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ROTOSCAN RS4/PROFIsafe

1. In the next step the RS4 has to be configured as a PROFIBUS slave The PROFIBUS address should be entered in the hardware configuration program this has also been defined on the RS4 by means of the hex switches In addition the starting addresses of the input and output bytes will be set PROFIBUS writes the RS4 input byte section 5 1 1 to the input byte cyclically while the output byte is cyclically transmitted to the RS4 section 5 1 2 A simple user program is able to work only with these two bytes of the process image Configuration of the PROFIsafe driver by means of STEP 7 PROFIsafe carries out its safety measures in reliance on the PROFIBUS standard by means of a software function that is referred to as the PROFIsafe driver This driver runs both on the master and on safety slaves like the RS4 PROFIsafe and is consequently programmed with extreme flexibility It therefore only requires to be adapted to the equipment in question by means of a few defined parameters These safety relevant parameters of the PROFIsafe driver are known as the F parameters and they are contained in the GSD file Only some of these parameters can actually be set by the user of the RS4 PROFIsafe Further device dependent parameters those known as the i parameters and other user parameters are loaded directly to the scanner without any recourse to the GSD The following table gives an overview of the F parameters their r
2. 15 4 Design assembly and connection to the power supply eene 16 4 1 p 16 4 2 Mor 16 4 8 Connecting the device to power supply sesseeeeeeeeenerene nennen 17 4 4 DISPIAY 19 4 5 PROFIBUS address sce sana abonner eer e ubera eens 20 5 Datta StrUCtUre e 21 5 1 Cyclic data exchange iiie eger E Pe eca HL ERCRRE LER EXE EL LEE E EET Fes ELE REN ER ARR 21 5 1 1 Cyclic gsimric 21 5 1 2 iis oec diri m 23 5 2 Acyclic data exchange retenir inrita tiri tiroteo than ER dena Eso REF a ugs uos 24 5 2 1 Header for acyclic commands inierunt titer riter denne nah a robs 26 5 2 2 Commands to the PROFIsafe adapter esssssssssssseeeenenneenee nennen 28 5 2 3 Commands to the FI84 iesen cnin treni rii nenas c ri engen eti esa sidadi Renan 5 3 Ala MS isciani 5 3 1 Alarm update messages 5 3 2 Diagnosis alarms chro ei ze dati ee ee dean REDE ERA EH ave ea 6 Project configuration of the master eessseeseeseeseeeeeeeenen nennen nnne nnne nnns 44 Leuze electronic RS4 amp PROFIsafe 3 Inhaltsverzeichnis amp Leuze e
3. Error SFC Item no Explanation number 0x0401 58 04 Error in writing data record functional block to RS4 PROFIsafe 0x0501 59 05 Error in reading data record RS4 PROFIsafe to functional block 0x0502 05 Error in RS4 PROFIsafe data record 0x0601 59 06 Error in reading data record RS4 PROFIsafe to functional block 0x0602 06 Error in RS4 PROFIsafe data record 0x0701 59 07 Error in reading data record RS4 PROFIsafe to functional block 0x0801 58 08 Error in writing data record functional block to RS4 PROFIsafe 0x0902 09 Error in RS4 PROFIsafe data record 0x1001 58 10 Error in writing data record functional block to RS4 PROFIsafe 0x1101 58 11 Error in writing data record functional block to RS4 PROFIsafe 0x1201 59 12 Error in reading data record RS4 PROFIsafe to functional block 0x1202 12 Error in RS4 PROFIsafe data record 0x1301 84 13 Error copying data component in working storage to data component in upload area 0x2101 58 21 Error in writing data record functional block to RS4 PROFIsafe 0x2201 59 22 Error in reading data record RS4 PROFIsafe to functional block 0x2202 22 Error in RS4 PROFIsafe data record 0x2301 59 23 Error in reading data record RS4 PROFIsafe to functional block 0x2302 23 Error in RS4 PROFIsafe data record 0x2401 58 24 Error in writing data record functional block to RS4 PROFIsafe 0x2501 83 25 Error copying
4. Tabelle 5 3 1 Structure of the alarm update message Diagnosis alarms Errors and warnings of the RS4 as well as errors in the PROFlsafe adapter will be reported as PROFIBUS diagnosis alarms Each new error will be reported as a new incoming alarm Errors that persist with a standing connection will be reported only once If the connection is broken off and cyclic data traffic is later resumed the last error that has occurred if it is still found to be present will be reported once more as an incoming alarm If no error is found for a minimum of 500 ms an outgoing alarm will be sent A sequential modality for 8 alarms is supported that is to say that up to 8 alarms can be held on the PROFIsafe adapters intermediate storage before being fetched by the master The diagnosis alarm PDU is coded as follows Byte Bit Description 7 6 5 4 3 2 1 0 1 0 0 0 0j 1 1 0 1 Length of the alam PDU including header de pendent on the alarm 2 0 0 0 0 0 0 0 1 Type diagnosis alarm 3 0 0 0 0 0 0 0 O No slots slot 0 4 O O Sequ no 1 O O No alarm differentiation with acknowledgement sequential numbers 0 7 5 1 0 0 0j 0 1 0 O Error code 0x84 error from slave 6 XI X X X X X x x High byte of uC2 error number 7 X X X X X x x x Low byte of uC2 error number Tabelle 5 3 2 Structure of the diagnosis alarm Leuze e
5. Tabelle 5 2 6 PROFIsafe adapter version determination 30 RS4 PROFIsafe Leuze electronic amp Leuze electronic Data structure Byte Description Response from the PROFIsafe adapter 10 DPV1SL components high byte 0x01 V1SL_COMP_INSTALLED_C2 0x02 V1SL_COMP_INSTALLED_C2_RQB_IFA 0x04 V1SL_COMP_INSTALLED_IBC 0x08 V1SL_COMP_INSTALLED_ASPC2 0x10 V1SL_COMP_INSTALLED_DPC31 0x20 V1SL_COMP_INSTALLED_SPC3 0x40 V1ISL COMP INSTALLED DPR 0x11 11 DPV1SL components low byte 0x01 V1SL_COMP_INSTALLED_C2 0x02 V1SL COMP INSTALLED CO RQB IFA 0x04 V1ISL COMP INSTALLED SUB AL 0x08 V1SL COMP INSTALLED SUB C1 0x20 V1ISL COMP INSTALLED SUB S7 0x40 V1SL COMP INSTALLED SUB SC OxOD 12 DPV1SL main interface 13 DPV1SL function 14 DPV1SL bugfix Tabelle 5 2 6 PROFIsafe adapter version determination Leuze electronic RS4 PROFIsafe 31 Data structure amp Leuze electronic 5 2 2 4 Reading out the most recent error of the PROFIsafe adapter With this WRITE command followed by a subsequent READ command the master can read out the most recent error from the PROFIsafe adapter Here is the WRITE request of the master Byte Description 5 0x84 PROFI CMD ERROR Querying the fault that most recently occurred in the PROFIsafe adapter Response of the PROFIsafe adapter to the master s subsequent READ command B
6. Bild 4 3 1 Connecting the RS4 PROFIsafe to the power supply Socket Function Pin 1 Pin 2 Pin 3 Pin 4 Pin 5 plug x1 Restart button n c 24 V DC n c Restart n c out in X2 PROFIBUS out VP RxD TxD N DGND RxD TxD P Shield put out out out out out X3 PROFIBUS input n c RxD TxD N n c RxD TxD P Shield in in in X4 Power supply 24 V DC n c 0V DC n c n c in in Tabelle 4 3 1 Terminal assignment of the RS4 PROFIsafe Leuze electronic RS4 PROFIsafe 17 Design assembly and connection to the power supply a Leuze electronic Ho Ho Plug X1 of the PROFIsafe adapter serves for the connection of a restart button This button serves first of all to unblock the startup restart interlock that is internal to the scanner if this has been activated in addition this button is responsible for the acknowledgement of error messages This is necessary if the scanner should malfunction When the restart button is activated the safety outputs OSSD 1 and OSSD 2 of the RS4 are switched off and the display on the scanner LED 3 lights up red The duration of the reset signal must be from 0 12 to 5 seconds The length of the restart cable must not exceed 25 metres Shielded standard PROFIBUS cables with the matching M12 PROFIBUS plug socket are screwed onto socket X2 and plug X3 If the RS4 PROFIsafe is the last device connected to PROFIBUS a matching bus terminator must be connected to socket X2 se
7. reserved e As it can happen that when the protective fields are being switched two pro tective field pairs may be selected simultaneously it is necessary to give two specifications for the selected protective field pair For the selected protective field pairs 0 means that no selection has been made 1 4 indicates selection of protective field pairs 1 4 With messages to the RS4 this byte has no significance Tabelle 5 2 9 Structure of the option byte in RS4 commands 36 RS4 PROFIsafe Leuze electronic amp Leuze electronic Data structure 5 2 3 1 Alive telegrams When alive telegrams are enabled with PROFI CMD GET RS4 DATA see section 5 2 2 2 the master can read these in the following format Byte Description 5 0x14 COM CMD ALIVE 6 Option 1 7 Option 2 8 Option 3 Tabelle 5 2 10 Structure of the alive telegram If no RS4 telegram is available a block without data content will be sent 5 2 8 3 Error telegrams If an error occurs in the RS4 the following command will be sent as an alarm section 5 3 2 or else sent to the master in response to an acyclic READ command Byte Description 5 0x53 COM_CMD_ERROR_OCCURRED 6 Option 1 7 Option 2 8 Option 3 9 RS4 error number high byte 0 RS4 error number low byte 11 RS4 error parameter high byte 12 RS4 error parameter low byte 13 RS4 error function high b
8. X7 Pasievierung Pasievierung Variable Table STL 178 Organization Block DP UPDATE ALARM STL 38 Organization Block Vo FLTT STL 38 Organization Block COMPLETE RESTART STL 38 Organization Block FBLS4 STL 10092 Function Block PROXY Siemens F FUP2 F FBD 166 Function FC Passivierung STL 62 Function PASS Siemens DB MMC LS4 CONFIG DB 16420 DataBlock DATA Siemens DB LS4 CONFIG DB 16420 DataBlock DATA Siemens DB MMC LS4 DATA DB 366 Data Block DATA Siemens VA E ABereich E A Bereich Variable Table READ CLK STL System function READ CLK SIMATIC DPRD DAT STL System function DPRD DAT SIMATIC DPwR DAT STL System function DPwR DAT SIMATIC STP STL System function STP SIMATIC WR_REC STL System function WR_REC SIMATIC RD REC STL System function RD REC SIMATIC READ_DBL STL System function READ DBL SIMATIC WRIT DBL STL System function WRIT DBL SIMATIC FCTRL 1 FSTL 9554 Function Block FCTRL 1 DSAFET F_CTAL2 FSTL S030 Function Block F_CTRL2 DSAFET F_10_B01 FSTL 11830 Function Block F 10801 DSAFET FSTL 356 Function Block F300ce FALGODDI FC CALL FALL 482 Function F30001 FALGODDI F GLOBDB FDB 204 Data Block F_GLOBDB S7F300 FDB 84 Data Block F300cf FALGODDI Press F1 to get Help 2222 Bytes Bild 6 5 1 Linking in the FB RS4 The number of the elements may be altered at will e g FB RS4 FB30 DB MMC RS4 CONFIG DB 32 DB RS4 CONFIG DB 33 DB MMC RS4 DATA DB34 54 RS4 PROFIsafe Leuze electr
9. forwarding RS4 telegrams In response the selected telegram or telegrams will be dispatched As the PROFIsafe adapter can put a number of RS4 telegrams into intermediate storage if the requested telegram is found a response will be immediately provided and can be read out Only after this has been downloaded by the master will a new telegram be supplied on the basis of the telegrams that have been received from the RS4 at the present time If measurement value telegrams are to be forwarded to the master on an ongoing basis and if the RS4 should generate an error or a warning message by telegram this will be Stored in a second buffer for the master if this also needs to be forwarded This means that even a slow master can both read out all measurement value telegrams and also receive error and warning telegrams 5 2 2 3 Determining the version of the PROFIsafe adapter With this WRITE command followed by a subsequent READ command the master can find out what version of the PROFIsafe adapter is in use Here is the WRITE request of the master Byte Description 5 0x90 PROFI CMD GET VERSION version determination Response of the PROFIsafe adapter to the following master READ command Byte Description Response from the PROFIsafe adapter 5 Version query response 0x90 6 PROF safe version high byte 1 7 PROF safe version low byte 0 8 PROFIBUS DP version high byte 1 9 PROFIBUS DP version low byte 0
10. amp Leuze electronic the sensor people ROTOSCAN RS4 PROF Additional Information to Instruction Laser Scann 605054 2009 03 Subject to change withq CONNECTING AND OPERATI amp Leuze electronic About the Connecting and Operating Instruction A The Connecting and Operating Instruction for the ROTOSCAN RS4 PROFIsafe Laser Scanner contain all the information you need for the correct use project configuration assembly electrical installation and commissioning of scanners with a PROFIBUS connec tion Additional information will be found in the RS4soft User Manual Both these documents as well as the RS4soft software form part of the RS4 setup set RS4 SWC and are intended for the use of planners operators and maintenance personnel of systems which are protected with the ROTOSCAN RS4 PROFIsafe Laser Scanner It is essential that all the instructions given in the Connecting and Operating Instruction and in the User Manual be observed especially those relating to safety The Connecting and Operating Instruction and the User Manual should be carefully looked after They must be available at all times throughout the period when the scanner is in use Safety instructions and warnings are indicated with the symbol AN Instructions relating to the safety of laser equipment are indicated with the symbol A indicates information without any safety implications The Leuze electronic GmbH Co KG is not liabl
11. switching circuit is broken and the time taken for the machine to come to a standstill must also be taken into account Warning As a fundamental principle it should be noted that the extension of response time as compared with an RS4 without a PROFIsafe adapter means that the safety distances to be maintained must likewise be higher 56 RS4 PROFIsafe Leuze electronic a Leuze electronic Putting the system into operation and replacing components 7 7 1 Putting the system into operation and replacing components Before putting the RS4 PROFlsafe into operation you must carry out the following operations set the address of the RS4 PROFIsafe adapter create the correct physical link to the PROFIBUS network create a link to the STEP 7 hardware configuration set the PROFIsafe parameters of the master program load and start the user program and parameterise the RS4 with RS4soft by means of the optical PC adapter The linking in of the Proxy FB FB RS4 see section 6 4 is optional This makes it possible to replace faulty equipment simply and quickly in case of a malfunction It is not required for the transmission of cyclic real time data In the simplest case the user program will just read the OSSD bit of the cyclic input data in the safety part of the PLC program and will then write the cyclic output byte see example in section 5 1 1 Warning After alterations of the RS4 parameters using the op
