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YASKAWA VIPA SLIO SDI Operating Manual

Safety digital i/o
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VIPA System SLIO
SM-S | 02x-1SD10 | Operating manual
HB300 | SM-S | 02x-1SD10 | en | 20-02
Safety Digital I/O - SM-S 02x FSoE

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  • Page 1 VIPA System SLIO SM-S | 02x-1SD10 | Operating manual HB300 | SM-S | 02x-1SD10 | en | 20-02 Safety Digital I/O - SM-S 02x FSoE...
  • Page 2 YASKAWA Europe GmbH Ohmstraße 4 91074 Herzogenaurach Tel.: +49 9132 744 0 Fax: +49 9132 744 186 Email: info@yaskawa.eu.com Internet: www.yaskawa.eu.com 02x-1SD10_000_SM-S,1,EN - © 2020...

  • Page 3: Table Of Contents

    VIPA System SLIO Table of contents Table of contents General........................5 1.1 Copyright © YASKAWA Europe GmbH............5 1.2 About this manual..................... 6 1.3 Safety information................... 10 1.4 Safety Information for Users................11 1.5 Intended use....................12 1.6 Responsibility of the user................12 1.7 Protective devices..................
  • Page 4 3.15 Packing and transport................. 115 3.16 Storage and disposal.................. 116 3.17 Sample application..................117 3.17.1 Precondition..................... 117 3.17.2 Configuration in YASKAWA SAFE CPU..........118 3.17.3 Configuration in the Siemens SIMATIC Manager and VIPA SPEED7 EtherCAT Manager.................. 124 3.17.4 Modifications.................... 127 Appendix......................

  • Page 5: General

    This material is protected by copyright laws. It may not be reproduced, distributed, or altered in any fashion by any entity (either internal or external to YASKAWA) except in accordance with applicable agreements, contracts or licensing, without the express written consent of YASKAWA and the business management owner of the material.

  • Page 6: About This Manual

    Document support Contact your local representative of YASKAWA Europe GmbH if you have errors or ques- tions regarding the content of this document. If such a location is not available, you can reach YASKAWA Europe GmbH via the following contact: YASKAWA Europe GmbH, Ohmstraße 4, 91074 Herzogenaurach, Germany...
  • Page 7 VIPA System SLIO General About this manual Guide to the document The following guides are available in the manual: An overall table of contents at the beginning of the manual References with page numbers Availability The manual is available in: printed form, on paper in electronic form as PDF-file (Adobe Acrobat Reader) Icons Headings...
  • Page 8 VIPA System SLIO General About this manual Liability Limitation All data and notes in these instructions were prepared with consideration to the statutory standards and regulations, the present state of technology, as well as our many years of knowledge and experience. The manufacturer accepts no liability for damage caused because: Non-compliance with the instructions Non-specified use...
  • Page 9 Ä Chap. 1.8 ‘Education of the personnel’ page 13 YASKAWA will not be held liable for severe personal injuries, damage to property or the surroundings caused by any of the following: unqualified personnel working on or with the devices, de-activation or bypassing of safety functions, or failure to comply with the instructions detailed in this manual.

  • Page 10: Safety Information

    VIPA System SLIO General Safety information 1.3 Safety information Applications conforming The System SLIO is constructed and produced for: with specifications communication and process control general control and automation applications industrial applications operation within the environmental conditions specified in the technical data installation into a cubicle with degree of protection IP54 or better The modules have been engineered and designed exclusively for the intended use described in this documentation.

  • Page 11: Safety Information For Users

    If you keep the prescribed environmental conditions (see technical data) the corre- sponding safety module is maintenance-free. Spare parts Please only use original spare parts of YASKAWA. WARNING! Incorrect or faulty spare parts can cause damage, malfunction or failure as well as affect security.

  • Page 12: Intended Use

    VIPA System SLIO General Protective devices 1.5 Intended use General The product is exclusively designed and constructed for the intended use described in this manual. The product is intended used if all the notes and information of this manual are considered. WARNING! Danger by not intended use! Each use of the product, which differs to the intended use can lead to...

