TM5SDO6TBFS Digital Output Safety Module

Module type/safety-related fields of application

Output safety-related module, 6 safety-related output channels.

0.2 A rated output current, 1.2 A total rated current.

Output protection: Active switch-off for over-current or short-circuit and integrated protection for switching inductive loads.

24 VDC rated voltage.

Schneider Electric safety-related modules can be used in safety-related applications according to:

EN ISO 13849, PL e

IEC 62061, SIL 3

IEC 61508, SIL 3

Parameter: MinRequiredFWRev

Default value

Basic Release

Unit

-/-

Description

This parameter is only relevant in case of implementing other firmware versions than the manufacturer-loaded version.

To enter the operational state, the firmware version parameterized here or a newer version must be installed on the module.

Basic Release: select this option when running the device with the initially released firmware version.

Basic Release from FW Vxxx: select this option when running the device with a firmware version Vxxx (where xxx represents the version number).

Test Version: select this option when using a device firmware version which is not yet released. A safety-related application cannot get approval if devices with a firmware test version are involved.

The firmware version selected here is particularly important with regard to parameters or process data items that have been implemented with a particular firmware version. If the device you are currently working with has new parameters or process data items, the following applies: if MinRequiredFWRev is set to an incorrect value, either the SLC will not enter the operational run status or the new parameters/process data items will not be taken into account by the SLC.

Refer to the hazard message below this table.

Further Information

Information on newly added parameters or process data items can be found in the Release Notes you received with the firmware package. The Release Notes also describe how to determine the firmware version that is currently installed on the safety-related device.

WARNING

UNINTENDED EQUIPMENT OPERATION

Verify that the selected value for MinRequiredFWRev corresponds to the firmware version installed on the safety-related devices involved.

Verify by means of functional tests that each newly implemented parameter or process data item of safety-related modules is taken into the account by the SLC where this is required by your safety-related application.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

Parameter: Optional

Default value	No
Unit	-/-
Description	The module can be configured as optional using this parameter. Optional modules do not have to be available (physically present or communicative), i.e., if an optional module is unavailable, this is not signaled by the Safety LogicController. This parameter does not influence the module signal or status data.
Possible values	No: This module is not optional. This module has to go to Operational mode after start-up and safety-related communication to the Safety Logic Controller has to be established successfully (indicated by SafeModulOK = SAFETRUE). Processing of the safety-related application on the Safety Logic Controller is delayed after start-up until this state is achieved for the modules set to 'Optional = No'. After start-up, errors on such safety-related modules are indicated by a fast flashing MXCHG LED on the Safety Logic Controller. Furthermore, an entry is made in the logbook. Yes: This module is optional, i.e.,not necessary for the safety-related application. This module is not taken into consideration during start-up, which means that the safety-related application is started even if the modules with 'Optional = Yes' are not in Operational mode or if safety-related communication is unsuccessful. After start-up, errors on such safety-related modules are NOT indicated on the Safety Logic Controller. NO entry is made in the logbook. Start-up: This module is optional, decisions regarding its further behavior are made during start-up: If, during start-up, it is determined that the module is physically present (even if it is not in Operational mode), then the module behaves as if 'Optional = No' was set. If, during start-up, it is determined that the module is not physically present, the module behaves as if 'Optional = Yes' was set.

The Optional parameter is a mechanism to scale your safety-related system for various configurations of your machine design. However, it may be the case that the module(s) that you have designated as optional may be required in some of your alternative machine configurations.

WARNING

UNINTENDED EQUIPMENT OPERATION

Verify by means of functional tests that those modules that have the Optional parameter set to 'Yes' or 'Start-up' are available if and when required in alternative machine configurations.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

Parameter: DisableOSSD

Default value	No
Unit	-/-
Description	This parameter can be used to disable the automatic testing of the output driver for each channel of the module.
Possible values	No: Automatic testing of the output driver is enabled. Yes-ATTENTION: Automatic testing of the output driver is disabled. NOTE: With 'DisableOSSD = Yes-ATTENTION', the module provides reduced error detection and does no longer meet the requirements of SIL 3 according to IEC 62061, or PL e according to ISO 13849. In order to meet the requirements for applications up to SIL 2, in accordance with IEC 62061, or PL d according to ISO 13849, a daily verification of the safety-related function by the user is necessary.

