YASKAWA iC9200 Series Operating Manual Download Page 71

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HB700 | CPU | PMC921xEx | en | 24-04

iC9200 Series

Hardware description

Technical data > iC9212M-EC - PMC9212E0

Order no.

PMC9212E0

EtherCAT Master

Number of EtherCAT-slaves

512

Update time

500 µs .. 512 ms

EoE support

CoE support

FoE support

Distributed Clock support

Hotconnect Slaves

Isochronous mode

Functional safety

Minimum time

Maximum time

Program memory safe program

Data memory

Safety protocol

Number of FSoE devices

Safety related input data

Safety related output data

Standard input data

Standard output data

Max. number of FB instances

Safety requirements

Motion

Default Axis Count

4 (servo) + 4 (virtual)

Cyclic Motion Update Performance

up to 4 axes at 250µs
up to 16 axes at 500µs
up to 32 axes at 1ms
up to 64 axes at 2ms
up to 128 axes at 4ms

Cam/Gear Cascade Depth

up to 4

Axes Group Count

up to 16 axes groups
up to 32 axes per group

PROFINET System

VendorID

0x0111

DeviceID

0x0368

Specification

Version 2.3

PROFINET-capable ports

X3/X4 (licensable)

Summary of Contents for iC9200 Series

Page 1: ...iC9200 Series CPU PMC921xEx Operating manual HB700 CPU PMC921xEx en 24 04 IEC 61131 CPU iC921xM x Hardware...

Page 2: ...YASKAWA Europe GmbH Philipp Reis Str 6 65795 Hattersheim Germany Tel 49 6196 569 300 Fax 49 6196 569 398 Email info yaskawa eu Internet www yaskawa eu com PMC921xEx_000_CPU iC921xM x 2 EN 2024...

Page 3: ...ngers and accidents 17 1 15 Sign posting 17 1 15 1 Signs 17 1 16 Safety hints 18 1 17 Approvals directives standards 19 1 18 Use in difficult operating conditions 21 2 Basics and mounting 22 2 1 Safet...

Page 4: ...2M FSoE PMC9212ES 76 3 3 4 iC9216M FSoE PMC9216ES 80 4 Deployment CPU iC921xM EC 85 4 1 Safety instructions 85 4 2 Mounting 86 4 3 Licensing information for open source software 86 4 4 Programming and...

Page 5: ...129 5 11 Fail safe states 130 5 12 Response times 131 5 12 1 There is no error 131 5 12 2 There is an error 132 5 12 3 Variable runtimes for single errors 133 5 12 4 Maximum permitted watchdog times...

Page 6: ...ificate Authentication 190 6 5 2 Firewall 193 6 5 3 SD Card 197 6 5 4 Syslog Configuration 198 6 5 5 User Authentication 200 6 6 Administration 205 6 6 1 iCube Apps 205 6 6 2 Firmware Update 207 6 6 3...

Page 7: ...tered trademark of YASKAWA Europe GmbH All Microsoft Windows Office and Server products mentioned are registered trademarks of Microsoft Inc USA Linux is a registered trademark of Linus Torvalds PLCne...

Page 8: ...plication The manual is targeted at users who have a background in automation technology The manual consists of chapters Each chapter describes a completed topic For guidance the manual provides An ov...

Page 9: ...tion We have checked the contents of this manual for agreement with the hardware and software described Since deviations cannot be precluded entirely we cannot guarantee full agreement However the dat...

Page 10: ...ons They must be used only as specified in environmental descriptions and be connected only to approved external devices The manual contains safety instructions description of the modules and informat...

Page 11: ...er are described in this manual Please note that even with these measures there is still a small residual risk to life and health of persons and take this into account as part of the risk evaluation f...

Page 12: ...the requirements of the category C3 For operation an approved power supply SELV PELV is necessary Here With the usage of the product in an area of first type category C2 C1 living business and trade w...

Page 13: ...xample NOTICE Unauthorized deletion replacement of the safety related project possible Only provide the roles for user authentication Admin Commissioner and Engineer to those users who are authorized...

Page 14: ...cal circuits and devices in accordance to the standard safety technology Qualified personnel is trained and instructed according to the corresponding valid standards in safety technology in the care a...

Page 15: ...during the work on it DANGER Risk of death by electric current After disconnecting a device from main voltage parts such as power con nections should only be touched when the capacitors are discharged...

Page 16: ...antee if necessary by additional measures that the degree of pollution 2 is not exceeded e g installation in a cubicle with degree of protection IP54 or better WARNING Incorrect installation and retro...

Page 17: ...ed its never allowed to circum vent them The security is guaranteed only when the safety facilities are intact Therefore Before beginning the work check whether the safety facilities are installed pro...

Page 18: ...me whether the device is free of voltage 1 16 Safety hints The CPU represents the current state of the art and fulfill the valid safety regulations and the appropriate harmonized European standards EN...

Page 19: ...cally isolated to the process level electrically isolated Insulation resistance EN 61131 2 Insulation voltage to reference earth Inputs outputs AC DC 50V test voltage AC 500V Protective measures again...

Page 20: ...rticle Description Feed Dehn BLITZDUCTOR VT BVT AVD 24 External Lightning protec tion DC24V 10A Digital inputs test pulse outputs Dehn DEHNconnect RK DCO RK ME 24 External Lightning protec tion DC24V...

Page 21: ...ased EMC requirements and requirements concerning isolation are to be fulfilled also for the common voltage circuit of the SLIO system DIN EN 50178 So that the electrical values for extra low voltage...