  • Page 13: Education Of The Personnel

    VIPA System SLIO General Personal protective equipment 1.8 Education of the personnel WARNING! Risk of injury resulting from insufficient qualification! Improper use can cause considerable personal injury and material damage. Therefore: The special activities may only be executed by personnel nominated by the respective chapters.

  • Page 14: Special Hazards

    VIPA System SLIO General Special hazards Safety shoes for protection against falling heavy objects. Protective gloves to protect hands from friction abrasions, punctures or injuries, as well as from contact with hot objects. Wear at special works: Eye protector to protect eyes from flying parts and liquid splashes. 1.10 Special hazards General...

  • Page 15: Fire Fighting

    VIPA System SLIO General Electrical safety Moved objects WARNING! Risk of injury from moving parts! Rotary respectively linear moved parts can cause serious injuries. Therefore: Do not touch moving parts during operation. Do not open the cover during operation. The mechanical residual energy depends on the application. Driven compo- nents rotate respectively move for a certain time even after switching off the power supply.

  • Page 16: Safety Facilities

    VIPA System SLIO General Sign-posting > Signs 1.13 Safety facilities WARNING! Risk of death by non-functioning safety facilities! Safety facilities serve for maximum safety during operation. Even if by safety facilities working process become complicated, its never allowed to circumvent them. The security is guaranteed only when the safety facili- ties are intact.

  • Page 17: Safety Hints

    VIPA System SLIO General Functional safety - safety relevant parameters Electrical voltage In the such marked work space only qualified personnel may work. Unauthorized may not touch the marked equipment. DANGER! Danger of life by electrical power! Time for discharge > 1 Minute Stored electrical charge Therefore: Consider discharge time of capacitor and do not touch live parts before.
  • Page 18 VIPA System SLIO General Functional safety - safety relevant parameters Characteristics SDI 4xDC Characteristics according to Meaning IEC 61508 = 0.25 * 10-9/h Probability of failure per Hour: Probability of danger failure per hour. PFDavg = 2.14 * 10-5 Probability of Failure on Demand average: Average of probability of failure on demand.

  • Page 19: Approvals, Directives, Standards

    VIPA System SLIO General Approvals, directives, standards 1.18 Approvals, directives, standards Conformity and approval Conformity 2014/30/EU EMC directive 2006/42/EG Machinery directive others RoHS 2011/65/EU Restriction of the use of certain hazardous substances Protection of persons and device protection Type of protection IP20 Electrical isolation to the field bus...
  • Page 20 VIPA System SLIO General Approvals, directives, standards Standard Comment Emitted interference EN 61000-6-4 Class A (Industrial area) Noise immunity EN 61000-6-2 Industrial area zone B EN 61000-4-2 8kV at air discharge (degree of severity 3), 4kV at contact discharge (degree of severity 2), EN 61000-4-3 HF field immunity (casing) 80MHz …...
  • Page 21 VIPA System SLIO General Approvals, directives, standards Norms and standards Row SN 29500 Failure rate, component, expected value, reliability DIN EN 61496-1 Electro sensitive protective equipment Requirements to clearance / creep-age current distances and system power supply DIN EN 61131-2 The definition of clearance and creep-age current distances takes place in accordance to EN 61131-2.

  • Page 22: Product Description

    VIPA System SLIO Product description System conception Product description 2.1 System conception Overview System SLIO is a modular automation system for assembly on a 35mm mounting rail. By means of the peripheral modules with 2, 4 or 8 channels this system may properly be adapted matching to your automation tasks.
  • Page 23 VIPA System SLIO Product description System conception Bus coupler With a bus coupler bus interface and power module is integrated to one casing. With the bus interface you get access to a subordinated bus system. Via the integrated power module for power supply the bus interface is supplied as well as the electronic of the con- nected periphery modules.
  • Page 24 VIPA System SLIO Product description System conception Electronic module The functionality of a System SLIO periphery module is defined by the electronic module, which is mounted to the terminal module by a sliding mechanism. With an error the defec- tive module may be exchanged for a functional module with standing installation. At the front side there are LEDs for status indication.