Parameter: ManualConfiguration

Default value	No
Unit	-/-
Description	Specifies whether the module uses its safety response time-relevant parameters (CommunicationWatchdog, MinDataTransportTime, and MaxDataTransportTime) or the values specified in the 'SafetyResponseTimeDefaults' parameter group of the Safety Logic Controller. Managing parameters per module optimizes the system to application-specific requirements regarding the safety response time.
Parameter value	No: The module inherits the CommunicationWatchdog, MinDataTransportTime, and MaxDataTransportTime values from the 'SafetyResponseTimeDefaults' parameter group of the Safety Logic Controller. Yes: The module uses its own parameter values.

Parameter: MinDataTransportTime

Default value	12
Value range Step size	12...500 1
Unit	100 µs
Description	Defines the minimum time that is required to transmit a data telegram from a producer to a consumer. If a telegram is received earlier (by the consumer) than specified by this parameter value, communication is considered as invalid. EcoStruxure Machine Expert - Safety provides a calculator dialog to determine this parameter value. Term definition and background information According to the openSAFETY specification, devices (safety-related I/O modules as well as the Safety Logic Controller) communicate by sending and receiving cyclic data, referred to as openSAFETY telegrams. A telegram generating (sending) device is designated as producer, a receiving device is a consumer. Each telegram includes a time stamp for time validation of the communication. On receipt of a telegram, the consumer compares this time stamp with the current time. If the schedule is kept, the communication is considered as valid. If a telegram is received earlier than defined by this parameter, communication is considered as invalid and is not further processed. The 'SafeModuleOK' process data item also becomes SAFEFALSE indicating that the safety-related communication of the module is no longer valid. The implications for the rest of the safety-related systems depend on the defined safety-related function.
Value calculation	How to calculate the module-specific MinDataTransportTime value Select 'Project > Response Time Relevant Parameters'. In the appearing dialog, open the 'Manual' tab. Section 'Variable Parameters': If a differing Sercos III cycle time than set in EcoStruxure Machine Expert is used to calculate the MinDataTransportTime (e.g., to take cycle time modifications by the application program into account), check 'Make Selectable' and select or enter the desired 'Sercos III Cycle Time'. The 'Ring/Double Line' checkbox only influences the MaxDataTransportTime value. The 'Ring/Double Line' checkbox does not influence the MinDataTransportTime value. An entered 'Network Package Loss' does not influence the MinDataTransportTime but only the CommunicationWatchdog value. The 'System Parameters' section is read-only and displays system/module properties set in EcoStruxure Machine Expert. When modifying these parameters while the dialog is open, the values are updated automatically without closing the calculator dialog. The calculated module-specific MinDataTransportTime value is displayed in the 'Result' section. Note the resulting value and enter the value for the MinDataTransportTime parameter in the module parameter grid.
Practical values	Entering the MinDataTransportTime value calculated in EcoStruxure Machine Expert - Safety results in a stable running system.