Page 22: ...ep the operating instructions The operator of the CPU or plant is subject to the legal obligations regarding safety at work The Machinery Directive must therefore be taken into account DANGER Protecti...

Page 23: ...ic sensitive modules voltages can occur and damage components and thus impair the functionality of the modules or render the modules unusable Modules damaged in this way are in most cases not immediat...

Page 24: ...s CPU head module Power modules 8x periphery modules 16x periphery modules Accessories CAUTION Only modules of Yaskawa may be combined A mixed operation with third party modules is not allowed With th...

Page 25: ...lied externally with DC 24V Each power module has over voltage and reverse polarity protection The periphery modules are available in the following versions whereby of each the elec tronic part can be...

Page 26: ...indication For easy wiring you will find the corre sponding connection information for each electronic module on the front and on the side Each 16x periphery module consists of an electronic unit and...

Page 27: ...the CPU iC921xM x and a 16x periphery module The shield bus carrier order no 000 0AB00 serves to carry the shield bus 10mm x 3mm to connect cable shields Shield bus carriers shield bus and shield fixi...

Page 28: ...e terminal module This ensures that after replacing the electronic module just another electronic module can be plugged with the same encoding 2 2 3 Hardware revision The hardware revision is printed...

Page 29: ...HB700 CPU PMC921xEx en 24 04 29 iC9200 Series Basics and mounting Dimensions 8x periphery module electronic module 73 112 104 130 135 70 104 109 76 5 15 133 12 9 55 5 62 12 9...

Page 30: ...e protection No safe release in the event of a fault Insufficient external fusing will cause electronic damage to the CPU Fuse the supply voltage externally according to the connected load number of S...

Page 31: ...il The CPU is fixed to the mounting rail by pushing downward the locking levers The CPU is directly mounted at a mounting rail Up to 64 System SLIO modules may be mounted The electronic power supply f...

Page 32: ...he CPU at the mounting rail and turn the lever downward If you want to use the CPU without periphery modules you can wire it now Horizontal hanging or vertical hanging 2 4 2 Mounting periphery modules...

Page 33: ...Mounting periphery modules 1 Before mounting the periphery modules you have to remove the bus cover at the right side of the CPU by pulling it forward Keep the cover for later mounting Clack 2 Mount t...

Page 34: ...on when using unsuitable power sup plies Only devices with safe insulation from the 230V mains may be connected to the CPU The power supply for generating the DC 24V power must correspond to the requi...

Page 35: ...wire is to be removed by means of a screwdriver with 2 5mm blade width 1 Press with your screwdriver vertically at the release button The contact spring releases the wire 2 Pull the wire from the roun...

Page 36: ...ons this type of connection is vibration proof Umax 30V DC Imax 10A Cross section 0 08 1 5mm2 AWG 28 16 Stripping length 10mm 1 Pin no at the connector 2 Opening for screwdriver 3 Connection hole for...

Page 37: ...e externally protected with a fuse which corresponds to the maximum current This means max 10A is to be protected with a 10A fuse fast respectively by a line circuit breaker 10A characteristics Z It i...

Page 38: ...uick and easy connection of your signal and supply lines In contrast to screw terminal connections this type of connection is vibration proof Umax 240V AC 30V DC Imax 10A Cross section 0 08 1 5mm2 AWG...

Page 39: ...with wire mesh close meshed 6 Cable shield mounted with shield clamp 1 Each iC9200 Series 8x periphery module has a carrier hole for the shield bus carrier Push the shield bus carrier until they enga...

Page 40: ...es place by means of a screwdriver Please use copper wire only Umax 30V DC Imax 10A Cross section solid wire 0 25 0 75mm2 Cross section with ferrule 0 14 0 75mm2 Wire type CU AWG 24 16 Stripping lengt...

Page 41: ...ovide a power section supply for the periphery modules By plugging the power module with the order no 007 1AB00 the succeeding periphery modules get a DC 24V power section supply with max 10A If the 1...

Page 42: ...V DC24V 0V DC24V 0V DC24V 3 4 5 4 5 3 0V DC24V 0V DC24V 1 2 1 DC 24V supply CPU DC 5V electronic section supply I O area max 2A 2 Power module 007 1AB00 DC 24V power section supply max 10A 3 Additiona...

Page 43: ...A fuse fast respectively by a line circuit breaker 2A characteris tics Z After PowerON the RUN respectively MF LED at every System SLIO module is on so far as the sum current does not exceed the maxim...

Page 44: ...er at the lower side of the power module and pull it forward 4 Turn all the locking lever of the CPU to be exchanged upwards 5 Pull the CPU forward 6 For mounting turn all the locking lever of the CPU...

Page 45: ...unlocking lever at the lower side of the module 3 For installation plug the new electronic module guided by the strips at the lower side until this engages to the terminal module Now you can bring yo...

Page 46: ...ved before 10 Wire your module Now you can bring your system back into operation 1 Power off your system 2 Remove if exists the wiring of the module group 3 For demounting and exchange of a head modul...

Page 47: ...ch you have removed before 10 Wire your module group Now you can bring your system back into operation 2 6 3 Demounting 16x periphery modules 1 Power off your system 2 To replace an electronic unit yo...

Page 48: ...Pull the module 5 For mounting turn the locking lever of the module to be mounted upwards 6 To mount the module put it to the gap between the both modules and push it guided by the stripes at both sid...

Page 49: ...tripes at both sides to the mounting rail 7 Turn all the locking lever downward again 8 Wire your module group respectively plug the wired terminal blocks again Now you can bring your system back into...

Page 50: ...inserting the Yaskawa SD card 5 To complete the device replacement proceed according to the checklist Check list modification and retrofitting page 219 2 7 1 1 Module replacement FSoE slave NOTICE Pl...

