of safety o...

Page 202: ...the exposed Safety CPU Unit variables The following table gives the variable data types that can be exposed for Safety CPU Unit and the cor responding data types that are displayed for the NJ NX series CPU Unit Variable data type that can be exposed for Safe ty CPU Unit Data type displayed for NJ NX series CPU Unit Data size in bytes BOOL BOOL 1 BYTE USINT 1 WORD UINT 2 INT INT 2 DINT DINT 4 The v...

Page 203: ...Unit If you change the exposed variable you must transfer the settings and programs to the standard CPU Unit After you transfer the settings and programs check that the operation of the standard CPU Unit is correct If you change the exposed variable in the EtherNet IP Slave Terminal configuration the I O allocations of the EtherNet IP Couplers Unit will be changed Check that the operation of the E...

Page 204: ...ge 6 36 for details on registering variables 2 Select the Expose Column for global variables and then select Input or Output The selected variable is registered in the exposed variable input table or output table Copying Global Variables and Pasting Them on the Exposed Varia bles Tab Page Use the following procedure to select variables on the global variable table and set them as exposed variables...

Page 205: ...nu The selected global variables are copied Press the Shift Key or Ctrl Key to select more than one global variable 3 Right click in the Exposed Variables Tab Page and select Paste from the menu The global variables are set as exposed variables 5 System Configuration and Setup 5 33 NX series Safety Control Unit User s Manual Z930 5 7 Exposing Variables to Standard Controllers 5 5 7 2 Setting Expos...

Page 206: ...owing procedure to select registered global variables on the Exposed Variables Tab Page and set them as exposed variables 1 Register global variables with standard data types Refer to 6 5 3 Registering Variables on page 6 36 for details on registering variables 2 Double click Exposed Variables under Configurations and Setup Communications Standard Slave I O The Exposed Variables Tab Page is displa...

Page 207: ... process data communica tions are performed automatically l Using an CPU Unit or EtherCAT Coupler Unit The status of a Safety CPU Unit is displayed as I O ports in the I O Map of the NJ NX series CPU Unit You can use the I O ports to monitor the status of the Safety CPU Unit from the NJ NX series CPU Unit Refer to A 5 Safety CPU Unit Status on page A 72 for details on the items in the Safety CPU U...

Page 208: ... series CPU Unit l Using an EtherNet IP Coupler Unit I O port values are allocated in the I O Map of the Communications Coupler Unit You can check the I O allocation information of Communications Coupler Unit on the Edit I O Allocation Settings Pane Refer to A 6 I O Ports of Safety I O Units on page A 74 for descriptions of the I O ports for Safety I O Units Additional Information You can only rea...

Page 209: ...or the models of the NX Units that you can connect Refer to A 12 I O Response Times for Communications between NX Units on EtherNet IP Slave Ter minals on page A 98 for the I O response times between standard I O Units and a Safety CPU Unit when using an EtherNet IP Coupler Unit Use the following procedure to set up NX Unit communications between a Safety CPU Unit and stand ard I O Units 1 In the ...

Page 210: ...ard I O Units that correspond to the exposed variables of the Safety CPU Unit The I O data of the standard I O units will be allocated to the exposed variables of Safety CPU Unit Precautions for Correct Use Use different NX Units to set up standard process data communications for the I O ports used by the standard controller and the I O ports used by the Safety CPU Unit The I O data in an NX Unit ...

Page 211: ...the safety application data All NX Units of the CPU Rack or Slave Terminal The settings data for all the NX Units of the CPU Rack or Slave Terminal includes the operating set tings and the application data including safety application data for all the NX Units except for the NX bus master Safety Application Data for Only the Safety CPU Unit The safety application data consists of the safety progra...

Page 212: ... Unit and set the device names and node addresses for exporting Then import the Slave Terminals that contain a Safety CPU Unit and set the device names and node addresses for exporting If importing data results in two or more Safety CPU Units an error will occur Delete the Safe ty CPU Units that are not used To reuse safety programs and variable comments export them from the Safety CPU Unit and th...

Page 213: ...ing the Settings for All the NX Units on a CPU Rack or Slave Terminal You can export the operating settings and the application data including safety application data for all of the NX Units except for the NX bus master in the CPU Rack settings or the Slave Terminal settings into a single file extension nsfp 1 Display the CPU Rack or Slave Terminal Tab Page where the Safety CPU Unit to export is c...

Page 214: ...or all NX Units including a Safety CPU Unit that has standard I O settings on an EtherNet IP Slave Terminal the standard I O settings data is not restored Version Information Exporting and importing all NX Unit settings is supported by Sysmac Studio version 1 17 or higher 5 9 3 Exporting Importing Data for Individual Safety CPU Unit You can export and import the safety application data of each Saf...

Page 215: ... Precautions for Correct Use When you import the data to the Safety CPU Unit first configure all of the Safety I O Units If importing data results in two or more Safety CPU Units an error will occur Delete the Safe ty CPU Units that are not used You cannot import settings data that contains Safety CPU Unit for which program data protec tion is set to Sysmac Studio version 1 16 or lower You cannot ...

Page 216: ...5 System Configuration and Setup 5 44 NX series Safety Control Unit User s Manual Z930 ...

Page 217: ... Variables 6 13 6 2 5 Data Type 6 14 6 2 6 Variable Attributes Other Than Data Type 6 16 6 2 7 Function Block Instances 6 17 6 2 8 Restrictions on Variable Names and Other Safety Program related Names 6 17 6 3 Constants Literals 6 19 6 3 1 Constants 6 19 6 3 2 Types of Constants 6 19 6 4 Programming Languages 6 21 6 4 1 Programming Languages 6 21 6 4 2 FBD Language 6 21 6 5 Programming Operations ...

Page 218: ...Offline Debugging 6 79 6 8 1 Offline Safety Program Debugging 6 79 6 8 2 Monitoring 6 82 6 8 3 Controlling BOOL Variables Changing Present Values and Using Forced Refreshing 6 82 6 8 4 Setting the Initial Values of Variables 6 82 6 8 5 Feedback Settings 6 83 6 8 6 Simple Automatic Test 6 84 6 Programming 6 2 NX series Safety Control Unit User s Manual Z930 ...

Page 219: ... for algorithms You can place any instruction function or function block in the algorithm of a program Function Blocks FBs A function block can output different values even with the same inputs Function blocks are execut ed when they are called from a program or another function block Functions FUNs A function always outputs the same values for the same inputs Functions are executed when they are ...

Page 220: ...s You can call functions from programs or other function blocks to execute them Functions are always executed l Notation You cannot create user defined functions System defined functions are sometimes called FUN instructions The values of internal variables are not retained The output value remains constant as long as input value is constant For details on functions refer to 6 1 6 Details on Funct...

Page 221: ... blocks 6 1 4 Details on Programs Program Structure Programs consist of a local variable table and an algorithm The algorithm is programmed in the FBD language You can use any instructions or user defined function blocks in the algorithm Assigned Task Program Local Variable Table Algorithm FB FUN Safety programs Safety programs Program Execution Conditions Programs are executed when the safety tas...

Page 222: ...ance of the function block definition in the program Call the function block definition from a program or another function block You can call the same function block definition from more than one program or function block After you place an instance of a function block definition in a program or in another function block you can ma nipulate and execute it as an independent entity Structure of Func...

Page 223: ...structured text language ST You can use any instructions or user defined function blocks in the algorithm l Local Variable Table The local variable table contains the definitions for input variables output variables and internal variables l Parameters Input Parameters to Input Variables An input parameter passes a value to an input variable in a function block when function block execution begins ...

Page 224: ...e output variable is not assigned to any parameter Omitting Output Parameters Refer to the NX series Safety Control Unit Instructions Reference Manual Cat No Z931 You can access the values from outside of the function block Access these values with the following format InstanceName OutputVariableName How ever you cannot write values directly to an output variable Internal vari ables No limit Inter...

Page 225: ...ance FB1_2 Memory for instance FB1_1 Function block definition name Memory area reserved Function block definition name Memory area reserved If you place instance names FB1_1 and FB1_2 for function block FB1 in the program each in stance requires its own space in memory Instances cannot be read from other programs or function blocks If an instance with the same name as another instance is placed i...

Page 226: ...u cannot access these variables from within other function block instances even if they are in the same program You cannot access them from other programs 6 1 6 Details on Functions You cannot create user defined functions for Safety Control Units Only system defined functions in structions are allowed Structure of Functions With the FBD language functions are represented as rectangular boxes as s...

Page 227: ...n Navigator in the Toolbox and then press the F1 Key Additional Information An instruction refers to a system defined function or function block The following table shows the relationship between user defined and system designed func tions and the FUN or FB User defined functions System defined Instructions FB Supported Supported FUN Not supported Supported For details on instructions refer to the...

Page 228: ...of a user defined variable The rest of this section describes user defined variables l Semi user defined Variables For semi user defined variables some attributes are designed by the system while others are de fined by the user This includes variables that are used to access specific devices and data This is the equivalent of a device variable in the Safety Control Unit 6 2 3 Type of User defined ...

Page 229: ...ut Variables Before processing a POU is completed the output parameters returned to the calling POU are as signed to the output variables An output variable is declared in the local variable table of the POU l External Variables External variables are used to access global variables from a POU Global Variables A global variable is declared in the global variable table Device variables that are aut...

Page 230: ... Supported Additional Information The following comments are linked If you change a comment the comment for the correspond ing parameter is also changed Device variable comments in I O mappings Global variable comments I O terminal comments in the Parameters Tab Page 6 2 5 Data Type The Data Type attribute defines the type of data and range of data that is expressed by a variable The amount of mem...

Page 231: ...ation Data type Safety standard da ta type Range of values Notation Boolean BOOL Standard da ta type FALSE or TRUE bool 0 or bool 1 FALSE or TRUE SAFE BOOL Safety data type Bit strings BYTE 1 2 Standard da ta type byte 16 00 to byte 16 FF byte 2 0101010 byte 2 0101_1010 byte 16 5A You can use the separator charac ter _ SAFE BYTE Safety data type WORD 3 Standard da ta type word 16 0000 to word 16 F...

Page 232: ... unique name However you can declare local variables with the same variable name in different POUs These are treated as two separate variables You cannot declare an internal variable with the same variable name as a global variable Initial Value Attribute The variable is set to the initial value in the following situations When the power supply is turned ON When the mode is changed to RUN mode Whe...

Page 233: ... 2 7 Function Block Instances Function block instances are added to and displayed in the local variable table or the global variable table as data types Additional Information A function block instance is treated as a local variable of the program in which the instance is created As such the instance is added to and displayed in the local variable table of the pro gram 6 2 8 Restrictions on Variab...

Page 234: ... bytes ASCII POU definition names Full path of varia ble names Example This in cludes the number of characters for the instance name and period which is Instance Name OutputVar iableName when accessing the out put variable of a function block 511 bytes Device names 127 bytes Variable com ments None Sup ported 127 bytes UTF 8 1 The individual restrictions are as listed in the table The actual upper...

Page 235: ...tion to define different constants for the Safety Control Unit The constant is normalized after it is entered Bits Notation Example Remarks TRUE or FALSE FALSE or TRUE data_type numeric_value bool 0 or bool 1 Data type BOOL Numbers l Integers Notation Example Remarks data_type base numeric_val ue int 10 1 Data type int or dint Base 2 8 10 or 16 The editor on the Sysmac Studio does not show the bas...

Page 236: ... processing omits the base of 10 and converts val ues entered as base of 8 to decimal numbers da ta_type nu meric_value word 100 This is interpreted as decimal data Times l Durations Notation Example Remarks Data type days d hours h minutes m seconds s millisec onds ms t 61m5s Data Type t 6 Programming 6 20 NX series Safety Control Unit User s Manual Z930 ...

Page 237: ... parameters Connecting lines Instructions FUN or FB instructions or user defined function blocks Output parameters In a network signals flow from the inputs on the left to the outputs on the right Input parameters and output parameters are arguments that are written with variables or constants These arguments are written in the areas that are connected to the terminals of input variables or output...

Page 238: ...bus bars The con necting lines do not indicate power flow They indicate the flow of data The FBD language does not have an END instruction Execution for the task period ends when the last network is executed In this manual FBD network is sometimes used to differentiate programming networks from physical networks such as EtherCAT networks Execution Order of Safety Programs Written in the FBD Langua...

Page 239: ...en in the FBD language are generally executed from top to bottom but you can use the Jump instruction to change the execution order For example when the value of variable a changes to TRUE in the following example execution will move to the network labeled Exception You cannot jump to a network that is above the current network a Exception Exception FB1 FB2 Execution jumps here 6 Programming 6 23 ...

Page 240: ...r defined function block Var1 Var2 FB1 FB1 FB1 FB2 FB2 FB3 l Incorrect Connection Configurations You cannot connect more than one instruction or user defined function block to the right of another instruction or user defined function block In this case you must pass the signal to a variable as shown in the following figure FB2 FB3 FB1 FB2 FB3 FB1 Var1 Var1 You cannot route a connecting line from t...

Page 241: ...FB2 FB1 FB2 FB1 Var1 Var1 6 Programming 6 25 NX series Safety Control Unit User s Manual Z930 6 4 Programming Languages 6 6 4 2 FBD Language ...

Page 242: ...Header Description POUs Programs Program0 The list of programs is displayed Program0 is created when a new project is created Double click a program to display it in the FBD editor and begin editing In the Multiview Explorer you can change the names of programs or delete copy paste and cut programs Program1 Function Blocks FunctionBlock0 A list of user defined function blocks is displayed There ar...

Page 243: ...C data Not possible Displays the CRC data of the POU 6 5 2 Registering POUs This section shows how to register programs and function blocks Registering New Programs 1 Right click Programs under Programming POUs and select Add Program from the menu A new program is added under Programs 2 Double click the program that was added The variable table and FBD editor are displayed in the Edit Pane From he...

Page 244: ...gister function block instructions to use them 1 Right click Function Blocks under Programming POUs in the Multiview Explorer and select Add FunctionBlock from the menu A new function block is added under Function Blocks 2 Double click the new function block The variable table for the function block and the FBD editor are displayed in the Edit Pane From here you can create local variables and FBD ...

Page 245: ...ent Possible This is a comment for the POU Precautions for Correct Use The author creation date and update date cannot be saved on Sysmac Studio version 1 12 or lower If you open a project on Sysmac Studio version 1 12 or lower this data will be lost Version Information Sysmac Studio version 1 13 or higher is required to display these properties Exporting Programs You can export a program to a fil...

Page 246: ...ernal varia bles Version Information You can export programs with Sysmac Studio version 1 17 or higher Importing Programs You can import an exported program to reuse it in another project WARNING Check during the import of the program that the CRC of the program is correct Serious injury may possibly occur due to loss of required safety functions Use the following procedure to import a program tha...

Page 247: ... the following dialog box is dis played Select Yes to register the variables as global variables When the registered global variables are used as exposed variables the following dialog box is displayed Select Yes to register the variables as exposed variables A dialog box to check the CRC data is displayed 6 Programming 6 31 NX series Safety Control Unit User s Manual Z930 6 5 Programming Operatio...

Page 248: ...smac Studio version 1 17 or higher Exporting User defined Function Blocks You can export a user defined function block to a file extension sfb You can import the exported user defined function block to reuse it in another project Use the following procedure 1 Right click the user defined function block under Programming POUs Function Blocks in the Multiview Explorer and select Export from the menu...

Page 249: ...ck during the import of the user defined function that the CRC of the imported function block is correct Serious injury may possibly occur due to loss of required safety functions Use the following procedure to import a user defined function block that was previously exported 1 Right click Function Blocks under Programming POUs in the Multiview Explorer and select Import from the menu The Import D...

Page 250: ... box to check the CRC data is displayed 3 Check the CRC data and click the OK Button The function block is imported and added to the project Precautions for Correct Use After a function block is imported the Safety CPU Unit will be in an unvalidated state Always execute safety validation again Additional Information You can check the CRC data on the Change Tracking Tab Page or Properties Dialog Bo...

Page 251: ... Save the help file in the specified folder The default folder is C OMRON Data Lib Safety l Changing the Save Location for Help Files You can change the folder in which help files are saved Use the following procedure 1 Select Option from the Tools Menu The Option Dialog Box is displayed 2 Click the Safety Function Block The help save location is displayed 3 Select the folder in which to save the ...

Page 252: ... Global Variables under Programming Data in the Multiview Explorer Or right click Global Variables under Programming Data and select Edit from the menu The global variable table is displayed Field Description Restrictions Name Enter a name to use to identify the variable Only single byte alphanu meric characters are al lowed Multi byte characters such as those used for Japa nese are not allowed Th...

Page 253: ...he Insert Key in the global variable table or right click in the global variable table and select Create New from the menu 2 Enter values for each item and then press the Enter Key The variable is registered Always set the variable name and the data type Additional Information If there are no registered variables at all the message Empty Click here to add Item is dis played Click to add a new vari...

Page 254: ...d as follows Entry candidates are displayed in the Name Data Type and Initial Value cells Entry candidates that match the characters in the entered text string are displayed as you edit the text string Entry candidates you can select by drag and drop are displayed as follows You can move the position at which the selected variable is defined You cannot select multiple variables If you select multi...

Page 255: ...cters or out of range values the cell is highlighted in pink An error will occur when the program is built A red icon is displayed in the Multiview Explorer The error message is displayed when the mouse cursor is moved over the cell where the error exists or over the exclamation icon Refer to 6 2 8 Restrictions on Variable Names and Other Safety Program related Names on page 6 17 for details on th...

Page 256: ...he menu The local variable table for the program or the local variable table for the function block is dis played in the Edit Pane The local variable table for programs is shown below The local variable table for function blocks is shown below Field Description Restrictions Name Enter a name to use to identify the variable Only single byte alphanu meric characters are al lowed Multi byte character...

Page 257: ...ting procedures for local variables are the same as the procedures used for global variables Refer to 6 5 3 Registering Variables on page 6 36 6 5 4 FBD Programming With the Safety CPU Unit you use the FBD language to express algorithms that are inside the POUs programs and function blocks You add and connect functions and function blocks in the FBD editor to build algorithms inside POUs programs ...

Page 258: ...f the FBD editor Inserting FBD Networks There are three ways to insert an FBD network l Method 1 Right click the FBD network and select Insert Network Above from the menu An empty FBD network is inserted before the selected FBD network l Method 2 Right click the FBD network and select Insert Network Below from the menu An empty FBD network is inserted after the selected FBD network l Method 3 Drag...

Page 259: ...lete an FBD network l Method 1 Right click the FBD network and select Delete from the menu The selected FBD network is deleted and the focus moves to the next network l Method 2 Select the FBD network and press the Delete Key The selected FBD network is deleted and the focus moves to the next network Editing Comments for FBD Networks Use the following procedure to edit the comment for an FBD netwo...

Page 260: ...tion Method 1 Drag a FUN or FB from the Toolbox to an I O terminal on the FUN or FB in the FBD editor or to a new network where the words Start Here are displayed Method 2 Right click the FBD network select Insert Function Block from the menu and specify FUN or FB Precautions for Correct Use Not all of the FUNs and FBs that you can use are displayed in the Toolbox To use a FUN or FB that is not sh...