Parameter: MaxDataTransportTime

Default value	200
Value range Step size	12...65,000 1
Unit	100 µs
Description	Defines the maximum time that is allowed to transmit a data telegram from a producer to a consumer. If a telegram is received later (by the consumer) than specified by this parameter value, communication is considered as invalid. EcoStruxure Machine Expert - Safety provides a calculator dialog to determine this parameter value. NOTE: The parameter value influences the safety response time calculated by EcoStruxure Machine Expert - Safety. Term definition and background information According to the openSAFETY specification, devices (safety-related I/O modules as well as the Safety Logic Controller) communicate by sending and receiving cyclic data, referred to as openSAFETY telegrams. A telegram generating (sending) device is designated as producer, a receiving device is a consumer. Each telegram includes a time stamp for time validation of the communication. On receipt of a telegram, the consumer compares this time stamp with the current time. If the schedule is kept, the communication is considered as valid. If a telegram is received later than defined by this parameter, communication is considered as invalid and is not further processed. The implications for the rest of the safety-related systems depend on the defined safety-related function.
Value calculation	How to calculate the module-specific MaxDataTransportTime value Select 'Project > Response Time Relevant Parameters'. In the appearing dialog, open the 'Manual' tab. Section 'Variable Parameters': If a differing Sercos III cycle time than set in EcoStruxure Machine Expert is to be used to calculate the MaxDataTransportTime (e.g., to take cycle time modifications by the application program into account), check 'Make Selectable' and select or enter the desired 'Sercos III Cycle Time'. 'Ring/Double Line' checkbox: Ring and double line bus structures require greater parameter values in order to implement a stable running system. Check 'Ring/Double Line' to take into account the bus structure. It is activated by default which is suitable for a ring bus structure and a double line bus structure. If you are implementing a line structure, the checkbox can be deactivated to decrease the resulting parameter value. Values calculated for a ring/double line structure can be used for a line structure but not vice versa. An entered 'Network Package Loss' does not influence the MaxDataTransportTime but only the CommunicationWatchdog value. The calculated MaxDataTransportTime value is displayed for the module. Module-specific parameters (such as cycle times, set in EcoStruxure Machine Expert) are also displayed in the grid for information purposes. When modifying these parameters while the dialog is open, the values are updated automatically without closing the calculator dialog. Note the resulting value for the module and enter the appropriate value into the MaxDataTransportTime parameter grid field of the module.
Practical values	Entering the MaxDataTransportTime value calculated in EcoStruxure Machine Expert - Safety results in a stable running system.

Parameter: CommunicationWatchdog

Default value	200
Value range Step size	1...65,535 1
Unit	100 µs
Description	Defines the maximum time period within which a consumer must receive a valid data telegram from a producer in order to consider the safety-related communication as valid and continue the application. The parameter sets a watchdog timer which then monitors whether a consumer receives telegrams from a producer in time. If the watchdog expires, communication is considered as invalid. EcoStruxure Machine Expert - Safety provides a calculator to determine this parameter value. NOTE: The parameter value influences the safety response time calculated by EcoStruxure Machine Expert - Safety. Term definition and background information According to the openSAFETY specification, devices (safety-related I/O modules as well as the Safety Logic Controller) communicate by sending and receiving cyclic data, referred to as openSAFETY telegrams. A telegram generating (sending) device is designated as producer, a receiving device is a consumer. The CommunicationWatchdog value physically depends on the transport time needed for the telegram to be transmitted from a producer to a consumer and influences the worst case response time of the system. The calculated parameter value therefore depends on the MaxDataTransportTime parameter value. If the consumer receives the telegram in time (communication watchdog is not yet expired and the transmission time is within the period specified by the parameters MinDataTransportTime and MaxDataTransportTime), the watchdog timer is restarted and communication is considered as valid. The time stamp contained in the received telegram is not evaluated, only the receipt of a valid telegram is relevant. If no telegram is received (due to delay or loss) and the communication watchdog expires in the consumer, the module is set to the defined safe state. The 'SafeModuleOK' process data item also becomes SAFEFALSE indicating that the safety-related communication of the module is no longer valid.
Value calculation	How to calculate the module-specific CommunicationWatchdog value Select 'Project > Response Time Relevant Parameters'. In the appearing dialog, open the 'Manual' tab. Section 'Variable Parameters': If a differing Sercos III cycle time than set in EcoStruxure Machine Expert is to be used to calculate the CommunicationWatchdog value (e.g., to take cycle time modifications by the application program into account), check 'Make Selectable' and select or enter the desired 'Sercos III Cycle Time'. 'Ring/Double Line' checkbox: Ring and double line bus structures require greater parameter values in order to implement a stable running system. Check 'Ring/Double Line' to take into account the bus structure. It is activated by default which is suitable for a ring or double line bus structure. If you are implementing a line structure, the checkbox can be deactivated to decrease the resulting parameter value. Values calculated for a ring/double line structure can be used for a line structure but not vice versa. By increasing the number of allowed package losses, the system can be more tolerant. This increases the calculated minimum watchdog interval. Enter an integer value (range 0..99) for the number of telegrams that can be lost for the present module. The entered value is applied to the safety-related modules involved. The calculated CommunicationWatchdog value is displayed for the module. Module-specific parameters (such as cycle times, set in EcoStruxure Machine Expert) are also displayed in the grid for information purposes. When modifying these parameters while the dialog is open, the values are updated automatically without closing the calculator dialog. Note the resulting value for the module and enter the appropriate value into the CommunicationWatchdog parameter grid field of the module.
Practical values	For the CommunicationWatchdog value which you must enter in the parameter grid ('Devices' window), the following applies: For commissioning a system, the CommunicationWatchdog value should be equal to or greater than the largest cycle time of the system (for example, the SercosIII cycle time). A value greater than the calculated CommunicationWatchdog value increases the system availability but also increases the overall worst case response time (thus increasing the required physical distances for mounting safety barrier and perimeter equipment at the machine).