Page 51: ...nternal manipulation such as technical errors operating and program errors and deliberate program or data manipulation External manipulation such as software viruses worms and trojans Human carelessne...

Page 52: ...is recommended Change the passwords according to the rules and guidelines that apply to your application Deactivate inactive communication ports respectively protocols Only the communication ports th...

Page 53: ...ur software up to date Update your operating system regularly Update your software regularly Make regular backups and store the media at a safe place Regularly restart your PC systems Only boot from s...

Page 54: ...your high voltage lines and signal respectively data lines in separate channels or bundles Route the signal and data lines as near as possible beside ground areas e g suspension bars metal rails tin...

Page 55: ...ression in the higher frequency area Only as exception you may also lay the isolation one sided Then you only achieve the absorption of the lower frequencies A one sided isolation connection may be co...

Page 56: ...sulation voltage to reference earth Inputs outputs AC DC 50V test voltage AC 500V Protective measures against short circuit Environmental conditions to EN 61131 2 Climatic Storage transport EN 60068 2...

Page 57: ...1 4 6 0GHz 3V m 80 AM 1kHz EN 61000 4 6 HF conducted 150kHz 80MHz 10V 80 AM 1kHz EN 61000 4 4 Burst degree of severity 3 EN 61000 4 5 Surge degree of severity 31 1 Due to the high energetic single pu...

Page 58: ...ure extensions X3 X4 Ethernet switch PROFINET optional Up to 64 System SLIO modules can be connected via SliceBus Memory PMC9212Ex only 2GB working memory RAM 12MB program memory 32MB data memory 512k...

Page 59: ...9 X2 Optional 10 X3 Ethernet port internally switched with X4 11 X4 Ethernet port internally switched with X3 12 Password and serial number 13 Slot for Yaskawa SD card 14 SliceBus for System SLIO mod...

Page 60: ...CPU has an integrated Ethernet communication processors with EtherCAT con troller You can use the EtherCAT controller in an EtherCAT system as EtherCAT master only PMC921xE0 EtherCAT FSoE master only...

Page 61: ...al pair D 8 DD Bidirectional pair D The CPU has an integrated Ethernet communication processor The connection happens via an integrated 2 port switch X3 X4 Via Ethernet default 192 168 1 1 MAC1 you ha...

Page 62: ...rrent You have the option to remove the connector of the power supply e g for a module change with fixed wiring For this the connector has a locking lever Wiring CPU page 34 For easy wiring each pole...

Page 63: ...program and data Non volatile memory for retentive data Memory management page 93 The CPU has a slot for a Yaskawa SD card Here you can use a Yaskawa SD card as external memory and transfer the overl...

Page 64: ...R red PROFINET controller bus error 67 PN D ER red PROFINET device bus error 67 IO DIAG red A diagnosis has occurred on the SliceBus Only PMC921xES SF RN green EtherCAT FSoE master status 67 SF ER red...

Page 65: ...state red 2Hz 2Hz X X X X System watchdog was triggered and the CPU restarted Execute a reboot via iCube Engineer or set your CPU to RUN state green X X X X CPU is in RUN state without error red 0 5H...

Page 66: ...fety related user program is executed The Safety CPU is in the Fail Safe state Hard Fail Safe Fail safe states page 130 Check your hardware setup and perform a power cycle 1Hz The Safety CPU is in the...

Page 67: ...the use of PROFINET which must be activated accordingly Status LED PN C ER red PN D ER red Description X X PROFINET IO controller signals The PROFINET IO controller has established an active communica...

Page 68: ...DIP switch You can trigger the following actions of the CPU with the 2 fold DIP switch under the front flap S1 S1 1 S1 2 Action 01 1 2 OFF OFF After PowerON the CPU starts in Standard Mode Default se...

Page 69: ...A I t 0 3 A s Max current drain at backplane bus 3 A Max current drain load supply Power loss 12 W Hardware CPU Triton ARM A17 CPU cores 3 Frequency 1 26 GHz RAM 2 GB eMMC 8 GB Operating controls LEDs...

Page 70: ...Execution and Synchronization Manager ESM Min task cycle time ESM 500 s ESM cores 1 Maximum parallel tasks 16 SliceBus Amount of process data per module up to 60 bytes Max number of modules 64 Cycle t...

Page 71: ...Safety protocol Number of FSoE devices Safety related input data Safety related output data Standard input data Standard output data Max number of FB instances Safety requirements Motion Default Axis...

Page 72: ...Housing Material PC Mounting Profile rail 35 mm Mechanical data Dimensions WxHxD 72 mm x 134 mm x 112 mm Net weight 488 g Weight including accessories 503 g Gross weight 621 g Environmental condition...

Page 73: ...Operating controls LEDs Three point switch DIP switches Integrated SliceBus supply Connectors Serial Com Sub D SliceBus Number of RJ45 interfaces 4 Ports External SD card External SD card Operating s...

Page 74: ...ule up to 60 bytes Max number of modules 64 Cycle time ms 500 s 512 ms OPC UA OPC UA Server Max parallel sessions 5 Sampling rates 100 ms 5 s Encryption suite Basic128Rsa15 Encryption suite Basic256 E...

Page 75: ...ety requirements Motion Default Axis Count 4 servo 4 virtual Cyclic Motion Update Performance up to 4 axes at 250 s up to 16 axes at 500 s up to 32 axes at 1ms up to 64 axes at 2ms up to 128 axes at 4...