12. 5 Disposal Note Electronic scrap is special category waste Please observe the locally valid prescriptions for the disposal of such waste Neither the RS4 PROFlsafe Laser Scanner nor the PROFIsafe adapter contain any batteries or other materials that need to be removed before the equipment is disposed of Elo Leuze electronic RS4 PROFIsafe 15 Design assembly and connection to the power supply Leuze electronic 4 4 1 4 2 Design assembly and connection to the power supply Design The RS4 PROFIsafe consists of two components the RS4 laser scanner and the PROFIsafe adapter These have already been assembled together at the factory The PROFIsafe adapter manages the processing of standard RS4 data for PROFIBUS 1 PROFIsafe adapter 2 RS4 laser scanner Bild 4 1 1 Design of the RS4 PROFIsafe Mounting To mount the RS4 PROFIsafe you should use rather long fastening screws with a length of at least 50 mm and a diameter of 5 mm in other respects the mounting instructions for the RS4 PROFIsafe The borehole measurements may be seen from the scale drawings in section 9 16 RS4 PROFIsafe Leuze electronic amp Leuze electronic Design assembly and connection to the power supply 4 3 Connecting the device to power supply X1 Restart button connection X2 PROFIBUS output cable X3 PROFIBUS input cable X4Power supply X5 Optical PC interface
13. Cyclic output data Leuze electronic RS4 PROFIsafe 23 Data structure amp Leuze electronic Ho 5 2 Bit Designation Value Significance 2 Protective Selects a protective field warning field pairing on the RS4 1 field number The number of the protective field to be called up is expected to 0 lie in the range 1 to 4 Any other number would generate a swit ching error and will not be forwarded to the RS4 If an invalid pro tective field number is supplied the OSSD bit will be set to 0 Approximately 500 ms after a valid protective field number has been subsequently supplied the OSSD bit will be released again This does not mean that absolutely any protective fields from 1 to 4 as well as any kind of protective field switchings are permitted as additional restrictions may be made by way of the RS4 para meterisation The RS4soft software defines for the RS4 which protective fields may be switched on and in what order and which protective field may be activated when the system is swit ched on The PROFIsafe adapter ensures that correct timing will be obser ved when switching This means that the PLC program can by contrast with the description given in connection with the RS4 switch directly from one to another permissible protective field without activating both protective fields together for more than one second at most The protective field number is coded as follows Prot
14. RS4 functional block on the master has been allocated to the RS4 PROFIsafe If the connection between the optical PC interface and the RS4 has once been switched through all acyclic PROFIBUS commands will be acknowledged with an error message Cyclic data operations will not be directly affected by this Of course the OSSD signal switches off during a download by way of this interface if the data set on the RS4 is changed Removing or replacing the optical PC adapter in the course of active operations only has an effect on the Proxy Request bit When the adapter is removed there is an automatic request for parameter adjustment The OSSD bit will not be affected by this so long as no errors occur in the course of the parameter adjustment operation Note The optical PC adapter must not be left permanently connected as in that case the PROFIBUS master will not take on the parameter settings of the RS4 Please note as well that when the PC adapter is connected some of the PROFIBUS alarms cease to be available Scenarios If the Proxy FB functional block has been linked into the non safety part of the user program the following possible operating scenarios result First start up with RS4 PROFIsafe connected a new system is put into operation for the first time e Changing the parameterisation of an RS4 PROFIsafe that is known to the master e Normal start up with a correctly parameterised RS4 PROFIsafe e First start up after a de
15. RS4 PROFIsafe Leuze electronic a Leuze electronic Project configuration of the master After an unsuccessful parameter adjustment in either direction that is if either the upload or the download fails the RS4 PROFIsafe will be returned to the factory settings The Proxy FB will be notified of this The user then has to parameterise the RS4 PROFIsafe once again using the RS4soft software FB BUSY indicates that the Proxy FB is currently carrying on a parameter adjustment with the RS4 with which it is associated To do this it uses acyclic READ and WRITE commands As these commands extend the cycle time of the user program further acyclic READ or WRITE commands by the user program to the same or to a different PROFIBUS address should be avoided while parameter adjustment is being carried on If several RS4 PROFIsafes are installed on a PROFIBUS system that is to say if several Proxy FBs are being used on the master PLC these should be synchronised with one another so that if several parameter adjustment operations are launched simultaneously an overflow of the cycle time of the user program will be prevented This can happen for instance if the cyclic input byte is not switched directly to FIRST IN BYTE RS4 but is set by means of a marker byte If one of the Proxy FBs has set its FB BUSY output signal indicating that parameter adjustment is being carried on the marker bytes of the other RS4 PROFIsafe will for a temp
16. The Proxy FB works as the deputy of an RS4 PROFIsafe laser scanner in a safety PLC system of the SIMATIC S7 300F series It runs in the standard part of the user program and manages the mutual adjustment of parameters between the RS4 PROFIsafe and the master PLC so that automatic parameterisation can take place if the RS4 is replaced It is recommended that one FB RS4 is used for each RS4 Laser Scanner that forms part of the System Note For the data processing date and time are used Therefore the CPU date and time has to be set correctly Elo Parameter exchange is possible in both directions either PLC gt RS4 PROFIsafe or RS4 PROFIsafe gt PLC The Proxy FB expects the following input variables INPUT and supplies the following output variables OUTPUT Parameter Declaration Data type Storage area FIRST_IN_BYTE_RS4 INPUT BYTE 1 0 M D L FIRST_OUT_BYTE_RS4 INPUT BYTE I O M D L START ADDRESS REM MARKER __ INPUT INT l O M D L Const DB MMC RS4 CONFIG INPUT INT O M D L Const DB RS4 CONFIG INPUT INT l O M D L Const DB MMC RS84 DATA INPUT INT l O M D L Const DP DIAGNOSIS ADDRESS RS4 INPUT WORD l O M D L Const Tabelle 6 4 1 Input and output variables of the FB RS4 RS4 data functional block Leuze electronic RS4 PROFIsafe 49 Project configuration of the master amp Leuze electronic Elo Parameter Declaratio
17. of the safety instruc tions contained in this Connecting and Operating Instruction forms part of the qualifications that the personnel are required to have Special safety instructions relating to electrical connection may be found in section 4 The RS4 PROFIsafe conforms to safety category 3 as defined by EN954 1 In order to maintain this level of safety all elements in the safety chain that are installed on the downstream side right up to the stopping of the hazardous movement must also conform at least to the requirements of safety category 3 1 German Ger tesicherheitsgesetz 2 German Arbeitsmittel Benutzungsverordnung 3 German Arbeitsschutzgesetz 12 RS4 PROFIsafe Leuze electronic a Leuze electronic Safety instructions The use of the RS4 PROFIsafe Laser Scanner is subject to the relevant prescriptions of plant safety For the clarification of safety issues the responsible authorities e g professional trade associations OSHA etc may be consulted In general terms the conditions of use to be observed are as given below If the scanner is equipped with a protective housing there should not be any further window materials plastic glass etc in the path of the scanning beam Avoid touching the scanner window and the six scattered light panes The RS4 PROFIsafe Laser Scanner is not suitable as a protective facility in situations where the overspill of dangerous liquids is a possibility or where there are obje
18. parameter matching with the Proxy FB on the master is not currently running section 5 1 2 Warning A Although the data transfer is safe the warning signal must not be used in a safety related manner as it is not delivered by the scanner as a safe signal Note For the RS4 PROFIsafe this document replaces the description of the connection to the machine interface given in the RS4 4 Connecting and Operating Instruction Eo AN Warning In sizing the dimensions for your application it is essential that you take into account the longer response time of the RS4 PROFIsafe as compared with an RS4 that does not have a PROFIBUS connection section 6 6 Leuze electronic RS4 PROFIsafe 11 Safety instructions amp Leuze electronic 3 1 3 2 Safety instructions Hazardous consequences of failure to observe the safety instructions The products of Leuze electronic are developed and manufactured through the careful application of the recognised rules of technology The protective function of the equipment can however be impaired if it is inappropriately used or used otherwise than in the manner specified In this case it may no longer be possible to protect danger areas or protection will be less than adequate This may result in danger to life and limb for personnel who are in close proximity to the machine or plant Warning laser beam The RS4 laser scanner is a laser device of laser class 1 Please have regard to the appl
19. the process imaging memory of the master in each bus cycle or written from there to the slaves Normally no programming is required all that is needed here is a project configuration that is to say the allocation of the data of the master process image to the corresponding data in the PROFIBUS slaves The PLC program simply accesses the data in the process imaging memory without knowing whether these data are being input output locally in the context of the PLC or by way of a PROFIBUS slave PROFIBUS is responsible for the automatic cyclic exchange of information Acyclic exchange of data can be carried out by the master that has parameterised the slave This uses the READ and WRITE functions Acyclic data transfer is used for example in the transfer of parameter records from the master to the RS4 PROFIsafe download or from the RS4 PROFIsafe to the master upload Alarms represent a special case The master will be notified of these in the context of cyclic data transfer through the PROFIBUS status byte the master then gets the actual alarm information from the slave that has signalled by means of an acyclic telegram This information will then be written by the master to a memory area reserved for alarms SAP51 and can be subsequently evaluated by the application program 8 RS4 PROFIsafe Leuze electronic a Leuze electronic System architecture 2 2 2 3 For the project configuration of every PROFIBUS DP class 1 master an
20. well after any such change all the safety elements must be reconverted HW Config SIMATIC 300 Configuration ROTOSCAN RS4 Ini xi Mf Station Edit Insert PLC wew Options Window Help a xl polele s amp l ee lal El 22 re PS 307 2A PROFIBUS 1 DP master system 1 2 CPU 315F 2 DP TORS4A Properties DP slave x 1 x 3 4 5 6 7 8 3 Ti Address ID Parameter Assignment PROFIsafe Parameter name Value cena F Check SeqNr No Check F SIL SiL2 1 F_Par_Version 0 F Source Add 2002 F Dest Add 504 FLWD_Time 500 z e xj Please enter a value between 10 and 1000 I Address O Address co a Curent F parameter CRC CRCT hex ET gt 4 RS44 P1 Siot J d Order Number Designation SaD oK Cancel Help Press F1 to get Help Siemens Bild 7 3 1 Example of system programming hardware configuration 60 RS4 PROFIsafe Leuze electronic a Leuze electronic Putting the system into operation and replacing components 7 3 2 The user program Please copy the following components so as to link them into your user program e RS4 restart inhibition RS4 automatic start e RS4 field pair switching When you wish to use the RS4 Laser Scanner you should carry out an operation in the safety program to cancel the scanner s passivity This applies to the other F peripherals as well If for example an er
21. 5 2 3 having regard to the communication protocol and the safety prescriptions In addition to this control commands for the PROFlsafe adapter can be generated These have the same format as RS4 commands section 5 2 2 Please be aware that acyclic communication based on the PLC user program is only possible when the following conditions are fulfilled The RS4 PROFIsafe must be in a normal state of operation No PC adapter may be connected to the optical interface reed contact not activated The Proxy FB has concluded its data adjustment procedure So long as the PC adapter is connected to the optical interface all acyclic WRITE commands will be ignored If the Proxy FB has not yet finished its data adjustment procedure an acyclic command to the RS4 PROFIsafe that is generated by the user program will result in the termination of the Proxy FB s processing along with the delivery of an error message These commands consequently have to be synchronised with the Proxy FB see section 6 4 FB BUSY Note A faulty command to the RS4 in the course of normal operations can trigger an error in the RS4 so that this will be put into safe mode OSSD 0 Leuze electronic RS4 PROFIsafe 25 Data structure amp Leuze electronic 5 2 1 Class 2 master commands All RS4 commands may be used as class 2 master commands section 5 2 3 but not the special commands for the PROFIsafe adapter that are designed to control the automat
