Logic/Motion Controller Application with Embedded Safety - System Overview
This documentation describes the steps to integrate safety components (embedded safety) by using a Safety Logic Controller (SLC) and safety-related TM5/TM7 modules into a Logic/Motion Controller application via the Sercos III bus.
The following figure illustrates a small application setup which is used for explanation purposes in this guide.
NOTE: Observe the specific limitations for the Logic/Motion Controller used. Refer to the chapter System Limitations for details on the supported system architecture and the maximum number of connectable Sercos slaves and safety-related TM5/TM7 I/O modules.
NOTE: Term definition: Standard = non-safety-related. The term "standard" always refers to non-safety-related items/objects. Examples: a standard process data item is only read/written by a non-safety-related I/O device, that is, a standard device. Standard variables/functions/FBs are non-safety-related data. The term "standard controller" designates the non-safety-related Logic/Motion Controller.
The following devices are used in the explanatory sample project of this documentation:
oTM262M25MESS8T Logic/Motion Controller (see chapter Compatible Logic/Motion Controller Types)
oTM5CSLCx00FS Safety Logic Controller
oTM5NS31 TM5 SERCOS III Bus Coupler
oTM5SPS3 Power Supply Module
oTM5SDI4DFS Digital Input Safety Module
oTM5SDO4TFS Digital Output Safety Module
oTM5SDM4DTRFS Digital Mixed Safety Module
The safety-related part of the architecture is composed of safety nodes (SN). A SN is a node within the Sercos network which complies to the openSafety protocol. Safety-related modules by Schneider Electric are red. They can be identified by the appendix FS in their order number.
A typical application setup in practice may contain further Sercos slaves (such as standard drive modules), as well as more than one TM5 bus coupler connected to the Sercos bus and a higher number of TM5 and/or TM7 I/O modules. However, only one SLC can be used under the Sercos Master (which is the Sercos I/O controller inside the Logic/Motion Controller).
The Logic/Motion Controller executes the (non-safety-related) standard control application. The SLC as safety-related controller is subordinate to the Logic/Motion Controller. It manages the tasks within a safety-related application thus executing a separate safety-related application program.
For embedding safety as described in this documentation, EcoStruxure Machine Expert with the software components Modicon and EcoStruxure Machine Expert - Safety is used. (Also refer to the chapter Software Installation.)
EcoStruxure Machine Expert Logic Builder is used to:
oConfigure the bus architecture consisting of standard and safety-related devices. (The safety-related devices must additionally be confirmed in Machine Expert - Safety.)
oParameterize the standard devices and partially the safety-related devices.
oDevelop the standard application program.
oCommission, control, monitor, and debug the Logic/Motion Controller.
oPerform system diagnostics, for example in online editors or using the SafeLogger.
EcoStruxure Machine Expert - Safety is used to:
oDefine the safety-related parameters of the safety-related devices (SLC and safety-related I/O modules).
oCalculate the safety response time based on the defined response time relevant parameters.
oDevelop the safety-related application program.
oCommission, control, monitor, and debug the SLC.
oDocument the safety-related project.
The engineering tasks listed above are described in detail in the following chapters.