Page 76: ...conditions Operating temperature 0 C to 60 C Storage temperature 40 C to 70 C Certifications UL certification KC certification UKCA certification yes ChinaRoHS certification yes 3 3 3 iC9212M FSoE PMC...

Page 77: ...nux with RT Kernel Overlay filesystem on internal eMMC Overlay filesystem on internal eMMC Capacity 1500 MB Overlay filesystem on external SD card Overlay filesystem on external SD card Capacity depen...

Page 78: ...n suite Basic256Sha256 Encryption suite Aes256Sha256RsaPss Encryption suite Aes128Sha256RsaOaep Programming IEC 61131 3 Web Based Management WBM Web Based Management WBM Ethernet Ethernet capable port...

Page 79: ...at 500 s up to 32 axes at 1ms up to 64 axes at 2ms up to 128 axes at 4ms Cam Gear Cascade Depth up to 4 Axes Group Count up to 16 axes groups up to 32 axes per group PROFINET System VendorID 0x0111 De...

Page 80: ...yes 3 3 4 iC9216M FSoE PMC9216ES Order no PMC9216ES Type iC9212M EC Module ID Technical data power supply Power supply rated value DC 24 V Power supply permitted range DC 20 4 28 8 V Reverse polarity...

Page 81: ...ystem on external SD card Capacity depending on SD card Firewall SSH SFTP Synchronization via Ethernet NTP DNS IEC 61131 runtime system Program memory 12 MB Data memory 32 MB Retain memory 3072 KB Rea...

Page 82: ...s X3 X4 2 Ports x 10 100 Mbit s half full duplex EtherCAT Master Number of EtherCAT slaves 512 Update time 500 s 512 ms EoE support CoE support FoE support Distributed Clock support Hotconnect Slaves...

Page 83: ...ication Version 2 3 PROFINET capable ports X3 X4 licensable Controller Max number of devices 64 16ms 32 8ms 16 4ms 8 2ms 4 1ms Cycle time 1 ms 512 ms System Redundancy Fast Startup Fast Startup Max nu...

Page 84: ...84 HB700 CPU PMC921xEx en 24 04 Hardware description iC9200 Series Technical data iC9216M FSoE PMC9216ES Order no PMC9216ES KC certification UKCA certification yes ChinaRoHS certification yes...

Page 85: ...cabinet with at least protection class IP54 for proper operation NOTICE Electrostatic discharge The CPU contains components that can be damaged or destroyed by electro static discharge When handling...

Page 86: ...ing information for open source software The CPU works with a Linux operating system You can access license information for the individual Linux packages in Web based management WBM via the Legal Info...

Page 87: ...installation wizard The installation is started 4 When prompted restart your system The installation is finished You can start iCube Engineer now 4 4 2 iCube Engineer user interface Overview 1 2 3 4 6...

Page 88: ...ou can find and replace text in the project CROSS REFERENCES All cross references within the project are shown here such as the use and decla ration of all variable types WATCH WINDOW Debug tool the c...

Page 89: ...ioning WARNING Prevent automatic start up Take appropriate measures to ensure that automatic start up of your plant machine is prevented NOTICE Acclimatization before start up Make sure that commissio...

Page 90: ...If your CPU has different IP address parameters you can adapt them for iCube Engineer via the following procedure 1 In the Plant area double click the CPU node The CPU editor group opens 2 Select the...

Page 91: ...log for authentication is opened 3 Enter your login details and click on On delivery the following access data are preset with administrator rights Username admin The password is printed under the fro...

Page 92: ...ed under the front flap on the front of the CPU You now have access to the WBM of the CPU with the access rights assigned to you 3 Navigate to Network in the Configuration area Here you can change the...

Page 93: ...ation the operating system stores temporary data and parts of the user program in the working memory With MRESET you can set the CPU to the Ready state without a power cycle This unloads the working m...

Page 94: ...in the parametrization memory has overflowed the CPU can be restarted via Safe Mode as follows 1 Switch off the power supply of the CPU 2 Set the DIP switches S1 under the front flap to the following...

Page 95: ...If after PowerON an Yaskawa SD card is recognized on which there is already an overlay file system FS the overlay file system is deleted in the internal parametrization memory without being moved The...

Page 96: ...djustments is moved from the internal para metrization memory to the Yaskawa SD card and deleted in the internal parametrization memory Projects and IP configurations saved there are then no longer av...

Page 97: ...ware adjustments is deleted The non volatile memory for retentive data is deleted The current firmware version remains but all changes to it are discarded 1 Switch off the power supply of the CPU 2 Pr...

Page 98: ...ating mode switch again duration ca 30s Status RN ER IO ER PN C ER PN D ER IO DIAG yellow 2Hz green red red The CPU now executes a reset to factory setting type 2 and is then in the delivery state 4 8...

Page 99: ...the CPU The diagnostic data are stored in the diagnostic status register and in the diagnostic parameter register These registers are available to the application program as system variables system f...

Page 100: ...stem variables which are contained in the system variable organized as a data structure 4 10 2 System variables The system variable RTC is a system variable organized as a data structure You can use t...

Page 101: ...EMPERATURE SINT temperature inside the housing in C reserved1 BOOL reserved reserved2 USINT reserved CPU_LOAD_ALL_CORES USINT average current utilization of all processor cores in CPU_LOAD_PER_CORE CP...

Page 102: ...g time you define for the sum of the execution time and the delay time If the watchdog time is exceeded the watchdog is triggered LAST_EXEC_DURATION LINT execution time of the task in the previous cyc...

Page 103: ...t automatically acknowledged The acknowledgement happens by reading the diagnosis As long as a diagnostic interrupt is not acknowledged no further diagnostic inter rupt is issued at this slot Diagnost...

