DOLD Safemaster Pro Series User manual

((OOrriiggiinnaallmmaannuuaall))

UG6951 / UG6952 / UG6954/ UG6955/ UG6956/ UG6957

SAFEMASTER PRO fieldbus modules

0265998 09.05.2017LA 822P 1/17

UG6951

CANopen

UG6952

PROFIBUS DP

UG6954

PROFINET

UG6955

Ethernet/IP

UG6956

EtherCAT

UG6957

USB

CONTENTS

INTRODUCTION....................................................................................................................................................2

ELECTRICALCONNECTIONS, DIMENSIONS..................................................................................................2

PROTOCOL DATA PACKAGE COMPOSITION ................................................................................................3

DIAGNOSTICS.......................................................................................................................................................5

1. Byte: "I/O index"..............................................................................................................................................5

2. Byte: "Diagnostic code"...................................................................................................................................5

Inputs ................................................................................................................................................................5

Safety outputs OSSD........................................................................................................................................5

EXAMPLES OF DIAGNOSTICS...........................................................................................................................6

Example 1.............................................................................................................................................................6

Example 2.........................................................................................................................................................6

Example 3.........................................................................................................................................................7

Example 4.........................................................................................................................................................7

SOFTWARE BUS CONFIGURATOR"..................................................................................................................8

CONFIGURATION.................................................................................................................................................8

STATUS MONITOR.............................................................................................................................................10

Diagnostic example ............................................................................................................................................11

VISUALISATIONS...............................................................................................................................................12

TECHNICAL FEATURES....................................................................................................................................15

ORDERING DATA...............................................................................................................................................16

Declarationofconformity......................................................................................................................................17

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INTRODUCTION

This technical data sheet describes the operation of the fieldbus modules of the configurable safety system

SAFEMASTER PRO:

UG6951 Fieldbus module (CANopen)

UG6952 Fieldbus module (PROFIBUS DP-V1)

UG6954 Fieldbus module (PROFINET)

UG6955 Fieldbus module (Ethernet IP)

UG6956 Fieldbus module (EtherCAT)

UG6957 Fieldbus module (USB)

The fieldbus module exports the system status and the status and diagnostics elements of all I/Os configured on the

SAFEMASTER PRO system.

These fieldbus modules have no influence on the safety functions of the configurable safety system

SAFEMASTER PRO.

ELECTRICAL CONNECTIONS,DIMENSIONS

Each module is provided with four connectors:

- 5 way IN-RAIL-BUS connector to the system SAFEMASTER PRO

- micro USB connector --> to the PC (for SW programming)

- BUS connector --> to the fieldbus

- Terminal block --> power supply

TERMINAL BLOCK

Terminal

Signal

+24VDC ±20%

GND

Table 1

Figure 1

Install SAFEMASTER PRO modules in an enclosure with a protection class of at least IP54.

The supply voltage to the units must be 24Vdc ±20% (PELV, in compliance with the standard EN 60204-1).

Do not use SAFEMASTER PRO to supply external devices.

The same ground connection (0VDC) must be used for all system components.

22,5mm

109mm

122,6mm

UG6951 / UG6952 / UG6954/ UG6955/ UG6956/ UG6957

SAFEMASTER PRO fieldbus modules

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PROTOCOL DATAPACKAGE COMPOSITION

The fieldbus module exports the system status and the status and diagnostics elements of all I/Os configured on the

SAFEMASTER PRO system. Also import of eight inputs from fieldbus is possible.

The system status is shown as 1 byte:

-Bit 0 indicates whether the SAFEMASTER PRO is online/offline

-Bit 1 indicates the presence of diagnostics elements.

This byte is always present.

Each input and each output (OSSD) configured on the system is associated with two information elements: status

and diagnostics.

-Status is a binary value, 0 or 1

Each module with inputs has a number of bits corresponding to the number of physical inputs that are

present; thus modules UG6911.10, UG6913.08, UG6916.10 are associatedwith 1 byte, modules UG6913.12,

UG6913.16with 2 bytes.

The input byte location varies according to the type of modules that are installed, in the following order:

UG6911.10, UG6916.10, UG6913.16, UG6913.08, UG6913.12.

If several modules of the same type are installed the order follows the node number.

All safety outputs aresummarised in 1 or 2 bytes (depending onsystemconfiguration).

-Diagnostics is a code indicating the condition of the I/O, which can be OK or indicate a problem on the I/O.