Page 261: ...twork and select Insert Function Block from the menu An empty FB is inserted 2 Click in the FB name text box and press the Ctrl Space Keys to display a list of the FUNs and FBs that you can enter 6 Programming 6 45 NX series Safety Control Unit User s Manual Z930 6 5 Programming Operations 6 6 5 4 FBD Programming ...

Page 262: ...n that is available for the FB that you select in the Items Area is displayed The Input Assistant Dialog Box is also displayed when you right click an FBD network and se lect Insert Function Block from the menu l Inserting Position of a FUN or FB The position where the FUN or FB is inserted depends on the insertion method as described be low If you drag a FB or FUN SF_Antivalent in the example fro...

Page 263: ... 1 Right click the FUN or FB on the FBD network and select Delete from the menu Method 2 Select the FUN or FB on the FBD network and press the Delete Key Replacing a FB or FUN You can replace a FUN or FB with a different instruction without changing the input and output param eters Use one of the following procedures Method Operation Method 1 Drag the FUN or FB to change to in the Toolbox to the F...

Page 264: ...e FB or FUN name the FB or FUN is replaced when you press the Enter Key Adding Input Parameters to AND OR ADD MUL and MUX You can add input parameters to the AND OR ADD MUL and MUX instructions Use one of the fol lowing procedures Method Operation Method 1 Drag Input from General in the Toolbox to the Append Input area in the instruction in the FBD edi tor 6 Programming 6 48 NX series Safety Contr...

Page 265: ...low Changing the Output Terminals of a FUN or FB Use the following procedure to change the output terminals of a FUN or FB Right click an output terminal on a FUN or FB on the FBD network and select Set Output Connection from the menu The selected output terminal is connected to the input terminal of the next FUN or FB Before the output terminal is changed the network is as shown below 6 Programmi...

Page 266: ...from a FUN or FB Right click the FB or FUN on the FBD network and select Remove unused FB call parameters from the menu All of the unused parameters are deleted Before the unused parameters of the FUN or FB are deleted the network is as shown below After the unused parameters of the FUN or FB are deleted the network is as shown below 6 Programming 6 50 NX series Safety Control Unit User s Manual Z...

Page 267: ... After the input parameters and output parameters of the FUN or FB are updated the network is as shown below Editing Function Block Instance Variables Use one of the following methods to edit existing function block instance variables If you specify a variable name that does not exist in the local variable table that variable will be regis tered as a local variable Select an FB instance variable o...

Page 268: ...iable table that variable will be regis tered in the local variable table Select a parameter on the FBD network and directly enter the variable name Before the parameter is edited the network is as shown below If you enter the variable name directly a list of variable names that you can select from is displayed when you enter the first letter of the variable name Use the Up and Down Keys to select...

Page 269: ...elected variable Area Description Categories Displays the variable categories The variables that belong to the selected category are displayed in the Items Area Items Displays a list of variables Documentation Any additional information that is available for the variable that is selected in the Items Area is displayed l Changing Variable Registration Locations You can use the following option to e...

Page 270: ...following procedures to assign an output parameter to an output variable of a FUN or FB Method Operation Method 1 Drag Assignment from General in the Toolbox to a terminal in the FBD editor or to a new FBD network where the words Start here are displayed Method 2 Right click the FBD network and select Insert Assignment from the menu If you select a network the output variable is added to the last ...

Page 271: ...output variable l Example 1 of a Dragged Output Parameter Object When an output parameter is added to the output terminal the network is as shown below l Example 2 of a Dragged Output Parameter Object When an output parameter is added before another output parameter the network is as shown be low The output parameter is inserted on a branch that is created before the output variable Deleting Outpu...

Page 272: ...ame directly a list of variable names that you can select from is displayed when you begin entering the variable name To create a new output variable enter the variable name and press the Enter Key The output varia ble is registered and it is also registered as a local variable in the local variable table Inserting Jump Labels Use the following procedure to insert jump labels into an FBD network R...

Page 273: ...shown below Inserting Jump Instructions Use one of the following procedures to insert a Jump instruction in a network Method Operation Method 1 Drag Jump from General in the Toolbox to the words Start here on a new network Method 2 Right click the FBD network and select Insert Jump from the menu The Jump instruction is inserted in the network Before the Jump instruction is dropped the network is a...

Page 274: ...eral in the Toolbox to a terminal in the FBD editor or to a new FBD network where the words Start here are displayed Method 2 Right click the FBD network and select Insert Return from the menu The Return instruction is inserted in the network After you insert a return instruction the network is laid out as shown below Deleting Return Instructions Use one of the following procedures to delete a Ret...

Page 275: ...ned Use the following procedure Right click the user defined function block and click Browse Go To Definition from the menu The focus moves to the location where the user defined function block is defined Jumping to Variables in POUs You can search sequentially for a variable used in the POUs programs and function blocks and then sequentially jump to the locations where the variable is used Use th...

Page 276: ...wing conversion procedure 1 Select the Safety CPU Unit from the Controller Selection Box in the Multiview Explorer and open the Safety CPU Unit Setup and Programming View 2 In the Multiview Explorer select Programming POUs Programs Then select a program you want to convert into a function block 3 Right click the program and select Generate Function Block from the menu 4 The following message appea...

Page 277: ... variable are applied to the input varia ble or output variable If the comments for the external variable are blank the ones for the global variable are applied 6 5 6 Building Building is the process of converting the safety programs in your project into a format that is executa ble on the Safety CPU Unit A check is performed on the programs and variables during this process If there are any error...

Page 278: ... which they were found Description Displays a description of the error or warning Location Displays the location where the error or warning occurred You can jump di rectly to the location of the error Additional Information If the data size of the program exceeds the program capacity of the Safety CPU Unit a Capaci ty Exceeded Error will occur when you change to DEBUG mode Reduce the number of FBs...

Page 279: ...g All items text strings Variable names variable comments FBD network comments jump labels and Jump instructions Variable Variable names Instruction Function block instance names Search and Replace Pane 1 Use one of the following procedures to display the Search and Replace Pane in place of the Toolbox Method Operation Method 1 Select Search and Replace from the Edit Menu Method 2 Press the Ctrl F...

Page 280: ...ayed on the Search and Replace Results Tab Page Double click the line in the displayed results to move the focus to the corresponding location Setting Items The setting items in the Search and Replace Pane are explained below Setting Items Description Search what Enter a search string You can select from previous search strings in the list 6 Programming 6 64 NX series Safety Control Unit User s Ma...

Page 281: ...aracters Default Do not use wildcard characters Wildcard Use wildcard characters If you select to use wildcard characters you can click the But ton to the right to view a list of characters used for wildcard charac ters Select any of these characters to enter them in the Search string 1 The characters that you can use as wildcard characters are given on the next page l Wildcards Charac ter Meaning...

Page 282: ... procedures that are used to select the programs to execute in the safety task and the execution order of the selected programs It also describes how to set the task period of the safety task Refer to Section 8 Calculating Safety Reaction Times on page 8 1 for details on safety tasks Program Assignments The program assignment settings are used to assign the programs to the safety task and set the ...

Page 283: ...play does not appear on the Safety Task Settings Tab Page in the Edit Pane click the Safety Task Settings Button The minimum safety task period is automatically calculated and displayed based on the pro gram and settings information 3 Set the task period for the safety task Set the safety task period to a value that is within 100 ms of the minimum safety task period 6 Programming 6 67 NX series Sa...

Page 284: ...ck that generates a reset signal on the first network When a variable set in the Basic Settings on the Automatic Programming Settings Tab Page changes to FALSE after staying TRUE for a certain period of time the reset signal detects the change of the variable and is set to TRUE for only one cycle The default pulse width is set to 350 ms The generated reset signal here is used as a reset signal of ...

Page 285: ...serScanner_S3 FALSE TRUE Reset_S2_Out Activate S_ESPE_In S_StartReset S AutoReset Reset Ready S_ESPE_Out Error DiagCode LaserScanner_S3_Out SF_ESPE SF_ESPE_0 Safety Laser Scanner S3 l Generation of Logical Operation Circuit At this step an AND logic function is generated for each output variable based on the Expected Value Settings in the Automatic Programming Settings Tab Page The internal variab...

Page 286: ... name Setting value S_StartReset TRUE MonitoringTime t 300ms Any other input variables Variable automatically generated based on the following naming rule FB Instance Name_Input Variable Name 5 TRUE Contactor_KM1_KM2_In SF_EDM_0_S_EDM1 t 300ms TRUE SF_EDM_0_S_EDM2 SF_EDM_0_Reset Activate S_OutControl S_EDM1 S_EDM2 MonitoringTime S_StartReset Reset Ready S_EDM_Out Error DiagCode Contactor_KM1_KM2 S...

Page 287: ...n open the Automatic Programming Settings Tab Page in either of the following procedures Select Automatic Programming from the Insert Menu In the Multiview Explorer select Programming POUs Programs On the right click menu se lect Automatic Programming The Automatic Programming Settings Tab Page consists of the items shown in the following table 6 Programming 6 71 NX series Safety Control Unit User...

Page 288: ...tomatic Test Exports the current automatic programming settings to the simple automatic test settings The settings of the export destination are overwritten Export Export to Online Functional Test Exports the current automatic programming settings to the online functional test settings The settings of the export destination are overwritten b Basic Set tings Set the variable to use as a reset signa...

Page 289: ...Variable Specify a variable name used as the output signal for the program You can specify a SAFEBOOL or BOOL type variable for the variable name Use EDM If it is TRUE the SF_EDM function block is used when a program is generated e Expected Value Set tings A matrix of the variables that are specified in the input settings and the output settings is displayed Set the expected value of the output va...

Page 290: ...iables that are assigned to the safety laser scanner and the Emergency stop pushbutton Variables that are assigned to contactors The settings for the above application example are configured in the Automatic Programming Settings Tab Page as shown below 6 6 3 Automatic Programming Execution Procedure The execution procedure of automatic programming is explained below 1 Select Insert Automatic Progr...

Page 291: ...e Generate Button Once a program is generated the following dialog is displayed 4 Click the OK Button Once a program is generated a safety program generated based on the settings and a func tion block OC_ResetSignal used to identify the reset signal are added to the project 6 Programming 6 75 NX series Safety Control Unit User s Manual Z930 6 6 Automatic Programming 6 6 6 3 Automatic Programming E...

Page 292: ... Reset_S2_Out Activate S_ESPE_In S_StartReset S AutoReset Reset Ready S_ESPE_Out Error DiagCode LaserScanner_S3_Out SF_ESPE SF_ESPE_0 Safety Laser Scanner S3 Reset_S2 t 350ms Reset ResetPulseWidth ResetSignal_Out Reset_S2_Out OC_ResetSignal OC_ResetSignal_0 EMO_NC_S1_Out LaserScanner_S3_Out Contactor_KM1_KM2_In AND TRUE Contactor_KM1_KM2_In SF_EDM_0_S_EDM1 t 300ms TRUE SF_EDM_0_S_EDM2 SF_EDM_0_Res...

Page 293: ...ding error the memory usage is not displayed correctly Displaying Memory Usage Use the following procedure to display memory usage Select the Safety CPU Unit from the Controller Selection Box in the Multiview Explorer and open the Safety CPU Unit Setup and Programming View Select Memory Usage from the Project Menu The Memory Usage Tab Page is displayed 6 Programming 6 77 NX series Safety Control U...

Page 294: ...Number of Safety I O connections Displays the number of safety slaves connected to the Safe ty CPU Unit FSoE shows the number of connections with Safety I O Units CIP shows the number of CIP Safety connections Number of the connected Safety I O Units Number of CIP Safety connections number of target I O As semblies Input Data Sizes Displays the input data usage by the Safety CPU Unit Number of the...

Page 295: ... to A 16 Differences in Checking Operation between the Simulator and Safety CPU Unit on page A 104 for the differences between the Safety CPU Unit and the Simulator 6 8 1 Offline Safety Program Debugging To debug a safety program it is best to simulate the safety program on the computer first to check the operation logic and parameter settings This is called offline debugging Simulation Procedures...

Page 296: ...n Button in the Safety Simulation Pane Or select Run from the Simulation Menu The following Connect to safety device Dialog Box is displayed Note 1 It is not necessary to change the name from the current node name Note 2 You do not need to enter anything in the Instance identification Box 6 Programming 6 80 NX series Safety Control Unit User s Manual Z930 ...

Page 297: ...ed the Online Indicator in status monitor is lit green In this status the project is completely transferred to the Simulator and RUN mode continues 11 To stop the simulation click the Stop Button in the Safety Simulation Pane 12To end the simulation click the Close Button x in the Safety Simulation Pane The values of variables return to their initial values 6 Programming 6 81 NX series Safety Cont...

Page 298: ...rom the Sysmac Studio Refer to 7 6 5 Controlling BOOL Variables Changing Present Values and Using Forced Refreshing on page 7 31 for a detailed procedures 6 8 4 Setting the Initial Values of Variables You can set the initial values of variables when you start execution of simulation This is useful for reproducing the actual conditions of the system or to evaluate test cases of similar input condit...

Page 299: ...the source of the feedback BOOL SAFEBOOL 2 Invert This check box is used to invert the input value If you select this check box the input value is inverted 1 With Sysmac Studio version 1 11 you can use device variables and exposed variables only 2 With Sysmac Studio version 1 11 set variables with the same variable type for both the source and destination With Sysmac Studio version 1 12 and later ...

Page 300: ... signals to the program produce the expected output signal values Settings for a Simple Automatic Test The Simple Automatic Test automatically executes offline debugging operations for safety programs To use the Simple Automatic Test set the reset signal input signals and output signals as well as the expected values of the output signals based on the input signals Execute the Simple Automatic Tes...

Page 301: ... Dialog Box Feedback Settings Button Displays the Feedback Settings Dialog Box Import Button Imports the settings for a Simple Automatic Test from a CSV file If you import the settings the current settings are overwrit ten Export Button Exports the current settings for the Simple Automatic Test to a CSV file b Test Condi tion Area Select the variable to use as a reset signal for the safety program...

Page 302: ...le changes to FALSE the output variable changes to FALSE 1 If the input variable changes to FALSE the output variable changes to TRUE You can import and export expected value settings to use spreadsheets or other applications to easily edit the settings by copying and pasting them Setting Example A setting example for the Simple Automatic Test is provided in this section for the application exampl...

Page 303: ...ion Simple Automatic Test from the menu The Simple Automatic Test Tab Page is displayed 2 Set the Test Condition Input Settings Output Settings and Expected Value Settings 3 Click the Run Button on the control panel on the Simple Automatic Test Tab Page 6 Programming 6 87 NX series Safety Control Unit User s Manual Z930 6 8 Offline Debugging 6 6 8 6 Simple Automatic Test ...

Page 304: ... the Yes Button to execute the test 6 The Simulator for the Safety CPU Unit starts Following the on screen instructions to complete starting the Simulator Click the Yes Button Click the OK Button You can check the progress of the Simple Automatic Test in the following dialog box The Simulator stops when the test is completed Click the OK Button 6 Programming 6 88 NX series Safety Control Unit User...

Page 305: ...put signal results for the input signals It may not be able to determine correct test results for complicated conditions or special cases If necessary check the program logic manually Additional Information The actual test operations that are performed for the Simple Automatic Test are given in A 15 Execution Scenarios for the Simple Automatic Test on page A 102 6 Programming 6 89 NX series Safety...

Page 306: ...6 Programming 6 90 NX series Safety Control Unit User s Manual Z930 ...

Page 307: ...7 3 3 Executable Functions in Each Mode of the Safety CPU Unit 7 14 7 4 Changing to DEBUG Mode 7 17 7 5 Checking External Device Wiring 7 20 7 5 1 Overview of Functions for Checking Wiring 7 20 7 5 2 Monitoring Safety I O Units 7 20 7 5 3 Troubleshooting Safety I O Terminals 7 24 7 5 4 Clear All Memory Operation for Safety I O Units 7 25 7 6 Functions for Checking Operation 7 27 7 6 1 Overview of ...

Page 308: ...g Data for a Connection to an NJ NX series CPU Unit 7 60 7 11 3 Uploading Data for a Connection to a Communications Coupler Unit 7 61 7 12 Transferring Safety Application Data 7 63 7 13 Monitoring Controller Status 7 64 7 14 Restarting and Clearing All Memory 7 66 7 14 1 Restarting 7 66 7 14 2 Clear All Memory Operation 7 67 7 Checking Operation and Actual Operation 7 2 NX series Safety Control Un...

Page 309: ...fety application data check if the data transferred from the safety signature shown in the Sysmac Studio is correct 1 Transferred when you use an NJ NX series CPU Unit and EtherCAT Coupler Unit 3 Place the Safety CPU Unit in DEBUG mode The safety programs are transferred to the main memory of the Safety CPU Unit 4 Check the wiring and the operation of the safety programs 5 Perform safety validatio...

Page 310: ...er performing safety validation Safety program after performing safety validation Non volatile memory Main memory Safety program after performing safety validation Non volatile memory Main memory When you change to DEBUG mode the safety programs are transferred to the main memory When you perform safety validation the safety programs are transferred to the nonvolatile memory Configuration informat...

Page 311: ...n Unit config uration in formation Perform the following operation with the Controller set to the NJ NX series CPU Unit Transfer the EtherCAT network configura tion information and the Slave Terminal configuration information from the Syn chronization Window Transferred on the Slave Terminal Tab Page Communi cations Coupler Unit I O alloca tion infor mation Communi cations Coupler Unit and Safety ...

Page 312: ...he restart may cause the EtherCAT master to detect an error If an error is detected you need to reset the error in the EtherCAT master 3 Supported only by Sysmac Studio version 1 10 or higher Version Information You can download safety validated safety application data with Sysmac Studio version 1 10 or higher and NX SL version 1 1 or later 7 Checking Operation and Actual Operation 7 6 NX series S...

Page 313: ... be selected and transferred when you use an NJ NX series CPU Unit and EtherCAT Coupler Unit Paths for Going Online There are the following two ways to connect the Sysmac Studio to the Safety CPU Unit USB connection or Ethernet connection to the NJ NX series CPU Unit 1 USB connection to the EtherCAT Coupler Unit 1 This can be selected and transferred when you use an NJ NX series CPU Unit and Ether...

Page 314: ...mac Studio is enabled for communications with the EtherCAT Coupler Unit and the Safety CPU Unit This also transfers the Slave Terminal configuration information to the Ether CAT Coupler Unit and the Safety CPU Unit 1 Always click this button when you go online with the Safety CPU Unit for the first time or if you change a Safety I O Unit or variable data Additional Information Refer to the Sysmac ...

Page 315: ...Setup and Programming View 3 Select Communication Setup from the Controller Menu The following communications settings are displayed 4 Select Connect via Coupler and then click the OK Button 5 Select Online from the Controller Menu Or click the Go Online Button in the toolbar The Sysmac Studio goes online with the Slave Terminal l Procedure to Transfer the Configuration Information Use the followi...

Page 316: ...Slave Terminal configuration information is transferred to the Com munications Coupler Unit and the Safety CPU Unit because safety validation has not been per formed for the safety program 3 Click the Yes Button The settings are transferred to all Units that are connected to the Communications Coupler Unit 7 Checking Operation and Actual Operation 7 10 NX series Safety Control Unit User s Manual Z...

