SETUP SAFE I/O CONNECT

Safe I/O connect is defined in the DCS Safe I/O connect menu.

4.2.1

DCS Safe I/O Connect Menu

The DCS Safe I/O connect menu is displayed by pressing the ENTER key or the F3(DETAIL) key while on the "Safe I/O connect" item in the DCS Top menu.

DCS Safe I/O connect 1/64 Output Input1 Input2 Status SSO[ 1]=! SPI[ 1] AND @SPI[ 2] OK ---[ 0]= ---[ 0] ---[ 0] OK ---[ 0]= ---[ 0] ---[ 0] OK ---[ 0]= ---[ 0] ---[ 0] OK ---[ 0]= ---[ 0] ---[ 0] OK ---[ 0]= ---[ 0] ---[ 0] OK ---[ 0]= ---[ 0] ---[ 0] OK ---[ 0]= ---[ 0] ---[ 0] OK ---[ 0]= ---[ 0] ---[ 0] OK [ TYPE ] [CHOICE] UNDO

4.SAFE I/O CONNECT FUNCTION MAROCDCSF08091E REV D

- 64 -

Items in DCS Safe I/O connect menu

Item Description

Output Used to set the Safe I/O that is used for output. When "---" is selected, the line is disabled.

When the specified Safe I/O is ON, "@" is displayed on the left side of the Safe I/O name. When the cursor is on this item, the comment of the specified Safe I/O is displayed on the prompt line at the bottom of the screen.

Input 1 Used to set the Safe I/O that is used for input 1.

You can specify "!" on the left side of the Safe I/O name, this means the inverse value (NOT) is used.

When the specified Safe I/O is ON, "@" is displayed on the left side of the Safe I/O name. When the cursor is on this item, the comment of the specified Safe I/O is displayed on the prompt line at the bottom of the screen.

Input 2 Used to set the Safe I/O that is used for input 2.

You can specify "!" on the left side of the Safe I/O name, this means the inverse value (NOT) is used.

When the specified Safe I/O is ON, "@" is displayed on the left side of the Safe I/O name. When the cursor is on this item, the comment of the specified Safe I/O is displayed on the prompt line at the bottom of the screen.

Operation Used to set the operation of input 1 and input 2. (Space): No operation. Input 2 is ignored. AND: Logical AND of input 1 and input 2. OR: Logical OR of input 1 and input 2.

Status The status of this Safe I/O connect is displayed.

OK: Setting parameter and DCS parameter are the same.

CHGD: Setting parameter is changed, but not applied to DCS parameter.

PEND: Setting parameter is changed and applied to DCS parameter, but controller power has not been cycled.

Operation in DCS Safe I/O connect menu

Operation Description

F5(UNDO) UNDO the items in this menu. The setting parameters become the same as the current DCS parameters.

MAROCDCSF08091E REV D

5.DEVICENET SAFETY

- 65 -

5

DEVICENET SAFETY

5.1

INTRODUCTION

5.1.1

Overview

CIP-Safety is part of a suite of protocols specified by the Open DeviceNet Vendors Association

(www.odva.org). This chapter covers Integrated DeviceNet Safety option that is based on the CIP-Safety protocol.

This option allows the robot to act as a slave to a safety plc (such as Rockwell GuardLogix or Omron Safety Controller) exchanging I/O using the CIP-Safety protocol.

5.1.2

CIP Safety Requirements

This product has been designed to be a part of larger safety devices/systems, each one having different properties.

The robot controller safety configuration is managed locally (generally through the robot teach pendant). This is different from a safety I/O block, for example, that is configured by a Safety Network Configuration Tool (SNCT). If a SNCT configures a device it generates a Safety Configuration Identifier (SCID) which can be used to verify device configuration. A SNCT (eg. RS-Logix5000, Omron Network Configurator safety plc configuration programs) does not configure the robot controller safety behavior. The robot controller safety configuration can be monitored using the following tools :

• DCS Signature Number screen found under DCS Menus • Configuration Change Latch and Reset bits (CCL, CCR bits)

In the context of the robot acting as a CIP-Safety slave to a safety plc the CCL/CCR bits can be included in the safety I/O exchanged with the safety plc (see section 4.1 in this manual) to detect any change in the robot safety configuration.

Please consider the following points :

• The replacement of safety devices requires that the replacement device be configured properly and operation of the replacement device shall be user verified.

• The user should assign SNN numbers for each safety network or safety sub-net that are unique system-wide.

• Since you must choose to configure safety connections with an SCID=0, you are responsible for ensuring that originators and targets have the correct configurations. The robot does not get safety configuration from the safety plc or SNCT, as such, it is not relevant to receive anything other than an SCID of zero. The robot safety configuration can be managed using the “Signature Number” details screen (under DCS menu on the robot teach pendant) and/or using the “Configuration Change Latch” and “Configuration Change Reset” bits available within the Safety I/O Connect feature (see section 4.1) to detect any changes in robot configuration from the safety plc.

• Please test safety connection configurations after they are applied in an originator to confirm the target connection is operating as intended.

• Please clear any pre-existing configuration from any safety device before installing it onto a safety network.

5.DEVICENET SAFETY MAROCDCSF08091E REV D

- 66 -

• Please commission all safety devices with MacId (and Baud Rate if necessary) prior to installing it onto a safety network.

• Please note that originators that have an “automatic” SNN setting feature should only use that feature when the safety system is not being relied upon.

• Please note that LEDs are NOT reliable indicators and cannot be guaranteed to provide accurate information. They should ONLY be used for general diagnostics during commissioning or troubleshooting. Do not attempt to use LEDs as operational indicators.

The following points are included for informational purposes, and apply to safety targets which contain SNCT-configurable data (i.e. a safety I/O block). Since the robot controller does not contain any such configuration, these rules have no real application in its use or setup:

• Please completely test a device’s operation before setting the Lock Attribute. Since the robot safety configuration is not configured by the safety plc configuration tool the optional Lock attribute is not supported in the robot. Any changes to the robot safety configuration require applying the DCS code number on the robot teach pendant and will result in a change to the configuration signature and state of the appropriate configuration change latch bit.

• Please upload and compare the configuration from each affected safety devices to that which was sent by the SNCT before setting the Lock Attribute in those devices. This does not apply to the robot since the safety configuration is not set by the SNCT (Safety Network Configuration Tool).

• Please visually verify that all configuration data was downloaded correctly. • Please note that user testing is the means by which all downloads are validated. • Please note that the signature should only be considered “verified” after user testing.

• Please note that configuring an originator with connection data and/or target configuration data must be downloaded to the target so it can be tested and verified. Only then can SCIDs from the target be confirmed.