ctrlX SAFETY "SafeMotion"
Table 19: Defined combinations of configurations
Profile Configuration
Consumer connec-
tion
Producer connec-
tion
2-byte control / status, bit SMM (780/784) 780 784
2-byte control / status, binary SMM (781/785) 781 785
2-byte control/status, configurable (802/812) 802 812
9.4.4
FailSafe over EtherCAT (FSoE)
Brief description
Features
“FailSafe over EtherCAT“ allows safe communication as an FSoE slave with
other EtherCAT-based SoE devices with integrated FSoE master. It contains
the safety bus transmission protocol FSoE which was specified by the
“EtherCAT Technology Group“ (ETG) and concept-tested by TÜV.
The bus transfer protocol FsoE specification is available from the ETG
(⮫ www.ethercat.org/en/safety.html) and consists of the following documents:
●
ETG.5100 Safety over EtherCAT Specification (V1.2.0)
●
ETG.5101 Safety over EtherCAT Implementation Guide (V1.3.0)
●
ETG.5120 Safety over EtherCAT Protocol Enhancements (V1.2.0)
● In the AXS-V-03 firmware, FSoE is exclusively supported for the
“Servodrive profile over EtherCAT“ (SoE).
● The assemblies of the selected configuration are transmitted (see “Prede-
fined configurations” or “Freely configurable assemblies”). Specific 2-byte
assemblies (profiles) are supported only.
● All pieces of information required to establish a connection are made avail-
able to the control unit via the device data sheet (XML).
Functional principle
Configuration
The FSoE connection to the axis is configured in the control unit. The informa-
tion required for this purpose is made available to the control unit via an XML
(device description file). The XML file describes the configurations that are
supported.
For error-free configuration of the FSoE connection to the axis, the XML file
used has to be consistent with the hardware and firmware.
Besides the configuration in the control unit, an "FSoE slave address" also has
to be assigned in the axis (P‑0‑3350) so that the axis can be unequivocally and
safely addressed.
Furthermore, a profile for the configuration of the consumer (P‑0‑3342.0.1)
and producer (P‑0‑3343.0.1) connections has to be selected during the com-
missioning of safety technology in the axis.
The settings made in the control unit and in the drive controller, for the FSoE
slave address and for the configurations of the consumer and producer connec-
tions, have to match so that an error-free communication can be established.
FSoE slave address
To unequivocally identify all bus nodes via FSoE, each node has to have an
unequivocal “FSoE slave address” (P‑0‑3350).
Selection and acknowledgment
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