22. ERROR NUMBER RS4 After these elements have been transferred to the CPU the CPU can then be switched to RUN Now the FB RS4 is ready to communicate with the RS4 PROFIsafe o Note il No communication can take place when the optical PC adapter is attached to the RS4 PROFIsafe Leuze electronic RS4 PROFIsafe 55 Project configuration of the master Leuze electronic 6 6 Response time The overall response time for a safety system based on RS4 PROFIsafe is composed of e the response time of the RS4 including the PROFIsafe adapter e the time taken to transmit data from the RS4 PROFIsafe to the master program the cycle time of the master s PROFIsafe program the time taken for the safety circuit to cut out possibly involving an output by way of PROFIBUS and e the time the machine takes to come to a standstill The response time up to the completed evaluation of the OSSD bit in the master s safety program is determined by the following equation TR T scanner Twp where Tr response time from the moment when a protective field is violated until the evaluation of the OSSD bit on the master T scanner response time of the RS4 minimum of 80 ms can be set in 40ms steps decrements and Two watchdog time max 10 ms tscan rec 2 4 Bus_Cycle_Time where tscan_rec the cycle time of the PROFIsafe part on the master Tg is the time taken until the PLC output switches off The time taken till the power
23. If the RS4 cannot be found in the hardware catalogue the GSD file that forms part of the standard delivery should first be reinstalled in the hardware configuration program 44 RS4 PROFIsafe Leuze electronic a Leuze electronic Project configuration of the master 6 2 EiHw Config SIMATIC 300 Configuration ROTOSCAN RS4 F laj xj Bly Station Edit Insert PLC View Options Window Help lal x olele s S ee ilia Er 92 vel 3 1 PS 307 2A a PROFIBUS 1 DP master system 1 xis 12 CPU 315F 2 DP Profile Standard 32 DP c RE PaDEBLSDP E C3 Additional Field Devices EC General EC Gateway me PLC 56 C Compatible PROEIBH ga 4 R4 4 F le ai t 55 C Closed Loop Controller Configured Stations DP VO slaves 5 C DP ASA DP PA Link m ENCODER CJ ET 2008 QQ ET 200 S ET 200eco C ET 2008 S E ET 2001 8C ET 200M of 1C ET 200R 1 S ET 2005 aC ET 2000 GQ ET 200K CQ Function Modules 8 C IDENT H IPC sE NC sl J gt 0 UR rf Module Order number Firmware MPI address l address Q address Comment PS 307 24 GES7 307 1BA00 0440 CPU 315F 2 DP GES7 315 6FF01 0ABO v2 0 2 DF EZ 1 2 E A Field devices defined via device database files as DP slaves Press F1 to get Help ree pz Bild 6 1 1 Hardware configuration by means of STEP 7
24. alue of distance bit O has to be masked out Tabelle 5 2 14 Structure of the measurement data in the measurement value telegram 2 byte values within the measurement value telegram are transmitted with the high byte coming first and the low byte second 5 3 Alarms Alarms will be automatically transmitted by PROFIBUS to the master if they are reported to the master in the cyclic telegram in the PROFIBUS status byte The master will then get the actual alarm information from the slave that has reported it by means of an acyclic telegram and write it to a storage area reserved for alarms SAP51 The application program can then evaluate the alarm report without having to call up these data by means of an explicit READ command 40 RS4 PROFIsafe Leuze electronic amp Leuze electronic Data structure 5 3 1 5 3 2 Alarm update messages If after a C2 initiate a class 2 master accesses the PROFIsafe adapter in order to write for the first time this will be communicated to the class 1 master by means of the alarm update facility The alarm update PDU is coded as follows Byte Bit Description 7 6 5 4 3 2 1 0 1 0 0 0 0 0 1 0 O Length of the alarm PDU including header 4 bytes 2 0 0 0 0j 0 1 1 O Type alarm update 0 0 0 0 0 0 0 0 No slots slot 0 4 O O Sequ no 1 O O No alarm differentiation with acknowledgement sequential numbers 0 7
25. anges of values and their significance Leuze electronic RS4 PROFIsafe 45 Project configuration of the master amp Leuze electronic GSD parameter name Explanation F_Check_SeqNr Can be set to 0 or 1 default 0 0 the current number is not taken into account by the CRC 1 the current number is taken into account by the CRC F Check iPar Cannot be adjusted is preset to 0 for no i parameters F SIL Cannot be adjusted is preset to 1 for SIL2 F CRC Length Cannot be adjusted is preset to 1 for 2 byte CRC F Block ID Cannot be adjusted is preset to 0 F Par Version Cannot be adjusted is preset to 0 F Source Add Can be set in a range between 1 and 65534 default 1 Note this is automatically allocated by the SIMATIC Manager F Dest Add This must be set to 500 the PROFIBUS address factory setting 504 The device incorporates hex switches by means of which the PROFI BUS address can be set The PROFIsafe destination address is for med from the 16 bit sum of 500 and the PROFIBUS address and should be defined by the user as part of the project configuration In this way it can be ensured in systems that have only one PROFIBUS line that the destination address is unique Only this destination address will be accepted by the RS4 PROFIsafe In systems that have more than one PROFIBUS line it is the responsibility of the user to ensure that all RS4s that form part of t
26. being connected to PROFIBUS automatically in the first instance the old parameter settings will be transferred to the new RS4 PROFIsafe Subsequently the RS4 PROFIsafe parameters will be changed via the optical PC adapter When the parameterising is concluded the new parameters will be automatically transfer red to the Proxy FB Warning When the parameters are downloaded the user passwords will not be overwritten by the Proxy FB Consequently they must be manually altered by the user either before setting the system or at a later stage Leuze electronic RS4 PROFIsafe 59 Putting the system into operation and replacing components a Leuze electronic 7 3 7 3 1 Examples of system programming Setting up the hardware configuration of the ROTOSCAN RS4 laser scanner PROFIsafe destination address The RS4 PROFIsafe derives its PROFIsafe destination address from the PROFIBUS address according to the following formula F Dest Add 500 PROFIBUS address The default setting for the PROFIBUS address is 4 hex switches underneath plastic cover and the default value for F Dest Add in accordance with the GSD is 504 so that in systems with just one RS4 PROFIsafe in normal circumstances there is no need to change anything Watchdog time The watchdog time must be set to values 60ms Warning As when changes are made to the F parameters the starting value for the CRC calculation of the cyclic PROFIsafe data changes as
27. component in your fail safe user program the following parameters need to be defined Restart This parameter must be connected to the input coming from the restart button Electronic device This parameter is assigned the value of the contactor feedback monitoring EDM that is responsible for the switching of the safety function OSSD This input receives the laser scanner s OSSD bit Switch off This output controls the contactor that is responsible for the switching of the safety function lajx la x ajai vel MAMAY cai asa Restart Inhibition RSA Restart Inhibition HI vee Restart vee SED Svitch off vee oss Eo SEEK WES 2 Info Fosnes A Aden iio X 5 Hodiy A 6 Diogo 7 Comparzon 7 Press F1 to get Help 9 Hine ibs lt 52 insert Cha Bild 7 3 3 Example of system programming restart inhibition 62 RS4 PROFIsafe Leuze electronic a Leuze electronic Putting the system into operation and replacing components 7 3 2 2 The component RS4 automatic start This component makes it possible for the system to resume operations immediately once the protective field of the scanner is clear again This function can be used in connection with driverless transport systems for example When you incorporate this component in your fail safe user program the following parameters need to be defined OSSD This input receives
28. control signals for the RS4 PROFIsafe The system supports the acyclic commands READ and WRITE so that on the request of a master large blocks of data can be transferred either for parameterisation purposes or to give a read out of measurement data without having a long term adverse impact on cyclic real time operations 5 1 Cyclic data exchange After the parameters have been successfully set cyclic data transfer will be started irrespective of the status of the RS4 The input data will be set to safe values until the RS4 has started up after which its set of parameters may be checked by the Proxy FB 5 1 1 Cyclic input data The device supplies the safety master with input data of the length of 1 byte having the following structure Bit Designation Value Significance 7 OSSD Indicates the status of the RS4 s OSSDs 0 At least one of the two OSSDs of the RS4 is off or its si gnal could not be properly registered It is possible to find out the cause for the signal OSSD 0 from bits 1 to 5 1 Both OSSDs of the RS4 are switched on 6 Warning Replicates the status of the warning output of the RS4 output In the course of the parameterisation of the RS4 the warning dirty screen should be assigned to the warning output 0 The warning output has been set 1 The warning output has not been set 5 Error Indicates whether an error has occurred OSSD 0 in case of error Informati
29. cts with long machine braking times max depth of protective field 4 m In cases like these Leuze electronic can provide suitable door bolts safety switches either with or without guard interlocking The 24 V DC power supply which may vary from 20 to 30 must be by means of a safety transformer as defined by IEC 742 the same requirements apply to all incoming or outgoing power circuits that are connected to the system The scanner is to be connected to the power supply by way of a separate branch and by means of a 1 25 amp middle time lag fuse installed in the switch cabinet The complete system comprising scanner machine control and switching components may only be tested when no hazards to personnel will result from this Interfering with or modifying the RS4 PROFIsafe Laser Scanner can lead to a loss of its safety functionality Putting the machine into operation maintenance setting of the parameters and configura tion of the protective field are only to be carried out by properly qualified personnel Knowledge of the safety instructions of this Connecting and Operating Instruction and of the User Manual contained in the RS4soft program forms part of the qualifications that personnel are required to have The password required for the configuration of safety related settings is to be kept secret by the safety officer Information about password levels will be found in the RS4soft User Manual The use of the scanner for monitorin
30. d of every slave what is known as a an electronic data sheet GSD is required This will be supplied by the manufacturer of the master or the slave and describes its properties from the point of view of PROFIBUS As well as including such PROFIBUS data as e g the data transfer rate supported the telegram length supported the quantity of input and output data this file contains information about diagnosis signalling and specific device parameters PROFIsafe PROFIsafe is a functional extension of PROFIBUS DP and makes it possible to operate safety bus components along with non safety related standard components on the same bus PROFIsafe devices do not call for any kind of modification to the existing hardware components and can be integrated with existing systems without any problem The PROFIsafe driver is a software component that carries a T V certification Above the communication layers it makes use of the functions of the PROFIBUS DP stack Safety of data transfer is achieved by means of the special structure of the user data as well as including the actual safety data these also incorporate a control byte a serial number and a further check sum The destination address makes it possible to address a PROFIsafe device uniquely even in systems with several PROFIBUS lines that is with multiple slave addresses for similar devices Only cyclic data are transmitted safely i e are processed by the PROFIsafe driver before transmis
31. data component from upload area to data component in working storage Tabelle 6 4 2 Error codes of the Proxy FB 52 RS4 PROFIsafe Leuze electronic amp Leuze electronic Project configuration of the master Error SFC Item no Explanation number 0x2601 58 26 Error in writing data record functional block to RS4 PROFIsafe 0x2701 58 27 Error in writing data record functional block to RS4 PROFIsafe 0x2801 59 28 Error in reading data record RS4 PROFIsafe to functional block 0x2802 28 Error in RS4 PROFIsafe data record 0x2901 58 29 Error in writing data record functional block to RS4 PROFIsafe 0x3001 59 30 Error in reading data record RS4 PROFIsafe to functional block 0x3002 30 Error in RS4 PROF safe data record 0x3101 59 31 Error in reading data record RS4 PROFIsafe to functional block 0x3102 31 Error in RS4 PROFIsafe data record 0x3201 58 32 Error in writing data record functional block to RS4 PROFIsafe 0x3301 58 33 Error in writing data record functional block to RS4 PROFIsafe 0x3401 59 34 Error in reading data record RS4 PROFIsafe to functional block 0x3402 34 Error in RS4 PROFIsafe data record 0x4001 58 40 Error in writing data record functional block to RS4 PROFIsafe 0x4101 59 41 Error in reading data record RS4 PROFIsafe to functional block 0x4102 41 Error in RS4 PROFIsafe
32. data record 0x4201 84 42 Error copying data component in working storage to data component from upload area 0x4501 58 45 Error in writing data record functional block to RS4 PROFIsafe 0x5001 59 50 Error in reading data record RS4 PROFIsafe to functional block Tabelle 6 4 2 Error codes of the Proxy FB Leuze electronic RS4 PROFIsafe 53 Project configuration of the master a Leuze electronic 6 5 The user program So as to link them into your user program please copy the following elements FB RS4 FB 10 DB R84 CONFIG DB 101 DB MMC R84 CONFIG DB 100 DB MMC RS4 DATA DB 102 from the sample RS4 project that forms part of the standard delivery into your own safety program The DB instance DB RS4 DB 10 need not be copied because this will be automatically generated when the FB RS4 is called up IL SIMATIC Manager RS4 D Step7 Programme RS4_open 2 8 xd Re Insert PLC View Options Help Agi xi lt NoFiler 2 aS San vel e e pense ae Una SDB CYC INTS STL 52 Organization Block Er g S7 Programmi RACK FLT STL 38 Organization Block i Guster E DB RS4 DB 852 Instance data block Siemens FO0010 196 FDB 860 Instance data block F300cc FALGODDI FDB 392 Instance data block F300ed FALGOON FDB 728 Instance data block F300ce FALGOOD FDB 36 Instance data block F300d0 FALGOON X7 RS4 Schritte RS4 Schritte Variable Table