Diagnostics elements are in the form of 2 bytes which indicate the index of the I/O with the problem and

the value of the diagnostics element.

If there is more than one diagnostics element, the relative values alternate every 500 ms.

Each set of information:

-input status,

-input diagnostics,

-fieldbus inputs status,

-fieldbus probes status,

-safety output status,

-safety output diagnostics

can be enabled/disabled in order to control the information and thus the number of output bytes exported to the

fieldbus.

One input byte with the whished state of fieldbus inputs must always be present, also if no fieldbus inputs are used in the

electric schema.

For the fieldbuses in which the mapping position is mandatory (i.e. PROFIBUS) the input byte must be mapped before the

output bytes.

For the fieldbuses based on CANOpen the data can be accessed only via PDO. SDO access is not supported.

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SAFEMASTER PRO fieldbus modules

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This table shows the placement of the Fieldbus output bytes (Fieldbus module to Fieldbus PLC)

(1 byte)

B1 B0

SYSTEM STATUS

(always present)

B0=1: SAFEMASTER PRO online

B1=1: Diagnostics present

INPUTS

(Minimum: 1byte

Maximum: 16 bytes)

recognised state of Fieldbus inputs

(1 byte)

Fieldbus probes (2 bytes)

OUTPUTS OSSD (max. 2 bytes)

Index of I/O

DIAGNOSTICS

(2 bytes)

see Table 2, 3

Diagnostic code

One input byte (Fieldbus PLC to Fieldbus module) must always be defined for the whished states of fieldbus inputs.

(1 Byte)

whished state of fieldbus inputs

(1 Byte)

This byte must always be present, also if no

fieldbus inputs are used in the electric schema.

If the SAFEMASTER PRO system includes a fieldbus module, the SAFEMASTER PRO Designer report will

include a table with the I/O index for all the inputs, fieldbus probes and safety outputs used in the electric

circuit.

UG6951 / UG6952 / UG6954/ UG6955/ UG6956/ UG6957

SAFEMASTER PRO fieldbus modules

0265998 09.05.2017LA 822P 5/17

DIAGNOSTICS

Each input and safety output is associated with a relative diagnostic code.

When the I/O is connected correctly the diagnostic code is OK and is not exported to the fieldbus;

if there is a problem on the I/O, the system exports 2 bytes to the fieldbus with:

-the index of the I/O in question

-the related diagnostic code

1. Byte: "I/O index"

This field indicates the number used to identify the I/O with a diagnostic code other than OK.

Possible values for this field are shown in Table 2.

TY PE OF SIGNAL

I/O INDEX

Input

1-128

Output

192-255

Table 2

2. Byte: "Diagnostic code"

The "Diagnostic code" field indicates the diagnostics for the I/O. Possible values for this field are shown in the

following tables.

Inputs

Input diagnostics

128 (0x80)

Input diagnostics OK

Not in initial position

Both switches have to go to rest condition

Concurrent failed

Both switches have to change state simultaneously

Concurrent failed hand1

Wrong connection on one side of a two-hands switch

Concurrent failed hand2

Wrong connection on one side of a two-hands switch

invalid switch position

The selector can't have more than one input set

Switch not connected

The selector can't have any input set

10 (0x0A)

OUT_TEST error

OUT_TEST failure on this input

11 (0x0B)

Second input defective

Redundancy check failed on input

OUT_TEST diagnostics OK

Output connected to other inputs

Test outputnot connected to the right input

Output OK but input connected to 24VDC

Stuck input

Short circuit between photocell testand

photocell input

Photocell responsetime too low

No responsefrom photocell

The testsignal on the photocell emitter is not seenon the receiver

Short circuit between photocells

The testsignal is present on two different photcells

MAT disconnected

Wrong mat connection

Output inconsistent with feedback

The testsignal on input is presenton more than one OUT_TEST

Connection incorrect

The testsignal is present on more than one input

Output stuck

The testsignal on the input is not present on the OUT_TEST

22 (0x16)

Second OUT_TEST KO

Redundancy check failed on OUT_TEST

133 (0x85)*)

TWO-HAND concurrentfailed

Two-hands switch has to change state simultaneously

134 (0x86)*)

Not started

Start test failed

137 (0x89)*)

Waiting for restart

The input has manual reset and has not been restarted

Table 3

*)The diagnostic 133, 134 and 137 do not provide visual error message on the LED from SAFEMASTER PRO

Safety outputs OSSD

OSSD Diagnostics

OSSD DIAGNOSTICS OK

ENABLE MISSING

WAITING FOR RESTART OSSD

FEEDBACK K1/K2 MISSING

WAITING FOR OTHER MICRO

Redundancy check failed on OSSD

Table 4

If there are more than one diagnostic codes, the information changes every 500ms.

