Follow the procedure below after DeviceNet Safety Setting of robot controller is completed.
WARNING
The procedure written in the document focuses on the way of setting, and it does not include any safety precaution. The operator must read manuals provided by Rockwell, and examine them carefully and sufficiently before using the
procedure, and take any precaution, if required, in using the procedure.
To add a robot devicenet safety slave connection to GuardLogix :
• Install Rockwell PLC hardware and software
• Launch the RSLogix5000
• In the IO Configuration tree add applicable backplane and modules to configure the system (eg.
1756-DNB devicenet scanner module)
• Right click on the appropriate DeviceNet scanner and choose “New Module” (you must be offline to add a module).
• Under Safety choose the “Generic DeviceNet Safety Module”
Configure the DN Safety Slave in Module Properties under the General Tab (use ‘Change …’ button):
• Name’ and ‘Description’ is user defined (can be anything).
• Set ‘Node’ to correct MAC_ID.
• Set ‘Vendor’ to 8, ‘Product Type’ to 140 and ‘Product Code’ to 34.
• Set ‘Major’ and ‘Minor Revision’ to match stack version. See EDS file. Currently major revision is 2 and minor revision is 2.
• Set ‘Electronic Keying’ to Exact Match.
• Set ‘Output’ and ‘Input Data’ to Safety. Set ‘Data Format’ to Integer-SINT.
• Set ‘Configuration Instance’ to 1024.
• Set ‘Safety Input -> Output Assembly’ to 1024.
• Set ‘Safety Output -> Input Assembly’ to 1024.
• Set ‘Safety Input -> Input Assembly’ to 768 + size in bytes of robot safety I/O. (i.e. default size of 2 bytes = 770).
• Set ‘Safety Output -> Output Assembly’ to 896 + size in bytes of robot safety I/O. (i.e. default size of 2 bytes = 898)
• Set 8-bit sizes accordingly (2 bytes if using default safety I/O sizes).
The following screen shots are for a safety connection to the robot using the default safety I/O size of 2 bytes in and 2 bytes out. Changing robot safety I/O size is described ion section 6.2.2.
Under the Safety Tab Configuration Signature setting you can choose to :
Disable checking of configuration signature to skip comparing Configuration Signature during connection establishment
Enable checking of configuration signature. You must manually enter the robot’s Total Signature Number (shown on DCS Signature Number screen) in Hex. The Date/Time stamp will be the ACTUAL Date/Time stamp shown on the DCS Signature screen (offset in the SNCT by the timezone) or 1/1/2009 at 6:00:00.000 (offset in the SNCT by the timezone) if FIXED is is set for Config Signature Date/Time in the CIP Safety setup screen. The timezone offset in the SNCT can be seen by double clicking on the time in the task bar and looking at the local timezone. As an example if FIXED date/time is used and the SNCT shows GMT-05:00 then instead of 6am the time would be entered as 1am.
Press OK to add the robot safety slave connection to the safety plc configuration. Download the new configuration to the Safety plc and go online. The new safety connection will fail until the Safety Network Number (SNN) is set. Use the “…” button on the General tab of the robot safety slave module properties to set the SNN. The “SET” button will be active when the safety plc configuration software is online with the safety plc and the robot is on the devicenet network configured for a safety connection.
Note that the slave only accepts a new SNN when it currently has no SNN (reset back to factory default).
The “Reset Ownership” button under the safety tab can be used to reset the SNN if required.
The current SNN set in the robot can be viewed on the CIP-Safety Status screen. See section 6.2.4.1 for details on this screen,
6.2.3.2 Omron safety PLC example configuration
This section does not replace any part of manuals provided by OMRON. It is based on using the following controller :
• OMRON safety controller: NE1A-SCPU01-V1, NE1A-SCPU02 Required configuration software (provided by OMRON):
• Network Configurator for DeviceNet Safety Related manuals (provided by OMRON):
• DeviceNet Safety System Configuration Manual (Z905)
• DeviceNet Safety Network Controller Operation Manual (Z906)
• DeviceNet Safety I/O Terminal Operation Manual (Z904) Procedure
Follow the procedure below after DeviceNet Safety Setting of robot controller is completed.
WARNING
The procedure written in the document focuses on the way of setting, and it does not include any safety precaution. The operator must read manuals provided by OMRON, and examine them carefully and sufficiently before using the
procedure, and take any precaution, if required, in using the procedure.
1. In Network Configurator, create a project for DeviceNet Safety network. Add a OMRON safety controller to the virtual network.
2. Select EDS file – Install. Select the EDS file of Molex DN Safety Slave, and press open. The EDS file will be registered.
3. Look for Molex DN Safety Slave in Hardware List Window. Molex DN Safety Slave is under the following location in the list.
DeviceNet Hardware->Vendor->Woodhead Software & Electronics(SST) ->Safety Communications Adapter
4. Double click Molex DN Safety Slave in Hardware List to add it to the virtual network.
5. Select Molex DN Safety Slave in the Network Configuration pane, and right-click it and select Change Node Address. Then dialog box will show up. Change the node address and click OK button.
6. Double click OMRON safety controller in the Network Configuration pane to open safety connection setting window.
7. Molex DN Safety Slave is listed in Unregistered Device List(upper pane). Click button.
8. Molex DN Safety Slave is moved to Registered Device List(lower pane).
9. Double click Molex DN Safety Slave in Registered Device List to open the screen for setting safety connection parameters.
10. Choose Safety Input Assembly with the data size configured as output size in DCS screen of robot controller. Select "Open only" as Open type. Change other settings as required, and press OK.
NOTE