33. dow The window of the RS4 should be cleaned regularly depending on how dirty it has become A flashing yellow LED 5 indicates Dirty window the window must then be cleaned If the situation is not improved by cleaning it may be necessary to replace the window You are recommended to use the cleaning set that is obtainable as an accessory 430400 in order to clean the scratch proof window The window has good resistance properties against diluted acids or alkalis and is resistant to some extent to organic solvents see the RS4 s Connecting and Operating Instruction 1 German Betriebssicherheitsverordnung Leuze electronic RS4 PROFIsafe 65 Technical specifications and dimensional drawings amp Leuze electronic 9 Technical specifications and dimensional drawings Safety category Type 3 as defined by EN IEC 61496 Us power supply 24 V DC 20 30 external power supply unit must be reliably independent of mains and able to compensate for a 20 ms po wer failure current reserve 1 A protection class 2 unilaterally shielded cable shield placed on switch cabinet Residual ripple of power supply 5 within the Us limits Power consumption 320 mA Us 28 8 V 20 350 mA Us 24 V 500 mA Us 16 8 V 30 External fuse 1 25A Protection category IP65 Ambient operating temperature 0 50 C Ambient temperature for storage 20 60 C Relative humid
34. e for damage resulting from improper use Acquaintance with these instructions constitutes part of the knowl edge required for proper use Reprint and reproduction in whole or in part only with the explicit permission from Leuze electronic GmbH Co KG Liebigstrasse 4 82256 Fuerstenfeldbruck Germany Phone 49 8141 5350 0 Telefax 49 8141 5350 190 info 9 leuze de www leuze com RS4 PROFIsafe Leuze electronic amp Leuze electronic Contents Contents 1 cEhneBiuLictTe e N 5 1 1 S EUIS LEES 5 1 2 Symbols and terms enar nte reor arcam o rere ee o risa Een Pape Lope enian 5 2 System architecture 2 1 PROFIBUS DP 2 2 2 PROFISAfO M 9 2 3 The ROTOSCAN RS4 Laser Scanner eene eher nnne 9 2 4 The PROFIsafe adapter 3 Safety iNStructions E X 12 3 1 Hazardous consequences of failure to observe the safety instructions 12 3 2 Conditions and specifications of use sssssssssseseseeeeeeeenen rennen 12 3 3 Ar as Of USE MP 14 3 4 Organisational messutes ceni iiiter rear a E CO mais LEE LXX REEL niente 14 3 4 1 DO CUMOEMNMTAEOM PPM 14 3 4 2 Safety PreScriptlOnsy sd sssiviss x DTUUPEEELEEEIMM 14 3 4 3 Qualified personnel n ed air r rcr d rr a eerie tnit rra eR Eh dna 14 3 4 4 ul 14 3 4 5 p
35. e optical PC adapter is connected the RS232 and bit 3 will only be activated when the parameter adjustment has been com pleted While this is going on the RS4soft program on the PC can not set up any connection to the RS4 0 Monitoring of the parameter settings by the Proxy FB need not be carried out At the start of parameter che cking this bit is set to O If during the parameter checking an error occurs it will be reset to 1 1 The RS4 PROFIsafe indicates to the Proxy FB in the master that it must request or supply the RS4 PROFI safe s parameters and validate them 1 Protective field Shows that the protective field has been violated This bit must not be used for decisions with safety impli AN cations 0 The protective field has not been violated 1 The protective field has been violated 0 Warning field Shows if the warning field has been violated This bit must not be used for decisions with safety impli AN cations 0 The warning field has not been violated 1 The warning field has been violated Tabelle 5 1 1 Cyclic input data 22 RS4 PROFIsafe Leuze electronic amp Leuze electronic Data structure The cyclic input data are transferred as PROFIsafe data with 16 bit CRC Warning A Bits 0 6 must not be used for decisions that have safety implications The failsafe PLC must only evaluate bit 7 to release the machine that is connected on the out
36. e section 10 3 The RS4 PROFIsafe requires to be supplied via plux X4 with 24 V DC which may vary between 20 and 30 from a mains source conforming to protective class 2 by way of a unilaterally shielded supply line that should not exceed 50 m in length The shield has to be connected with the cabinet Power is supplied to the RS4 laser scanner via the PROFIsafe adapter For parameterisation purposes and for local diagnosis of the RS4 a PC with the RS4soft parameterisation and diagnosis software is connected to the top side of the PROFIsafe adapter by way of an RS232 interface the programming cable and the optical interface The cable exit of the PC adapter on the RS4 PROFIsafe thus points in the direction of the protective field A powerful magnet in the PC adapter not only brings about a mechanical halt but at the same time informs a reed contact in the device that the PC adapter is connected The interface will only be linked to the RS4 if at the time no automatic parameter matching with the optional Proxy FB in the master is being carried out section 6 4 The PROFIsafe adapter does read the stream of data but does not modify it in any way This interface thus corresponds in functional terms to the RS232 interface comprising SUB D plugs in the RS4 Note As the power supply for the PC adapter comes through the PC s COM port the latter must be RS232 compliant that is with a load of 3 kOhm it must still be able to supply a volta
37. ective field number Bit 2 Bit 1 Bit 0 1 0 0 1 2 0 1 0 3 0 1 1 4 1 0 0 Tabelle 5 1 2 Cyclic output data The cyclic output data are transferred as PROFIsafe data with 16 bit CRC Note As the PROFIsafe adapter always selects protective field 1 when PROFIBUS is starting up if you want to be able to start up after occurrence of an error or when switching on the system with any protective field then in setting the RS4 parameters you must at least authorise the switching sequences that follow from protective field 1 Acyclic data exchange Acyclic data exchange is advantageous if relatively large quantities of data have to be transferred rather infrequently The overall load on the bus can in this way be kept comparatively low which ensures that the real time functioning of the cyclic telegrams can be maintained The READ and WRITE commands enable you to transfer acyclic PROFI BUS data for instance in order to make a comparative adjustment of parameter settings to read out measurement data from the scanner or to transmit control commands 24 RS4 PROFIsafe Leuze electronic amp Leuze electronic Data structure Elo Class 1 master commands The RS4 PROFIsafe requires the acyclic class 1 READ and WRITE commands for automatic parameter matching which is managed by the Proxy FB section 6 4 It is also possible to generate RS4 commands using the safety master and to send these to the scanner section
38. ed interfaces and is suitable both rapid applications where time is a critical factor and for complex communication tasks Conti nuous technical improvement means that PROFIBUS will continue to be the ultimately reliable industrial communications system of the future PROFIBUS offers the functionally graduated communication protocols communication profiles DP and FMS Depending on the area of application RS 485 IEC 1158 2 or optical fibre cables are available as physical profiles to facilitate the transfer of information Up to 126 stations can be connected to PROFIBUS DP These divide up the transfer medium on a time share basis The configurable data transfer rate is 9 6 KBd to 12 MBd the maximum possible rate being limited by the length of the cable The RS485 cables that are most frequently used must have their ends terminated with a bus terminator see the section on accessories section 10 3 M12 terminal plugs i gt Tin pa a sk sb ee ee we St pe ati pil ae gt E Master Token Transfer Slave 1 Slave 2 Slave n Bild 2 1 1 The functional principle of PROFIBUS Leuze electronic RS4 PROFIsafe 7 System architecture amp Leuze electronic Access to the bus is controlled by means of a master slave protocol with overriding token passing What happens is that a master station generates a request to one of the slave stations that are subordinate to it for communication purposes and the latter reacts to the mast
39. er s request by sending a response telegram Only the master that is currently in possession of the token is allowed to generate request telegrams Passing the token brings it about that bus control rights are switched cyclically between the master stations As well as peer to peer communication between a master and a slave a master can also generate what are known as broadcast telegrams which are sent to the address 127 these will be received and evaluated by all slaves simultaneously but not acknowledged With what are known as modular slaves the PROFIBUS telegram may carry information on the slot and the channel as well as the slave address PROFIBUS DP incorporates two classes of master The class 1 master is the central component responsible for the polling ous access procedure and carries out data exchange with the input output devices slaves It defines the data transfer rate to which the slaves will normally adapt automatically and controls the exchange of the token with other masters Several class 1 masters may operate in the PROFIBUS DP system simultaneously Typical class 1 masters are programmable logical controls PLCs and PCs responsible for system control Class 2 masters are generally used as project configuration or visualisation devices and serve as auxiliary tools when starting up the system or for diagnosis Data exchange between the class 1 master and the slave may be cyclic or acyclic Cyclic data are read into
40. er adjustment can only be carried out on the basis of acyclic READ and WRITE commands In a later section the structure of acyclic commands will be examined in more detail This can be defined by the user A distinction must be made here between commands for the PROFIsafe adapter and commands for the RS4 As the RS4 PROFIsafe requires commands in order to supply RS4 data an RS4 data record cannot be called up directly by means of a READ command A complete RS4 data query therefore consists of e a WRITE in which the master specifies which data it wants to read followed by a READ through which the requested data that have in the mean time been supplied will be read out On the other hand some commands to the PROFIsafe adapter can be directly implemen ted with a WRITE command All the RS4 PROFIsafe command telegrams described below must in addition be started by the header Table 5 2 1 described earlier master gt RS4 PROFIsafe or will have a header supplied by the PROFIsafe adapter RS4 PROFIsafe gt master Only the user data will be described here For this reason the numbering starts in the tables below with byte 5 which is the first byte of user data Commands to the PROFIsafe adapter When any class 1 or class 2 telegram is received the first byte will indicate whether it is intended for the PROFIsafe adapter or for the RS4 If the command byte byte 5 is not one of those shown below the telegram will be forwa
41. estatshes 61 8 eLDLe e 65 8 1 Tests before the system is first put into operation seeseenne 65 8 2 aste iEn 65 8 8 Clearing the With Ow sonos ideni ete co ros el e ER A DXX Ea En RR REX UERE Ea LAE IR BERE 65 9 Technical specifications and dimensional drawings eee 66 10 Standard delivery and order details cease enne 68 10 1 Staridard dellVery i svi secon shih cess shes der Deo M yada OE deas REL CHE XR CARES aaa EAS 68 10 2 SIr EAO oE OH coxech caccdescusatacandshatcazasapseapaazaaysiseasbthsaesdensdectanesabsascvadessspaeasdnedasiaaacead 68 10 3 Order details RS4 PROFIsafe and accessories RS4 PROFIsafe esses 68 11 Declaration of conformity seeeeeeseeesseeeeeee eene ee antena etn sn tn natn asina atis a anna sanas 69 4 RS4 amp PROFIsafe Leuze electronic amp Leuze electronic General remarks 1 General remarks The RS4 safety surface scanner is an active opto electronic protective device or AOPD of type 3 as defined by EN IEC61496 1 and pr EN IEC61496 3 The PROFIsafe adapter is an accessory to the RS4 which serves for the safe connection of the device to PROFIBUS DP 1 1 Certification The Laser Scanner ROTOSCAN RS4 PROFIsafe was developed and manufactured with regard to the applicable European guidelines and standards An EC prototype test ce
42. fective RS4 PROFIsafe has been replaced by a new device The behaviour of the Proxy FB and the RS4 PROFIsafe in each of these four cases will be described below Putting the system into operation for the first time On the PROFIBUS master no valid parameter settings are available On the RS4 the parameters are in the first instance those that were set at the factory The RS4 PROFIsafe goes into normal operating mode all parameters conform to the factory settings In addition the output CONFIG SET TO DEFAULT of the FB RS4 is set As the factory safety settings generally do not correspond to the requirements of the situation of use the user will need to parameterise the RS4 PROFIsafe in the situation of use by means of the optical PC adapter This gives us our second scenario 58 RS4 PROFIsafe Leuze electronic a Leuze electronic Putting the system into operation and replacing components 7 2 2 7 2 3 7 2 4 Hmo Changing the parameterisation At the site where the equipment is installed the parameterising PC is connected to the parameterising interface of the RS4 PROFIsafe by way of the optical PC adapter After all the parameters on the RS4 have been set and checked with RS4soft once parameterisa tion has been successfully concluded the PC goes directly into normal operating mode with cyclic exchange of data Only when the PC adapter is removed from the interface is the PROFlsafe adapter informed that it should send t
43. for the READ command will be set by the RS4 PROFIsafe and must be evaluated by the master With the WRITE command the master sets this byte to zero 26 RS4 PROFIsafe Leuze electronic amp Leuze electronic Data structure Both for READ and for WRITE the individual bits in the data flow control byte will be set by the RS4 PROFIsafe as follows Bit Value Significance 0 0 The RS4 PROFIsafe cannot handle WRITE commands If a WRITE command is sent to the RS4 PROFIsafe all the same it will not be pro cessed instead an error signal will be entered in the error buffer and an alarm sent to the master 1 The PROFIsafe adapter is ready to write the first or the next data block 1 0 This data block contains no user data 1 This data block contains user data 2 0 Reserved 3 0 Reserved 6 5 4 The communication status of the PROFIsafe adapter is displayed in these bits in the form of a number 0 0 1 It has not proved possible so far to set up a path of communication Can only be received by a class 2 master if the PROFIsafe adapter has not yet concluded the startup procedure 0 1 0 The PC adapter is connected to the optical interface In this mode acyclic WRITE commands will be ignored no error message will be given 0 1 1 The Proxy FB of the master is currently processing an acyclic command READ or WRITE Any additional acyclic WRITE or READ command will result in an erro