Page 317: ...rat ing mode Power Turned ON Initializing PROGRAM mode RUN Mode DEBUG mode STOPPED RESTORE mode 4 DEBUG mode RUN Front panel VALID indicator not lit Before safety validation the safety programs have not been saved to non volatile memory The DIP switch is set to Restore mode 4 The DIP switch is not set to Restore mode 4 Front panel VALID indicator lit After safety validation the safety programs hav...

Page 318: ...o version 1 10 or higher The safety programs in the non volatile memory of the Safety CPU Unit are not deleted Operating Modes of Safety CPU Unit and Indicators The following table specifies details of the Safety CPU Unit operating modes and the indicators dis played for each operating mode Operating mode Description Indicators RUN DEBUG Initializing This mode indicates that the Safety CPU Unit is...

Page 319: ...I O data is processed depending on the operating mode of the Safe ty CPU Unit Not received Not receive data Cleared Clear and reset to initial value Refreshed Refresh data Operating mode Safety Input FSoE CIP Safety Standard Input Exposed Vari able Safety Out put FSoE CIP Safety Standard Output Ex posed Varia ble Status Safe ty CPU Sta tus Initializing Not received Not received Cleared Cleared Cle...

Page 320: ...The forced status of variables is cleared DEBUG mode STOP PED PROGRAM mode Safety process data communications stop The safety input data from the Safety Input Units is initialized to 0 The safety output data to the Safety Output Units is initialized to 0 Relationship between Establishing Safety Communications and Ex ecution of the Safety Programs The Safety CPU Unit starts execution of the safety ...

Page 321: ...ble Possible Possible Monitoring Controller sta tus Not possi ble Possible Possible Possible Possible Possible Monitoring programs Not possi ble Not possi ble Possible Possible Possible Not possi ble Monitoring in a Watch Tab Page Not possi ble Not possi ble Possible Possible Possible Not possi ble Monitoring for trouble shooting Not possi ble Possible Possible Possible Possible Possible Changing ...

Page 322: ...rams The output data that carries status information is transferred All data out puts from the safety programs change to 0 RUN I O data refreshing is performed with the safety programs 3 You can execute the Clear All Memory operation for the Safety CPU Unit regardless of the operating status of the Safety CPU Unit but it will always fail for the Safety CPU Unit 4 Sysmac Studio version 1 10 or high...

Page 323: ...h the Safety CPU Unit to DEBUG mode only when the Safety CPU Unit is in PROGRAM mode Precautions for Safe Use Verify that the safety communications with a remote node will be established in the debug mode of the Safety CPU Unit Procedure for Changing to DEBUG Mode Use the following procedure to switch the operating mode of Safety CPU Unit from the PROGRAM to DEBUG mode When you change the operatin...

Page 324: ...and allows you to set the node name You can change the factory default node name of the Safety CPU Unit If you do not want to change the node name leave the field blank and click the OK Button Re fer to 7 8 Node Name on page 7 50 for details on the node name settings Note 2 You do not need to enter anything in the Instance identification Box 6 Click the OK Button The following transfer confirmatio...

Page 325: ...nit When the Sysmac Studio goes offline or when you power off Safety CPU Unit the safety programs are deleted Because of this after you cycle the power supply you must use the Sysmac Studio to change to DEBUG mode again and transfer the safety pro grams to the main memory again Changing to PROGRAM Mode If you need to change the safety program you must change to PROGRAM mode Use the following proce...

Page 326: ...l Memory Operation for Safety I O Unit 7 5 4 Clear All Memory Operation for Safety I O Units on page 7 25 The functions to check wiring should be executed while you are online to the Safety CPU Unit in DE BUG mode or RUN mode 7 5 2 Monitoring Safety I O Units This section describes how to monitor I O terminal information of the Safety I O Units to check external device wiring Executing the Monitor...

Page 327: ...afety CPU Unit is not connected to 2 Place the Safety CPU Unit in DEBUG mode Refer to 7 4 Changing to DEBUG Mode on page 7 17 for a detailed procedure 3 Double click Parameters under the name of the Safety I O Unit under Configurations and Setup Communications Safety Safety I O The Parameters Tab Page shown below is displayed Select the Safety I O Unit to monitor 7 Checking Operation and Actual Op...

Page 328: ...sabled The Communications Coupler Unit is disabled in the Ether CAT network configuration Safety I O Units connected to this Communications Coupler Unit are not monitored Disabled Either the NX bus master is not present in the actual configu ration or communications cannot be established with it Safety I O Units connected to this NX bus master are not monitored NX Unit Displays 7 Checking Operatio...

Page 329: ...it is present in the actual configuration and safety process data communications are not established with it This Safety I O Unit is not subject to monitoring Disabled The NX Unit mounting settings are disabled for the Safety I O Unit This Safety I O Unit is not subject to monitoring Disabled The Safety I O Unit is not present in the actual configuration or communications cannot be established wit...

Page 330: ...isplays Click the Icon below the safety input I O terminals to display the legend for the safety I O terminal displays 7 5 3 Troubleshooting Safety I O Terminals This section describes troubleshooting errors that may occur at a safety I O terminal because of incor rect external device wiring or incorrect safety I O settings Displaying Safety I O Terminal Troubleshooting 1 Open the Monitor Tab Page...

Page 331: ...ge 12 31 7 5 4 Clear All Memory Operation for Safety I O Units If an attempt to establish safety process data communications fails due to an illegal FSoE Slave Ad dress you must execute a Clear All Memory operation for the Safety I O Units Executing the Clear All Memory Operation for Safety I O Units 1 Select the Safety I O Unit in which the error has occurred from the NX Unit list 7 Checking Oper...

Page 332: ...y I O Unit and select Clear All Memory from the menu 3 Click the Execute Button on the Clear All Memory Tab Page for the NX Unit 7 Checking Operation and Actual Operation 7 26 NX series Safety Control Unit User s Manual Z930 ...

Page 333: ...of data Clear All Memory 7 14 2 Clear All Memory Operation on page 7 67 Monitoring Controller status 7 13 Monitoring Controller Status on page 7 64 Changing the operating mode 7 3 Operating Modes of the Safety CPU Unit on page 7 11 Troubleshooting Section 12 Troubleshooting on page 12 1 Monitoring error information Displaying error logs Procedures to check operation are performed when online to th...

Page 334: ...UN or DEBUG mode STOPPED 7 6 3 Monitoring Variables in the FBD Editor This section describes the procedures to monitor the present values of variables in the FBD editor to debug the safety programs Executing the Operation Monitor for the Safety Programs You can monitor the present values of variables in the FBD editor Use the following procedure Double click the program to monitor in the Multiview...

Page 335: ...ring in a Watch Tab Page You can check the present value of one or more variables in the Watch Tab Page Displaying a Watch Tab Page Select Watch Tab Page from the View Menu The Watch Tab Page is displayed To close a Watch Tab Page click the Close Button for the tab page To display a Watch Tab Page that you closed select Watch Tab Page from the View Menu again Contents of the Watch Tab Page The fol...

Page 336: ...variable to the Watch Tab Page from a variable table l Procedure for Method 1 1 Click the cell that says Input Name at the bottom of the Watch Tab Page 2 Enter the variable name to display the present value 3 As you enter characters a list of candidate variable names is displayed Select the variable name from the list The variable name is registered l Procedure for Method 2 Drag a variable from a ...

Page 337: ...g safety programs l Controlling BOOL Variables in the FBD Editor Set Reset 1 Double click the present value of the BOOL variable to change Example To set the variable a double click the present value of FALSE Double click The value changes to a temporary status A temporary value appears in on the right side of the present value This indicates that the temporary value either TRUE or FALSE is availa...

Page 338: ...en reset Changing the Present Values of Variables This function allows you to change the present value of non BOOL variables to desired values in the FBD editor or Watch Tab Page to debug safety programs l Changing Present Values on the FBD Editor 1 Double click the present value of the non BOOL variable to change Example To change the present value of variable aaa double click the present value o...

Page 339: ... click the present value of the desired variable again Se lect the Remove preparation with a value Option in the Prepare Value Dialog Box and then click the OK Button 4 Select Write Values from the Controller Menu The temporary value is removed and reflected as the present value Example The present value of variable aaa is changed to 100 7 Checking Operation and Actual Operation 7 33 NX series Saf...

Page 340: ... Esc Key to cancel the entry Examples of Entries in the Modify Column Display format type Example Boolean TRUE or FALSE Decimal 10 100 Real number 123 4 1 234e2 1 234E2 1 23e 3 Hexadecimal 1001 FFFF8000 Binary 11110000 String abc ABC Additional Information If you enter an illegal value in the Modify Column it is detected as an error and the cell is high lighted in red Forced Refreshing Forced refr...

Page 341: ...ce variables assigned to Safety I O Units and user defined variables Even if you use forced refreshing for the device variables assigned to the input terminal to a Safety Input Unit the forced value will not be applied to the variable that is assigned to the I O port of an NJ NX series CPU Unit l Forced Refreshing of BOOL Variables in the FBD Editor Use the following procedure to execute forced re...

Page 342: ...s in the FBD Editor Use the following procedure to execute forced refreshing for non BOOL variables 1 Click the present value for the non BOOL variable to change Example To force refresh the present value of the variable aaa click the present value 20 Click here The Prepare Value Dialog Box is displayed 2 Select the Prepare a new value for the next write or force operation Option and enter a new v...

Page 343: ...are Value Dialog Box and then click the OK Button 4 Select Force Values from the Controller Menu Forced refreshing is performed with the temporary values This removes the temporary value and places the letter F in dark red on the left side of the variable Example The value of variable aaa is forced refreshed to 100 7 Checking Operation and Actual Operation 7 37 NX series Safety Control Unit User s...

Page 344: ...refreshing Select Unforce Values from the Controller Menu All forced refreshing is cleared at once The letter F in dark red of all forced refreshing values are removed The value will not change l Procedure to Cancel Individual Forced Refreshing from the FBD Editor Use the following procedure to individually clear forced refreshing 1 Click the present value of the variable to change The following P...

Page 345: ...ore is displayed 3 Select Force Values from the Controller Menu The forced refreshing is cleared individually The letter F in dark red is removed Additional Information The number of variables for which you can clear forced refreshing simultaneously is listed be low NX SL3300 NX SL3500 Up to 19 variables NX SL5500 NX SL5700 Up to 256 variables 7 Checking Operation and Actual Operation 7 39 NX seri...

Page 346: ...t devices The operator should verify whether the actual devices are operating properly or not 7 7 1 Online Functional Test Settings Set the following signals and value in the Online Functional Test setting tab page to execute the On line Functional Test Reset signal Input signal Output signal Expected value of the output signal corresponding to the input signal You can display the settings window ...

Page 347: ...n the online functional test the Safety CPU Unit must be in RUN mode or DEBUG mode Test Result Button Displays results of the previous online function al test Register Variables Button Registers the variables that are used for the on line functional test Import Button Imports the settings for the online functional test from a CSV file If you import the settings the current settings are overwritten...

Page 348: ...ice used in the online functional test In addition to the variable name of the input device specify a reset type and an input type as well Variable Specify a variable name assigned to the safety input device of the safety system You can specify the SAFEBOOL or BOOL type variable for the variable name Reset Type Selects a reset type of the safety input device from the box The default value of the r...

Page 349: ... the application ex ample given in A 3 2 Safety Doors on page A 32 Application Overview from Safety Doors Safety category PL Safety device Stop category Reset Equivalent to 4 PLe Safety Doors Safety Limit Switches 1 2 0 Auto Emergency Stop Switch 0 Manual M1 stops when safety door 1 S3 S4 is opened M2 stops when safety door 2 S5 S6 is opened Both M1 and M2 stop when the emergency stop pushbutton S...

Page 350: ...r to 7 4 Changing to DEBUG Mode on page 7 17 for a detailed procedure 3 Select Controller Online Functional Test The Online Functional Test Tab Page appears 4 Set the Test Condition Input Settings Output Settings and Expected Value Settings 5 Click the Run Button on the control panel for the Online Functional Test Tab Page 7 Checking Operation and Actual Operation 7 44 NX series Safety Control Uni...

Page 351: ...e 9 Make sure that the device operated normally The Controller detects the values of the assigned variables whose statement became FALSE and defines whether the statement of the variables assigned to all the output devices is consis tent with the settings of the expected values The definition results are displayed in the below dialog box If the device is running in accordance with the settings of ...

Page 352: ...stored normally Reset Type Manual The Controller checks if no change is made to the variables assigned to all the output devi ces when detecting that the specified variable is set to TRUE The test result appears in the dialog shown below If the devices operate normally as specified in the expected value set tings select the checkbox stating The device operates normally and then select OK 7 Checkin...

Page 353: ...OK 12Operate the device as instructed on the screen Execute a function reset It is displayed for manual reset only The window shows instructions to reset the function which will allow you to confirm that the tested input device is normally restored Operate the reset switch as instructed on the screen and change the variable assigned to the reset switch from FALSE to TRUE and then FALSE again 7 Che...

Page 354: ...in The test result appears in the dialog shown below If the devices operate normally as specified in the expected value settings select the checkbox stating The device operates normally and then select OK 14Repeat the steps 8 through 13 for all the input devices Once the operations for all the input devices are completed the Online Functional Test Result Page shown below appears 7 Checking Operati...

Page 355: ...ions or special cases Perform advanced operation check separately if needed Additional Information If you print the results of the Online Functional Test when the safety validation of the safety pro grams is in process a safety signature is printed in the lower right of each page 7 Checking Operation and Actual Operation 7 49 NX series Safety Control Unit User s Manual Z930 7 7 Online Functional T...

Page 356: ...ting the Node Name You set the node name in the Connect to safety device Dialog Box which is displayed when you go online with the Safety CPU Unit The Connect to safety device Dialog Box is displayed when you perform one of the following operations Connecting the Safety CPU Unit online for the first time with the factory default settings Connecting the Safety CPU Unit online for a new project file...

Page 357: ...is retained in the Sysmac Studio You do not need to enter it again until you take the Safety CPU Unit offline or close the project The safety password protects the following online operations on the Safety CPU Unit Changing the operating mode This does not apply when changing between DEBUG mode STOPPED and DEBUG mode RUN Changing the safety password Clear All Memory operation 1 Performing safety v...

Page 358: ... The data protection function allows you to set passwords for individual data units to restrict display ing and changing them access restrictions You can enter the password to temporarily release the protection from a data unit Data protection is set and released offline l Types of Access Restrictions The following table describes the types of access restrictions Access restriction Operation Remar...

Page 359: ...ocedure to Set Protection 1 Select the data to protect and then select Security Set Release Data Protection from the Controller Menu Or right click the data to protect and select Security Set Release Data Protection from the menu The Data Protection Setting Dialog Box is displayed 2 Select the Use data protection Check Box and select the access restrictions Enter the pass word and click the OK But...

Page 360: ...g Box is displayed 2 Enter the password that was set when data protection was set The access restrictions are temporarily released The following table gives the lengths of time for which the access restrictions are temporarily released Access restric tion Length of time that protection is cleared Display prohibi tion While the project is open Change prohibi tion While the project is open While the...

Page 361: ...ick the OK Button The Data Protection Setting Dialog Box is displayed 3 Clear the Use data protection Check Box and click the OK Button Data protection is released and the protection icon returns to the normal icon Version Information You can use program data protection with Sysmac Studio version 1 17 or higher You can import user defined function blocks with Sysmac Studio version 1 12 or higher 7...

Page 362: ...alidation after you perform safety validation testing with the Safety CPU Unit in DEBUG mode RUN to make sure that all safety functions operate as intended To perform safety validation it is necessary that the Safety CPU Unit be in DEBUG mode 1 The safety application data includes the safety programs and the safety task settings and variables Refer to 7 1 Procedures before Operation and Transferri...

Page 363: ...3 Click the OK Button Precautions for Safe Use Note that the Safety CPU Unit automatically starts in RUN Mode at the next start up if the safe ty validation is successful When you download the parameters for the EtherCAT Coupler Unit and NX Units the Safety CPU Unit automatically restarts 7 10 2 Changing to RUN Mode After you perform safety validation you can change the Safety CPU Unit to RUN mode...

Page 364: ...Safety CPU Unit to RUN mode 7 10 3 Changing to PROGRAM Mode If you need to change the safety programs or if you need to change the operating mode of the Safety CPU Unit from RUN mode to DEBUG mode you must first change to PROGRAM mode Changing to PROGRAM Mode Use the following procedure to change the Safety CPU Unit from RUN mode to PROGRAM mode 1 With the Safety CPU Unit connected online perform ...

Page 365: ...sword and click the OK Button The Safety CPU Unit enters PROGRAM mode The following dialog box is displayed Click the OK Button 7 Checking Operation and Actual Operation 7 59 NX series Safety Control Unit User s Manual Z930 7 10 Performing Safety Validation and Operation 7 7 10 3 Changing to PROGRAM Mode ...

Page 366: ...on example for an EtherCAT Slave Terminal is given below NJ NX series CPU Unit Sysmac Studio Ethernet Sysmac Studio USB Sysmac Studio USB Coupler Unit Coupler Unit Safety CPU Unit Safety Output Safety Input Safety Output Safety Input EtherCAT EtherNet IP 7 11 2 Uploading Data for a Connection to an NJ NX series CPU Unit When you use an EtherCAT Coupler Unit you can connect the Sysmac Studio to a U...

Page 367: ... are connected to the EtherCAT Coupler Unit are transferred to the Sysmac Studio 7 11 3 Uploading Data for a Connection to a Communications Coupler Unit If the Sysmac Studio is connected to the USB port on the Communications Coupler Unit use the fol lowing procedure to upload data from the Safety CPU Unit 1 Right click the Communications Coupler Unit on the Slave Terminal Tab Page and select Coupl...

Page 368: ...ion dialog box is displayed 5 Enter the password and click the OK Button The settings of all the Units that are connected to the Communications Coupler Unit are trans ferred to the Sysmac Studio Precautions for Correct Use If you use an EtherCAT Coupler Unit upload the data from the Safety CPU Unit only after you have added all of the Safety I O Units to the EtherCAT Slave Terminal Tab Page If you...

Page 369: ... section 7 10 Performing Safety Validation and Operation on page 7 56 in another Safety CPU Unit change the other Safety CPU Unit to DEBUG mode and perform safety validation 7 Checking Operation and Actual Operation 7 63 NX series Safety Control Unit User s Manual Z930 7 12 Transferring Safety Application Data 7 ...

Page 370: ...Status Pane is displayed when the Sysmac Studio is on line or the Simulator is connected Displaying the Controller Status Pane The Controller Status Pane is displayed in place of the Toolbox in the lower right corner of the window when the Safety CPU Unit is online or the Simulator is connected Expansion Operations in the Controller Status Pane Use the buttons in the title bar of the Controller St...

Page 371: ...executed Lit yellow Variable in Forced Refreshing Displays the forced refreshing status of variables in the safety programs None Present Safety Data Communications It shows the status of communications among the Safety CPU Unit the FSoE slave device and the CIP Safety target device No error or no communications Communications error Program Execution Displays the execution status of the safety prog...