Page 104: ...rnet cable is connected to the EtherCAT master EC_TOPOLOGY_OK BOOL topology OK Set when current topology and configured topology match EC_DC_IN_SYNC BOOL distributed clocks Set when the distributed cl...

Page 105: ...An error has occurred in the PROFINET network i e no connection could be established to at least one configured PROFINET device This value is not set if the Control BF parameter on a PROFINET device...

Page 106: ...y to specify the SRL role of the PROFINET controller PROFINET system variables PROFINET device functionality System variable Type description PND_S1_PLC_RUN BOOL Status of the higher level PROFINET co...

Page 107: ...mory area for input process data that the PROFINET device receives from the higher level PROFINET controller PND_IO_DRIVEN_BYPLC INT Applicative system redundancy Number of the PROFINET controller cur...

Page 108: ...al safety and safety function when using unsuitable power supplies The CPU is designed exclusively for operation with protective extra low voltage PELV according to EN 60204 1 Only protective extra lo...

Page 109: ...gainst electrostatic discharge ESD in accordance with EN 61340 5 1 and IEC 61340 5 1 NOTICE Device failure due to foreign objects in the device Foreign objects in the CPU may lead to malfunctions or e...

Page 110: ...e software that is used in the product is subject to the respective license conditions which are not affected by the Yaskawa software license conditions Software License Terms SLT for the product The...

Page 111: ...e installation wizard The installation is started 4 When prompted restart your system The installation is finished You can start iCube Engineer now 5 4 2 iCube Engineer user interface Overview 1 2 3 4...

Page 112: ...decla ration of all variable types WATCH WINDOW Debug tool the current values of the added variables are shown here in online mode BREAKPOINTS Debug tool here you can set and reset breakpoints for tr...

Page 113: ...ariable assignment which is mapped into the process data occu pies 8 bytes The total of all variable assignments which are mapped into the process data must not exceed 19980 bytes NOTICE Please note t...

Page 114: ...editor opens Here at Type you can specify the module for the corresponding slot 2 To configure your EtherCAT FSoE system double click under Plant on EtherCAT The editor EtherCAT Device list opens 3 S...

Page 115: ...ively modules is correct the linking of the block inputs and outputs with the signals of the safety related sensors respectively actuators is correct on 1 2 channels cross circuit and line break monit...

Page 116: ...ect one for the application If you use a technical measure to check the CRC checksum it must be implemented in such a way that the check done by a third technical instance outside the safety CPU WARNI...

Page 117: ...uired during commissioning phase In the commissioning phase the values for program runtime and cycle time determined offline in the planning phase must be verified online Always take the associated ch...

Page 118: ...ized access to the SD card possible Access to the SD card is possible so that data can be read and manipulated Please note Notes on security page 13 especially with regard to access protection for the...

Page 119: ...r group of the CPU select the editor Cockpit 3 Set the interface LAN X3 X4 and click on LAN X3 X4 A connection between iCube Engineer and your CPU is established by means of the IP address parameters...

Page 120: ...ted under the front flap on the front of the CPU You now have access to the WBM of the CPU with the access rights assigned to you 3 Navigate to Network in the Configuration area Here you can change th...

Page 121: ...the validation of the entire system The func tional test can be used to determine the correct assignment of the network s safety components and the programmed logic of the system Depending on the comp...

Page 122: ...Go online with your Safety CPU via 4 In the Cross functional area in the toolbar at the bottom click on The Watch window opens In the watch window you can collect variables and clearly show and monit...

Page 123: ...connection to the CPU 2 Double click on SafetyPLC 3 Select the Safety cockpit editor and click on Overview The following checksums must be identical Checksum CPU Safety PLC project information Checksu...

Page 124: ...that were marked as retentive in iCube Engineer during configuration are permanently stored here In the event of a power failure retentive data are automatically backed up By MRESET or resetting to fa...

Page 125: ...on the Yaskawa SD card now If after PowerON an Yaskawa SD card is recognized on which there is already an overlay file system FS the overlay file system is deleted in the internal parametriza tion me...

Page 126: ...PU without YaskawaSD card If the support of the Yaskawa SD card remains enabled and the CPU is operated without a Yaskawa SD card there is a risk of data theft or data manipulation Unauthorized person...

Page 127: ...itch after 3 seconds The CPU now executes a MRESET To confirm you will receive a diagnostic message that a MRESET was exe cuted You can output e g in iCube Engineer via Notifications in the Cockpit ed...

Page 128: ...The CPU starts in Standard Mode The overlay file system with user program configurations user data and firmware adjustments is deleted The non volatile memory for retentive data is deleted The curren...

Page 129: ...fe Mode is enabled which allows the CPU to restart in the event of a memory overflow 1 Switch off the power supply of the CPU 2 Set the DIP switches S1 under the front flap to the following position S...

Page 130: ...n of the programmed safety function result in a transition to the safety state fail safe state A distinction is made between Soft fail safe and Hard fail safe states Here the CPU shows different behav...

Page 131: ...Max response time without errors max No Fault TIST Input smoothing time of the inputs of the safety SDI Smoothing Time TI TOWCDT Max response time without errors Worst Case Delay Time TISlave Max Resp...

Page 132: ...ent interrupted communication between safety SDO and the safety CPU or failure of the safety CPU Here the watchdog time of the safety SDO and acknowledge time of the safety SDO must be considered TOFS...

Page 133: ...telegram could be sent just before to the safety SDI or SDO Here the largest of the two timeouts must be considered MAX TIFSoEWD TOFSoEWD TmaxRT TIST TIDIS TIWCDT TIFSoEWD MIN TIFSoEWD TCL_MAX TOFSoE...