Parameter: AutoRestart

Default value	No
Unit	-/-
Description	Activates or deactivates the automatic restart of the output of the module.
Possible values	No: 'Automatic restart' function is not activated. Yes-ATTENTION: 'Automatic restart' function is activated.

NOTE:

Configuring an automatic restart can result in unintended implications for the safety-related system. It may be necessary to implement additional measures to avoid unintended consequences.

WARNING

UNINTENDED START-UP

Be sure that your risk analysis includes an evaluation for an automatic restart of the output of the module.

Make certain that appropriate procedures and measures (according to applicable sector standards) have been taken to help avoid hazardous situations in case of an automatic restart.

Use appropriate safety interlocks where personnel and/or equipment hazards exist.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

Purpose and use of process data items

Each module provides process data items (signals). Process data items can be:

I/O signals delivered from or written to a module terminal.

diagnostic signals for evaluating the status of input/output channels or the entire module.

control signals, for example, for enabling a channel or adjusting the module.

The available process data items of a module are listed under the module node in the tree on the left of the 'Devices' window. To display and use the process data items, expand the module node in the tree by clicking the '+' symbol.

Example

The module with the ID SL1.SM3 provides (among others) the diagnostic signal SafeModuleOK and the input signal SafeDigitalInput01.

From the devices tree, process data items can be inserted into the safety-related FBD/LD code by drag & drop (see following procedure). On insertion into the code, a standard (non-safety-related) or safety-related global variable is created (depending on the data type of the process data item).

Procedure: How to insert process data items into the code

Open the code worksheet where you want to insert the process data item and create/use the global variable assigned to it.
In the 'Devices' window, open the devices tree on the left and expand the module (tree node) which contains the process data item to be used.
Drag the process data item into the code worksheet. When releasing the mouse button, the 'Variable' dialog appears.

To insert a Boolean variable as a contact into the graphical code, hold the <CTRL> key down when releasing the mouse button after dragging the variable from the device terminal grid into the code worksheet.
In the 'Variable' dialog, a default name is proposed which is derived from the process data item name. Accept the proposed name, select an existing global variable, or declare a new global variable by entering a new 'Name', defining the 'Data Type' and selecting a 'Group'.
Confirm the 'Variable' dialog by clicking 'OK'.

The rectangle shape of the variable is now added to the cursor. It can be dropped at the desired position with a click. You can directly connect the variable to another object (e.g., a formal parameter as shown in the following example) or dropped at any free position.

Data direction depends on the signal type

Input signals can only be read and output signals can be written by the safety-related application.

Diagnostic signals can be used to evaluate and monitor the status of the safety-related module or individual I/O channels, for example. Therefore, global variables created for and assigned to diagnostic signals can be read by the application.

Control signals can be used to enable the module operation or to adjust/adapt the module for the present use case (for example, by setting a measurement range or a particular module behavior). The global variables created for and assigned to control signals can be written by the application, thus controlling the module.