Page 372: ...als Use the following procedure to restart all of the Units in the Slave Terminal 1 Go online right click the Communications Coupler Unit in the Slave Terminal Tab Page and select Restart The Restart Confirmation Dialog Box is displayed 2 Click the Yes Button After the Units are restarted a Restart Completion Dialog Box is displayed Controller Reset All the units on the CPU rack can be restarted u...

Page 373: ...ethod clears all memory from the Communications Coupler Unit and all NX Units including the Safety I O Units that are connected to the Communications Coupler Unit The Safety CPU Unit memory cannot be cleared Clear All Memory Opera tion for Controllers This method clears all memory from the NX series CPU Unit and all NX Unit includ ing the Safety I O Units that are connected to the NX series CPU Un...

Page 374: ...ty password This data is set to the default settings no password Event logs Event logs are cleared if you select the Clear the event logs Option when you execute the Clear All Memory operation l Safety I O Units Data item Status after clear all memory operation FSoE slave address This data is set to the default setting no setting Event logs Event logs are cleared if you select the Clear the event ...

Page 375: ...the OK Button If a password is not set leave the box empty and click the OK Button A dialog box is displayed to confirm the node 5 Click the Yes Button The following dialog box is displayed 6 Click the OK Button 7 Checking Operation and Actual Operation 7 69 NX series Safety Control Unit User s Manual Z930 7 14 Restarting and Clearing All Memory 7 7 14 2 Clear All Memory Operation ...

Page 376: ...elect the Clear the event logs check box To clear the memory in all Units select the Coupler NX Units Option in the Area Selection for Coupler Area An execution confirmation dialog box is displayed 3 Click the Yes Button After memory is cleared the Memory All Cleared Dialog Box is displayed l Clear All Memory Operation for Controllers 1 Go online and select Controller Clear All Memory from the NJ ...

Page 377: ...elect the Clear the event logs check box After memory is cleared the Memory All Cleared Dialog Box is displayed 7 Checking Operation and Actual Operation 7 71 NX series Safety Control Unit User s Manual Z930 7 14 Restarting and Clearing All Memory 7 7 14 2 Clear All Memory Operation ...

Page 378: ...7 Checking Operation and Actual Operation 7 72 NX series Safety Control Unit User s Manual Z930 ...

Page 379: ... 2 1 Safety Task 8 5 8 2 2 Operation of Safety Task 8 5 8 2 3 Minimum Safety Task Period 8 5 8 2 4 Setting the Safety Task Period 8 7 8 3 FSoE Watchdog Timer 8 9 8 3 1 FSoE Watchdog Timers 8 9 8 3 2 Checking FSoE Watchdog Timers 8 9 8 3 3 Settings for FSoE Watchdog Timers 8 10 8 3 4 Changing FSoE Watchdog Timers 8 10 8 4 EPI Data Packet Interval 8 11 8 4 1 Changing the EPI 8 11 8 4 2 EPI Restricti...

Page 380: ...ime d Safety CPU Unit re sponse time e Safety Output Unit slave response time and f actuator response time The number of elements and the duration of time vary depending on the safety chain route Basic Configuration Safety Output Unit Slave Actuator Safety CPU Unit Safety Input Unit Slave Safety Sensor Switch a Safety sensor switch response time b Safety Input Unit slave response time c Network re...

Page 381: ...se time of the Safety CPU Unit This value is an integer multiple of the safety task period The value varies depending on the safety chain route as follows When the FSoE connections are used for both input and output Safety task period x 0 When the CIP Safety connections are used for both input and output Safety task period x 2 When the FSoE connections are used for in put and CIP Safety connection...

Page 382: ... and pressure sensitive floors the NX series Safety Control Unit must meet the following condition in order to satisfy the requirement for the speci fied reaction time The value of the FSoE watchdog timer in the NX SIH400 that is connected to the UM UMA Safety Mats must be 42 ms or less 8 1 2 Verifying Safety Reaction Times Verify the calculated safety reaction times for all safety chains to confi...

Page 383: ...y task 1 None The safety task is executed once every safety task period during op eration in RUN or DEBUG mode Communications receive proc essing program execution and communications send processing 8 2 2 Operation of Safety Task The following operation is performed for the safety task Input data processing for I O refreshing user program execution and output data processing for I O refreshing are...

Page 384: ...f you change any of the following values the minimum safety task period will change Check the minimum safety task period again a Safety program execution time This time depends on the sizes of the programs and the function blocks that are used b Number of connections with Safety I O Units c Task period of the NJ NX series CPU Unit d NX bus refresh cycle for EtherCAT Slave Terminals If the minimum ...

Page 385: ...revent timeouts in safety process data communications when noise on the com munications path or other factors result in communications retries Set this time as required l Finding the Expansion Communications Monitoring Time The method to find the expansion communications monitoring time depends on the NX bus master that is connected NX Units connected to an CPU Unit or EtherCAT Coupler Unit The me...

Page 386: ... Settings for FSoE Watchdog Timers on page 8 10 for information on chang ing the FSoE watchdog timer If the EtherCAT communications cycle is 250 us or lower use the following minimum safety task periods NX SL version 1 1 or later 9 ms or higher NX SL version 1 0 or later 13 ms or higher Additional Information We recommend that you set the safety task period with plenty of leeway to allow for the p...

Page 387: ...it in the Controller Selection Box 2 Double click Safety I O under Configurations and Setup Communications Safety The following Safety I O Unit Setting Tab Page is displayed The values of the FSoE watchdog timers are displayed in the FSoE Watchdog Timer Column for the Safety I O Units Precautions for Correct Use If you use NX SL version 1 1 and Free Run refreshing is set in even one communica tion...

Page 388: ...he following procedure to change a FSoE watchdog timer 1 In the Multiview Explorer select the target Safety CPU Unit in the Controller Selection Box 2 Double click Safety I O under Configurations and Setup Communications Safety The following Safety I O Unit Setting Tab Page is displayed 3 Clear the selection of the WDT auto setting Check Box for the Unit to change This enables changing the value o...

Page 389: ...PI The EPI is set separately for each connection Use the following procedure to change the EPI 1 In the Multiview Explorer select the target Safety CPU Unit in the Controller Selection Box 2 Go to Configurations and Setup Communications Safety EtherNet IP Safety Connection Settings and double click Connection Settings Originator The following Connection Settings Originator Tab Page is displayed 3 ...

Page 390: ...8 Calculating Safety Reaction Times 8 12 NX series Safety Control Unit User s Manual Z930 ...

Page 391: ...ng the Communications Load 9 2 9 1 1 Checking Bandwidth Usage for Tag Data Links 9 3 9 1 2 Checking the Device Bandwidth Usage of the CIP Safety Routing 9 4 9 1 3 Relationship between the Number of Packets Used per Second and Packet Intervals 9 5 9 1 4 Adjusting the Device Bandwidth Usage 9 5 9 1 NX series Safety Control Unit User s Manual Z930 9 ...

Page 392: ... transfers The following table shows the specifications within which the CIP Safety Connection settings and the tag data link settings can be made for a built in EtherNet IP port Item Meaning NX series CPU Unit NX102 Network bandwidth Physical Ethernet baud rate 100 Mbps or 10 Mbps Maximum number of packets per second The maximum num ber of packets that can be processed in one second pps packet pe...

Page 393: ... and the tag data links in the designed network and how to change the values Additional Information In order to provide stable communications the connection settings need to be adjusted so that the total device bandwidth usage of tag data links and the CIP Safety routing will not exceed 80 9 1 1 Checking Bandwidth Usage for Tag Data Links The Network Configurator can display the bandwidth actually...

Page 394: ...work bandwidth that are displayed in parentheses are for an Ethernet switch that does not use multicast filtering In this case multicast packets will be sent to even the nodes without connection settings so the displayed values will include these packets as well These values can be adjusted by changing the RPI l Checking the Total Number of Multi cast IP Addresses in the Network When using an Ethe...

Page 395: ...l is the larger the usage rate to the maximum number of packets per second will become Conversely the longer the packet interval is the less the usage rate to the maximum number of pack ets per second will become 9 1 4 Adjusting the Device Bandwidth Usage This section describes how to adjust the device bandwidth usage Precautions for Correct Use The Ethernet switch should support the maximum netwo...

Page 396: ...ding RPI and EPI values Does the total network bandwidth usage of any transmission path exceed the network bandwidth that can be set for the path If it exceed the bandwidth that can be set for the transmission path the tag data link and CIP safety connection may not work properly If the bandwidth is exceeded rewire the network or increase the bandwidth between Ethernet switches e g to 1 Gbps If th...

Page 397: ...cute the Safety Unit Restore 10 1 Safety Unit Restore 10 2 10 1 1 Generate Safety Unit Restore File Function 10 2 10 1 2 Safety Unit Restore Function 10 3 10 1 3 Specifications of a Safety Unit Restore File 10 6 10 1 NX series Safety Control Unit User s Manual Z930 10 ...

Page 398: ...ther with the SD Memory Card backup function Precautions for Correct Use To execute the Safety Unit Restore you need to execute the restore function for the NX102 CPU Unit as well In addition you need to generate a safety backup file and a backup file of the NX102 CPU Unit from a same project or from a same project of a same physical unit where a project was transferred from If the settings for th...

Page 399: ... operation fails If the node name of the actual unit is unchanged from the factory default set tings the node name you entered here will be reflected to the actual unit Safety Pass word Enter a safety password for Safety CPU Unit to restore data If the safety password does not match the restore operation fails If the safety pass word is not configured for the actual unit the safety password you en...

Page 400: ...Card Insert the SD Memory Card where the Safety Unit Restore File are stored under the root directory into the NX102 CPU Unit Start RESTORE Mode Set the pins 1 to 4 of the DIP switch on the Safety CPU Unit as follows 1 to ON 2 to OFF 3 to OFF and 4 to OFF and turn ON the power supply to the Control ler The Safety CPU Unit starts in RESTORE mode Initializing Seven segment indicators in the Safety C...

Page 401: ...s starts Processing Completion Seven segment indicators in the Safety CPU Unit repeat turning ON and OFF in four at a time If processing ended in an error an error code is shown in the seven segment indicators in the Safety CPU Unit Done The safety signature including the date and time UTC is repeatedly shown in the seven segment indicators of the Safety CPU Unit Example Supposing the safety signa...

Page 402: ...ile restoring the Safety Control Units 10 1 3 Specifications of a Safety Unit Restore File A safety unit restore file is named as follows l File Name File File name Safety Unit Restore File SLSystem dat 10 Safety Unit Restore 10 6 NX series Safety Control Unit User s Manual Z930 ...

Page 403: ...ng a Safety Data Logging Settings File with the Sysmac Studio 11 4 11 3 Safety Data Logging Operation Procedure 11 6 11 4 Checking the Logging Status 11 7 11 4 1 Checking the Seven segment Indicator 11 7 11 4 2 Checking with System defined Variables 11 7 11 5 Log File Specifications 11 8 11 1 NX series Safety Control Unit User s Manual Z930 11 ...

Page 404: ...he four options specified by the Sysmac Studio for each setting Trigger condition One variable can be specified as a trigger condition for each setting BOOL variables True or False Non BOOL variables Select any of the following and specify a constant Equal to the constant Not equal to the constant Greater than the constant Less than the constant Equal to or greater than the constant Equal to or le...

Page 405: ...t Stop only the logging for which the trigger condition is met Save only log files re corded for the logging setting for which the trigger condition is met When the stop operation is performed with the service switch Stop all the loggings in progress Save log files for all the logging settings in progress When a communication error occurs in the safety master con nections FSoE master connection or...

Page 406: ...ety data logging settings file 1 From the Controller selection in the Multiview Explorer select the Safety CPU Unit and then go to Tools Generate Safety Data Logging Settings File The Generate Safety Data Logging Settings File Window shown below appears The structure of the Safety Data Logging Settings File Window is as follows Item Description Logging Settings Num ber Select 1 or 2 Up to two safe...

Page 407: ...hat before the trigger Logging target Up to 100 variables can be registered for logging Name Specify the name of the variable is specified Data Type The data type of the variable is displayed Comment The comment for the variable is displayed Generate Button This button allows you to save a safety data logging settings file into a folder you specify Import Button This button allows you to import a ...

Page 408: ...tions are established If you hold down the service switch the display of the seven segment indicator will change as shown below After 1 second After 3 seconds After 5 seconds Si Lo Release the service switch while the indicator shows Lo If you release the service switch while is displayed the function is not executed and the original state is restored 5 Check the left dot of the seven segment indi...

Page 409: ...ing did not start Right dot of the seven segment indicator of the Safety CPU Unit Not lit No log file was output Lit A log file was saved successfully Flashing 0 5 s interval A log file was not saved successfully 11 4 2 Checking with System defined Variables You can verify the logging execution status by checking the system defined variables of the NX102 CPU Unit The NX102 CPU Unit has the followi...

Page 410: ...i ables All data is expressed in decimal notation BOOL SAFEBOOL 0 FALSE 1 TRUE BYTE 0 to 255 WORD SAFEWORD 0 to 65535 INT SAFEINT 32768 to 32767 DINT SAFEDINT 2147483648 to 2147483647 After the final row of the record the additional information footer shown below is output following a blank row Row No Item Description 1st footer row Trigger variable condition The trigger condition used for the log...

Page 411: ...04 2017 06 16 11 16 40 463 0 1 0 153 2205 2017 06 16 11 16 40 468 1 1 0 153 2206 2017 06 16 11 16 40 473 0 1 0 153 2207 2017 06 16 11 16 40 478 0 1 0 153 2208 2017 06 16 11 16 40 483 0 1 0 150 2209 2017 06 16 11 16 40 488 0 1 0 150 2999 2017 06 16 11 16 40 488 0 1 0 150 condition VarX false StopType condition 11 Safety Data Logging 11 9 NX series Safety Control Unit User s Manual Z930 11 5 Log Fil...

Page 412: ...11 Safety Data Logging 11 10 NX series Safety Control Unit User s Manual Z930 ...

Page 413: ...t 12 3 12 2 2 Troubleshooting the Main Errors in the Safety I O Units 12 11 12 3 Checking for Errors with the Sysmac Studio 12 14 12 3 1 Checking for Errors from the Sysmac Studio 12 14 12 3 2 Types of Errors 12 15 12 3 3 Event Codes for Errors and Troubleshooting Procedures 12 17 12 3 4 Error Descriptions 12 31 12 4 Resetting Errors 12 90 12 5 Troubleshooting Flow When Errors Occur 12 91 12 1 NX ...

Page 414: ...s Operating status of the NJ NX series CPU Unit Safety CPU Unit and Safe ty I O Units Checking with the Troubleshoot ing Function of the Sysmac Stu dio Current errors in the Safety CPU Unit and Safety I O Units error logs in the Safety CPU Unit and Safety I O Units and the sources causes and correc tions for errors 12 Troubleshooting 12 2 NX series Safety Control Unit User s Manual Z930 ...

Page 415: ...n Status is normal System Error Refer to System Error page 12 32 1 second interval NX Bus I O Communica tions Stopped Refer to NX Bus I O Com munications Stopped page 12 43 1 second interval 1 second interval NX Unit I O Communica tions Error Refer to NX Unit I O Com munications Error page 12 35 2 second interval Initializing Downloading Status is normal Wait un til processing is complet ed 12 Tro...

Page 416: ...hat case replace the Unit Waiting for initialization to start Restarting the Unit Status is normal Wait un til processing is complet ed 1 second interval Safety Process Data Communications Not Es tablished Error Refer to Safety Process Data Communications Not Established Error page 12 33 1 second interval Safety Process Data Communications Timeout Refer to Safety Process Data Communications Timeou...

Page 417: ...op Error page 12 45 1 second interval SF_EnableSwitch Error Refer to SF_Enable Switch Error page 12 45 1 second interval SF_Equivalent Error Refer to SF_Equivalent Error page 12 46 1 second interval SF_ESPE Error Refer to SF_ESPE Error page 12 46 1 second interval SF_GuardLocking Error Refer to SF_GuardLock ing Error page 12 47 1 second interval SF_GuardMonitoring Er ror Refer to SF_GuardMoni tori...

Page 418: ... ControlTypeIII Error page 12 52 NX Message Communi cations Error Refer to NX Message Communications Error page 12 66 NX SL5500 NX SL5700 TS in dica tor NS In dica tor FS in dica tor P ERR In dicator Sev en seg ment Indi cator Cause Corrective action Status is normal H3 System Error Refer to System Error page 12 32 NX Bus I O Communications Stopped Refer to NX Bus I O Commu nications Stopped page ...

Page 419: ... cannot resolve the problem after you check the above items and cycle the Slave Terminal power supply the Unit may have a hard ware failure In that case re place the Unit Waiting for initialization to start Restarting the Unit Status is normal Wait until processing is completed 1 sec ond inter val d6 iP Re mote IP ad dress CIP Safety Originator Con nection Not Established Error Refer to CIP Safety...

Page 420: ...ot Established Error page 12 34 1 sec ond inter val FSoE Master Connection Timeout Refer to FSoE Master Con nection Timeout page 12 38 1 sec ond inter val The safety connections are not established including when they are currently being established Wait until processing is com pleted NX Bus Communications Set tings Read Error Refer to NX Bus Communica tions Settings Read Error page 12 56 Safety A...

Page 421: ...r page 12 45 1 second interval SF_EnableSwitch Error Refer to SF_EnableSwitch Error page 12 45 1 second interval SF_Equivalent Error Refer to SF_Equivalent Error page 12 46 1 second interval SF_ESPE Error Refer to SF_ESPE Error page 12 46 1 second interval SF_GuardLocking Error Refer to SF_GuardLocking Error page 12 47 1 second interval SF_GuardMonitoring Error Refer to SF_GuardMonitoring Error pa...

Page 422: ...or Refer to SF_TwoHandCon trolTypeIII Error page 12 52 NX Message Communica tions Error Refer to NX Message Com munications Error page 12 66 E1 01 Safety Unit Restore Opera tion Failed to Start SD Mem ory Card Access Failed Refer to Safety Unit Restore Operation Failed to Start SD Memory Card Access Failed page 12 59 E1 02 Safety Unit Restore Opera tion Failed to Start Safety Unit Restore File Rea...

Page 423: ...ncorrect Unit Parameter Error Refer to Safety Process Data Com munications Not Established Incor rect Unit Parameter Error page 12 70 1 second inter val Safety Process Data Communica tions Not Established Incorrect FSoE Slave Address Error Refer to Safety Process Data Com munications Not Established Incor rect FSoE Slave Address Error page 12 71 1 second inter val Safety Process Data Communica tio...

Page 424: ... 12 78 1 second inter val Short Circuit Detected at Safety Out put Refer to Short Circuit Detected at Safety Output page 12 86 1 second inter val Stuck at high Detected at Safety Output Refer to Stuck at high Detected at Safety Output page 12 87 1 second inter val Internal Circuit Error at Safety Out put Refer to Internal Circuit Error at Safety Output page 12 79 2 second inter val Initializing St...

