The integration of ASi Gateway devices into a PacDrive 3 functional safety system has to be performed in the following main steps:
Development of the ASIMON360 application including
implementation of control functionality of the ASi Gateway
mapping of ASi data to the 'x Bytes Safe Sercos Data' device object (with x = 8 for the BWU2984 and x = 12 for the ASi-5/ASi-3 Gateway).
Term definition: In the following, the term 'x Bytes Safe Sercos Data' designates both, the 8 and 12 bytes object, depending on the gateway type. (x = 8 for the BWU2984 and x = 12 for the ASi-5/ASi-3 Gateway.)
The present documentation is predicated on the best practice of a 1:1 data mapping application. This means the address of each ASi device corresponds to the input/output bit number in the 'x Bytes Safe Sercos Data' device object. No offset must be added to determine the data bit relating to an ASi device. Besides this straight 1:1 mapping, each user-definable mapping of ASi data to the data bits in the device object is possible. However, keep the mapping as clear as possible to help avoiding incorrect data assignments in the safety-related application.
The ASi Gateway provides one diagnostic status signal for each of its both ASi circuits. Map these status signals to the input bits 0 and 32 of the '8 Bytes Safe Sercos Data' device object and then evaluate the bits 0 and 32 in the safety-related application. Also evaluate the SafeGatewayOK signal in the safety-related application. This signal which is also provided by the ASi Gateway indicates the status of the communication between SLC and the ASi Gateway via openSafety over Sercos.
Moreover, provide two separate signals generated in the safety-related SLC application as enable signals for each of the output ASi circuits. Map these enable (or release) signals to the output bits 0 and 32 of the '8 Bytes Safe Sercos Data' device object and process them accordingly in the ASIMON360 application. If you do not need the bits 0 and 32 then they can be configured for other purposes.
For the '12 Bytes Safe Sercos Data' object, the same applies to the bits 0 and 48 (input and output bits respectively).
Refer to the topic "Configuration of the ASi functionality in ASIMON360" for details.
An ASi application is verified by a checksum called ConfigID which is generated in ASIMON360. This ConfigID has to be entered in EcoStruxure Machine Expert™ – Safety as safety-related 'ConfigID' parameter in the Device Parameterization Editor. Each modification of the ASi application in ASIMON360 results in a new ConfigID. After having completed the project in ASIMON360 and commissioned the ASi Gateway, note down the new ASIMON360 ConfigID.
In EcoStruxure Machine Expert™:
Add ASi Gateway device(s) to the bus structure ('Devices' window).
Insert an 'x Bytes Safe Sercos Data' device object under each added gateway node.
Parameterize each ASi Gateway device and its 'x Bytes Safe Sercos Data' device object.
Assign the input/output data bits of the device object (I/O data of ASi devices) to standard (non-safety-related) EcoStruxure Machine Expert™ variables, if needed. This has to be done in the 'I/O Mapping' editor of the respective device object.
Optional: insert standard (non-safety-related) ASi I/Os or other device objects into the EmptyModule slots under the gateway node.
Refer to the topic "Adding/Parameterizing ASi Devices in EcoStruxure Machine Expert™" for details.
In EcoStruxure Machine Expert™ – Safety:
Set the safety-related parameters of the integrated ASi Gateways and their device objects. The ASi I/Os cannot be parameterized in EcoStruxure Machine Expert™ – Safety.
Refer to the topic "Parameterizing ASi I/O devices in EcoStruxure Machine Expert™ – Safety" for details.
In EcoStruxure Machine Expert™ – Safety:
Use the input/output bits provided by the device object in the safety-related application. At least one input or output has to be used in the safety-related application to be able to compile the project.
Read and evaluate the SafeGatewayOK status signal coming from the ASi Gateway which indicates the status of the communication between SLC and ASi Gateway.
Read and evaluate the diagnostic status signals for the ASi circuits 1 and 2 of the ASi Gateway mapped to the bits 0 and 32 of the '8 Bytes Safe Sercos Data' device object.
For the '12 Bytes Safe Sercos Data' object, the same applies to the bits 0 and 48.
Generate and write one separate signal as enable signal for each of the output ASi circuits (mapped to the output bits 0 and 32 of the '8 Bytes Safe Sercos Data' device object).
For the '12 Bytes Safe Sercos Data' object, the same applies to the bits 0 and 48.
Read the input bits (status of ASi sensors), or other safety-related data and evaluate them in the safety-related application.
Write the output bits (control of ASi actuators) in the safety-related logic depending on the evaluated status information.