LinMot FSoE Slave Integration with SAFEX-C.15

Introduction Prerequisites Used Hardware Versions Used and Required Software Documentation Ether CAT Setup LinMot-Talk FSoE Address Safety Engineering Master Slave Connection Motion Setup

Introduction

This guide explains how-to integrate a third-party EtherCAT FSoE slave into a ctrlX SAFETY SAFEX-C.15 system. In this example, the third-party slave is a LinMot DS402 drive.

Prerequisites

Used Hardware

ctrlX CORE X*-Serie
LinMot CoE / DS402 Drive(e.g. C1251-MI-XC-2S-E0-000 )
LinMot PS01-37... Stator
LinMot PL01-20... Runner
ctrlX SAFETY SAFEX-C.15
Fig. 1.: Hardware Overview

Versions Used and Required Software

ctrlX PLC Engineering v3.6.2+
ctrlX I/O Engineering v3.6.2+
ctrlX Safety Engineering v1.8.3.10207
LinMot-Talk 6.14 Drive Configuration Software -> Download
ctrlX Apps from ctrlX OS Store
- ctrlX OS - EtherCAT Master v3.6.0+
- ctrlX OS - Motion v3.6.1+
- ctrlX OS - PLC v3.6.2+
Example project I/O:
LinMot_SAFEX_C_Integration_IO.project
585.11KB

Documentation

Ether CAT Setup

Open the Web-Interface of the ctrlX CORE and navigate to the EtherCAT App.
Fig. 2.: Web-Interface EtherCAT Master
Click on "Add" to create an new "EtherCat Master" instance.
Fig. 3.: Add an EtherCAT Master to the ctrlX CORE
In the EtherCAT Master Web-Interface, click on the I/O Engineering icon to open the "Engineering Tool".
Fig. 4.: Open ctrlX I/O Engineering in the Web-Interface
Ensure that the ctrlX I/O Engineering tool is connected to the ctrlX OS Device.
Fig. 5.: Connecting the ctrlX CORE in the I/O Engineering Tool
Right-click the "ethercatmaster" and “Scan for Devices” to detect the connected EtherCAT slaves.
Fig. 6.: Scan for Devices Connected with the ctrlX CORE
If the XML (ESI) file is not yet installed, the drive will appear as an unidentified Device. Click “Install device descriptions” and select the appropriate XML file for the drive. Repeat the same process for the Safety Module.
Fig. 7.: Loading an XML File in I/O Engineering

Default XML location when LinMot-Talk is installed:
C:\Program Files (x86)\LinMot\LinMot-Talk 6.xx Build xxxxxxxx\Firmware\Interfaces\EtherCat_NX\XML
NTIL_CiA402_Servos_FS_V1_0ra3.xml
144.44KB
XML File of the SAFETY Modules:
BoschRexroth_ctrlX_SAFETY_SAFEX_C12_C15_ModulesECAT.xml
1.98MB

Once the Device description is installed, the Drive will be recognized be added to the project. Close the wizard by clicking “OK”.

Fig. 8.: Adding the Devices in I/O Engineering

To transfer the configuration to the ctrlX CORE, establish an online connection first, then click the “Download” button to upload the configuration to the Device.

Fig. 9.: Sending the configuration to ctrlX CORE

In the ctrlX OS Web-Interface, the "EtherCAT Master" should now be operational with and all slaves should be correctly recognized.

Fig. 10.: Web-Interface EtherCAT Master in operational mode

LinMot-Talk FSoE Address

Open LinMot-Talk, navigate to File > Login, select Ethernet, and enter the EoE IP address of the LinMot Drive. If you are accessing the Drive via EoE, follow the advanced steps described in the how-to guide: "Interface LinMot C1250-MI-XC-1S Drive with ctrlX CORE via EtherCAT".
Fig. 11.:Login Details for connecting the LinMot drive with LinMot-Talk
Open the Variables and select "OS Safety Module". There you will find the "Safe Address" of the LinMot Drive which is given in hexadecimal format. You can convert this address using a calculator.

Fig. 12.:Find the FSoE slave address in the Linmot -Talk App

Example:
hexadecimal Number: "4C08"
FSoE slave address: 19464

Open the "Parameters" and navigate to "Safety". Under "General Settings" ,go to "Safe Fieldbus Activation" and change the setting from "No Safe Fieldbus" to "EtherCAT FSoE".
Fig. 13.: Default Setting of the Safe Fieldbus Activation
Once "FSoE" is activated, navigate to the "Encoder Type" setting and change it from "Nonsafe" to "PS01-37x-HP".
Fig. 14.: Default Setting of the Encoder Type of the Safety

After adjusting the parameters, the Safety Service has to be revalidated. To do this, go to the "Safety Service" section, click the "Start Validation" Button and enter the User ID and Password.
Fig. 15.: Revalidation of the Safety Service for the Linmot

Safety Validation:
User ID: admin
Password: DoChange

Press the "Varify Par. Group" button repeatedly until all parameter groups are marked green. Then click "Read ASCII Report", followed by "Validate". Enter the User ID and Password from the previous step to complete the validation.
Fig. 16.: Verifying the Parameter Groups, Reading the ASCII Report and Validate the Safety Parameters

Safety Engineering

Open ctrlX Safety Engineering and drag the SAFEX-C.15 module into the Terminal Scheme to begin configuration

Fig. 17.: Add the SAFEX-C.15 to the Configuration

To add a slave device, open the File menu and select "Slave Device Editor".