Page 425: ...tems and cycle the Slave Terminal power sup ply the Unit may have a hardware failure In that case replace the Safety I O Unit Waiting for initialization to start Restarting the Unit Status is normal Wait until process ing is completed 1 second inter val The safety connections are not es tablished including when they are currently being established Wait until processing is completed 1 second inter ...

Page 426: ... 1 to 4 and correction Errors in the observation level are not displayed Additional Information Number of Current Errors The following table gives the number of errors that are reported simultaneously as current er rors in each Unit Unit Number of simultaneous errors Safety CPU Unit NX SL3300 NX SL3500 32 NX SL5500 NX SL5700 64 Safety I O Units 16 If the number of errors exceeds the maximum number...

Page 427: ...e Safety I O Units will detect this and make the safety I O data inactive OFF Communica tions Errors Errors that occur in safe ty process data commu nications The Safety CPU Unit will continue operation The relevant safety process data communications will stop The Unit that detects the safety process data communications er ror will make the safety I O data inactive OFF Operation con tinuation erro...

Page 428: ... stop Communica tions errors Errors that occur in safety process data communications with the Safety CPU Units The Safety I O Unit will continue operation The Safety I O Unit will make the safety I O data inac tive OFF Safety I O er rors Errors that occur in safety I O in the Safety I O Units The Safety I O Unit will continue operation Safety process data communications will continue The safety I ...

Page 429: ...diagnosis of the hard ware Hardware has failed A memory error occurred due to a transient cause such as a software error or excessive noise page 12 32 l Communications Errors Event code Event name Meaning Assumed cause Level Reference M a j P rt M i n O b s I n f o 35200000 hex NX SL3 Safety Proc ess Data Communica tions Not Es tablished Er ror Safety process data communications was not establishe...

Page 430: ...slave The FSoE communications settings are not correct the FSoE slave is not in the cor rect status etc The FSoE slave for FSoE communications is not con nected The FSoE slave set in the NX Unit Mounting Setting for FSoE communications is disabled The version of the FSoE slave to be communicated is older than the configured version page 12 34 12 Troubleshooting 12 18 NX series Safety Control Unit ...

Page 431: ...or the unit power capacity is not suffi cient There is a hardware error in the NX Unit Communications Coupler Unit An error occurred in the com munications coupler unit which prevents the NX bus communications from being carried out normally The NX Unit is not mounted properly The power cable for the Unit power supply is disconnected Or the wiring from the Unit power supply to the NX Units is inco...

Page 432: ...ontinue FSoE com munications The process data communica tions were not performed cor rectly because an error or sta tus change occurred in the NX bus master to which the Unit is connected page 12 38 80310000 hex NX SL5 CIP Safety Originator Connection Not Estab lished Error CIP safety originator connection was not established The target node is different The target node is not config ured The targ...

Page 433: ...e that is given for at tached information 1 in the NX series Safety Control Unit Instructions Reference Manual Cat No Z931 page 12 44 74A10000 hex SF_EDM Er ror An error was detect ed in execution of a safety function block Refer to information on the diag nostic code that is given for at tached information 1 in the NX series Safety Control Unit Instructions Reference Manual Cat No Z931 page 12 44...

Page 434: ...d information 1 in the NX series Safety Control Unit Instructions Reference Manual Cat No Z931 page 12 47 74A80000 hex SF_Mode Selector Er ror An error was detect ed in execution of a safety function block Refer to information on the diag nostic code that is given for at tached information 1 in the NX series Safety Control Unit Instructions Reference Manual Cat No Z931 page 12 48 74A90000 hex SF_M...

Page 435: ...on of a safety function block Refer to information on the diag nostic code that is given for at tached information 1 in the NX series Safety Control Unit Instructions Reference Manual Cat No Z931 page 12 51 74B00000 hex SF_Two HandCon trolTypeIII Error An error was detect ed in execution of a safety function block Refer to information on the diag nostic code that is given for at tached information...

Page 436: ...lication data page 12 57 10530000 hex Non volatile Memory Ac cess Error Reading writing non volatile memory failed Non volatile memory failure page 12 57 24AA0000 hex NX SL5 Incorrect DIP Switch Setting The DIP switch set ting is not correct The DIP switch setting was changed to an incorrect value page 12 58 l Restore Function Errors Event code Event name Meaning Assumed cause Level Reference M a ...

Page 437: ... Unit was performed on an incorrect unit An incorrect Safety Unit Re store File was used The node name specified when the Safety Unit Restore File was generated is incor rect page 12 63 352A0000 hex NX SL5 Safety Unit Restore Op eration Failed to Start Safety Password Mismatch A safety password mismatch was detect ed during pre execu tion checks for a re store operation for a Safety Unit The resto...

Page 438: ...Timeout A communications timeout occurred be tween the Sysmac Studio and the Safety CPU Unit The communications cable was disconnected page 12 67 951F0000 hex Clear All Memory Re jected Clearing all of memo ry failed The Clear All Memory opera tion for a Controller or a Slave Terminal was performed page 12 67 l User Access Log Event code Event name Meaning Assumed cause Level Reference M a j P rt ...

Page 439: ... 35230000 hex Safety Proc ess Data Communica tions Not Es tablished In correct FSoE Slave Address Er ror Safety process data communications was not established with the Safety CPU Unit because of an incor rect FSoE slave ad dress The setting of the FSoE slave address in the safety process data communications settings is different from the setting in the Unit page 12 71 35240000 hex Safety Proc ess...

Page 440: ...od is too short There is excessive noise The Safety CPU Unit or safety slave entered a status where it could not continue safety proc ess data communications The process data communica tions were not performed cor rectly because an error or sta tus change occurred in the NX bus master to which the Unit is connected page 12 75 84F10000 hex NX Bus I O Communica tions Stop ped An error occurred in I ...

Page 441: ...ply wire is in contact with the input sig nal line The input signal lines are shorted The external device is faulty page 12 82 65230000 hex Discrepancy Error at Safety Input An error was detect ed in discrepancy evaluation of safety input terminals There is a ground fault or dis connection in the input signal line The connected device is faulty The setting of the discrepancy time is not correct Ch...

Page 442: ... Communica tions Error An error was detect ed in message com munications for an NX Unit and the mes sage frame was dis carded The message communications load is high The communications cable is disconnected or broken Message communications were cut off as the result of ex ecuting a synchronization or restoration operation on the Sysmac Studio or as the result of disconnecting an EtherCAT slave pag...

Page 443: ... or that contain settings that cause the error Cause and correction Assumed cause Correction Prevention Lists the possible causes corrections and preventive measures for the error Attached in formation This is the attached information that is displayed by the Sysmac Studio Precautions Remarks Provides precautions restrictions and supplemental information 1 This is the level of influence on standar...

Page 444: ...uously Error attrib utes Level Minor fault Recovery Cycle the pow er supply to the Unit Log category System Effects User program Continues Operation The Unit stops operating and the I O data changes to the safe states System de fined varia bles Variable Data type Name None None None Cause and correction Assumed cause Correction Prevention Hardware has failed Cycle the power supply If the er ror oc...

Page 445: ...the safety slaves and implement counter measures The safety slave for safety proc ess data communications is not connected Make sure the safety slave is connected correctly Make sure that all of the safety slaves to communicate with are connected before you change the Safety CPU Unit to DEBUG mode STOPPED DEBUG mode RUN or RUN mode The safety slave set in the NX Unit Mounting Setting for safety pr...

Page 446: ...SoE slaves to communicate with are connected before you change the Safety CPU Unit to DEBUG mode STOPPED DEBUG mode RUN or RUN mode The FSoE slave set in the NX Unit Mounting Setting for FSoE communications is disabled Set the disabled FSoE slaves in the NX Unit Mounting Setting so that they do not participate in FSoE communications and then transfer the data to the Safety CPU Unit Set the disable...

Page 447: ...CPU Unit An error occurred in the CPU unit which prevents the NX bus communications from being car ried out normally Check the error in the CPU unit and try the solutions specified in Correction Try the solutions specified in Pre vention for the error in the CPU unit The NX Unit is not mounted properly Mount the NX Units and End Cover securely and secure them with End Plates Mount the NX Units and...

Page 448: ...ply to the NX Units is in correct Correctly wire the Unit power supply to the NX Units Correctly wire the Unit power supply to the NX Units The power cable for the Unit power supply is broken If the power cable connecting the Unit power supply and the NX Units is broken replace the pow er cable None The unit power voltage is out of the supported range or the unit power capacity is not sufficient C...

Page 449: ... setup according to the correc tions that are given on the left There is excessive noise Implement noise countermeas ures Implement noise countermeas ures if excessive noise caused the error The Safety CPU Unit or safety slave entered a status where it could not continue safety proc ess data communications Check the status of the Safety CPU Unit or safety slave Refer to troubleshooting informa tio...

Page 450: ...t the system configuration and setup according to the correc tions that are given on the left There is excessive noise Implement noise countermeas ures Implement noise countermeas ures if excessive noise caused the error The Safety CPU Unit or FSoE slave entered a state where it could not continue FSoE commu nications Check the status of the Safety CPU Unit or FSoE slave Refer to troubleshooting i...

Page 451: ...pe Name None None None Cause and correction Assumed cause Correction Prevention The target node is different Check if the target node is cor rect Set the system configuration and setup according to the correc tions that are given on the left The target node is not config ured Check if the target node is con figured The target node status is invalid Check if the target node is in a state where it c...

Page 452: ...ata type Name None None None Cause and correction Assumed cause Correction Prevention The communications cable is dis connected or broken Connect the communication ca ble securely Set the system configuration and setup according to the correc tions that are given on the left The target node entered a state where it could not accept the connection Check if the target node is in a state where it can...

Page 453: ...ted or broken Connect the communication ca ble securely Set the system configuration and setup according to the correc tions that are given on the left The target node entered a state where it could not accept the connection Check if the target node is in a state where it can accept the connection The timeout value in the commu nications setup is too small Increase the timeout value in the communi...

Page 454: ... and correction Assumed cause Correction Prevention The communications cable is dis connected or broken Connect the communication ca ble securely Set the system configuration and setup according to the correc tions that are given on the left The originator device entered a state where it could not accept the connection Check if the originator device is in a state where it can accept the connection...

Page 455: ...ing is stopped The val ues of the status and exposed variables in the standard process data are not refreshed Output data An error occurs in safety process data communi cations because 0 s are output System de fined varia bles Variable Data type Name None None None Cause and correction Assumed cause Correction Prevention There is a hardware error in the NX bus master or an NX Unit If the error occ...

Page 456: ...ion Attached information 1 Diagnostic code Precautions Remarks None Event name SF_EDM Error Event code 74A10000 hex Meaning An error was detected in execution of a safety function block Source Depends on where the Sysmac Studio is connected and the sys tem configuration Source details NX Unit Detection tim ing In DEBUG mode RUN or RUN mode Error attrib utes Level Minor fault Recovery Implement the...

Page 457: ... Precautions Remarks None Event name SF_EnableSwitch Error Event code 74A30000 hex Meaning An error was detected in execution of a safety function block Source Depends on where the Sysmac Studio is connected and the sys tem configuration Source details NX Unit Detection tim ing In DEBUG mode RUN or RUN mode Error attrib utes Level Minor fault Recovery Implement the correction Log category System E...

Page 458: ...on Attached information 1 Diagnostic code Precautions Remarks None Event name SF_ESPE Error Event code 74A50000 hex Meaning An error was detected in execution of a safety function block Source Depends on where the Sysmac Studio is connected and the sys tem configuration Source details NX Unit Detection tim ing In DEBUG mode RUN or RUN mode Error attrib utes Level Minor fault Recovery Implement the...

Page 459: ...recautions Remarks None Event name SF_GuardMonitoring Error Event code 74A70000 hex Meaning An error was detected in execution of a safety function block Source Depends on where the Sysmac Studio is connected and the sys tem configuration Source details NX Unit Detection tim ing In DEBUG mode RUN or RUN mode Error attrib utes Level Minor fault Recovery Implement the correction Log category System ...

Page 460: ...n Attached information 1 Diagnostic code Precautions Remarks None Event name SF_MutingPar Error Event code 74A90000 hex Meaning An error was detected in execution of a safety function block Source Depends on where the Sysmac Studio is connected and the sys tem configuration Source details NX Unit Detection tim ing In DEBUG mode RUN or RUN mode Error attrib utes Level Minor fault Recovery Implement...

Page 461: ...code Precautions Remarks None Event name SF_MutingSeq Error Event code 74AB0000 hex Meaning An error was detected in execution of a safety function block Source Depends on where the Sysmac Studio is connected and the sys tem configuration Source details NX Unit Detection tim ing In DEBUG mode RUN or RUN mode Error attrib utes Level Minor fault Recovery Implement the correction Log category System ...

Page 462: ...ttached information 1 Diagnostic code Precautions Remarks None Event name SF_SafetyRequest Error Event code 74AD0000 hex Meaning An error was detected in execution of a safety function block Source Depends on where the Sysmac Studio is connected and the sys tem configuration Source details NX Unit Detection tim ing In DEBUG mode RUN or RUN mode Error attrib utes Level Minor fault Recovery Implemen...

Page 463: ... Precautions Remarks None Event name SF_TwoHandControlTypeII Error Event code 74AF0000 hex Meaning An error was detected in execution of a safety function block Source Depends on where the Sysmac Studio is connected and the sys tem configuration Source details NX Unit Detection tim ing In DEBUG mode RUN or RUN mode Error attrib utes Level Minor fault Recovery Implement the correction Log category ...

Page 464: ...varia bles Variable Data type Name None None None Cause and correction Assumed cause Correction Prevention Refer to information on the diag nostic code that is given for at tached information 1 in the NX series Safety Control Unit Instructions Reference Manual Cat No Z931 Implement the correction for the relevant cause of the diagnostic code that is given for attached in formation 1 Program operat...

Page 465: ...e Cause and correction Assumed cause Correction Prevention The divisor is zero Correct the program so that the divisor is not 0 Perform the following corrections according to the operating mode of the Safety CPU Unit RUN mode Change to PRO GRAM mode and transfer the corrected user program DEBUG mode RUN Change to PROGRAM mode and transfer the corrected user program Program operation considering th...

Page 466: ... the value to exceed the range of the receiving varia ble Perform the following corrections according to the operating mode of the Safety CPU Unit RUN mode Change to PRO GRAM mode and transfer the corrected user program DEBUG mode RUN Change to PROGRAM mode and transfer the corrected user program Program operation considering the corrections that are given on the left Attached in formation Attache...

Page 467: ...rogram so that the value of the selection input K to the MUX instruction is in range Perform the following corrections according to the operating mode of the Safety CPU Unit RUN mode Change to PRO GRAM mode and transfer the corrected user program DEBUG mode RUN Change to PROGRAM mode and transfer the corrected user program Program operation considering the corrections that are given on the left At...

Page 468: ... the Sysmac Studio Attached in formation None Precautions Remarks None Event name Safety Application Data Read Error Event code 10510000 hex Meaning There is an error in the safety application data that is saved in non volatile memory Source Depends on where the Sysmac Studio is connected and the sys tem configuration Source details NX Unit Detection tim ing At power ON or restart Error attrib ute...

Page 469: ...ion Data to the Safety CPU Unit again None Attached in formation None Precautions Remarks None Event name Non volatile Memory Access Error Event code 10530000 hex Meaning Reading writing non volatile memory failed Source Depends on where the Sysmac Studio is connected and the sys tem configuration Source details NX Unit Detection tim ing When power is turned ON to the NX Unit when the safe ty appl...

Page 470: ...ystem de fined varia bles Variable Data type Name None None None Cause and correction Assumed cause Correction Prevention The DIP switch setting was changed to an incorrect value Check the DIP switch setting and change the value to a correct val ue If you change the DIP switch set ting make sure that the DIP switch setting that you changed is correct Attached in formation Attached infor mation 1 D...

Page 471: ...evention An SD Memory Card is not in serted Insert an SD Memory Card Insert an SD Memory Card The SD Memory Card type is not correct Replace the SD Memory Card with an SD or SDHC card Use an SD or SDHC card The format of the SD Memory Card is not correct Format the SD Memory Card with the Sysmac Studio Use a formatted SD Memory Card The SD Memory Card is dam aged If none of these causes apply re p...

Page 472: ...ria bles Variable Data type Name None None None Cause and correction Assumed cause Correction Prevention The Safety Unit Restore File is not stored in the specified folder Store the Safety Unit Restore File in the specified folder again Use a formatted SD Memory Card and store the Safety Unit Restore File in the specified fold er Do not edit the Safety Unit Restore File Do not remove the SD Memory...

Page 473: ...d then perform the restore operation for a Safety Unit again After making sure that the desti nation is set to an intended unit start the restore operation for a Safety Unit An incorrect Safety Unit Restore File was used On the front indicators of the Safety CPU Unit check the safe ty signature for the Safety Unit Restore File that is stored in the SD Memory Card After making sure that the safety ...

Page 474: ...a compatible unit cycle the power supply and then perform the restore operation for a Safety Unit again After making sure that the desti nation is set to a compatible unit start the restore operation for a Safety Unit An incorrect Safety Unit Restore File was used On the front indicators of the Safety CPU Unit check the safe ty signature for the Safety Unit Restore File that is stored in the SD Me...

Page 475: ... an intended unit start the restore operation for a Safety Unit An incorrect Safety Unit Restore File was used On the front indicators of the Safety CPU Unit check the safe ty signature for the Safety Unit Restore File that is stored in the SD Memory Card After making sure that the safety signature is the intended signa ture cycle the power supply and then perform the restore opera tion for a Safe...

Page 476: ...fter making sure that the desti nation is set to an intended unit start the restore operation for a Safety Unit An incorrect Safety Unit Restore File was used On the front indicators of the Safety CPU Unit check the safe ty signature for the Safety Unit Restore File that is stored in the SD Memory Card After making sure that the safety signature is the intended signa ture cycle the power supply an...

Page 477: ...ontains the Safety Unit Restore File cycle the power supply and then perform the restore opera tion for a Safety Unit again Do not remove the SD Memory Card during the restore operation for a Safety Unit Data was read from or written to the SD Memory Card via the Support Software or an FTP cli ent during a restore operation for a Safety Unit Store the correct Safety Unit Re store File to the SD Me...

Page 478: ...appendix of the NJ NX series Instructions Reference Manual Cat No W502 for information on the in structions that send messages Reduce the number of times that instructions are used to send NX messages The communications cable is dis connected or broken This cause does not apply if attached infor mation 2 is 0 NX bus Connect the communications ca ble securely Connect the communications ca ble secur...

Page 479: ...ll Memory Rejected Event code 951F0000 hex Meaning Clearing all of memory failed Source Depends on where the Sysmac Studio is connected and the sys tem configuration Source details NX Unit Detection tim ing When com manded from user Error attrib utes Level Information Recovery Log category System Effects User program Continues Operation System de fined varia bles Variable Data type Name None None ...

Page 480: ...here the Sysmac Studio is connected and the sys tem configuration Source details NX Unit Detection tim ing When com manded from user Error attrib utes Level Information Recovery Log category Access Effects User program Continues Operation The Unit settings are cleared System de fined varia bles Variable Data type Name None None None Cause and correction Assumed cause Correction Prevention The Clea...

