About the Book

Document Scope

This document describes the functionalities contained in the Robotic library.

Validity Note

For more information on the validity of the present document, see the online help for the product.

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Title of Documentation

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To find documents online, visit the Schneider Electric download center (www.se.com/ww/en/download/).

Product Related Information

 WARNING
UNINTENDED EQUIPMENT OPERATION
Do not include the code from templates or examples in your machine or process and put into service without thoroughly testing your entire application.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
 WARNING
LOSS OF CONTROL
  • Perform a Failure Mode and Effects Analysis (FMEA), or equivalent risk analysis, of your application, and apply preventive and detective controls before implementation.
  • Provide a fallback state for undesired control events or sequences.
  • Provide separate or redundant control paths wherever required.
  • Supply appropriate parameters, particularly for limits.
  • Review the implications of transmission delays and take actions to mitigate them.
  • Review the implications of communication link interruptions and take actions to mitigate them.
  • Provide independent paths for control functions (for example, emergency stop, over-limit conditions, and error conditions) according to your risk assessment, and applicable codes and regulations.
  • Apply local accident prevention and safety regulations and guidelines.1
  • Test each implementation of a system for proper operation before placing it into service.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

1 For additional information, refer to NEMA ICS 1.1 (latest edition), Safety Guidelines for the Application, Installation, and Maintenance of Solid State Control and to NEMA ICS 7.1 (latest edition), Safety Standards for Construction and Guide for Selection, Installation and Operation of Adjustable-Speed Drive Systems or their equivalent governing your particular location.

Before you attempt to provide a solution (machine or process) for a specific application using the POUs found in the library, you must consider, conduct and complete best practices. These practices include, but are not limited to, risk analysis, functional safety, component compatibility, testing and system validation as they relate to this library.

 WARNING
IMPROPER USE OF PROGRAM ORGANIZATION UNITS
  • Perform a safety-related analysis for the application and the devices installed.
  • Ensure that the Program Organization Units (POUs) are compatible with the devices in the system and have no unintended effects on the proper functioning of the system.
  • Ensure that the axis is homed and that the homing is valid before usage of absolute movements or POUs using absolute movements.
  • Use appropriate parameters, especially limit values, and observe machine wear and stop behavior.
  • Verify that the sensors and actuators are compatible with the selected POUs.
  • Thoroughly test all functions during verification and commissioning in all operation modes.
  • Provide independent methods for critical control functions (emergency stop, conditions for limit values being exceeded, etc.) according to a safety-related analysis, respective rules, and regulations.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
 WARNING
UNINTENDED EQUIPMENT OPERATION
Always evaluate the return values when using POUs of a library.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
 WARNING
UNINTENDED EQUIPMENT OPERATION
  • Only use software approved by Schneider Electric for use with this equipment.
  • Update your application program every time you change the physical hardware configuration.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
 WARNING
UNINTENDED EQUIPMENT OPERATION
Update your application program as required, paying particular attention to I/O address adjustments, whenever you modify the hardware configuration.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Incomplete file transfers, such as data files, application files and/or firmware files, may have serious consequences for your machine or controller. If you remove power, or if there is a power outage or communication interruption during a file transfer, your machine may become inoperative, or your application may attempt to operate on a corrupted data file. If an interruption occurs, reattempt the transfer. Be sure to include in your risk analysis the impact of corrupted data files.

 WARNING
UNINTENDED EQUIPMENT OPERATION, DATA LOSS, OR FILE CORRUPTION
  • Do not interrupt an ongoing data transfer.
  • If the transfer is interrupted for any reason, re-initiate the transfer.
  • Do not place your machine into service until the file transfer has completed successfully, unless you have accounted for corrupted files in your risk analysis and have taken appropriate steps to prevent any potentially serious consequences due to unsuccessful file transfers.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
 WARNING
UNINTENDED MOVEMENT OF THE AXIS
  • Ensure the proper functioning of the functional safety equipment before commissioning.
  • Ensure that you can stop axis movements at any time using functional safety equipment (limit switch, emergency stop) before and during commissioning.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
 WARNING
UNINTENDED MOVEMENT OF THE Subordinate AXIS
Deactivate the POU that instructs the subordinate axis, or disconnect the connection from the master, if the subordinate axis stops independently from the master.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Motion function blocks, except for the Homing function blocks, can only be activated after the mechanical position reference has been established. This is especially important after the start-up of the Sercos motion bus.

 WARNING
INCORRECT HOMING REFERENCE TO MECHANICAL SYSTEM
Ensure that a valid mechanical position reference exists by performing commissioning tests for all operating modes.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Information on Non-Inclusive or Insensitive Terminology

As a responsible, inclusive company, Schneider Electric is constantly updating its communications and products that contain non-inclusive or insensitive terminology. However, despite these efforts, our content may still contain terms that are deemed inappropriate by some customers.

Terminology Derived from Standards

The technical terms, terminology, symbols and the corresponding descriptions in the information contained herein, or that appear in or on the products themselves, are generally derived from the terms or definitions of international standards.

In the area of functional safety systems, drives and general automation, this may include, but is not limited to, terms such as safety, safety function, safe state, fault, fault reset, malfunction, failure, error, error message, dangerous, etc.

Among others, these standards include:

Standard

Description

IEC 61131-2:2007

Programmable controllers, part 2: Equipment requirements and tests.

ISO 13849-1:2023

Safety of machinery: Safety related parts of control systems.

General principles for design.

EN 61496-1:2020

Safety of machinery: Electro-sensitive protective equipment.

Part 1: General requirements and tests.

ISO 12100:2010

Safety of machinery - General principles for design - Risk assessment and risk reduction

EN 60204-1:2006

Safety of machinery - Electrical equipment of machines - Part 1: General requirements

ISO 14119:2013

Safety of machinery - Interlocking devices associated with guards - Principles for design and selection

ISO 13850:2015

Safety of machinery - Emergency stop - Principles for design

IEC 62061:2021

Safety of machinery - Functional safety of safety-related electrical, electronic, and electronic programmable control systems

IEC 61508-1:2010

Functional safety of electrical/electronic/programmable electronic safety-related systems: General requirements.

IEC 61508-2:2010

Functional safety of electrical/electronic/programmable electronic safety-related systems: Requirements for electrical/electronic/programmable electronic safety-related systems.

IEC 61508-3:2010

Functional safety of electrical/electronic/programmable electronic safety-related systems: Software requirements.

IEC 61784-3:2021

Industrial communication networks - Profiles - Part 3: Functional safety fieldbuses - General rules and profile definitions.

2006/42/EC

Machinery Directive

2014/30/EU

Electromagnetic Compatibility Directive

2014/35/EU

Low Voltage Directive

In addition, terms used in the present document may tangentially be used as they are derived from other standards such as:

Standard

Description

IEC 60034 series

Rotating electrical machines

IEC 61800 series

Adjustable speed electrical power drive systems

IEC 61158 series

Digital data communications for measurement and control – Fieldbus for use in industrial control systems

Finally, the term zone of operation may be used in conjunction with the description of specific hazards, and is defined as it is for a hazard zone or danger zone in the Machinery Directive (2006/42/EC) and ISO 12100:2010.

NOTE: The aforementioned standards may or may not apply to the specific products cited in the present documentation. For more information concerning the individual standards applicable to the products described herein, see the characteristics tables for those product references.