  • Page 25: Hardware Revision

    VIPA System SLIO Product description System conception > Hardware revision Accessories Shield bus carrier The shield bus carrier serves to carry the shield bus (10mm x 3mm) to connect cable shields. Shield bus carriers, shield bus and shield fixings are not in the scope of delivery. They are only available as accessories.

  • Page 26: Dimensions

    VIPA System SLIO Product description Dimensions 2.2 Dimensions Dimensions bus coupler Dimensions periphery module (here Safety) Dimensions electronic module (here Safety) Dimensions in mm The dimensions of the System SLIO safety modules are identical to those of the System SLIO standard modules. HB300 | SM-S | 02x-1SD10 | en | 20-02...

  • Page 27: Sdi 4Xdc 24V - Operating And Display Elements

    VIPA System SLIO Product description SDI 4xDC 24V - Operating and display elements 2.3 SDI 4xDC 24V - Operating and display elements Description The electronic module collects the binary control signals from the process level and trans- mits them isolated to the central bus system. It has 4 channels and their status is moni- tored via LEDs.
  • Page 28 VIPA System SLIO Product description SDI 4xDC 24V - Operating and display elements Status indication Description green Bus communication is OK ● ￮ Module status is OK Bus communication is OK ● ● Module status reports an error Bus communication is not possible ￮...
  • Page 29 VIPA System SLIO Product description SDI 4xDC 24V - Operating and display elements RUN and MF LED - Error in configuration Behaviour: Standard module: After PowerON the MF LED of one standard module respectively more standard modules blinks. The RUN LED remains off. Safety module: After PowerON the MF LED of one safety module respectively more safety modules is on.
  • Page 30 VIPA System SLIO Product description SDI 4xDC 24V - Operating and display elements ERR LED The LED is permanently on at a critical error, which led into a permanent fail-safe state, which may not be acknowledged. On error like short-circuit, cross-circuit and so on, the ERR LED shows an error by the following blink behaviour.
  • Page 31 VIPA System SLIO Product description SDI 4xDC 24V - Operating and display elements Terminal For wires with a core cross-section of 0.08mm up to 1.5mm Pos. Function Type Description DI 0 Digital input DI 0 DI 2 Digital input DI 2 Clock output T0 Clock output T2 DI 1...
  • Page 32 VIPA System SLIO Product description SDI 4xDC 24V - Operating and display elements Address switch for F- The F-address is to be configured by the F-address switch at the safety module and addi- address tionally in the master system e.g. hardware configurator. The F-address is to be set by the F-address switch besides on the safety module.

  • Page 33: Sdi 4Xdc 24V - Io Structure

    VIPA System SLIO Product description SDI 4xDC 24V - IO structure 2.4 SDI 4xDC 24V - IO structure IO structure for the input module Index Subindex Type Name Rx direction 0x7000 USINT FSoE Master Command 0x7001 USINT Data 0x7000 UINT FSoE Master CRC 0 0x7000 UINT...