Page 481: ...se Correction Prevention Hardware has failed Cycle the power supply If the er ror occurs again replace the Unit If cycling the power supply re stores normal operation there may be excessive noise near the Unit Implement noise counter measures A memory error occurred due to a transient cause such as a soft ware error or excessive noise Attached in formation Attached information 1 System information...

Page 482: ...moving cause of error Log category System Effects User program Continues Operation The Unit stops operating and the I O data changes to the safe states System de fined varia bles Variable Data type Name None None None Cause and correction Assumed cause Correction Prevention The model or safety I O terminal settings are not correct Check the safety I O terminal settings correct any errors and then ...

Page 483: ...ts User program Continues Operation The Unit stops operating and the I O data changes to the safe states System de fined varia bles Variable Data type Name None None None Cause and correction Assumed cause Correction Prevention The setting of the FSoE slave address in the safety process da ta communications settings is dif ferent from the setting in the Unit Perform the Clear All Memory operation ...

Page 484: ... System Effects User program Continues Operation The Unit stops operating and the I O data changes to the safe states System de fined varia bles Variable Data type Name None None None Cause and correction Assumed cause Correction Prevention An incorrect frame was received in safety process data communi cations Make sure that the system con figurations and model numbers agree for the Safety CPU Uni...

Page 485: ...U Unit An error occurred in the CPU unit which prevents the NX bus communications from being car ried out normally Check the error in the CPU unit and try the solutions specified in Correction Try the solutions specified in Pre vention for the error in the CPU unit The NX Unit is not mounted properly Mount the NX Units and End Cover securely and secure them with End Plates Mount the NX Units and E...

Page 486: ...ply to the NX Units is in correct Correctly wire the Unit power supply to the NX Units Correctly wire the Unit power supply to the NX Units The power cable for the Unit power supply is broken If the power cable connecting the Unit power supply and the NX Units is broken replace the pow er cable None The unit power voltage is out of the supported range or the unit power capacity is not sufficient C...

Page 487: ... period is too short Increase the safety task period and then transfer the settings to the Safety CPU Unit Set the system configuration and setup according to the correc tions that are given on the left There is excessive noise Implement noise countermeas ures Implement noise countermeas ures if excessive noise caused the error The Safety CPU Unit or safety slave entered a status where it could no...

Page 488: ... data An error occurs in safety process data communi cations because refreshing is stopped The val ues of the status in standard process data are not refreshed Output data An error occurs in safety process data communi cations because 0 s are output System de fined varia bles Variable Data type Name None None None Cause and correction Assumed cause Correction Prevention There is a hardware error i...

Page 489: ...s cycled System de fined varia bles Variable Data type Name None None None Cause and correction Assumed cause Correction Prevention The internal circuit for the safety input terminal is faulty Cycle the power supply If the er ror occurs again replace the Unit If cycling the power supply re stores normal operation there may be excessive noise near the Unit Implement noise counter measures A memory ...

Page 490: ... at Safety Input event 65220000 hex will occur for the safety input terminal that is the test source of the test output terminal System de fined Varia bles Variable Data type Name None None None Cause and correction Assumed cause Correction Prevention The internal circuit for the test output terminal is faulty Cycle the power supply If the er ror occurs again replace the Unit If cycling the power ...

Page 491: ...is cycled System de fined varia bles Variable Data type Name None None None Cause and correction Assumed cause Correction Prevention The internal circuit for the safety output terminal is faulty Cycle the power supply If the er ror occurs again replace the Unit If cycling the power supply re stores normal operation there may be excessive noise near the Unit Implement noise counter measures A memor...

Page 492: ...le Data type Name None None None Cause and correction Assumed cause Correction Prevention The input power or output power is not supplied correctly Check the following and supply the rated power Is the power supply voltage within the specifications Is the wiring correct and not disconnected Is 24 V applied to the safety output terminal and is the safety output terminal not touching the positive po...

Page 493: ...stem de fined varia bles Variable Data type Name None None None Cause and correction Assumed cause Correction Prevention The wiring is not correct or there is a fault in the hardware Check the following and supply the rated power Is the power supply voltage within the specifications Is the wiring correct and not disconnected Is 24 V applied to the safety output terminal and is the safety output te...

Page 494: ...am Continues Operation The safety input terminal retains the safe state until the error is cleared System de fined varia bles Variable Data type Name None None None Cause and correction Assumed cause Correction Prevention The positive power supply wire is in contact with the input signal line Check the external wiring Set the parameters and wire the system considering the correc tions that are giv...

Page 495: ...use and correction Assumed cause Correction Prevention There is a ground fault or discon nection in the input signal line Check the external wiring Set the parameters and wire the system considering the correc tions that are given on the left The connected device is faulty Replace the external device The setting of the discrepancy time is not correct Correct the setting of the discrep ancy time If...

Page 496: ...Operation The safety input terminal that is the test source of the test output terminal retains the safe state until the error is removed System de fined varia bles Variable Data type Name None None None Cause and correction Assumed cause Correction Prevention There is a ground fault on the output signal line Check the external wiring Set the parameters and wire the system considering the correc t...

Page 497: ...e None None None Cause and correction Assumed cause Correction Prevention The positive power supply line is in contact with the output signal line Check the external wiring Set the parameters and wire the system considering the correc tions that are given on the left The internal circuit is faulty Cycle the power supply If the er ror occurs again replace the Unit If cycling the power supply re sto...

Page 498: ...e moved Log category System Effects User program Continues Operation The safety output terminal retains the safe state until the error is cleared System de fined varia bles Variable Data type Name None None None Cause and correction Assumed cause Correction Prevention There is a ground fault on the output signal line Check the external wiring Set the parameters and wire the system considering the ...

Page 499: ... The positive power supply line is in contact with the output signal line Check the external wiring Set the parameters and wire the system considering the correc tions that are given on the left The output power supply is out side the specifications Check the output power supply The internal circuit is faulty Cycle the power supply If the er ror occurs again replace the Unit If cycling the power s...

Page 500: ...of the NJ NX series Instructions Reference Manual Cat No W502 for information on the in structions that send messages Reduce the number of times that instructions are used to send NX messages The communications cable is dis connected or broken This cause does not apply if attached infor mation 2 is 0 NX bus Connect the communications ca ble securely Connect the communications ca ble securely Messa...

Page 501: ...ared Source Depends on where the Sysmac Studio is connected and the sys tem configuration Source details NX Unit Detection tim ing When com manded from user Error attrib utes Level Information Recovery Log category Access Effects User program Continues Operation The Unit settings are cleared System de fined varia bles Variable Data type Name None None None Cause and correction Assumed cause Correc...

Page 502: ...12 4 Resetting Errors Refer to the user s manual for the connected NX bus master for the standard flow for troubleshooting 12 Troubleshooting 12 90 NX series Safety Control Unit User s Manual Z930 ...

Page 503: ...rrors Occur Refer to the user s manual for the connected NX bus master for the standard flow for troubleshooting 12 Troubleshooting 12 91 NX series Safety Control Unit User s Manual Z930 12 5 Troubleshooting Flow When Errors Occur 12 ...

Page 504: ...12 Troubleshooting 12 92 NX series Safety Control Unit User s Manual Z930 ...

Page 505: ...and replacing Safety Control Units 13 1 Cleaning and Inspection 13 2 13 1 1 Cleaning 13 2 13 1 2 Periodic Inspections 13 2 13 2 Maintenance Procedures 13 5 13 2 1 Replacing the Safety CPU Unit 13 5 13 2 2 Replacing Safety I O Units 13 7 13 1 NX series Safety Control Unit User s Manual Z930 13 ...

Page 506: ...nspections will be necessary in adverse environments Take immediate steps to correct the situation if any of the conditions in the following table are not met Make sure that the Units are used within the ranges of specifications Make sure that the Units are mounted and wired correctly To maintain the operating reliability of the safety functions at a consistent level diagnose the safety functions ...

Page 507: ...ations Install cushioning or other vibration and shock absorbing equipment if necessary Are there noise sources near the Controller No significant noise sources Either separate the Controller and noise source or protect the Control ler 4 Installa tion and wiring Are the DIN track mounting hooks for each NX Unit se curely locked No looseness Securely lock the DIN track mount ing hooks Are the cable...

Page 508: ...ewdriver Flat blade screwdriver Voltage tester or digital voltmeter Industrial alcohol and pure cotton cloth l Tools Required Occasionally Oscilloscope Thermometer and hygrometer 13 Inspection and Maintenance 13 4 NX series Safety Control Unit User s Manual Z930 ...

Page 509: ...oving and wiring Units The following section introduces how to replace Safety CPU Unit and Safety I O Units Precautions for Correct Use The backup restore functions of the NJ NX series CPU Unit do not apply to Safety Control Unit Use the Sysmac Studio when you replace a Unit 13 2 1 Replacing the Safety CPU Unit Precautions before Replacing the Unit Before replacing the Unit make sure there is a Sy...

Page 510: ... View select Safety Validation from the Controller Menu to transfer the safety programs to the non volatile memory in the Safety CPU Unit Refer to 7 10 1 Performing Safety Validation on page 7 56 for a detailed procedure 7 Change the operating mode of the Safety CPU Unit to RUN mode Or cycle the power supply to Safety CPU Unit Refer to 7 10 2 Changing to RUN Mode on page 7 57 for a detailed proced...

Page 511: ... the seven segment indicator of the Safety CPU Unit is the intended signature After the replacement is completed always perform user testing to make sure that the safety func tions operate correctly If necessary clear the event log of any events that remain in Safety CPU Unit due to the replace ment work 13 2 2 Replacing Safety I O Units l Precautions before Replacing the Units The replaced Safety...

Page 512: ...al number of the new NX Unit and then set the Serial Number Check Method setting on the NX bus master to Setting Actual device again If you replace the NX Unit with the Serial Number Check Method setting set to Setting Actual device a Unit Configuration Verification Error will occur Refer to the user s manual for the NX bus master for details on the serial number checking function for NX bus maste...

Page 513: ...fety Laser Scanners A 36 A 3 4 Safety Door Switches with Magnetic Locks and Key Selector Switches A 39 A 3 5 Enable Switches A 43 A 3 6 Two hand Switches A 47 A 3 7 D40A Non contact Door Switches A 50 A 3 8 D40Z Non contact Door Switches A 53 A 3 9 Safety Mats and Safety Light Curtains A 56 A 3 10 Safety Edges A 61 A 3 11 Single Beam Safety Sensor A 63 A 3 12 Multi axis Servo Drives STO A 66 A 4 C...

Page 514: ... A 96 A 11 1 Model Notation A 96 A 11 2 List of Terminal Block Models A 96 A 12 I O Response Times for Communications between NX Units on EtherNet IP Slave Terminals A 98 A 13 Units That Support Communications between NX Units A 100 A 14 Checking the Signature Code on the Seven segment Indicator A 101 A 15 Execution Scenarios for the Simple Automatic Test A 102 A 16 Differences in Checking Operati...

Page 515: ...The unit of dimension is millimeter A 1 1 Safety CPU Unit NX SL5500 NX SL5700 100 2 1 1 1 71 5 8 72 1 30 32 1 4 5 1 5 1 5 Unit mm NX SL3300 NX SL3500 100 30 71 Appendices A 3 NX series Safety Control Unit User s Manual Z930 A 1 Dimensions A A 1 1 Safety CPU Unit ...

Page 516: ... 1 65 2 2 12 0 1 5 1 5 0 55 1 Unit mm 1 The dimension is 1 35 mm for Units with lot numbers through December 2014 2 The dimension from the attachment surface of the DIN Track to the front surface of the Safety I O Unit Appendices A 4 NX series Safety Control Unit User s Manual Z930 ...

Page 517: ...et by default Data range For a read only RO NX object this is the range of the data you can read For a read write RW NX object this is the setting range of the data Unit The unit is the physical units Data Type This is the data type of the object Access This data tells if the object is read only or read write RO Read only RW Read write I O allocation This tells whether I O allocation is allowed Da...

Page 518: ...ct models are assigned in ascending order from the lowest number of array elements Unused elements are padded with spaces 2 The product codes are assigned for each product model NX SL3300 00A03300 hex NX SL3500 00A03500 hex 3 Bits 24 to 31 Integer part of the Unit version Bits 16 to 23 Fractional part of the Unit version Bits 0 to 15 Reserved Example For Ver 1 0 0100 hex 4 The unique serial number...

Page 519: ...ange Unit Data Type Access I O alloca tion Data at tribute 6004 Status 00 Number of En tries 1 1 USINT RO Not possible 01 Safety CPU Sta tus 0000 hex 0000 to 000F hex 1 WORD RO Possible 1 The details of the Safety CPU Status are as follows Bit 0 Normal Operating Bit 1 Program Operating Bit 2 Program No Fault Bit 3 Safety Master Connection Status Bits 4 to 15 Reserved A 2 3 Safety CPU Unit NX SL550...

Page 520: ...T RO Not sup port ed 07 Serial Number 4 00000000 to FFFFFFFF hex UDINT RO Not sup port ed 1001 Production Info 00 Number of Entries 4 4 USINT RO Not sup port ed 01 Lot Number 5 00000000 to FFFFFFFF hex UDINT RO Not sup port ed 02 Hardware Version 6 ARRAY 0 19 OF BYTE RO Not sup port ed 03 Software Version 7 ARRAY 0 19 OF BYTE RO Not sup port ed 1 The product models are assigned in ascending order ...

Page 521: ...th spaces Objects That Accept I O Allocations These objects accept I O allocations Index hex Subindex hex Object name Default value Data range Unit Data type Ac cess I O allo cati on Data at trib ute 6004 Status 00 Number of Entries 1 1 USINT RO Not sup port ed 01 Safety CPU Status 0000 hex 0000 to 007F hex 1 WORD RO Sup port ed 1 The details of the Safety CPU Status are as follows Bit 0 Normal Op...

Page 522: ...tion is executed the elapsed number of seconds from 00 00 00 on January 1 1970 UTC is entered as the update time of the safety signature 2 The default value is given if it is not validated l Node Name Objects Index hex Subindex hex Object name Default value Data range Unit Data type Ac cess I O allo cati on Data at trib ute 5003 Node name 00 Number of Entries 1 1 USINT RO Not sup port ed 01 Node n...

Page 523: ...ot sup port ed 04 Program No Fault 0 0 1 BOOL RO Not sup port ed 05 Safety Master Connection Status 0 0 1 BOOL RO Not sup port ed 06 FSoE Master Con nection Status 0 0 1 BOOL RO Not sup port ed 07 CIP Safety Origi nator Connection Status 0 0 1 BOOL RO Not sup port ed 08 CIP Safety Target Connection Status 0 0 1 BOOL RO Not sup port ed A 2 4 NX SID800 Safety Input Unit Unit Information Objects Thes...

Page 524: ...T RO Not sup port ed 06 Unit Version 1 UDINT RO Not sup port ed 07 Serial Number 2 00000000 to FFFFFFFF hex UDINT RO Not sup port ed 1001 Production Info 00 Number of Entries 4 4 USINT RO Not sup port ed 01 Lot Number 3 00000000 to FFFFFFFF hex UDINT RO Not sup port ed 02 Hardware Version 4 ARRAY 0 19 OF BYTE RO Not sup port ed 03 Software Version 5 ARRAY 0 19 OF BYTE RO Not sup port ed 1 Bits 24 ...

Page 525: ...accessed through message communications Index hex Subindex hex Object name Default value Data range Unit Data type Ac cess I O allo cati on Data at trib ute 6000 FSoE Slave Frame Elements 00 Number of Entries 3 3 USINT RO Not sup port ed 01 FSoE Slave CMD 00 hex 00 to FF hex BYTE RO Sup port ed 02 FSoE Slave Conn_ID 0000 hex 0000 to FFFF hex WORD RO Sup port ed 03 FSoE Slave CRC_0 0000 hex 0000 to...

Page 526: ...0 Logical Value Bit 1 Si01 Logical Value Bit 2 Si02 Logical Value Bit 3 Si03 Logical Value Bit 4 Si04 Logical Value Bit 5 Si05 Logical Value Bit 6 Si06 Logical Value Bit 7 Si07 Logical Value Bit 8 Safety Connection Status Bit 9 Safety Input Terminal Status Bit 10 Unit Normal Status Bit 11 IO Power Supply Error Flag Bits 12 to 15 Reserved 2 The details of the Standard Input 2nd Byte are as follows ...

Page 527: ... trib ute 7001 Safety Output Data 00 Number of Entries 1 1 USINT RO Not sup port ed 01 Safety Output 1st Word 0000 hex 0000 to FFFF hex WORD RW Sup port ed Index hex Subindex hex Object name Default value Data range Unit Data type Ac cess I O allo cati on Data at trib ute 7002 Standard Output Data 00 Number of Entries 2 2 USINT RO Not sup port ed 01 Standard Output 1st Word 0000 hex 0000 hex 1 WOR...

Page 528: ...o cati on Data at trib ute 5000 Device Safety Ad dress 00 Number of Entries 1 1 USINT RO Not sup port ed 01 Safety Address 0000 hex 0000 to FFFF hex UINT RO Not sup port ed A 2 5 NX SIH400 Safety Input Unit Unit Information Objects This object gives the product information Appendices A 16 NX series Safety Control Unit User s Manual Z930 ...

Page 529: ...it Version 1 UDINT RO Not sup port ed 07 Serial Number 2 00000000 to FFFFFFFF hex UDINT RO Not sup port ed 1001 Production Info 00 Number of Entries 4 4 USINT RO Not sup port ed 01 Lot Number 3 00000000 to FFFFFFFF hex UDINT RO Not sup port ed 02 Hardware Version 4 ARRAY 0 19 OF BYTE RO Not sup port ed 03 Software Version 5 ARRAY 0 19 OF BYTE RO Not sup port ed 1 Bits 24 to 31 Integer part of the ...

Page 530: ... allocations They cannot be accessed through message communications Index hex Subindex hex Object name Default value Data range Unit Data type Ac cess I O allo cati on Data at trib ute 6000 FSoE Slave Frame Elements 00 Number of Entries 3 3 USINT RO Not sup port ed 01 FSoE Slave CMD 00 hex 00 to FF hex BYTE RO Sup port ed 02 FSoE Slave Conn_ID 0000 hex 0000 to FFFF hex WORD RO Sup port ed 03 FSoE ...

Page 531: ...ut Terminal Status Bit 6 Unit Normal Status Bit 7 IO Power Supply Error Flag 2 The details of the Standard Input 2nd Byte are as follows Bit 0 Si00 Status Bit 1 Si01 Status Bit 2 Si02 Status Bit 3 Si03 Status Bits 4 to 7 Reserved Index hex Subindex hex Object name Default value Data range Unit Data type Ac cess I O allo cati on Data at trib ute 7000 FSoE Master Frame Elements 00 Number of Entries ...

Page 532: ...NT RO Not sup port ed 01 Standard Output 1st Byte 00 hex 00 hex 1 BYTE RW Sup port ed 02 Standard Output 2nd Byte 00 hex 00 hex 2 BYTE RW Sup port ed 1 Standard Output 1st Byte is reserved by the system 2 Standard Output 2nd Byte is reserved by the system Other Objects This section lists other objects Index hex Subindex hex Object name Default value Data range Unit Data type Ac cess I O allo cati ...