Page 134: ...be taken into account for the calcula tion You can find more information on calculating and optimizing the watchdog time in the documentation of the iCube Engineer 5 12 5 Cycle time TCL safety CPU iCu...

Page 135: ...dule Safety SDI Safety SDO TIFSoEWD_MAX TOFSoEWD_MAX Maximum permitted FSoE watchdog time FSoE WatchDog MAXimum see formula Bus coupler TISlave TOSlave Max Response time of the decen tralised peripher...

Page 136: ...ime with sensor and actuator max RunTime Sensor Actuator See formula 1 I or O after the T represent input or output 5 13 Sample application 5 13 1 Precondition This application example describes the u...

Page 137: ...witch setting System SLIO DI local 1 0000 0000 0001 System SLIO DO local 2 0000 0000 0010 System SLIO DI EtherCAT 3 0000 0000 0011 System SLIO DO EtherCAT 4 0000 0000 0100 NOTICE Please note that the...

Page 138: ...oyment CPU iC921xM FSoE iC9200 Series Sample application Configuration in iCube Engineer 1 Open iCube Engineer and select the template for your safety CPU 2 Save the project under a suitable project n...

Page 139: ...guration in iCube Engineer 3 Click on Safety related Area and enter the safety password The password safety is used in the template Click OK 4 Double click at Plant in your project on SliceBus and add...

Page 140: ...pler with Enhanced Mode Alternatively you can perform an EtherCAT bus scan using the right mouse button In this case iCube Engineer must not also be connected online to the safety CPU 6 During the bus...

Page 141: ...to the system the parametrization of the safety module parameters is only possible via the English language view To switch languages open the menu Extras Options and set the language to English at Int...

Page 142: ...le application Configuration in iCube Engineer 12 Enter the safety password and set the following module parameters Input evaluation 1 channel Input signal smoothing 5ms Test pulse activation deactiva...

Page 143: ...ing module parameters Activation Mode 1 channel Test pule length 2ms 15 Repeat the parametrization for the safety modules on the FSoE EtherCAT coupler 16 At Plant double click on the Safety PLC in you...

Page 144: ...es and open S_Main The program editor for your safety application opens 20 Enter the safety password and click OK 21 Program your application in the following order Drag a PULSE_GEN_S into the editor...

Page 145: ...the Variables tab and create 8 external variables that will later be assigned to the outputs Here you can copy the created variables 23 Switch to the Code tab insert the Output variable and assign it...

Page 146: ...iC9200 Series Sample application Configuration in iCube Engineer 24 Double click on the Safety PLC and switch to the Data list tab 25 Click in the Process data item field of the first output variable...

Page 147: ...ariables in S_Main which you link to the safety inputs 28 Once the mapping of the process data is complete save and translate the project with Project Create new 29 With Save and rebuild the number of...

Page 148: ...the Confirm column and enable the checkboxes for all 16 variables 32 In the Plant area double click the den Controller in your project and switch to Cockpit tab 33 Go online via the symbol 34 Enter th...

Page 149: ...3 X4 symbol to transfer the project to the safety component of the safety CPU A password query for the safety CPU appears Assign a new password or enter a password that authorizes you to overwrite the...

Page 150: ...ification 2 Open the Code tab in S_Main drag in an OR and add two more input parameters 3 Use Add input parameter to add the input parameters FSOE_MSTR_ADDR_0000x_ACK_REQ and the output FSoE_ACK_REQ 4...

Page 151: ...Modification 5 Insert FSoE_ACK_REI and connect it to all FSOE_MSTR_ADDR_0000x_ACK_REI 6 Insert FSoE_PASS_ON and connect it to all FSOE_MSTR_ADDR_0000x_PASS_ON 7 Open the Data list of the Safety PLC an...

Page 152: ...152 HB700 CPU PMC921xEx en 24 04 Deployment CPU iC921xM FSoE iC9200 Series Sample application Modification 8 Select the data direction at I Q M Q for output and I for input...

Page 153: ...00 CPU PMC921xEx en 24 04 153 iC9200 Series Deployment CPU iC921xM FSoE Sample application Modification 9 Nothing should now be highlighted in red in the S_Main code 10 Save your project and transfer...

Page 154: ...1xM FSoE iC9200 Series Sample application Modification 11 Add all four variables to the Watch window via Insert in watch window 12 Open the Cockpit of the Safety PLC Safety cockpit and check whether y...

Page 155: ...0 Series Deployment CPU iC921xM FSoE Sample application Modification 13 Open in Safety PLC S_Main S_Main 14 Briefly switch the DC 24V power section supply of the IO modules at the backplane bus off an...

Page 156: ...FSoE_ACK_REI back to False in the Watch window 5 14 Functional safety safety relevant parameters This chapter describes characteristics associated to functional safety According to IEC 61508 safety in...

Page 157: ...age time to a dangerous failure Parameters according to IEC 62061 Value Meaning SIL CL max 3 Safety Integrity Level Claim Limit Safety requirement level for classifying the functional safety of the su...

Page 158: ...e Engineer you can see which system variables belong in detail to a system variable organized as a data structure To open the Init Value Configuration for a system variable organized as a data structu...

Page 159: ...data structure 5 15 2 System variables The system variable RTC is a system variable organized as a data structure You can use the RTC system variable to retrieve information about the system time of t...

Page 160: ...TEMPERATURE SINT temperature inside the housing in C reserved1 BOOL reserved reserved2 USINT reserved CPU_LOAD_ALL_CORES USINT average current utilization of all processor cores in CPU_LOAD_PER_CORE C...