44. g the passage of persons vertical protective field as defined by IEC 61496 3 is only permitted under the following conditions non detachable fixed mounting of the scanner non removable walls for zoning the passage which has to be protected response time of the entire protective device including PROFIBUS and PCL 160 ms Leuze electronic RS4 PROFIsafe 13 Safety instructions amp Leuze electronic 3 3 3 4 3 4 1 3 4 2 3 4 3 3 4 4 Areas of use ROTOSCAN RS4 Laser Scanners are primarily intended for the protection of danger areas To do this for the most part horizontal scanning serves to check for the presence of persons in the protective field at any time When the RS4 is in use access to the danger zone should only be possible by passing through the protective field Between the protective field and the danger zone a defined safety distance must be maintained This may be calculated from the formulas in the specific machine related European C standards or in the general B1 standard EN 999 The RS4 is absolutely not suitable as a protective facility when there is a risk that objects may be violently expelled or that hot or hazardous fluids may spurt out Nor is it suitable for machines with long overtravel times In cases like these Leuze electronic can provide suitable door bolts safety switches either with or without guard interlocking Warning When using the RS4 PROFIsafe please be aware t
45. ge of 5 V The claim to be RS232 compatible that is occasionally found with Notebook PCs is not sufficient here Note A complete description of the software may be found in the RS4soft User Manual 18 RS4 PROFIsafe Leuze electronic amp Leuze electronic Design assembly and connection to the power supply A Bild 4 3 2 Connecting PC and RS4 PROFIsafe with optical PC adapter 4 4 Display Below the surface on which the PC adapter is situated an LED is located which displays the status of the PROFIBUS connection When the power is switched on the PROFIsafe adapter runs through an initialisation procedure in the course of which the LED will give off continuous light for two to three seconds Rapid flashing at a frequency of ca 5 Hz indicates that the adapter is ready to set up the PROFIBUS connection If the LED lights up continuously for longer than 3 seconds or if the flashing frequency is less than 5 Hz this indicates a malfunction The varying flashing frequencies are intended to facilitate remote diagnosis by the service technician Note If there is a malfunction but the LED does not indicate an error the power supply should be checked Elo Leuze electronic RS4 PROFIsafe 19 Design assembly and connection to the power supply Leuze electronic 4 5 Ho PROFIBUS address After removing the 6 screws on the top of the PROFIsafe adapter the lid of the adapter may be taken off This makes i
46. going side if necessary 5 1 2 Cyclic output data The RS4 PROFIsafe expects to receive output data from the safety master PLC with the length of 1 byte having the following structure Bit Designation Value Significance 7 Restart Generates a restart signal on the restart line of the RS4 The timing that is defined for the RS4 must be guaranteed by the PLC or by external sensors 0 No restart pulse line set to 0 1 The restart input of the RS4 is switched to 1 restart activated 6 Proxy Enable This bit determines whether when the scanner is switched on or when the scanner parameters are modified by way of the optical PC interface an automatic adjustment by the Proxy FB will be carried out This bit will be evaluated when the PROFIBUS starts up and when the optical PC adapter is uncoupled In the user pro gram it should be definitely assigned either to 1 or to 0 0 The OSSD bit is released without the Proxy FB ha ving run The Proxy Request bit in the cyclic input byte see section 5 1 1 will nonetheless be set but the master will not necessarily take this into ac count No automatic parameter adjustment is pos sible when RS4 PROFIsafe is replaced 1 The Proxy FB is activated automatic matching of parameters between the master and the RS4 PRO Flsafe will take place 5 reserved Expects the value 0 4 reserved Expects the value 0 3 reserved Expects the value 0 Tabelle 5 1 2
47. hat the response time is higher than that given in the ROTOSCAN RS4 Laser Scanner Connecting and Operating Instruction and this will have implications for the permitted distance from the danger zone see also section 6 6 Organisational measures Documentation It is essential that all the instructions of this Connecting and Operating Instruction be observed especially those given in chapters 2 and 7 Keep this Connecting and Operating Instruction in a safe place It should be available at all times Regard must also be had to the ROTOSCAN RS4 Laser Scanner Connecting and Operating Instruction which describe the function of the laser scanner Safety prescriptions You should have regard to the statutory regulations that apply locally and to the prescriptions of professional trade associations Qualified personnel The equipment should be installed put into operation and maintained only by professio nally qualified personnel Electrical work may only be carried out by qualified electricians who must also have the required familiarity with the RS4soft software Repairs Repair work especially involving the opening of the housing may only be carried out by the manufacturer or by a person acting with the manufacturer s authorisation An exception to this is the setting of the PROFIBUS address with the rotary control switch see section 4 5 14 RS4 PROFIsafe Leuze electronic a Leuze electronic Safety instructions 3 4
48. he RS4 If the data on the master are consistent and no new RS4 has been recognised the release of the OSSD bit will take place immediately The parameters will be verified in the background If parameters have to be written to the RS4 the release of the OSSD bit only takes place after the parameter settings have been successfully trans mitted to the RS4 Leuze electronic RS4 PROFIsafe 57 Putting the system into operation and replacing components a Leuze electronic 7 1 2 Ho 7 2 7 2 1 PC adapter connected This situation should only occur in the installation phase or for control purposes After a short initialisation phase in which the connection with the PROFIBUS master will be established the PROFIsafe adapter is ready for cyclic PROFIsafe data operations The RS4 will be operationally ready in about 30 seconds The OSSD bit of the cyclic input data corresponds to the status of the OSSD of the RS4 until the RS4 reaches the state of operational readiness it will therefore be O off and subsequently it will be dependent on the violation of the currently active protective field The Proxy Request bit will not be set as long as the PC adapter remains connected Consequently there will not be any automatic parameter adjustment with the PROFIBUS master either Only when the PC adapter is removed does the PROFIsafe adapter set the Proxy Request bit and the parameter adjustment with the master follows if an Proxy FB FB
49. he entire system have different PROFIBUS addresses so as to bring about the required uniqueness of the destination address The device described here is a PROFIBUS slave with just one PROFIsafe module Consequently there is no need for any further mechanism to distinguish the individual modules from one another F WD Time Watchdog time can be set in a range between 10 and 1000 millise conds default 10 In the project configuration the value of F WD Time must always be set higher on the master in accordance with the equation F WD Time max 10 ms tscan rec 2 4 Bus Cycle Time where tscan rec the cycle time of the safety program on the PLC To obtain the system response time the response time of the RS4 which can be configured to a value gt 80 ms must be added to the value to which F WD Time has been set Tabelle 6 2 1 Parameters of the PROFIsafe driver 46 RS4 PROFIsafe Leuze electronic a Leuze electronic Project configuration of the master GSD parameter Explanation name F_Par_CRC Must be correctly set by the PROFIsafe project configuration tool to CRC1 for the F parameter block default CRC1 for default F para meters Tabelle 6 2 1 Parameters of the PROFIsafe driver Under the heading PROFIsafe the minimum requirement is the adjustment of the F WD Time parameter in keeping with section 6 6 If the PROFIBUS address deviates from the factory set
50. he new parameter settings to the Proxy FB on the PROFIBUS master This parameter adjustment takes place automatically in the background if parameter settings have already been saved on the Proxy FB these will be overwritten Switching on a parameterised device Depending on whether the PC adapter is connected to the optical PC interface or not the system will operate as described in 7 1 1 or 7 1 2 The RS4 PROFIsafe goes into normal operating mode Device replacement The serial number that is saved on the RS4 and in the Proxy FB enables the system to identify the scanner so that it will automatically recognise when a device has been replaced The parameter settings saved on the PROFIBUS master will be automatically transferred to the RS4 PROFIsafe without need of any further programming The Proxy FB saves the new serial number and the RS4 PROFIsafe goes into normal operating mode Note The automatic parameter adjustment between the PROFIBUS master and the RS4 PROFIsafe can take up to 3 minutes If a Proxy FB has once read the parameter settings of an RS4 PROFIsafe a new RS4 PROFIsafe will always be loaded with the parameter settings of the old RS4 PROFIsafe by the Proxy FB as it takes this to be a device replacement If it is really the case that you want to work with a new RS4 PROFIsafe and new parameters on the PROFIBUS address that has already been defined first of all the RS4 PROFIsafe must be introduced to the Proxy FB by
51. ic configuration section 5 2 2 All commands are transmitted to and from the RS232 of the RS4 transparently Communication by means of class 2 commands is only permitted for one master at any given time Header for acyclic commands Commands that are to be relayed to the RS4 on an acyclic basis may need more than 240 bytes so that they must be broken up into several blocks To ensure a consistent telegram format every data block that is transmitted acyclically including those that do not need as many as 240 bytes will be introduced by a header This header see table below replaces in an R84 command all RS232 specific formattings starting identifier terminal identifier labelling of two consecutive zeroes by means of subsequent Oxff and the check character Byte Description 1 Data flow control byte see table 5 2 2 2 Block length in bytes including header 3 Higher value byte most significant byte of the number of the data block begin ning with zero the last block is always assigned the number Oxff even when the first and the last block are identical 4 Low value byte least significant byte of the number of the block beginning with zero the last block is always assigned the number Oxff even when the first and the last block are identical 5 196 User data Tabelle 5 2 1 Header for acyclic command telegrams As the RS4 needs up to 2 minutes to process data the data flow control byte
52. icable statutory and local regulations for the operation of laser systems Avoid positioning the scanner at eye level Conditions and specifications of use Use of the RS4 PROFIsafe surface scanner is governed by the relevant European prescriptions relating to plant safety in particular Machinery Directive 98 37 EC and Directive on the Use of Working Equipment 89 655 EEC as well as the corresponding national laws that have been implemented in the various member states of the EU In the Federal Republic of Germany the laws that apply are the Plant Safety Act and the Ordinance on the Use of Working Equipment in association with the Working Conditions Act statutory prescriptions for the avoidance of accidents safety regulations and any other relevant safety prescriptions and standards Observation of these regulations is obligatory for the manufacturer and operator of the machine or equipment to which the opto electronic protective device is attached For the clarification of safety issues the responsible local authorities e g industrial control authorities professional trade associations or factory inspectorates may be consulted In general terms the conditions of use to be observed are as given below The equipment may be set up and connected to the power supply only by qualified personnel The same goes for the testing that must be carried out before the equipment is put into operation and for regular testing subsequently Knowledge
53. ity 15 95 without condensation Dimensions height x width x depth 167 mm x 141 mm x 168 mm Weight 2 25 kg PROFIBUS data rate 9 6 kBd 12 MBd PROFIBUS connection M12 plug b coded Response time of PROFIsafe adapter 10 ms gt 90 ms Length of power supply lead 50m Length of restart lead 25m not suitable for outdoor applications o Note i Further technical data see Technical description Laser Scanner ROTOSCAN RS4 66 RS4 PROFIsafe Leuze electronic a Leuze electronic Technical specifications and dimensional drawings ca 220 143 8 167 Axis of the rotating mirror Scanning plane o Wo Bild 9 0 1 Dimensional drawing RS4 PROFIsafe Leuze electronic RS4 PROFIsafe 67 Standard delivery and order details amp Leuze electronic 10 Standard delivery and order details 10 1 Standard delivery The following form part of the standard delivery Laser Scanner ROTOSCAN RS4 PROFIsafe Data Sheet PRA PROFIsafe 10 2 Start up Set RS4 start up set is required This can be used either with the AS i or with the PROFIsafe version It consists of the following components optical PC adapter cable CD ROM containing the RS4soft software CD ROM with additional components for linking to PROFIBUS ROTOSCAN RS4 Connecting and Operating Instruction RS4soft User Manual e thi