UG6951 / UG6952 / UG6954 / UG6955 / UG6956 / UG6957

SAFEMASTER PRO fieldbus modules

6/17 0265998 09.05.2017LA822P

Index I/O 1

Index I/O 2

EXAMPLESOFDIAGNOSTICS

Example 1

Figure 2

In the example shown in Figure 2, Input 1 (connected to module UG6911.10) is tested with the UG6911.10-T1

test signal.

During wiring, the 24Vdc is connected to input 1 instead of the UG6911.10-T1 test signal.

-The I/O index and Diagnostic code show the following values: 1 - 10 to indicate the diagnostics on

input 1 of module UG6911.10 (OUT_TEST error)

Example 2

Figure 3

In this example, the I/O index corresponds to the logical block and not to the physical terminal on module

UG6911.10.

In Figure 3 for example, the two-hand element connected to the Input 1 and Input 2 physical terminals

corresponds to I/O index No. 1 and the emergency stop connected to the Input 3 and Input 4 terminals

corresponds to I/O index No. 2.

UG6951 / UG6952 / UG6954/ UG6955/ UG6956/ UG6957

SAFEMASTER PRO fieldbus modules

0265998 09.05.2017LA 822P 7/17

Example 3

Figure 4

The example in Figure 4 is similar to example 1, except in this case Input1 is connected to module UG6913.16

and is tested with the UG6913.16-T1 test signal.

During wiring, the 24Vdc is connected to input 1 instead of the UG6913.16-T1 test signal.

-The I/O index and Diagnostic code show the following values: 1 - 10 (OUT_TEST error) to indicate the

diagnostics on input 1 of module UG6913.16

Example 4

Figure 5

In the example shown in Figure 5 the manual reset function is enabled on OSSD 1.

The E-Stop-button connected to input 1 is released without sending a reset command.

-The I/O index and Diagnostics code show the following values: 192 - 2

-to indicate the OSSD 1A/1B (Table 2: 192 = first output).

-to indicate the diagnostic code (Table 4: 2 = Waiting for OSSD to restart).

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SAFEMASTER PRO fieldbus modules

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SOFTWARE BUS CONFIGURATOR"

The fieldbus module is configured via the micro USB interface on the front panel and using the "BUS

CONFIGURATOR"softwareon the SAFEMASTER PRO Designer CD-ROM.

This software allows configuring all fieldbus modules. It allows also the bi-directional communication of the

SAFEMASTER PRO systemwith a PC (using fieldbus module UG6957 for USB) or the display of the data, that is

transferredon the INRAIL-Bus of the SAFEMASTER PRO System(via the USB Port of the fieldbus modules). The

following picture demonstrates the possible connections:

Connection Example

Figure 6

It is important to point out the difference in behaviour oft the BUS CONFIGURATOR when communicating with the

modules UG6951 to UG6956 and the module UG6957 (USB):

•Module UG6951to UG5956:The software only allows the display of data that is transferred on the INRAIL Bus.

•Module UG6957:The software allows the bi-directional data transfer.Inthis case the operator cansetthe state of

the inputs “Fieldbus Input” directly from the computer.

CONFIGURATION

The module must be configured with the outputs disabled (outputs OFF).

Following parameters to exchange can be set:

- Input / output states

- diagnostic data

- bytes "fieldbus input" and "fieldbus output" used in the electric schema

- module address in the fieldbus network

- baudrate, in modules where this is envisaged

The address range depends on the type of fieldbus that is installed.

Module configuration can be queried at any time during module operation.

To configure the fieldbus module, proceed as follows:

1. connect the module via the IN-RAIL-BUS totheSAFEMASTERPRO system;

2. connect the SAFEMASTERPROsystemto the 24VDC +20% voltage power supply via the terminal strip;

ATTENTION: the master unit UG6911.10 must be without error state.

3. connect the USB cable to the PC and to the fieldbus module;

4. start up the "BUS CONFIGURATOR" software.

UG695x <-> SPS

via fieldbus

(bi-directional)

UG695x <-> SPS

via USB

(only monitoring)

UG6911 UG695x

This manual suits for next models

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