Representation of the process data items in the devices tree:

Icon	Signal type	Access type
	Safety-related input signal or diagnostic signal.	read
	Standard input signal (only available for the Safety Logic Controller).	read
	Standard output signal (only available for the Safety Logic Controller) or control signal.	write
	Safety-related output or control signal.	write

NOTE:

If a standard (non-safety-related) signal is connected to a physical input or output, the data type of the corresponding global variable must be modified from safety-related to standard (e.g., from SAFEBOOL to BOOL) to rule out an incorrect use of the signal in the code. The same applies if a safety-related signal is used only as standard signal in the code. Modifying the data type can either be done in the appropriate variables worksheet or using type converter functions.

WARNING

UNINTENDED EQUIPMENT OPERATION

Verify the impact of standard (non-safety-related) signals on safety-related outputs.

Verify that "standard to safety-related" converters are used correctly in the code.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

In the following, the I/O, diagnostic and control signals of the present module are listed and described in the order they are listed in the devices tree.

SafeModuleOK

Description	Indicates the status of the communication between the safety-related module and the Safety Logic Controller and therefore, from safety-related application perspective, the module status itself.
Signal type	Diagnostic
Data type	SAFEBOOL
Access type	Variable can be read by the safety-related application
Possible values	SAFEFALSE: Safety-related module is not in an operational state, or the communication with the Safety Logic Controller has not been established correctly, or the module has detected an error with the communication channel. SAFETRUE: Safety-related module is in an operational state, and the communication with the Safety Logic Controller is established correctly, and the module has not detected an error with the communication channel.

Mandatory assignment validation for the SafeModuleOK data item:

The verification/validation of the assignment of each process data item to a global I/O variable is mandatory. This particularly applies to the SafeModuleOK process data item which is available for each safety-related module and indicates its status. As the SafeModuleOK data item cannot be written to, e.g., by applying a signal to a module input, the module to be verified must be physically removed from the TM5 bus. As a result, SafeModuleOK switches to SAFEFALSE and the assigned global I/O variable must follow. For further information on the steps to remove and reinsert a module, refer to the user manual of the module.

WARNING

UNINTENDED EQUIPMENT OPERATION

Physically remove each safety-related module from the TM5 bus in order to test for SafeModuleOK.

Verify that the global I/O variable assigned to the SafeModuleOK process data item of the removed safety-related module switches to SAFEFALSE.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

SafeDigitalOutputxx

Description	Safety-related enable signal of the module, channel xx. The enable signal may only control the process directly if it does not adversely affect the safety-related function. Refer to the first hazard message below this table. The validity of this output signal is confirmed by the related diagnostic signal SafeOutputOKxx. Depending on the results of the risk analysis you carried out for your application, the diagnostic signal must be evaluated each time the SafeDigitalOutputxx signal is used in the safety-related application. The value SAFEFALSE of the diagnostic signal indicates an invalid SafeDigitalOutputxx value. In this case, the SafeDigitalOutputxx signal must not be further used, processed, or evaluated in the safety-related application. Refer to the second hazard message below this table. Further Information Refer to the topic "Monitoring/evaluating diagnostic information of the machine" for further information. When a restart inhibit is active for channel xx (parameter 'AutoStart = No'), the safety-related output remains in the defined safe state after removing the safety request, or, in case of a module error, the cause of the error. This is to avoid an inadvertent machine/system restart. If the restart inhibit has been specified, a positive edge at the relating ReleaseOutputxx signal (see description below) is required to remove the inhibit and enable the machine/system to function. NOTE: The single-channel signals SafeDigitalOutputxx cannot be used at the same time with the combined enable signal SafeDigitalOutputxxyy of the module.
Signal type	I/O signal
Data type	SAFEBOOL
Access type	Variable can be written by the safety-related application depending on the user parameters in the EcoStruxure Machine Expert application "CentralControl_DigitalOutput_xx"
Possible values	SAFETRUE: No safety request was detected, and no restart inhibit of the channel is active, and SafeModuleOK = SAFETRUE SAFEFALSE: SafeModuleOK = SAFEFALSE, or safety request was detected, or restart inhibit of the channel is active
Relevant module parameters	In the parameter group with the same channel number xx: AutoRestart The related parameter descriptions can be found above in this topic.