Page 161: ...og time you define for the sum of the execution time and the delay time If the watchdog time is exceeded the watchdog is triggered LAST_EXEC_DURATION LINT execution time of the task in the previous cy...

Page 162: ...ot automatically acknowledged The acknowledgement happens by reading the diagnosis As long as a diagnostic interrupt is not acknowledged no further diagnostic inter rupt is issued at this slot Diagnos...

Page 163: ...ernet cable is connected to the EtherCAT master EC_TOPOLOGY_OK BOOL topology OK Set when current topology and configured topology match EC_DC_IN_SYNC BOOL distributed clocks Set when the distributed c...

Page 164: ...e An error has occurred in the PROFINET network i e no connection could be established to at least one configured PROFINET device This value is not set if the Control BF parameter on a PROFINET device...

Page 165: ...cy to specify the SRL role of the PROFINET controller PROFINET system variables PROFINET device functionality System variable Type description PND_S1_PLC_RUN BOOL Status of the higher level PROFINET c...

Page 166: ...project EXEC_TIME UDINT Runtime of the safety CPU programme cycle in s HAS_PRJ BOOL Set if safety related application program and program sources exist in the memory of the safety CPU DIAG STATUS_REG...

Page 167: ...returns a warning with the error code 0xFA41 0x8000 The temperature of the safety CPU is exceeding the permissible range The safety CPU switches to the safety state and returns an error with the error...

Page 168: ...ystem As soon as the error memory was read via iCube Engineer and thus cleared the value of the variable changes to FALSE FS BOOL Failure state of the safety CPU An error was detected that puts the sa...

Page 169: ...ic parameter registers of the safety CPU SPLC DIAG PARAM_REG and SPLC DIAG PARAM_2_REG and in the extended diagnostic parameter register SPLC DIAG EXT_PARAM_REG Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit...

Page 170: ...s soon as an error is detected that sets the Safety CPU to the Fail Safe state Fail safe states page 130 In this state the corresponding further error code is contained in the diagnostic parameter reg...

Page 171: ...xxxxx placeholder represents the respective configured FSoE address FSoE connection specific diagnostic variables Variable name Data direction FSOE_MSTR_ADDR_xxxxx_ACK_REQ DI Acknowledge request 1 Var...

Page 172: ..._FsoeErrorClbk returns the following error FSOE_k_COMM_ERR_INV_CRC 0 Variable is set to 0 if SAPL_DataValidChangedClbk returns ProcessData SAPL_FsoeStateChangedClbk signals that the data state was lef...

Page 173: ..._REI is set the global ACK_REI must not be enabled PASS_OUT_FSOE_MSTR_GLOBAL DI Passivation enabled on input side At least one FSoE connection sends fail safe Global equivalent to FSOE_MSTR_ADDR_xxxx_...

Page 174: ...self signed TLS certifi cate that is automatically generated by the CPU during the commissioning Due to the system you will receive a security message regarding the certificate as it has not yet been...

Page 175: ...e 190 5 Install the certificate according to your Windows system as a trusted root certifica tion authority After installation communication between the PC and CPU takes place as a secure connection C...

Page 176: ...following functions Stop Stops program execution on the CPU Hot Start Performs a hot start The CPU is restarted and the program continues without initializing the variables Warm Boot Performs a warm...

Page 177: ...mer mer mer mer mer mer mer mer mer mer mer mer mer mer mer mer mer mer mer mer mer mer mer mer mer Online Online Online Online Online Online Online Online Online Online Online Online Online Online O...

Page 178: ...s process data cyclically PreOp The EtherCAT slave station is in the Pre Operational state Process data are not exchanged SafeOp The EtherCAT slave station is in the Safe Operational state In this cas...

Page 179: ...xis Grid EtherCAT Motion Alarms Notifications Profinet SliceBus SliceBus Modules By default the message entries in the table are sorted in descending order based on the time stamp To sort the notifica...

Page 180: ...ch or partially match the name you are looking for Maximum number of notifications Here you can limit the number of message entries to be listed 1024 is set by default a maximum of 4000 is allowed Tim...

Page 181: ...vice click in Details column on The Device Information view with the current information on IP settings and diagnostics is opened Device Information Device Information Device Information Here you have...

Page 182: ...nt diagnostic state of the PROFINET device Symbol Diagnostic status OK Warning Error iC921 IP Address 192 168 3 1 Profinet Devices 1 Station IM053 1PN01 IP Address 192 168 3 11 Profinet Devices 1 Modu...

Page 183: ...ction remains established in the event of a configuration difference 4 Bit 4 is set when the AR is disabled The PROFINET device is configured in the project but the AR was disabled Check the PROFINET...

Page 184: ...e vendor of the PROFINET device 6 3 6 SliceBus Here you will find information on the backplane bus and the connected modules SliceBus Diagnostics Information Configuration Security Administration iC92...

Page 185: ...and firmware version At Diagnostic State you will find the diagnostic data For more information on the structure of the diagnostic data please refer to the corresponding manual of the module Back With...

Page 186: ...ne help 6 4 2 Date and Time The Date and Time page provides access to the NTP client configuration NTP stands for Network Time Protocol and is a standard described in RFC 958 for time synchronisation...

Page 187: ...onfiguration requires a restart of the NTP daemon and that this may lead to a real time viola tion With OK the NTP servers listed in the table are accepted for time of day synchronization and the NTP...

Page 188: ...web services e g HTTPS certificate which is used for the NGINX web server The HTTPS certificate and the associated private key are located as files in the file system of the CPU and are listed as sym...