Fig. 18.: Navigation to the Slave Device Editor

In the Slave Device Editor, click the "Import Slave Device" button, then select the file "NTIL_CiA402_Servos_FS_V1_0r3.xml" and open it
Default Location of the LinMot XML File:
```
C:\Program Files (x86)\\LinMot\0187-0001_SW_6V14_LinMot-Talk_6.14_Build_20250901\Firmware\Interfaces\EtherCat_NX\XML
```
NTIL_CiA402_Servos_FS_V1_0ra3.xml
144.44KB

Fig. 19.: Selecting the Slave for importing to the Library

Select the file to be imported, then change the Speed setting to "Calculate by position" and the Position setting to 'Safe Position'. After making these changes, import the file into the library and close the Slave Device Manager by clicking "OK".

Fig. 20.: Selection of Imported Slave and Configuration of Speed and Position

To insert the Slave Device, open the Library, navigate to the folder "NTI AG" and drag the Drive "C1251" into the Terminal Scheme.

Fig. 21.: Inserting of the Slave Device into the Terminal Scheme

Select the Slave Device and change its Profile to “Safety Process Data”. Then, set the Slave Address to the LinMot FSoE address, which is "19464" in this example.

Fig. 22.: Configuration of the Slave Profile and Address

To change the Profile Settings of the Axis, select the "Axis" and then the "Properties" panel opens.
Fig. 23.: Navigation to the Axis Properties

In the Properties panel ensure that the number of decimal places for both speed and position is set to 2. Change the axis type from rotary to linear. Once this is done, you can define the axis limits according to your mechanical setup or application requirements. Make sure the "Monitoring Limit" option is not checked. Next, you need to adjust the feed constant, which is a value provided by the LinMot system. To retrieve it, open LinMot Talk, navigate to "Variables", then go to "EtherCAT:Safety". Under the parameter "FSoE Slave Safe Position Scale", you will find the scaling information: 0.124 mm corresponds to 1024 units. Use this value to correctly set the feed constant for your axis.
Fig. 24.: Axis Properties
Fig. 25: LinMot Talk FSoE Slave Safe Position Scale
To create the connections between the slave and the SAFEX-C.15, open the "Terminal Scheme". Drag the "Safety Process Data" into the scheme and connect the axis inputs and outputs according to your program logic
Fig. 26.: Creating the Program for the Slave in the Functional Scheme

Further Information:
Use ctrlX SAFETY to control SMO and STO
LinMot Safety Manual

After adding the connection, load the configuration to the SAFEX-C.15 controller. To do so, follow step 9 of the how-to "Create a Safety PLC Project with ctrlX SAFETY Engineering".
Then click the “Secure” button to unlock the configuration settings of the ctrlX SAFEX-C.15. Enter the Password “boschrexroth” to proceed.

Fig. 27.: Secure login in the Safety Engineering

Next, follow steps 10 to 12 from the how-to "Create a Safety PLC Project with ctrlX SAFETY Engineering" to complete the configuration.

Master Slave Connection

In ctrlX IO Engineering, select "FSoE_Connection_1"and click "Plug Device" to assign the safety connection.

Select the Device "FSoE Conn 4In/2Out" and click the "Plug Device" button to add it to the configuration.

Fig. 29.:Device Selection FSoE Conn 4In/2Out

To add the "System Process Data" to the Drive, select the Drive "C1251_MIDS..." and then click "Add Device".

Fig. 30.: Adding Device to the Drive C1251

In the "Add Device" window, select " Safety Process Data". Then click the "Add Device" button to add it to the Drive C1251.

Fig. 31.: Adding the Safety Process Data to the Drive C1251 of LinMot

To configure the "Slave to Slave" connections, select the "ethercatmaster" and open "Slave to Slave" window.

Fig. 32.: Configuration of the ethercatmaster in the Slave to Slave window

To establish the connection from the slave to the master, navigate to the Source Device "SAFEX_C15" and select the "0x1A00 – FSoE SafetySlaveMessage". Next, navigate to the "Safety_Process_Data" section, select "0x1640 Safety Outputs" and click the "Add connection" button to complete the setup.

Fig. 33.: Adding the Slave to Master connection

To establish the connection from the master to the slave, navigate to the source device "Safety_Process_Data" and select the message type "0x1A40 Safety inputs".
Next, navigate to the destination by selecting "0x1A40 Safety inputs", which belongs to the "SAFEX_C15" section, and click the 'Add Connection' button to complete the setup."

Fig. 34.: Adding the Master to Slave connection

Now you can download the configuration to the ctrlX CORE. To do this, select the "ethercatmaster", ensure you are connected to the device, and then click the "Download" Button to transfer the configuration.
Fig. 35.: Transferring of the Slave to Slave connections

Motion Setup

Before testing the Motor, make sure to complete the Motion Setup as described in the how-to :"Interface LinMot C1250-MI-XC-1S Drive with ctrlX CORE via EtherCAT". Once the setup is complete, you can run the motor via the Motion window, including the "Axis" approval through the SAFEX-C.15.