WARNING

UNINTENDED EQUIPMENT OPERATION

Verify that the enable signal only controls the process directly if it does not adversely affect the safety-related function.

Validate the overall safety-related function, including the start-up behavior of the process, and thoroughly test the application.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

WARNING

UNINTENDED EQUIPMENT OPERATION

Verify that the SafeDigitalOutputxx signal is only used in the safety-related application as long as the related diagnostic signals are SAFETRUE if demanded by the results of your risk analysis.

Validate the overall safety-related function with respect to the processing of input values, and thoroughly test the application.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

SafeChannelOKxx (relating to enable signals)

Description	Diagnostic signal which indicates the status of the safety-related output channel (enable signal). xx specifies the channel number. This diagnostic signal confirms the validity of the SafeOutputxx signal. Depending on the results of the risk analysis you carried out for your application, the diagnostic signal must be evaluated each time the SafeOutputxx signal is used in the safety-related application. The value SAFEFALSE of the diagnostic signal indicates an invalid SafeOutputxx value. In this case, the SafeOutputxx signal must not be further used, processed, or evaluated in the safety-related application. Refer to the hazard message below this table. NOTE: To detect error status conditions of modules/channels within your application, diagnostic signals must be evaluated in the safety-related code. A programming example and further information can be found in the topic "Monitoring/evaluating diagnostic information of the machine".
Signal type	Diagnostic signal
Data type	SAFEBOOL
Access type	Variable can be read by the safety-related application
Possible values	SAFEFALSE: SafeModuleOK = SAFEFALSE, or channel xx does not function correctly, for example, due to a cable break. SAFETRUE: SafeModuleOK = SAFETRUE, and channel xx works correctly, enable signal applies according to the programmed safety-related application. NOTE: Also observe the respective LED indicator(s) of the affected modules for the error indication.

WARNING

UNINTENDED EQUIPMENT OPERATION

Verify that the SafeOutputxx signal is only used in the safety-related application as long as the related diagnostic signals are SAFETRUE if demanded by the results of your risk analysis.

Validate the overall safety-related function with respect to the processing of input values, and thoroughly test the application.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

ReleaseOutputxx and ReleaseOutputxxyy

Description	ReleaseOutputxx is the release signal for the single-channel enable signal SafeOutputxx. ReleaseOutputxxyy is the release signal for the two-channel enable signal SafeOutputxxyy, i.e., the combination of the output channels xx and yy. When a restart inhibit is active for channel xx/xxyy (parameter 'AutoStart = No'), the safety-related output remains in the defined safe state after removing the safety request, or, in case of a module error, the cause of the error. This is to avoid an inadvertent machine/system restart. If the restart inhibit has been specified, a positive edge of the respective release signal is required to remove the inhibit and enable the machine/system to function. Resetting a diagnostic state and setting an output must not result in any hazards. In case of any doubt, reset the entire system instead of the single channel. Refer to the hazard message below this table. Further Information Refer to the topic "Monitoring/evaluating diagnostic information of the machine" for further information and an application example. NOTE: If the safety-related module enters the defined safe state and SafeModuleOK = SAFEFALSE, the ReleaseOutputxx/xxyy signal cannot be used to release the channel. Instead, the entire module must be restarted. Example: if input values exceed the allowed electrical maximum values as specified in the technical data of the device, the module must be restarted.
Signal type	Control signal
Data type	SAFEBOOL
Access type	Variable can be written by the safety-related application
Possible values	SAFEFALSE: enable signal remains disabled. Edge SAFEFALSE > SAFETRUE: deactivates the restart inhibit and enables the output channel (pair).
Relevant module parameters	In the parameter groups with the same channel number xx/xxyy: AutoRestart The related parameter descriptions can be found above in this topic.

WARNING

UNINTENDED EQUIPMENT OPERATION

Include in your risk analysis the impact of resetting the diagnostic state of a module or input/output channel and setting an output channel.

Use appropriate safety interlocks where personnel and/or equipment hazards exist.

Validate the overall safety-related function and thoroughly test the application.

Failure to follow these instructions can result in death, serious injury, or equipment damage.