Page 533: ...7 7 USINT RO Not sup port ed 02 Model NX SOD400 ARRAY 0 11 OF BYTE RO Not sup port ed 03 Device Type 00000A03 hex UDINT RO Not sup port ed 04 Product Code 00A30400 hex UDINT RO Not sup port ed 05 Vendor Code 1 UDINT RO Not sup port ed 06 Unit Version 1 UDINT RO Not sup port ed 07 Serial Number 2 00000000 to FFFFFFFF hex UDINT RO Not sup port ed Appendices A 21 NX series Safety Control Unit User s ...

Page 534: ...le For Ver 1 0 0100 hex 2 The unique serial number of the product is given Bits 0 to 31 Serial number 3 The date of manufacture is given for the lot number Bits 24 to 31 Day of manufacture Bits 16 to 23 Month of manufacture Bits 8 to 15 Year of manufacture Bits 0 to 7 Reserved 4 The hardware version is given in order in the lowest elements of the array Unused elements are padded with spaces 5 The ...

Page 535: ...afety Input Data 00 Number of Entries 1 1 USINT RO Not sup port ed 01 Safety Input 1st Byte 00 hex 00 to FF hex BYTE RO Sup port ed Index hex Subindex hex Object name Default value Data range Unit Data type Ac cess I O allo cati on Data at trib ute 6002 Standard Input Da ta 00 Number of Entries 2 2 USINT RO Not sup port ed 01 Standard Input 1st Byte 00 hex 00 to FF hex 1 BYTE RO Sup port ed 02 Sta...

Page 536: ...at trib ute 7000 FSoE Master Frame Elements 00 Number of Entries 3 3 USINT RO Not sup port ed 01 FSoE Master CMD 00 hex 00 to FF hex BYTE RW Sup port ed 02 FSoE Master Conn_ID 0000 hex 0000 to FFFF hex WORD RW Sup port ed 03 FSoE Master CRC_0 0000 hex 0000 to FFFF hex WORD RW Sup port ed Index hex Subindex hex Object name Default value Data range Unit Data type Ac cess I O allo cati on Data at tri...

Page 537: ... Other Objects This section lists other objects Index hex Subindex hex Object name Default value Data range Unit Data type Ac cess I O allo cati on Data at trib ute 5000 Device Safety Ad dress 00 Number of Entries 1 1 USINT RO Not sup port ed 01 Safety Address 0000 hex 0000 to FFFF hex UINT RO Not sup port ed A 2 7 NX SOH200 Safety Output Unit Unit Information Objects These objects give the produc...

Page 538: ...T RO Not sup port ed 06 Unit Version 1 UDINT RO Not sup port ed 07 Serial Number 2 00000000 to FFFFFFFF hex UDINT RO Not sup port ed 1001 Production Info 00 Number of Entries 4 4 USINT RO Not sup port ed 01 Lot Number 3 00000000 to FFFFFFFF hex UDINT RO Not sup port ed 02 Hardware Version 4 ARRAY 0 19 OF BYTE RO Not sup port ed 03 Software Version 5 ARRAY 0 19 OF BYTE RO Not sup port ed 1 Bits 24 ...

Page 539: ...e accessed through message communications Index hex Subindex hex Object name Default value Data range Unit Data type Ac cess I O allo cati on Data at trib ute 6000 FSoE Slave Frame Elements 00 Number of Entries 3 3 USINT RO Not sup port ed 01 FSoE Slave CMD 00 hex 00 to FF hex BYTE RO Sup port ed 02 FSoE Slave Conn_ID 0000 hex 0000 to FFFF hex WORD RO Sup port ed 03 FSoE Slave CRC_0 0000 hex 0000 ...

Page 540: ...fety Output Terminal Status Bit 4 Unit Normal Status Bit 5 IO Power Supply Error Flag Bits 6 to 7 Reserved 2 The details of the Standard Input 2nd Byte are as follows Bit 0 So00 Status Bit 1 So01 Status Bits 2 to 7 Reserved Index hex Subindex hex Object name Default value Data range Unit Data type Ac cess I O allo cati on Data at trib ute 7000 FSoE Master Frame Elements 00 Number of Entries 3 3 US...

Page 541: ...mber of Entries 2 2 USINT RO Not sup port ed 01 Standard Output 1st Byte 00 hex 00 to FF hex BYTE RW Sup port ed 02 Standard Output 2nd Byte 00 hex 00 to FF hex BYTE RW Sup port ed Other Objects This section lists other objects Index hex Subindex hex Object name Default value Data range Unit Data type Ac cess I O allo cati on Data at trib ute 5000 Device Safety Ad dress 00 Number of Entries 1 1 US...

Page 542: ...n Switches Application Overview Safety category PL Safety device Stop category Reset Equivalent to 4 PLe Emergency stop pushbutton 0 Manual Motor M stops when emergency stop pushbutton S1 is pressed Wiring KM1 KM2 M KM1 KM2 KM1 KM2 S1 S2 Si0 Si1 Si2 Si3 T0 T1 T0 T1 So0 So1 So2 So3 IOG Unit 2 NX SIH400 Unit 3 NX SOD400 S1 Emergency stop pushbutton S2 Reset switch KM1 KM2 Contactors M Motor IOG IOG ...

Page 543: ... TEDM TEDM TEDM TEDM TEDM EDM error EDM error reset Activate OFF ON MAX_Feedback_Time TEDM Discrepancy error reset Safety connection status Unit 2 and Unit 3 Safety I O Terminal I O Map Setting l Safety I O Terminal Settings Appendices A 31 NX series Safety Control Unit User s Manual Z930 A 3 Application Examples A A 3 1 Emergency Stop Pushbutton Switches ...

Page 544: ...customer is responsible for attaining conformance of the entire system to standards To detect electrical and mechanical failures use a combination of redundant semiconductor output contacts and redundant mechanical output devices A 3 2 Safety Doors Application Overview Appendices A 32 NX series Safety Control Unit User s Manual Z930 ...

Page 545: ...ety door 2 S5 S6 is opened Both M1 and M2 stop when the emergency stop pushbutton S1 is pressed S1 S5 S6 S3 S4 S2 Safety door 1 Safety door 2 M1 Reset switch Emergencystoppushbutton M2 Wiring S1 S2 Si0 Si1 Si2 Si3 T0 T1 T0 T1 Unit 2 NX SIH400 Open Open Si0 Si1 Si2 Si3 T0 T1 T0 T1 S3 S4 S5 S6 Unit 3 NX SIH400 Appendices A 33 NX series Safety Control Unit User s Manual Z930 A 3 Application Examples ...

Page 546: ...OD400 IOG IOG IOG Timing Chart Safety connection status Units 2 to 5 E STOP S1 Reset S2 KM3 KM4 Safety door 1 S3 S4 EDM feedback KM3 KM4 Reset ON E STOP pushed E STOP released MAX_Feedback_Time TEDM TEDM TEDM TEDM TEDM TEDM TEDM TEDM TEDM TEDM Safety door 2 S5 S6 KM1 KM2 EDM feedback KM1 KM2 Safety door 1 opened Safety door 2 closed Safety door 2 opened Safety door 1 closed Safety I O Terminal I O...

Page 547: ...l Safety I O Terminal Settings l I O Map Settings Appendices A 35 NX series Safety Control Unit User s Manual Z930 A 3 Application Examples A A 3 2 Safety Doors ...

Page 548: ...fer to ISO 14119 2013 for additional measures to minimize the possibility of interlocking devices associated with guards from being disabled A 3 3 Safety Laser Scanners Application Overview Safety category PL Safety device Stop category Reset Equivalent to 3 PLd Laser Scanner Laser scanner 0 Auto Emergency stop pushbutton 0 Manual AGV stops when emergency stop pushbutton S1 is pressed AGV stops wh...

Page 549: ...itch S3 Safety laser scanner KM1 KM2 Contactors M Motor Unit4 NX SOD400 IOG IOG IOG S1 Timing Chart Safety connection status Units 2 to 4 E STOP S1 Reset S2 Laser scanner S3 Reset ON E STOP pushed E STOP released KM1 KM2 EDM feedback TEDM TEDM TEDM TEDM S3 detects a human body MAX_Feedback_Time TEDM Safety I O Terminal I O Map Setting Appendices A 37 NX series Safety Control Unit User s Manual Z93...

Page 550: ...l Safety I O Terminal Settings l I O Map Settings Appendices A 38 NX series Safety Control Unit User s Manual Z930 ...

Page 551: ...egory PL Safety device Stop category Reset Equivalent to 4 PLe Safety Door Switches with Magnetic Locks Emergency stop pushbutton Safety door switch with magnetic lock me chanical lock type Key selector switch 0 Manual Safety doors S4 and S5 cannot be opened while the user mode is set for normal operation The out puts are turned OFF by changing to maintenance mode and the safety doors can be opene...

Page 552: ... KM1 KM2 So0 So1 So2 So3 IOG M S1 Emergency stop pushbutton S2 Reset switch S3 Key selector switch S4 Safety door switch with magnetic lock S5 Safety limit switch S6 Unlock request switch KM1 KM2 Contactors M Motor S4 S5 62 61 32 31 Open Unit 4 NX SIH400 Unit 5 NX SOD400 IOG IOG IOG S1 Appendices A 40 NX series Safety Control Unit User s Manual Z930 ...

Page 553: ...STOP S1 Reset S2 KM1 KM2 Key Selector Switch S3 RUN EDM feedback Key Selector Switch S3 Maintenance Door SW S4 31 32 Magnetic lock monitor 61 62 S4 Door_Unlock_Signal Limit SW S5 Unlock request switch S6 MAX_Feedback_Time TEDM Mode Monitor Time Safety I O Terminal I O Map Setting l Safety I O Terminal Settings Appendices A 41 NX series Safety Control Unit User s Manual Z930 A 3 Application Example...

Page 554: ...l I O Map Settings Appendices A 42 NX series Safety Control Unit User s Manual Z930 ...

Page 555: ...ctrical and mechanical failures use a combination of redundant semiconductor output contacts and redundant mechanical output devices Refer to ISO 14119 2013 for additional measures to minimize the possibility of interlocking devices associated with guards from being disabled A 3 5 Enable Switches Appendices A 43 NX series Safety Control Unit User s Manual Z930 A 3 Application Examples A A 3 5 Enab...

Page 556: ...otor M stops when safety doors S3 and S4 are opened or key Selector switch S5 is maintenance mode However even if key selector switch S5 is set to maintenance mode motor M will operate if enable switch S6 is ON Wiring KM1 KM2 S2 Si0 Si1 Si2 Si3 T0 T1 T0 T1 Unit 2 NX SIH400 S5 Open Si0 Si1 Si2 Si3 T0 T1 T0 T1 S3 S4 Unit 3 NX SIH400 S1 Appendices A 44 NX series Safety Control Unit User s Manual Z930...

Page 557: ...y connection status Units 2 to 5 E STOP S1 Reset S2 KM1 KM2 Key selector SW S5 RUN EDM feedback Reset ON E STOP released TEDM TEDM TEDM TEDM TEDM TEDM TEDM TEDM TEDM TEDM TEDM TEDM Key selector SW S5 Maintenance Limit SW S3 Enable SW S6 MAX_Feedback_Time TEDM Maintenance Mode Mode Monitor Time Mode Monitor Time E STOP pushed Door opened Door closed Safety I O Terminal I O Map Setting Appendices A ...

Page 558: ...l Safety I O Terminal Settings l I O Map Settings Appendices A 46 NX series Safety Control Unit User s Manual Z930 ...

Page 559: ...chanical output devices Refer to ISO 14119 2013 for additional measures to minimize the possibility of interlocking devices associated with guards from being disabled A 3 6 Two hand Switches Application Overview Safety category PL Safety device Stop category Reset Equivalent to 4 PLe Two hand control switch 0 Auto Motor M operates when two hand control switches S11 and S12 are pressed at the same ...

Page 560: ...rt Two Hand S12 Safety connection status Unit 2 and Unit 3 Two Hand S11 KM1 KM2 EDM feedback TEDM TEDM MAX_Feedback_Time TEDM 500ms Pushed Pushed Pushed Pushed Released Released Released 500ms 500ms 500ms SF_TwoHandControlTypeIII error SF_TwoHandControlTypeIII error Reset SF_TwoHandControlTypeIII error Input timing of S11 and S12 separated by more than 500 ms Reset SF_TwoHandControlTypeIII error A...

Page 561: ...ty I O Terminal I O Map Setting l Safety I O Terminal Settings l I O Map Settings Program Appendices A 49 NX series Safety Control Unit User s Manual Z930 A 3 Application Examples A A 3 6 Two hand Switches ...

Page 562: ...t devices Additional Information In this example a reset switch is used to reset EDM errors A 3 7 D40A Non contact Door Switches Application Overview Safety category PL Safety device Stop category Reset Equivalent to 3 PLd Non contact Door Switch Emergency stop pushbutton D40A Non contact Door Switch 0 Manual Motor M stops when emergency stop pushbutton S1 is pressed If either of the S3 safety doo...

Page 563: ...Non contact door switch KM1 KM2 Contactors M Motor Unit 4 NX SOD400 IOG IOG IOG IOG S1 Timing Chart Safety connection status Units 2 to 4 E STOP S1 Reset S2 Non contact SW S3 Reset ON E STOP pushed E STOP released KM1 KM2 EDM feedback Door opened MAX_Feedback_Time TEDM TEDM TEDM TEDM TEDM Safety I O Terminal I O Map Setting Appendices A 51 NX series Safety Control Unit User s Manual Z930 A 3 Appli...

Page 564: ...l Safety I O Terminal Settings l I O Map Settings Appendices A 52 NX series Safety Control Unit User s Manual Z930 ...

Page 565: ...y of interlocking devices associated with guards from being disabled A 3 8 D40Z Non contact Door Switches Application Overview Safety category PL Safety device Stop category Reset Equivalent to 4 PLe Safety Light Curtain Safety light curtain Emergency stop pushbutton 0 Manual If the light in the safety light curtain S3 is interrupted and the non contact door switch S4 turns OFF at the same time th...

Page 566: ... OSSD1 green OSSD2 white Standard I O NX ID IN Gray Yellow COM Unit 2 NX SIH400 Unit 3 NX SIH400 S1 KM1 KM2 M KM1 KM2 So0 So1 So2 So3 IOG S1 Emergency stop pushbutton S2 Reset switch S3 Safety light curtain S4 Non contact door switch KM1 KM2 Contactors M Motor Unit 4 NX SOD400 IOG IOG IOG Appendices A 54 NX series Safety Control Unit User s Manual Z930 ...

Page 567: ...k Reset ON E STOP pushed E STOP released Non contact SW S4 MAX_Feedback_Time TEDM TEDM TEDM TEDM TEDM Safety I O Terminal I O Map Setting l Safety I O Terminal Settings Appendices A 55 NX series Safety Control Unit User s Manual Z930 A 3 Application Examples A A 3 8 D40Z Non contact Door Switches ...

Page 568: ...stomer is responsible for attaining conformance of the entire system to standards To detect electrical and mechanical failures use a combination of redundant semiconductor output contacts and redundant mechanical output devices A 3 9 Safety Mats and Safety Light Curtains Appendices A 56 NX series Safety Control Unit User s Manual Z930 ...

Page 569: ...fety light curtain monitors apertural area of safeguarded space and safety mat monitors inside of safeguarded space If the light in safety light curtain S3 is interrupted or safety mat S4 detects a person or object motor M will stop Wiring Appendices A 57 NX series Safety Control Unit User s Manual Z930 A 3 Application Examples A A 3 9 Safety Mats and Safety Light Curtains ...

Page 570: ...GND blue Emitter Receiver S3 OSSD1 green OSSD2 white Unit 2 NX SIH400 Unit 3 NX SIH400 KM1 KM2 M KM1 KM2 So0 So1 So2 So3 S1 Emergency stop pushbutton S2 Reset switch S3 Safety light curtain S4 Safety mat KM1 KM2 Contactors M Motor Unit 4 NX SOD400 IOG IOG IOG IOG S1 Appendices A 58 NX series Safety Control Unit User s Manual Z930 ...

Page 571: ...MAX_Feedback_Time TEDM TEDM TEDM TEDM TEDM TEDM TEDM A human stays in a safeguarded space Safety connection status Units 2 to 4 Safety I O Terminal I O Map Setting l Safety I O Terminal Settings Appendices A 59 NX series Safety Control Unit User s Manual Z930 A 3 Application Examples A A 3 9 Safety Mats and Safety Light Curtains ...

Page 572: ...tactor contacts The customer is responsible for attaining conformance of the entire system to standards To detect electrical and mechanical failures use a combination of redundant semiconductor output contacts and redundant mechanical output devices Appendices A 60 NX series Safety Control Unit User s Manual Z930 ...

Page 573: ... pressed or when edge sensor detects a con tact with persons or objects Wiring KM1 KM2 S2 Si0 Si1 Si2 Si3 T0 T1 T0 T1 Unit 2 NX SIH400 Unit 3 NX SIH400 Si2 Si3 T0 T1 Si0 Si1 T0 T1 S3 KM1 KM2 M KM1 KM2 So0 So1 So2 So3 IOG S1 Emergency stop pushbutton S2 Reset switch S3 Safety edge KM1 KM2 Contactors M Motor Unit 4 NX SOD400 IOG IOG IOG S1 Appendices A 61 NX series Safety Control Unit User s Manual ...

Page 574: ... Safety edge S3 Reset ON E STOP pushed E STOP released KM1 KM2 EDM feedback Safety edge detected MAX_Feedback_Time TEDM TEDM TEDM TEDM TEDM Safety I O Terminal I O Map Setting l Safety I O Terminal Settings Appendices A 62 NX series Safety Control Unit User s Manual Z930 ...

Page 575: ... attaining conformance of the entire system to standards To detect electrical and mechanical failures use a combination of redundant semiconductor output contacts and redundant mechanical output devices A 3 11 Single Beam Safety Sensor Appendices A 63 NX series Safety Control Unit User s Manual Z930 A 3 Application Examples A A 3 11 Single Beam Safety Sensor ...

Page 576: ... safety sensor is interrupted Wiring Si0 Si1 T0 T1 Si2 Si3 T0 T1 KM1 KM2 S2 Si0 Si1 Si2 Si3 T0 T1 T0 T1 24 VDC GND Emitter Receiver S3 24 V brown 0 V blue Test input pink Control output black Mode pink 24 V brown 0 V blue Unit 2 NX SIH400 Unit4 NX SOD400 Unit 3 NX SIH400 KM1 KM2 M KM1 KM2 So0 So1 So2 So3 IOG S1 Emergency stop pushbutton S2 Reset switch S3 Single beam safety sensor KM1 KM2 Contacto...

Page 577: ...pushed E STOP released KM1 KM2 EDM feedback Single beam interrupted MAX_Feedback_Time TEDM TEDM TEDM TEDM TEDM Safety I O Terminal I O Map Setting l Safety I O Terminal Settings Appendices A 65 NX series Safety Control Unit User s Manual Z930 A 3 Application Examples A A 3 11 Single Beam Safety Sensor ...