54. laves to access bus MMC Micro memory card OSSD Output signal switching device safety related switch output PC adapter Cable connection between the optical parameterisation and diagnosis inter face of the RS4 PROFIsafe and the RS232 interface of a PC PDU Protocol data unit PROFIsafe Application profile of PROFIBUS safety devices realised by means of a safety software component the PROFIsafe driver Proxy FB Functional block in the S7 master which carries out automatic parameter ad justment by referring to the RS4 PROFIsafe PF Protective field SFC System function call Slave Unit subordinated to the master for communication purposes The only mes sages it sends on the bus are answers to requests from the master PLC Programmable logic control Upload Transfer of parameters from a slave to a master WF Warning field C1 C2 Abbreviations referring to the two micro controllers in the PROFIsafe adapter a German DS Datensatz RS4 PROFIsafe Leuze electronic a Leuze electronic System architecture 2 2 1 System architecture PROFIBUS DP PROFIBUS is a manufacturer independent open field bus standard with a wide area of application in manufacturing and process automation context Independence of the manufacturer and openness are guaranteed by the international EN 50170 and IEC 61158 PROFIBUS makes it possible for the devices of different manufacturers to communicate with each other without any specially adapt
55. least one flag is set i e this byte can never have the value 0x00 If this option is transmitted the number of optional fields in option 1 must be at least two This optional character has the follo wing layout 7 6 Bit currently active protective field 0 free 1 occupied currently active warning field 0 free 1 occupied warning malfunction restart interlock 2nd protective field 0 free 1 occupied 2d warning field 0 free 1 occupied 1 for option 3 With messages to the RS4 this option byte has no significance Bit 7 will be set to 1 if option 3 has to be transmitted so as to make it impossible for op tion 2 to have the value 0 Tabelle 5 2 9 Structure of the option byte in RS4 commands Leuze electronic RS4 PROFIsafe 35 Data structure amp Leuze electronic Name Description Option 3 Option 3 transmits status information about the selected protective field pairs It will only be transmitted if at least one flag is set i e this byte can never have the value 0x00 If this option is transmitted the number of opti onal fields in the option 1 byte must be at least three This option byte has the following layout 7 6 5 4 83 2 1 0 Bit 1 selected pro tective field pair 2 d selected pro tective field pair
56. lectronic 6 1 Hardware configuration by means Of STEP 7 sss 44 6 2 Configuration of the PROFIsafe driver by means of STEP 7 sse 45 6 3 BIEN IEecic M 48 6 4 Proxy Function Block FB HS4 iec eire nitent rn nent ino tih n tne 49 6 5 Hg 54 6 6 In I efe zt NE 56 7 Putting the system into operation and replacing components 57 7 1 Behaviour of the system when switching on ssesssesseeseeeeeeneeneenenne 57 7 1 1 PC adapter not connected ccsececscesecceeseesseeesescseeeneaeseaeecseessseecseeseeneseaeseaeecseeesseeseeesees 57 7 1 2 PG adapter connected ide ren rcr ee eb OE RU LE XR ELO TE FRE e ee CR ER ETERR RE 58 7 2 cp HEOTEEEER 58 7 2 1 Putting the system into operation for the first time 58 7 2 2 Changing the parameterisation esses nennen enne 59 7 2 3 Switching on a parameterised device ou ee ee cece cence cee cee sense seaeeeeeseneeeaeesseeenaeseaees 59 7 2 4 Device replaCeMe nt RR 59 7 3 Examples Of system programming jinn cicvsecneseidnedevsdesevsteartetvsnrdlpsncsjancdehsdedepantdepanevarcatnarnaevaaslens 60 7 3 1 Setting up the hardware configuration of the ROTOSCAN RS4 laser scanner 60 7 3 2 Tie User DIrOGE alti deis oer parri perra terat ire persa reno rideo cre cradseacaheshasavatsasstv
57. lectronic RS4 PROFIsafe 41 Data structure amp Leuze electronic Byte Bit Description 7 6 5 4 3 2 1 0 8 X X X X X X x x High byte of the number of this error in yC2 since the system was last started up 9 x x x x x x x x Low byte of the number of this error in uC2 since the system was last started up 10 XI X X X X x x x High byte of uC1 error number 11 X x x x x x x x Low byte of uwC1 error number 12 x x x x x x x x High byte of the number of this error in C1 since the system was last started up 13 X X X X X X Xx x Low byte of the number of this error in uC1 since the system was last started up Tabelle 5 3 2 Structure of the diagnosis alarm The error code contained in bytes 6 to 7 and 10 to 11 respectively displays on the PROFIsafe adapter the most recent error occurring in the RS4 or in the C1 or p C2 It has the following significance 221100 Byte Code Cause significance Measures to be taken to rectify error LED on the RS4 does not light up Check the 24 V DC power supply also check for polarity reversal check the con nection lead if necessary replace faulty equipment 0x2418 The PROFIsafe driver cannot Invalid operating status can occur in case check the cyclic output data of PROFIBUS malfunctions 0x2419 The processing of the output data Invalid operating status can occu
58. mber low byte for index 0 in ring buffer of uC2 10 Error number high byte for index 1 in ring buffer of C2 11 Error number low byte for index 1 in ring buffer of uC2 46 Error number high byte for index 19 in ring buffer of C2 47 48 Error number low byte for index 19 in ring buffer of C2 Write index of the most recent error in uC1 that has been entered in the ring buffer 49 0 error occurred in the most recent cycle 1 error occurred earlier 50 Error number high byte for index 0 in ring buffer of uC1 51 Error number low byte for index 0 in ring buffer of uC1 52 Error number high byte for index 1 in ring buffer of uC1 53 Error number low byte for index 1 in ring buffer of uC1 88 Error number high byte for index 19 in ring buffer of uC1 89 Error number low byte for index 19 in ring buffer of C1 Tabelle 5 2 8 PROFIsafe adapter reading out data from the error register The content of the error register is maintained intact when the system is restarted but is lost when the device is switched off Leuze electronic RS4 PROFIsafe 33 Data structure amp Leuze electronic 5 2 3 Commands to the RS4 The RS4 commands described below use so called option bytes that is to say control flags carrying e g
59. n Data type Storage area Constant ERROR_NUMBER_FB OUTPUT WORD 1 0 M D L ERROR_CODE_SFC OUTPUT WORD 1 0 M D L CONFIG_SET_TO_DEFAULT OUTPUT BOOL 1 0 M D L FB_BUSY OUTPUT BOOL 1 0 M D L ERROR_NUMBER_RS4 OUTPUT BYTE 1 0 M D L Tabelle 6 4 1 Input and output variables of the FB RS4 RS4 data functional block FIRST_IN_BYTE_RS4 is allocated the value of the RS4 s cyclic input byte Bit 2 of this Proxy Request will be evaluated so as to activate the Proxy FB if required i e to carry out parameter matching between the RS4 and the master The FB RS4 will be informed in which direction the parameters are to be transmitted or whether the RS4 status is that defined by RS4 PROFIsafe when it was delivered from the factory While the parameters are being adjusted the output signal FB BUSY will be set After the parameters have been successfully adjusted the Proxy FB reads the RS4 identification data from the scanner so that in future it can recognise what is happening when a device is replaced without any possibility of mistake If an error occurs while the parameters are being transmitted e g negative acknowledge ment the command to cancel being given etc the FB RS4 will terminate the procedure and wait until it is called up again FIRST OUT BYTE RS4A is associated with the cyclic output byte At present it has no function though it may be used in subsequent versions START ADDRESS REM MARKER point
60. ng the first pair of fields Changeover_FP_2 This input must be connected with the sensor that is responsible for activating the second pair of fields Changeover_FP_3 This input must be connected with the sensor that is responsible for activating the third pair of fields Changeover_FP_4 This input must be connected with the sensor that is responsible for activating the fourth pair of fields Field_Pair_Bit_0 Cyclic output data of the scanner bit x 0 Field_Pair_Bit_1 Cyclic output data of the scanner bit x 1 Field_Pair_Bit_2 Cyclic output data of the scanner bit x 2 HSILAD STL FBD FB1 RS4_PROFIBUS S7 Programm 1 E 48 xi G Ele Edit Insert PLC Debug View Opticns Window Help l l x olaa amp tele ole ced Poe icp mim s Contents OF Environment interface a ROGER call nsa Field Pair changeover RS4 EE Change P lthengeovsr FP 1 Field Pair Bit OL ws Changeover_FP_2 Field Pair Bit 1L A uM d m n N s M M UN EU E LOS Sa aE BL Bild 7 3 5 Example of system programming switching the protective fields 64 RS4 PROFIsafe Leuze electronic amp Leuze electronic amp Leuze electronic Testing 8 8 1 8 2 8 3 Testing Tests before the system is first put into operation The tests that precede the system s first being put into operation should be carried out by qualified personnel and must ensure that the automatic optoelectronic protective device the
61. on on the nature of the error will be found in section 5 3 2 0 No error has occurred in the RS4 or in the PROFIsafe ad apter 1 An error has occurred in the RS4 or in the PROFIsafe ad apter Tabelle 5 1 1 Cyclic input data Leuze electronic RS4 PROFIsafe 21 Data structure amp Leuze electronic Bit Designation Value Significance 4 Operating status Displays the operating status of the device The RS4 may be parameterised either by way of PROFIBUS C1 or C2 service or by using the PC interface and the PC adapter 0 Normal protective operation 1 RS4 parameterisation status RS4 initialisation phase or the automatic parameter monitoring has not yet taken place or has not yet been completed OSSD 0 3 RS232 active Shows whether the optical PC adapter is connected to the RS232 When the signal switches from 1 to 0 that is to say when the PC adapter is uncoupled the Proxy Request bit bit 2 will always be set so that the Proxy FB can update its parameter settings in the master if necessary 0 No PC adapter is connected 1 The optical PC adapter is connected No RS4 paramete risation can be carried out by way of PROFIBUS C1 and C2 services will be acknowledged with an error message 2 Proxy Request In the first setting of parameters and during subsequent parameter adjustment the OSSD bit is set to 0 If during parameter adjust ment th
62. onic a Leuze electronic Project configuration of the master Before calling them up the bit Proxy Enable bit 6 of the cyclic output byte section 5 1 2 must be set by the user program to the fixed value 1 so that in case of need the RS4 PROFIsafe will send the Proxy Request bit in the cyclic input byte section 5 1 1 of the RS4 o Note il Transfer the input and output bytes of the RS4 to internal marker bytes and communicate these to the FB RS4 In this way it is possible if necessary to mask out the Proxy Request bit until such time as the current parameter adjustment with another RS4 has been concluded evaluation of FB BUSY signals of all FB RS4 This makes it possible to ensure that only one parameter adjustment operation will be running at any given time thus avoiding unnecessarily extending the cycle time of the user program A DB instance must be supplied when the FB is called up For example CALL FB RS4 DB10 CALL FB RS4 DB RS4 FIRST IN BYTE RS4 FIRST IN BYTE RS4 FIRST OUT BYTE RS4 FIRST OUT BYTE RS4 START ADDRESS REM MARKER 10 start address 34 bytes of remanent markers DB MMC RS4 CONFIG 2100 DB RS4 CONFIG 101 DB_MMC_RS4_DATA 102 DP_DIAGNOSIS_ADDRESS_RS4 W 16 3FE DP diagnosis address RS4 1022 hex 3FE ERROR_NUMBER_FB ERROR NUMBER FB ERROR_CODE_SFC ERROR CODE SFC CONFIG_SET_TO_DEFAULT CONFIG SET TO DEFAULT FB_BUSY FB_BUSY ERROR_NUMBER_RS4
63. orary period not be switched to the respective Proxy FBs or the Proxy Request bit will be masked out ERROR NUMBER R84 is intended for remote diagnosis by the manufacturer s services It supplies the error code of the RS4 The Proxy FB uses SFCs to communicate via PROFIBUS Error messages relating to these SFCs as well as error codes of the Proxy FB will be made available to the user program under ERROR NUMBER FB and ERROR CODE SFC The table below con tains the error numbers of the Proxy FB that may be output by way of the ERROR NUMBER FB parameter If the ERROR CODE SFC is not equal to zero this table makes it possible to determine the corresponding SFC The SFC error code can be decoded with the SIMATIC reference manual System software for S7 300 400 system functions and standard functions If Proxy FB processing is resumed ERROR NUMBER FB ERROR CODE SFC and ERROR NUMBER R84 will be reset to the value zero Error SFC Item no Explanation number 0x0101 83 01 Error copying data component from upload area to data component in working storage 0x0201 58 02 Error in writing data record functional block to RS4 PROFIsafe 0x0301 59 03 Error in reading data record RS4 PROFIsafe to functional block 0x0302 03 Error in RS4 PROFIsafe data record Tabelle 6 4 2 Error codes of the Proxy FB Leuze electronic RS4 PROFIsafe 51 Project configuration of the master Leuze electronic
64. r in case yields no consistent results of PROFIBUS malfunctions Ox2600 Incorrect protective field number Only select protective fields 1 to 4 Ox2A04 PROFIBUS telegram could not Evaluate the data flow control byte section be processed 5 2 1 in acyclic WRITE commands Ox2A05 Allreading buffers for PROFIBUS After each WRITE command the result re telegrams are occupied quested by the PROFIsafe adapter must be fetched by the master Ox2A06 PROFIBUS telegram is too long Only generate valid acyclic WRITE com mands Tabelle 5 3 3 Error codes of the PROFIsafe adapter 42 RS4 PROFIsafe Leuze electronic amp Leuze electronic Data structure Code Cause significance Measures to be taken to rectify error 0x2A0B Unexpected block number in PROFIBUS telegram The blocks of the telegrams must be num bered in continuous sequence 0x2B01 Unknown status of the Proxy FB 0x2B09 Error in CRC comparison 0x2B1X Echo data for CRC no x are incorrect 0x2B2X CRC no x is different on the se cond reading Acyclic READ and WRITE commands can only be processed when the Proxy FB has finished executing parameter adjustment watch for the FB_BUSY signal section 6 4 Tabelle 5 3 3 Error codes of the PROFIsafe adapter Leuze electronic RS4 PROFIsafe 43 Project configuration of the master amp Leuze electronic 6 6 1 Hio Project config
