What the function is good for
If using the function "Safe Torque Off over safe fieldbus" coming with the "TB" hardware option, the following functions are included:
Safe Torque Off (STO)
Safe Stop 1 time monitored (SS1-t)
Safe Brake Control (SBC) (at activation of STO function)
The selection of the safety functions is taking place over one of the following safe fieldbuses
Fail Safe (FSoE) over EtherCAT SoE or EtherCAT CoE
orPROFIsafe on PROFINET
Versions used
All the functions and screen shots are based on:
ctrlX DRIVE Engineering version 01V32
Runtime / Firmware version of drive AXS-V-0604
Prerequisites
A connection to the various ctrlX DRIVE has been successfully established, the devices are correctly wired and 24 V are successfully put on. As well the engineering tool ctrlX DRIVE Engineering has been started.
1. Function
The function follows the following scheme:
SS1-t (time-prioritized, PLC/NC-controlled transition to standstill)
If the bit SS1 is activated, a time monitoring is started. Within this time the drive should be decelerated by the control system to arrive at standstill. Latest after this time the "Safe Torque Off" (STO) function and the "Safe Brake Control" (SBC) gets active.
If axis is arriving in standstill condition the drive can already be switched from AF (drive enable) to Ab (drive dis-enabled) and the "Safe Torque Off" (STO) function activated.
Safe Fieldbus interaction
One needs to select the so called "Safety Drive Profile V1"
and thus would get the following interchange signals in between control and drive:
2. Parameterization in drive
The axis must be parameterized in the following sequence:
If a brake is present, check the checkbox, if not uncheck it like shown in here.
If you like to react as fast as possible on the selection of SS1/STO function w/o delay time of the safe bus communication the following parameterization may be used:
Mind that pins XG31/3 and XG31/8 must be connected (wired)!
The E-Stop function in this case need to be activated.
3. Parameterization in SAFEX C.xx safety control
The parameterization is done according to the following:
Install device file in "Slave Device Editor" of ctrlX SAFETY Engineering.
Hint: The relevant device files can be found in the installation of ctrlX DRIVE Engineering, usually under "...\Program Files (x86)\Rexroth\ctrlX DRIVE Engineering\DeviceDataSheets", see e.g.:
Create a project:
- Insert ctrlX DRIVE in "terminal scheme" of SAFEX project
- Activate "Safety Drive Profile V1" and define the FSoE address and connection ID
- Insert needed Safety switches like STO and SS1 to the project according to your needs
Insert "2Byte Safety Drive Profile V1 (791 - 796)" to "functional scheme" of project and connect the corresponding STO and SS1 switch to the corresponding signals of the function block.
Download the safety project to the SAFEX control hardware after compilation and activate it after going online.
4. Parameterization in control system
The parameterization is done according to the following:
Install device description with new "Safe Drive Profile V1" module in ctrlX CORE I/O Engineering.
Scan for EtherCAT devices and add to project.
Plug 2Byte Safe Drive Profile module to drive and 2Byte in / out module to SAFEX!
Copy FSoE telegrams from FSoE master to FSoE slave and vice versa and download the project to ctrlX CORE.
When the SS1 function is activated by the E-Stop button the drive needs to be decelerated and the drive disenabled (AF --> Ab). Therefor the SS1 bit in the FSoE telegram is checked via PLC which disenables the drive when SS1 is activated.
A usual scope reading is looking like the following:
1. Activation of SS1 function --> drive will decelerate by switching from AF --> Ab.
2. SS1 is active.
3. Drive is in Ab.
4. STO is active.