Page 189: ...enerate new certificate files with Apply 2 Enter the according parameters Distinguished name Enter your company information here for identification Validity Enter the date in the format DD MM YYYY and...

Page 190: ...partners are stored here Identity Store The personally created certificates are stored here The name for each store can be used with the interfaces for TLS com munication e g TLS_SOCKET block in IEC...

Page 191: ...ify the format in which the certificate is to be added You can choose between text and file PEM format 2 To add a certificate in text format select at Input Method the Text Content parameter enter the...

Page 192: ...il view is opened 2 This is closed again with Close You can create and manage multiple identity stores in the Identity Store tab Each Identity Store usually contains an RSA key pair and the correspond...

Page 193: ...lick on Add The input dialog is closed and the key pair automatically generated by the CPU is added You can add rename define and remove key pairs or certificates by using the following buttons in the...

Page 194: ...uccessfully transferred to the CPU Warning The CPU reports a warning e g if one or more additional filter configurations in the system exist The warning contains the names of all additionally loaded f...

Page 195: ...mn in both tabs The firewall settings are applied with the Apply button There are the following setting options for the Action column Accept The corresponding connection and connection request is acce...

Page 196: ...les for the input in the Input Rules tab With the order of firewall rules in the table you define the priority for applying them You can create new rules delete rules or change the order of the rules...

Page 197: ...e CPUs of the iC9200 Series will be lost Exclude the Yaskawa SD card from being formatted The Yaskawa SD card can be read at any time with a conventional SD card reader Sensitive data on the Yaskawa S...

Page 198: ...skawa SD card and restart the CPU If a new unused Yaskawa SD card is detected after PowerON the overlay file system with user program configurations user data and firmware adjustments is moved from th...

Page 199: ...log server destination opens 2 Under General Options enter the following parameters Host Name Host name respectively IP address of the Syslog server to which the log data is to be sent Protocol Transm...

Page 200: ...Authentication Information Diagnostics Configuration Administration iC92 PMC92 1 By selecting or deselecting the control field of Syslog Server Destination Activation at Syslog Configuration you can e...

Page 201: ...e changes are applied and the dialog is closed User authentication is used to manage the access data of all users who are authorized to access the CPU and to assign the required access authorizations...

Page 202: ...dify Roles button in the table behind the user entry whose role you want to change The dialog window for assigning roles for the corresponding user entry opens 2 Assign the corresponding roles to the...

Page 203: ...ication with user name and password is always required for SSH access even if user authentication is disabled iCube Engi neer Admi n Secur ity Admi n Secur ity Audit or Cert Man ager User Man ager Eng...

Page 204: ...n General Data Diagnostics EtherCAT Diagnostics Motion Alarms Diagnostics Notifications Diagnostics PROFINET optional Diagnostics SliceBus Diagnostics SliceBus Modules Configuration Network 1 1 1 1 Co...

Page 205: ...transfer is activated in iCube Engineer Information on this can be found in the iCube Engineer online help 3 FileWriter can only write files via an OPC UA client if the OPC UA file transfer is activa...

Page 206: ...e controller and installed After successful installation the app is listed in the Installed iCube Apps table To start an app click in the table Installed iCube Apps at Start behind the corre sponding...

Page 207: ...ansfer or if the firmware file is defective In this case contact our support You can find the currently installed firmware version of your CPU in the WBM at Information General Data Here you can also...

Page 208: ...installed on the CPU Several licenses can be combined in one container Information Diagnostics Configuration Security iC92 PMC92 Administration iCube Apps Firmware Update Lisence Management Licence M...

Page 209: ...n Security iC92 PMC92 Administration iCube Apps Firmware Update Lisence Management Licence Management Administration You have received a license key from Yaskawa The activation of the license in your...

Page 210: ...ense update is added to the license container 11 Download the Licence receipt as a WibuCmRaR file to your PC with 12 Switch back to the wizard from https lc codemeter com 74390 depot index php 13 Sele...

Page 211: ...7 Appendix...

Page 212: ......

Page 213: ...iC921xM FSoE Checklists Deployment CPU iC921xM FSoE A Checklist planning 215 B Checklist installation 216 C Checklist commissioning parametrization and validation 217 D Checklist operation 218 E Chec...

Page 214: ...214 HB700 CPU PMC921xEx en 24 04 Checklists Deployment CPU iC921xM FSoE iC9200 Series...

Page 215: ...assification specified before 1 7 Do the performance data of the safety CPU correspond to the specifications of the application Technical data page 69 1 8 Do the components fulfill the environmental c...

Page 216: ...evices are not short circuited due to a wiring fault 2 7 Is it guaranteed that the safety switch devices are not short circuited due to a wiring fault 2 8 Was the wiring checked by means of the instal...

Page 217: ...cycle time TCI of the safety CPU determined and adjusted in the safety CPU Cycle time TCL safety CPU page 134 3 3 Was the maximum response time with the adjusted cycle time TCI proofed by calculation...

Page 218: ...ing changes to the wiring the control system is set to a safe state dependent on the application by competent personnel 4 3 Are the ambient conditions specified in the technical data observed Technica...

Page 219: ...fulfilled Checklist planning page 215 Checklist installation page 216 Checklist commissioning parametrization and vali dation page 217 5 2 Was the safety component to be replaced exchanged for a compa...

Page 220: ...e by authorized and qualified personnel 6 2 Has the power supply been switched off at the device to be decommissioned 6 3 Has the wiring been removed from the device to be decommissioned Has the disas...

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Summary of Contents for iC9200 Series

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YASKAWA iC9200 Series, Operating Manual, Page: 71 / 220

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