65. r in the Proxy FB s process sequence These errors can be prevented by checking the FB output FB BUSY on the master 1 0 O Normal operation acyclic READ and WRITE commands can be trans mitted having regard to bits 0 and 1 1 0 1 There is no active communication link in place That is to say there is no link to a class 1 master and the PC adapter is not connected to the opti cal interface This status report can only be given to a class 2 master 7 0 Reserved Tabelle 5 2 2 Structure of the dataflow control byte Leuze electronic RS4 PROFIsafe 27 Data structure amp Leuze electronic 5 2 2 The maximum length for a data record is 240 bytes the minimum length is 5 bytes Only slot 0 should be used Either 2 or 3 may be used as an index they will be treated in the same way by the PROFIsafe adapter If the master is not capable of handling dynamic data record length it is possible nonetheless by using these two indices to minimise the load on the bus in as much as short messages will be transmitted through a short data record e g DR2 index 2 and long messages through a long data record e g DR3 index 3 Which data record will be used is determined by the master Only the data bytes described in the header will be evaluated Apart from local parameterisation by way of the PC RS232 interface PROFIBUS parameterisation of the RS4 by means of the Proxy FB of a class 1 master with automatic paramet
66. rded without any further checking to the RS4 If the RS4 does not recognise the telegram either depending on the status of the RS4 either an error telegram will be the response RS4 goes into error mode or the telegram will be simply ignored 28 RS4 PROFIsafe Leuze electronic amp Leuze electronic Data structure 5 2 2 1 5 2 2 2 If the telegram is intended for the PROFIsafe adapter the length of the telegram and the parameter area limits will be checked If these are in error an error telegram will be sent in response In case of erroneous master READ commands the PROFIsafe adapter response is Byte Description 5 0x93 error in the telegram 6 Error specification 0 incorrect length 1 incorrect parameters 7 Command byte of the faulty telegram Tabelle 5 2 3 Response of the PROFIsafe adapter in case of error Resetting the PROFIsafe adapter Using the WRITE command shown below the master can reset the PROFIsafe adapter Here is the request the master needs to make Byte Description 5 0x94 PROFI CMD RESET Reset command to the PROFIsafe adapter no additional parameters Tabelle 5 2 4 PROFIsafe adapter resetting There will not be any response from the PROFIsafe adapter Immediately on reception of this command the resetting of the PROFIsafe adapter in the form of a power on reset will be executed This means that the PROFIBUS connection will be in
67. re supplied as a PDU indicative of status in which after the first 6 bytes of standard diagnosis the following bytes 7 to 11 are supplied Byte Bit Description 7 6 5 4 3 2 1 0 Byte7 0 0 0 0 0j 1 0 1 Length of the PDU indicating status is 5 including header Byte8 1 0 0 0 0 0 0 1 Type status message Byte9 0 0 0 0 0j0 0 0 No slots Byte10 0 0 0 0 0 0 0 0 No status differentiation Byte 11 x x x Xx x x x x Errorin F parameters error number see below The error number is coded in the following way Byte11 0 0 0 0 0 0 0 0 O noerrors Tabelle 6 3 1 Diagnosis data of the PROFIsafe driver 48 RS4 PROFIsafe Leuze electronic a Leuze electronic Project configuration of the master Byte Bit Description 7 6 5 4 3 2 1 0 Byte11 0 1 0 0 0 0 01 65 internal error in F Dest Add Bytee11 0 1 0 0 0 0 1 0 66 7 incorrect F Dest Add Byte11 0 1 0 0 0 0 1 1 67 2 incorrect F Source Add Byte11 01 0 0 01 0 0 68 incorrect F WD Time setting Byte11 01 0 0 0 1 0 1 69 incorrect SIL setting Byte11 0 1 0 0 0 1 1 0 70 2 incorrect CRC length Bytee11 01 0 0 0 1 1 1 712 incorrect F Block ID or F_ParVersion Byte11 0 1 0 0 1 0 0 0 72 incorrect CRC1 by way of the F parameters Tabelle 6 3 1 Diagnosis data of the PROFIsafe driver 6 4 Proxy Function Block FB RS4
68. ror occurs in communication between the RS4 and the PLC the scanner will be put into passive mode That is it returns the substitute value O As a result the function that it monitors is suspended When the error has been rectified the ACK_REQ bit will be set and the scanner can be reintegrated with the system by means of ACK REI It will now return its current data once more The parameters ACK REQ and ACK REI are to be found in the database instance of the scanner H LAD STL FBD FC2 RS4_ SIMATIC 300 1 CPU 315F 2 DP laj xl X Ele Edit Insert PLC Debug View Options Window Help lel xl nisje af x ones of eal s af eb mST E Contents OF Environmentlnterf ace Name E E Interface Gin d ouT IN OUT lt TEMP A RETURN FC2 Title Comment OI nsa Automatic Depassivation Comment F 0000 196 ACK REI F00000 196 ACK REQ d Bild 7 3 2 Example of system programming evaluation of ACK REI signal Leuze electronic RS4 PROFIsafe 61 Putting the system into operation and replacing components a Leuze electronic 7 3 2 1 The component RS4 restart inhibition This component ensures that when the laser scanner is switched off as a result of the protective field being violated the system will not automatically start up again without prior acknowledgement This component also includes electronic device monitoring When you incorporate this
69. rtificate as specified in EN IEC 61496 1 und pr EN IEC 61496 3 has been conferred by T V S ddeutschland Group Zertifizierstelle Ridlerstr 65 D 80339 Munich GERMANY oy CE 1 2 Symbols and terms The following symbols are used in this document and these are some of the terms that occur gt Instructions relating to specific actions informing the user of procedures to be followed settings to be made C1 C2 Class 1 or class 2 classification of PROFIBUS masters based on their sup port of different telegram formats CPU Central Processing Unit CRC Cyclic Redundancy Check the check sum in a data telegram DB Data block Download Transfer of parameters from the master to a slave DPVO Functional versions of PROFIBUS DPV1 DR8 Data record F CPU Failsafe CPU 1 Technischer Uberwachungsverein authority responsible for maintaining industrial standards Leuze electronic RS4 PROFIsafe 5 General remarks amp Leuze electronic F device Failsafe device when a malfunction is detected it automatically goes into safe mode F system Fail safe system consisting of F devices and other components FB Functional block GSD Electronic datasheet relating to a device that includes the device s communi cation parameters LS Laser scanner Master Control unit in a bus system gives permission to s
70. ry outline measured has 529 measurement values angle of 5 04 to 185 04 with 0 36 resolution Every individual measurement value has a segment number beginning with 0 This means that the measurement value at the 5 04 point has the segment number 0 and the measurement value at the 0 point has the segment number 14 Within a measurement message it is not necessarily the case that all values of the outline measured will be transmitted see resolution output start and output stop below The following data will be transmitted within a measured outline Byte Name Description Sizes 9 Scan num With every revolution of the RS4 the scan number will be 8 bytes ber incremented This scan number can be used to determine the distance in time between two measurement contours that have been output The actual scan number has a size of 32 bits So as to rule out the possibility of a small value producing a multiple zero in the transmission of these 4 bytes filler bytes are inserted between the individual bytes of the scan number This results in the scan number having the following struc ture Bits 24 31 OxFE Bits 16 23 OxFE Bits 8 15 OxFE Bits 0 7 OxFE 17 Resolution Gives the distance in segments measurement points 1 byte between two consecutive measurement values For ex ample the measurement outline is output starting from measurement value 0 through to 528 and the resolution is set to 4 Measuremen
71. s Connecting and Operating Instruction with additional information to RS4 PROFIsafe the Connecting and Operating Instruction with additional information to RS4 AS i 10 3 Order details RS4 PROFIsafe and accessories RS4 PROFIsafe Artikelbezeichnung RS4 PROFIsafe Order no RS4 4P1 Laser Scanner ROTOSCAN RS4 PROFIsafe 580012 CB PCO 3000 Optical PC adapter cable 520072 RS4 SWC Start up Set R84 970078 AC M12 PBT1 PROFIBUS M12 terminal plug 147500 RS4 clean Set1 150 ml Cleaning fluid for synthetic materials 430400 25 cleaning cloths soft and lint free RS4 clean Set2 1000 ml Cleaning fluid for synthetic materials 430410 100 cleaning cloths soft and lint free RS4 TB70 500 Test body cylindrical 500 mm in length dia 50036433 meter 70 mm reflectance factor ca 1 8 RS4 TB200 1000 Test body cylindrical 1000 mm in length dia 50036434 meter 200 mm reflectance factor ca 1 896 RS4 MS Montagesystem f r die Anbindung und Justa 50033346 ge des RS4 PROFIsafe RS4 Adap P Adapterplatte bei bereits bestehenden Monta 50035814 gesystemen 68 RS4 PROFIsafe Leuze electronic a Leuze electronic Declaration of conformity 11 Declaration of conformity Leuze electronic GmbH Co KG In der Braike 1 73277 Owen Teck German The manufacturer declares that the safety components of series RS4 PROFIsafe in the form in which they are marketed by us conform with the relevant basic safety and health requirements of
72. s to the start of the block consisting of the marker bytes of which there must be a minimum of 34 These bytes are required for internal purposes and do not have a data structure that has any relevance to the user program The starting address of this remanent marker area cannot be set by the SIMATIC software automatically but must be set manually in the course of the S7 hardware configuration section 6 2 DB MMC RS4 CONFIG DB RS4 CONFIG and DB MMC RS4 DATA are supplied with the relevant data component number Whereas DB MMC RS4 CONFIG and DB MMC RS4 DATA are addressed to data blocks on the micro memory card the data block addressed by DB R84 CONFIG is located in working storage Note The data components that fall under the acronym MMC micro memory card exchange their data only with the associated SFCs SFC 83 READ DBL and SFC 84 WRIT DBL DP DIAGNOSIS ADDRESS RS4A contains the PROFIBUS diagnosis address of the RS4 PROFIsafe In the S7 hardware configuration program it can be brought up by means of the menu sequence Properties General Diagnosis address CONFIG SET TO DEFAULT comes directly from the scanner and indicates to the user program that the RS4 PROFIsafe is reset or has been reset to the factory setting The output here is a 1 when the RS4 PROFIsafe is linked for the first time to the safety controls if the Proxy FB has not yet read a valid data record from the RS4 and saved it on the PLC system 50
73. safety program on the master PLC and any other safety components that are present have been properly selected in conformity with the local regulations particularly as specified by the Machine Safety Directive and the Directive on the Use of Working Equipment and in Germany the Operational Safety Ordinance and that they afford the required level of protection when operating in the manner prescribed You should test the protective device in accordance with local prescriptions making sure that the protective equipment has been properly assembled that it is electrically connected to the controls and that it is effective in all operational modes of the machine The same testing requirements apply if the machine is out of action for any length of time after large scale modifications of the equipment or after repairs if these could have implications for safety Please have regard to the requirement that operating personnel should be instructed by qualified persons before taking up their duties Training of personnel is the responsibility of the company operating the machine Regular testing Regular testing should be carried out again in keeping with local requirements The object of these is to detect changes e g with reference to overtravel times or modifications to the machine or protective equipment You should have the effectiveness of the protective equipment checked by qualified personnel at the prescribed intervals Cleaning the win
74. sion The ROTOSCAN RS4 Laser Scanner The RS4 surface scanner is an opto electronic protective device AOPD of type 3 It transmits very short laser impulses and measures the time until the impulse impacts on an object and until the reflection reaches the RS4 receiver The length of time enables the device to calculate the distance between the object and the RS4 The scanning unit in the RS4 rotates and transmitts receives a laser pulse at every 0 36 This enables it to scan a sector of up to 190 with the RS4 situated at the midpoint The protective field that is to be monitored is limited by a user defined curve around the scanner the maximum distance from this to the midpoint of the scanner being 4 metres If an object is detected between this boundary line and the scanner thus violating the protective field the scanner will switch off its safety related OSSD output bringing the hazardous movement to a standstill While the device is operating one of a maximum of 4 protective fields can be selected by enabling one of 4 outputs 1 German Technischer Uberwachungsverein Technical Inspection Authority Leuze electronic RS4 PROFIsafe 9 System architecture amp Leuze electronic Without reference to the parameters the scanner may put out a warning signal that is not safety related if a warning field defined by the user should be violated This warning field is coupled to the protective field in a fixed pairing All protec
75. status information which are transmitted along with each message The first option byte is always transmitted and defines protocol information such as for instance the number of option bytes that are being transmitted All the other optional characters will only be transmitted when this is necessary i e when at least one status bit is set The three possible option bytes have the following structure Name Description Option 1 Option 1 is always sent and has the following layout 7 6 5 4 3 21 1 0 Bit number of optional fields i e at least 1 current operating status 0 without password 1 with password 0 without acknowledgement 1 with acknowledgement reserved The number of option bytes can only lie between 1 and 3 bit O amp bit 1 The current operating status field bits 2 4 shows the current operating sta tus and has the following layout 000 no information with messages to the RS4 001 initialisation 010 measurement operations 011 configuration 100 error malfunction As the number of option bytes has to be at least 1 option 1 can never have the value 0x00 Tabelle 5 2 9 Structure of the option byte in RS4 commands 34 RS4 PROFIsafe Leuze electronic amp Leuze electronic Data structure Name Description Option 2 Option 2 transmits status information about the individual protective fields malfunction warning restart interlock It will only be transmitted if at