Page 578: ...e customer is responsible for attaining conformance of the entire system to standards To detect electrical and mechanical failures use a combination of redundant semiconductor output contacts and redundant mechanical output devices A 3 12 Multi axis Servo Drives STO Appendices A 66 NX series Safety Control Unit User s Manual Z930 ...

Page 579: ...it2 NX SIH400 Unit3 NX SOD400 S1 Emergency stop pushbutton S2 Reset switch D1 D2 D3 and D4 Servo drives M Motor So0 So1 IOG IOG So2 So3 IOG IOG S1 D1 D2 D3 D4 S2 Si0 Si1 Si2 Si3 T0 T1 T0 T1 M EDM M SF1 SF1 SF2 SF2 SF1 SF1 SF2 SF2 SF1 SF1 SF2 SF2 SF1 SF1 SF2 SF2 EDM EDM EDM EDM EDM EDM EDM Appendices A 67 NX series Safety Control Unit User s Manual Z930 A 3 Application Examples A A 3 12 Multi axis ...

Page 580: ...P pushed E STOP released EDM feedback MAX_Feedback_Time TEDM TEDM TEDM Servomotor 1 D1 Servomotor 2 D2 Servomotor 3 D3 Servomotor 4 D4 Safety I O Terminal I O Map Setting l Safety I O Terminal Settings l I O Map Settings Appendices A 68 NX series Safety Control Unit User s Manual Z930 ...

Page 581: ...e customer is responsible for attaining conformance of the entire system to standards To detect electrical and mechanical failures use a combination of redundant semiconductor output contacts and redundant safety inputs for the servo drives Appendices A 69 NX series Safety Control Unit User s Manual Z930 A 3 Application Examples A A 3 12 Multi axis Servo Drives STO ...

Page 582: ... data is debugged Change Tracking Procedure and Contents 1 From the Safety CPU Unit Setup and Programming View select Change Tracking from the Project Menu The Change Tracking Tab Page is displayed The outer frames of the cells for each item are displayed in the following colors if a pin has not been created or a change was made after it was created Color Description Green The pin has not been cre...

Page 583: ...ing Tab Page If the data changes from the data that is in effect at this point the contents of the change are dis played in the tab page l Deleting a Pin When you click the Clear Pin Button the status that you created with the Pin project Button is deleted l Jump Function When you double click information on the Change Tracking Tab Page the global variable table FBD editor or other corresponding t...

Page 584: ...UN status RUN mode or DEBUG mode RUN No event with a level of minor fault or higher cur rently exists for the safety programs All FSoE connections are established R BOOL D01 Program Operating Safety programs op erating This variable is TRUE when the following condition is met If the condition is not met it is FALSE Condition The safety programs are in RUN status RUN mode or DEBUG mode RUN R BOOL D...

Page 585: ...t or higher cur rently exists for the safety programs R BOOL D03 Safety Master Connection Status All safety master connections estab lished This variable is TRUE when all of the following condi tions are met If even one condition is not met it is FALSE Condition All FSoE connections are established All the CIP Safety Originator connections are es tablished R BOOL D04 FSoE Mas ter Connec tion Statu...

Page 586: ...BOOL R Si02 Logical Value Gives the status of safety input termi nal Si02 0 OFF 1 ON 0 Same Si03 Logical Val ue BOOL R Si03 Logical Value Gives the status of safety input termi nal Si03 0 OFF 1 ON 0 Same Safety Connec tion Status BOOL R Safety Con nection Sta tus This flag indicates when a safety con nection is active Use it for an input to the Activate terminal on a safety FB or for safety connec...

Page 587: ...0 Si01 Status BOOL R Si01 Status Gives the status of safety input termi nal 01 0 Error 1 No error 0 Si02 Status BOOL R Si02 Status Gives the status of safety input termi nal 02 0 Error 1 No error 0 Si03 Status BOOL R Si03 Status Gives the status of safety input termi nal 03 0 Error 1 No error 0 Appendices A 75 NX series Safety Control Unit User s Manual Z930 A 6 I O Ports of Safety I O Units A A 6...

Page 588: ...Gives the status of safety input termi nal Si05 0 OFF 1 ON 0 Same Si06 Logical Val ue BOOL R Si06 Logical Value Gives the status of safety input termi nal Si06 0 OFF 1 ON 0 Same Si07 Logical Val ue BOOL R Si07 Logical Value Gives the status of safety input termi nal Si07 0 OFF 1 ON 0 Same Safety Connec tion Status BOOL R Safety Con nection Sta tus This flag indicates when a safety con nection is a...

Page 589: ...input termi nal 02 0 Error 1 No error 0 Si03 Status BOOL R Si03 Status Gives the status of safety input termi nal 03 0 Error 1 No error 0 Si04 Status BOOL R Si04 Status Gives the status of safety input termi nal 04 0 Error 1 No error 0 Si05 Status BOOL R Si05 Status Gives the status of safety input termi nal 05 0 Error 1 No error 0 Si06 Status BOOL R Si06 Status Gives the status of safety input te...

Page 590: ...inals 1 All of the safety output terminals are normal no errors 0 Same Unit Normal Sta tus BOOL R Unit Normal Status This flag indicates the status of the Unit 0 An error has occurred 1 Normal no errors 0 IO Power Supply Error Flag BOOL R IO Power Supply Error Flag This flag indicates the status of the I O power supply voltage 0 The I O power supply voltage is nor mal 1 The I O power supply voltag...

Page 591: ...a tus This flag indicates the status of the safety output terminals 0 An error has occurred on one of the safety output terminals 1 All of the safety output terminals are normal no errors 0 Same Unit Normal Sta tus BOOL R Unit Normal Status This flag indicates the status of the Unit 0 An error has occurred 1 Normal no errors 0 IO Power Supply Error Flag BOOL R IO Power Supply Error Flag This flag ...

Page 592: ... W Name Description Default Corre spond ing port name So03 Status BOOL R So03 Status Gives the status of safety output termi nal 03 0 Error 1 No error 0 Appendices A 80 NX series Safety Control Unit User s Manual Z930 ...

Page 593: ...ervice not supported The requested service was not supported or was not defined for this object class instance 09 Invalid attribute value Invalid attribute data was detected 0 A Attribute list error An attribute in the Get_Attribute_List or Set_Attribute_List response has a non zero status 0B Already in requested mode state The object is already in the mode state being requested by the serv ice 0C...

Page 594: ...meter for the requested service is invalid This code is used when a parameter does not meet the requirements of the specifica tion and or the requirements defined in an application object specifi cation 21 Write once value or medi um already written An attempt was made to write to a write once medium e g WORM drive or PROM that was previously written or cannot be changed 22 Invalid Reply Received ...

Page 595: ...p Conflict or OUNID Mismatch The configuration is already owned by another originator 01 0106 Ownership Conflict or OUNID Mismatch The output connection was already owned by another originator 01 0107 Connection not found at target application 01 0108 Invalid connection type There is a problem with either the connection type or pri ority of the connection 01 0109 Invalid connection size 01 0110 De...

Page 596: ... Format 01 0132 Null Forward Open function not supported 01 0133 Connection Timeout Multiplier not acceptable 01 0134 Mismatched T O Network Connection Size 01 0135 Mismatched T O Network Connection Fixvar 01 0136 Mismatched T O Network Connection Priority 01 0137 Mismatched Transport Class 01 0138 Mismatched T O Production Trigger 01 0139 Mismatched T O Production Inhibit Time Segment 01 0203 Con...

Page 597: ...rs 01 0805 Invalid Ping Interval EPI Multiplier 01 0806 Time Coordination Msg Min Multiplier 01 0807 Network Time Expectation Multiplier 01 0808 Timeout Multiplier 01 0809 Invalid Max Consumer Number 01 080A Invalid CPCRC 01 080B Time Correction Connection Id Invalid 01 080C SCID Mismatch The SCID was non zero and did not match the value in the tar get 01 080D TUNID not set Device is out of box an...

Page 598: ...y stop switch for dual channel equivalent input Emergency stop switch for single channel Safety door switch for dual channel equivalent input Safety door switch for dual channel complementary input Safety door switch for single channel Safety limit switch for dual channel equivalent input Safety limit switch for dual channel complementary input Safety limit switch for single channel Two hand switc...

Page 599: ... Enabling switch Safety Sensor Safety light curtain Safety laser scanner Specialty devices Non contact Door Switch Single Beam Safety Sensor Safety Mat Safety Edge EDM Feedback EDM Feedback Standard Input De vice Reset switch with test pulse Reset switch without test pulse Appendices A 87 NX series Safety Control Unit User s Manual Z930 A 8 Icon list for Safety Slave Unit Parameters A A 8 1 Extern...

Page 600: ...echanical Contact for Dual Channel Equivalent Mechanical Contact for Dual Channel Complementary Semiconductor Output for Single Chan nel Semiconductor Output for Dual Channel Equivalent Semiconductor Output for Dual Channel Complementary Appendices A 88 NX series Safety Control Unit User s Manual Z930 ...

Page 601: ...ch for single channel 1NC 1NO Safety limit switch for dual channel equivalent input 2NC 2NO Safety limit switch for dual channel complementary input 1NC 1NO 1NO 1NC Safety limit switch for single channel 1NC 1NO Two hand switches 1NO 1NC 1NC 1NO Safety key selector switch for dual channel equivalent input 2NC 2NO Safety key selector switch for dual channel complementary input 1NC 1NO 1NO 1NC Appen...

Page 602: ...devices Non contact Door Switch Single Beam Safety Sensor OSSD1 Safety Mat Safety Edge SafetyMat SafetyEdge EDM Feedback EDM Feedback 1NC Standard Input De vice Reset switch with test pulse 1NO 1NC Reset switch without test pulse 1NO 1NC Generic Device Mechanical Contact for Single Channel 1NC 1NO Mechanical Contact for Dual Channel Equivalent 2NC 2NO Appendices A 90 NX series Safety Control Unit ...

Page 603: ...or Output Devices Category Device Settable external device icons Relays with Forcibly Guided Contacts Relays with Forcibly Guided Contacts for Dual Channel Relays with Forcibly Guided Contacts for Single Channel Generic Device Single Channel with Test Pulse Single Channel without Test Pulse Dual Output with Test Pulse Dual Output without Test Pulse Appendices A 91 NX series Safety Control Unit Use...

Page 604: ... Channel Load Relays with Forcibly Guided Contacts Contactor Generic Device Single Channel with Test Pulse Load Relays with Forcibly Guided Contacts Contactor Single Channel without Test Pulse Load Relays with Forcibly Guided Contacts Contactor Dual Output with Test Pulse Load Relays with Forcibly Guided Contacts Contactor Dual Output without Test Pulse Load Relays with Forcibly Guided Contacts Co...

Page 605: ... Configuration Tab Page select the NX Unit for which the connect ed I O allocation can be changed This enables the Edit I O Allocation Settings Button in the Parameter Settings Area on the right side of the tab page 2 Click the Edit I O Allocation Settings Button The Edit I O Allocation Setting Tab Page is displayed The input and output data sizes of the CPU rack and the entire Slave Terminal are ...

Page 606: ...can print will be displayed 2 Select the items for the Safety Control Unit The Safety Control Unit will be set up for printing A 10 2 Items that are Printed The items that you selected for printing are printed in the order in which the printing items were dis played Samples of the information that is printed for a Safety Control Unit are provided below l Signature and Validation Boxes This informa...

Page 607: ... The wiring diagrams that are set on the Parameters Tab Page are printed l Program The programs are printed Appendices A 95 NX series Safety Control Unit User s Manual Z930 A 10 Printing A A 10 2 Items that are Printed ...

Page 608: ... C Column number indications A and B functional ground terminals No of terminals 08 8 terminals 12 12 terminals 16 16 terminals Other Specifications 1 Terminal current capacity of 4 A 2 Terminal current capacity of 10 A A 11 2 List of Terminal Block Models The following table shows a list of screwless clamping terminal blocks Terminal block model Number of terminals Ground terminal mark Terminal c...

Page 609: ...n you purchase a terminal block purchase an NX TB 2 Appendices A 97 NX series Safety Control Unit User s Manual Z930 A 11 List of Screwless Clamping Terminal Block Models A A 11 2 List of Terminal Block Models ...

Page 610: ...e Safety CPU Unit until the results are externally output from an NX Unit The maximum output response time is calculated as follows Formula Maximum output response time Safety task period Tnx OutProc Tnx Outdelay 4 5 ms The elements in the formulas are as follows Safety task period Setting of the safety task period in the Safety CPU Unit Tnx OutProc Output data processing time of the NX Unit Tnx O...

Page 611: ...r than a value is given for Tnx OutProc in the above table refer to the user s man uals for individual NX Units or to the NX series Data Reference Manual Cat No W525 for the values of the items to make the calculation l Tnx Outdelay This is the output delay time of the NX Unit This is the time required to change the output terminals according to the updated output data in the NX Unit There is a un...

Page 612: ...A 13 Units That Support Communications between NX Units Refer to A 17 Version Information on page A 105 Appendices A 100 NX series Safety Control Unit User s Manual Z930 ...

Page 613: ... the indicator shows Si If you release the service switch while is displayed the function does not execute and the original state is restored 2 The signature code appears The indicator displays all nine bytes starting from the creation date UTC and then the signa ture code one byte at a time Signature display start symbol Signature code High Signature code Low Separa tor Year High Year Low Separat...

Page 614: ...ith the expected values Examine the output variables ex pected to be 1 in the expected val ue setting table are TRUE 2 3 Error Failed Remarks The following output variables do not match with the expected values 3 Restore Test Reset Type Auto Set the input variable to TRUE 3 1 Examine all the registered output variables are TRUE 3 2 Error Failed Remarks The following output variables do not return ...

Page 615: ... expected to be 1 3 Restore Test Reset Type Auto 3 1 3 2 Target input variable All registered output variables 4 Restore Test Reset Type Manual 4 1 4 2 4 3 4 4 4 5 4 5 Target input variable Reset variable Output variables expected to be 0 Output variables expected to be 1 Appendices A 103 NX series Safety Control Unit User s Manual Z930 A 15 Execution Scenarios for the Simple Automatic Test A ...

Page 616: ...Variables Changing Present Values and Using Forced Refreshing on page 7 31 Controlling BOOL vari ables Supported Supported Forced refreshing in puts Supported Supported Changing present val ues of data Supported Supported Monitoring Controller status Supported Supported 7 13 Monitoring Controller Status on page 7 64 Clear All Memory Supported Not support ed 7 14 2 Clear All Memory Operation on pag...

Page 617: ...t to the EtherCAT Coupler Unit and the EtherCAT Slave Terminal to the built in EtherCAT master of the CPU Unit via EtherCAT Safety Control Unit model and version NX bus master EtherCAT Coupler Unit Model Unit version Communications Coupler Unit CPU Unit Sysmac Studio NX SL3300 Ver 1 0 Ver 1 1 1 Ver 1 06 Ver 1 07 Ver 1 1 Ver 1 10 NX SL3500 Ver 1 0 Ver 1 2 1 Ver 1 07 Ver 1 08 Ver 1 1 Ver 1 10 NX SL5...

Page 618: ...1 0 NX SL3500 Ver 1 1 NX SL5500 Ver 1 3 Ver 1 01 Ver 1 24 NX SL5700 Ver 1 2 Ver 1 00 only NX SL5700 Ver 1 3 Ver 1 01 NX SIH400 Ver 1 0 Ver 1 00 NX SIH400 Ver 1 1 NX SID800 Ver 1 0 NX SOH200 NX SOD400 EtherNet IP Slave Terminal This configuration is used to connect the Safety Control Unit to the EtherNet IP Coupler Unit Safety Control Unit model and version NX bus master EtherNet IP Coupler Unit Mo...

Page 619: ...or higher NX OD3121 Ver 1 0 Ver 1 10 or higher NX OD3153 Ver 1 0 Ver 1 10 or higher NX OD3256 Ver 1 0 Ver 1 10 or higher NX OD3257 Ver 1 0 Ver 1 10 or higher NX OD3268 Ver 1 0 Ver 1 22 or higher NX OD4121 Ver 1 0 Ver 1 10 or higher NX OD4256 Ver 1 0 Ver 1 10 or higher NX OD5121 Ver 1 0 Ver 1 22 or higher NX OD5121 1 Ver 1 0 Ver 1 22 or higher NX OD5121 5 Ver 1 0 Ver 1 10 or higher NX OD5256 Ver 1 ...

Page 620: ...0 Ver 1 10 or higher NX AD3604 Ver 1 0 Ver 1 10 or higher NX AD3608 Ver 1 0 Ver 1 10 or higher NX AD4203 Ver 1 0 Ver 1 10 or higher NX AD4204 Ver 1 0 Ver 1 10 or higher NX AD4208 Ver 1 0 Ver 1 10 or higher NX AD4603 Ver 1 0 Ver 1 10 or higher NX AD4604 Ver 1 0 Ver 1 10 or higher NX AD4608 Ver 1 0 Ver 1 10 or higher NX DA2203 Ver 1 0 Ver 1 10 or higher NX DA2205 Ver 1 0 Ver 1 10 or higher NX DA2603...

Page 621: ... 1 0 Ver 1 22 or higher Ver 1 1 Ver 1 22 or higher NX TS3202 Ver 1 1 Ver 1 22 or higher NX TS3204 Ver 1 1 Ver 1 22 or higher The data types in the following table are supported for communications between NX Units Data Type BOOL BYTE INT WORD DINT A 17 2 Functions That Were Added or Changed for Each Version This section gives the Safety Control Unit related functions that were added or changed for ...

Page 622: ...ng safety vali dated safety application data Addition 7 3 3 Executable Functions in Each Mode of the Safety CPU Unit on page 7 14 Importing exporting user defined function blocks Addition Ver 1 12 or higher Ver 1 0 or later 6 5 2 Registering POUs on page 6 27 Data protection Addition 7 9 2 Data Protection on page 7 52 Simple Automatic Test Addition Ver 1 15 or higher Ver 1 0 or later 6 8 6 Simple ...

Page 623: ...I Index I 1 NX series Safety Control Unit User s Manual Z930 I ...

Page 624: ...mal angle for insertion 3 16 3 17 P Periodic Inspection Item 13 2 Preventing Incorrect Attachment 3 20 R Relationship between the Number of Packets Used per Sec ond and Packet Intervals 9 5 S safety data types 6 15 safety input functions 4 22 dual channel evaluation 4 24 dual channel 4 24 4 36 single channel 4 24 4 36 input filters 4 30 test pulse 4 23 safety output functions 4 35 dual channel eva...

Page 625: ......

Page 626: ... IL 60169 U S A Tel 1 847 843 7900 Fax 1 847 843 7787 Regional Headquarters OMRON EUROPE B V Wegalaan 67 69 2132 JD Hoofddorp The Netherlands Tel 31 2356 81 300 Fax 31 2356 81 388 Contact www ia omron com Kyoto JAPAN OMRON ASIA PACIFIC PTE LTD No 438A Alexandra Road 05 05 08 Lobby 2 Alexandra Technopark Singapore 119967 Tel 65 6835 3011 Fax 65 6835 2711 OMRON CHINA CO LTD Room 2211 Bank of China T...

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