76. t possible to access the two hex switches which are used to set the PROFIBUS address HexL sets the lower value four bits and HexH the higher value four bits of the PROFIBUS address Addresses greater than decimal 126 hex 7E are not allowed This is ensured by not evaluating the highest value bit 7 The settings 127 hex 7F and 255 hex FF must not be used The factory setting is address 4 Note What is known as the F_Dest_Add which is necessary for the PROFIsafe protocol does not need to be set separately as it results from the simple addition of 500 to the PROFIBUS address It is therefore only necessary when configuring the system to ensure that in each of the PROFIBUS lines that are linked in a system each RS4 PROFIsafe has a unique PROFIBUS address 0000000 00000000 o000 1 HexL 2 HexH Bild 4 5 1 PROFIBUS address switches 20 RS4 PROFIsafe Leuze electronic amp Leuze electronic Data structure 5 Data structure The RS4 PROFIsafe supports both cyclic and acyclic data transfer In cyclic operation that is to say in each bus cycle what are referred to as the cyclic input and output data are exchanged between the master and the RS4 PROFIsafe The terms input and output data have reference to the master s point of view Thus Input data are read by the master are therefore data output by the RS4 PROFIsafe Output data are written by the master and are the
77. t values will be output for the fol lowing segments of the outline measured 0 4 524 528 18 Output start Indicates at which segment between 0 and 528 the 2 bytes measured outline of the output starts Tabelle 5 2 14 Structure of the measurement data in the measurement value telegram Leuze electronic RS4 PROFIsafe 39 Data structure amp Leuze electronic Byte Name Description Sizes 20 Output stop Indicates which segment between 0 and 528 supplies 2 bytes the last measurement value If the relation between the number of measurement values output resulting from output start and output stop and the resolution is not ex act then the measurement value corresponding to output stop will be output as well 22 Measure In succession the individual measurement values are Depen ment va transmitted starting with the measurement value that cor ding on lues responds to output start and ending with the measure output ment value that corresponds to output stop start Each measurement value here corresponds to the dis and tance measured between the RS4 s rotational axis and output object at the given angular position in millimetres stop 2 Bit 0 of each measurement value indicates whether bet bytesin ween the given measurement value and the previous one each the measured outline has violated a protective field This case means that when the measurement values are evaluated as a v
78. terrupted for approxima tely two seconds The RS4 will not be affected by this for RS4 restart see section 5 1 2 Forwarding RS4 telegrams On the basis of this WRITE command the master prescribes which RS4 data are to be forwarded to the master by the PROFIsafe adapter Here are the master s request options Byte Description 5 0x92 PROFILCMD_GET_RS4_DATA Processing of the RS4 s telegrams 6 The bit combination determines what telegrams will be forwarded to the master BitO 1 Measurement value telegrams will be forwarded to the master Bit1 1 Alive telegrams will be forwarded to the master Bit2 1 Warning telegrams will be forwarded to the master Bit3 1 Error telegrams will be forwarded to the master If this byte 0 no further telegrams will be forwarded Tabelle 5 2 5 PROFIsafe adapter forwarding RS4 telegrams Leuze electronic RS4 PROFIsafe 29 Data structure amp Leuze electronic Byte Description 7 0 only one telegram will be forwarded to the master 1 the telegrams selected above will continue to be forwarded to the master in the case of measurement value telegrams only use this facility if the master will really read the telegram otherwise the telegrams become obsolete Error or warning telegrams will be sent by RS4 once only so that these can only be re liably received if byte 7 1 gt 1 not permissible Tabelle 5 2 5 PROFIsafe adapter
79. the EC directives and that the standards were used in their design and construction Owen 01 02 2009 Dr Harald Gr bel General Manager You can also download this EC Declaration of Conformity from the Internet under http Awww leuze com rotoscan Leuze electronic RS4 PROFIsafe 69
80. the laser scanner s OSSD bit Electronic device This parameter is assigned the value of the contactor feedback monitoring EDM that is responsible for the switching of the safety function Switch off This output controls the contactor that is responsible for the switching of the safety function i LAD STL FBD FB1 RS4_PROFIBUS ST7 Programm 1 18 xl ik Ele Edit Insert PLC Debug View Options Window Help Agl xl olele e Hele c ela 5 1 mes e spen ejes el Contents Of EnvironmentlInterface E Interface Name X IN d OUT Fa OUT IN OUT ce IN OUT dB STAT Hg STAT 3g TEMP Har TEMP Network 3 Call RS4 Automatic Start DB4 RS4 Automatic Start EN ni ossp Suitch OffL EDM ENO Bild 7 3 4 Example of system programming RS4 automatic start component Leuze electronic RS4 PROFIsafe 63 Putting the system into operation and replacing components 7 3 2 8 The component RS4 field pair switching This component enables you to switch the protective fields of the RS4 Laser Scanner Here you do not need to bother about the timing as this will be managed by the RS4 itself When you incorporate this component in your fail safe user program the following parameters need to be defined Changeover_FP_1 This input must be connected with the sensor that is responsible for activati
81. tical adapter cable or after automatic data exchange the effectiveness of the switch off function must be tested along the defined contour of the detection zones Behaviour of the system when switching on The optical PC interface has important implications for the system properties when the system is switched on or when a connecting to PROFIBUS PC adapter not connected This is the normal operating situation After a short initialisation phase when the system is Switched on in which the connection with the PROFIBUS master will be established the PROFIsafe adapter is ready for cyclic PROFIsafe data operations The OSSD bit bit 7 in the cyclic input data is set to O off in the first instance The RS4 itself will only be operationally ready after about 30 seconds Then the Proxy Request bit bit 2 will be set in the cyclic input data From this point we must distinguish between two possible continuations 1 The Proxy Enable bit in the cyclic output byte is not set i e 0 It is assumed that no Proxy FB has been installed on the master for the RS4 PROFIsafe The release of the OSSD bit will take place immediately in dependence on the OSSD out puts of the RS4 2 The Proxy Enable bit in the cyclic output byte is set permanently to 1 Only when the Proxy FB in the PROFIBUS master has successfully carried out the auto matic parameter adjustment operation will the OSSD bit be set in keeping with the OSSD outputs of t
82. ting of 4 the F Dest Add parameter must be adjusted as well Address ID Parameter Assignment PROFIsafe Parameter name Change value F Check SeqNr No Check F SIL SIL2 FCRC Length 1 F Par Version 0 F_Source_Add 2002 F De Current F parameter CRC CRC1 hexadecimal Bild 6 2 1 F parameters of the PROFIsafe driver Leuze electronic RS4 PROFIsafe 47 Project configuration of the master a Leuze electronic The Proxy FB requires 34 remanent markers These as well as any further remanent markers that may be used by the user program should be reserved here 50 in the example shown Properties CPU 315F 2 DP R0 S2 Cyclic Interrupt Diagnostics Clock Protection Communication F Parameters General Startup Cycle Clock Memory Petentive Memory Interrupts Time ofDay Interupts r Retentivity j Number of Memory Bytes Starting with MBO Number of 57 Timers Starting with TO Number of S7 Counters Starting with CO B reas amp yte Address Number of Bytes Ret Bild 6 2 2 Setting the remanent markers Now the hardware configuration can be converted and loaded to the CPU 6 3 Diagnosis data While the system is being put into operation it is possible for the project configuration tool to access the PROFIsafe diagnosis data These relate only to errors in the setting of the parameters for the PROFIsafe driver The diagnosis data a
83. tive field pairs together with the permissible switchings will be adapted to the given application when the equipment is first put into operation 2 4 The PROFIsafe adapter The RS4 PROFIsafe consists of two components the RS4 and the PROFIsafe adapter The PROFIsafe adapter is responsible for the connection to PROFIBUS and is designed as shown below Restart Warn OSSD1 SF1 4 OSSD2 RS232 I I Restart PROFIBUS DP 24VDC l PC Adapter l Bild 2 4 1 Design of the PROFIsafe adapter 10 RS4 PROFIsafe Leuze electronic a Leuze electronic System architecture The safety related output signals OSSD1 and OSSD2 and the warning signal of the RS4 is communicated to the PROFIBUS master generally speaking a safety PLC as one bit of a safety telegram The program of this safety interface must bring about the switching off of the hazardous movement see section 7 3 The switching of the protective field pairs during operation is managed by output bits of the safety PLC which are transmitted via PROFIBUS and the PROFIsafe adapter to the RS4 protective fields 1 to 4 The restart signal for the RS4 can be given either by means of a button that is locally linked to socket 1 section 4 3 or via PROFIBUS in the form of a bit of the cyclic output byte section 5 1 2 The optical PC adapter is connected with the PROFIsafe adapter via the infrared interface The adapter forwards the telegrams to the RS232 of the RS4 so long as a
84. uration of the master While the parameterisation of the RS4 laser scanner is being effected by means of the RS4soft PC software the PC adapter and the optical interface on the PROFIsafe adapter the scanner on the master side this will generally be a safety PLC system incorporating a PROFIsafe master must be linked in with the user program Later on this linking in will be explained in detail It is carried out by means of the STEP 7 software which makes possible the project configuration and programming of the safety controls of the S7 400 and S7 300 series A special functional block for these controls the Proxy FB which has already been mentioned a number of times makes it possible for the parameter settings to be exchanged in a completely automatic way between the RS4 and the PLC As a result of this FB it is possible for equipment to be immediately replaced if a fault occurs on the scanner which has not yet been parameterised only the PROFIBUS address requires to be set section 4 5 When the power is switched on the parameter settings will be automatically loaded to the new hardware by the PLC by way of PROFIBUS For this the Proxy FB must be linked into the user program as described below Hardware configuration by means of STEP 7 When the hardware configuration program is opened as a first step the components that are needed must be inserted in the project by dragging and dropping from the hardware catalogue Note
85. yte 14 RS4 error function low byte Tabelle 5 2 11 Structure of the error telegram Leuze electronic RS4 PROFIsafe 37 Data structure amp Leuze electronic 5 2 8 8 Warning telegrams If the window of the RS4 becomes too dirty the following command will be sent as an alarm section Diagnosis alarms or else sent to the master in response to an acyclic READ command Byte Description 5 0x54 COM CMD WARNING OCCURRED 6 Option 1 7 Option 2 8 Option 3 9 RS4 error number high byte 0 RS4 error number low byte 11 RS4 error parameter high byte 12 RS4 error parameter low byte 13 RS4 error function high byte 14 RS4 error function low byte Tabelle 5 2 12 Structure of the warning telegram 5 2 3 4 Measurement value telegrams When alive telegrams are enabled with PROFILCMD_GET_RS4_DATA if the RS4 sends measurement value telegrams the master can read these in the following format Byte Description 5 0x23 COM_CMD_MESS_16_RT 6 Option 1 7 Option 2 8 Option 3 9 User data see below Tabelle 5 2 13 Structure of the measurement value telegram The number of bytes of user data is dependent on the parameterisation of the RS4 If no RS4 telegram is available a user data block without data content will be sent 38 RS4 PROFIsafe Leuze electronic amp Leuze electronic Data structure Eve
86. yte Description 5 0x84 response for last error from slave 6 high byte error number in uC2 low byte error number in pC2 7 8 high byte of error number since the power was turned on in uC2 9 low byte of error number since the power was turned on in uC2 0 high byte error number in C1 11 low byte error number in uC1 12 low byte of error number since the power was turned on in C1 13 high byte of error number since the power was turned on in uC1 Tabelle 5 2 7 PROFIsafe adapter reading out the most recent error 5 2 2 5 Reading out the error register of the PROFIsafe adapter With this WRITE command followed by a subsequent READ command the master can obtain a complete read out of the error register of the PROFIsafe adapter Here is the WRITE request of the master Byte Description 5 0x91 PROFI CMD GET ERROR querying the error register of the PROFI safe adapter 32 RS4 PROFIsafe Leuze electronic amp Leuze electronic Data structure Response of the PROFIsafe adapter to the master s subsequent READ command Byte Description 5 6 0x91 response for all errors from the PROFIsafe adapter Write index of the most recent error in uC2 that has been entered in the ring buffer 7 0 error occurred in the most recent cycle 1 error occurred earlier Error number high byte for index 0 in ring buffer of uC2 Error nu

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