  • Page 34: Sdi 4Xdc 24V - Fsoe Parameter Record Set

    VIPA System SLIO Product description SDI 4xDC 24V - FSoE Parameter record set > FSoE application parameters 2.5 SDI 4xDC 24V - FSoE Parameter record set 2.5.1 FSoE application parameters Record set 0x8000 This data record set is transmitted once via the FSoE mechanism when the FSoE master system is started.
  • Page 35 VIPA System SLIO Product description SDI 4xDC 24V - FSoE Parameter record set > FSoE application parameters Sub- Name Description / Type Offset Access Default index Range of values Channel 2, 3: Signal polarity Condition channel 2, 3 acti- BOOL vation on "activated"...
  • Page 36 VIPA System SLIO Product description SDI 4xDC 24V - FSoE Parameter record set > FSoE application parameters Sub- Name Description / Type Offset Access Default index Range of values Channel 2, 3: Input Condition: Channel 2, 3 acti- UINT smoothing time in ms vation on "activated"...
  • Page 37 VIPA System SLIO Product description SDI 4xDC 24V - FSoE Parameter record set > FSoE application parameters Channel activation With the channel activation channel groups may be activated or deactivated. With channel activation = 1 the corresponding channel group is in "standard operation". Deactivated channel groups (channel activation = 0) permanently supply a logical 1 as input information to the safety PLC in the cyclic data exchange as long as the module is not passivated.
  • Page 38 VIPA System SLIO Product description SDI 4xDC 24V - FSoE Parameter record set > FSoE application parameters Signal polarity With the signal polarity parameter you can physically adapt the inputs of your System SLIO safety module to the signal polarity of your sensor for 2-channel evaluation. The 1. channel always supplies the current input signal of the sensor.

  • Page 39: Fsoe Communication Parameters

    VIPA System SLIO Product description SDI 4xDC 24V - FSoE Parameter record set > FSoE communication parameters 2.5.2 FSoE communication parameters Record set 0x9001 Sub- Name Description / range of Type Offset Access Default Transfer index values SubIndex 000 USINT Version Supported FSoE version STRING (2)

  • Page 40: Sdi 4Xdc 24V - Technical Data

    VIPA System SLIO Product description SDI 4xDC 24V - Technical data Calculating the watchdog So that the watchdog running in the System SLIO safety modules is regularly reset, that it time does not trigger, the following cyclical data flow should be considered: PSTO = 2*T + 2*T...
  • Page 41 VIPA System SLIO Product description SDI 4xDC 24V - Technical data Order no. 021-1SD10 Input current for signal "1" 3 mA Connection of Two-Wire-BEROs possible ü Max. permissible BERO quiescent current 1.5 mA Input delay of "0" to "1" parameterizable 1ms - 1s Input delay of "1"...
  • Page 42 VIPA System SLIO Product description SDI 4xDC 24V - Technical data Order no. 021-1SD10 Diagnostic bytes Housing Material PC / PPE GF10 Mounting Profile rail 35 mm Mechanical data Dimensions (WxHxD) 12.9 mm x 109 mm x 76.5 mm Net weight 63 g Weight including accessories 68 g...

  • Page 43: Sdo 4Xdc 24V 0.5A - Operating And Display Elements

    VIPA System SLIO Product description SDO 4xDC 24V 0.5A - Operating and display elements 2.7 SDO 4xDC 24V 0.5A - Operating and display elements Description The electronic module accepts binary control signals from the central bus system and transfers them to the process level via outputs. It has 4 channels and their status is moni- tored via LEDs.
  • Page 44 VIPA System SLIO Product description SDO 4xDC 24V 0.5A - Operating and display elements Status indication Description green Bus communication is OK ● ￮ Module status is OK Bus communication is OK ● ● Module status reports an error Bus communication is not possible ￮...
  • Page 45 VIPA System SLIO Product description SDO 4xDC 24V 0.5A - Operating and display elements RUN and MF LED - Error in configuration Behaviour: Standard module: After PowerON the MF LED of one standard module respectively more standard modules blinks. The RUN LED remains off. Safety module: After PowerON the MF LED of one safety module respectively more safety modules is on.
  • Page 46 VIPA System SLIO Product description SDO 4xDC 24V 0.5A - Operating and display elements ERR LED The LED is permanently on at a critical error, which led into a permanent fail-safe state, which may not be acknowledged. On error like short-circuit, cross-circuit and so on, the ERR LED shows an error by the following blink behaviour.
  • Page 47 VIPA System SLIO Product description SDO 4xDC 24V 0.5A - Operating and display elements Terminal For wires with a core cross-section of 0.08mm up to 1.5mm Pos. Function Type Description DO 0 Digital output DO 0 GND for actuator DO 2 Digital output DO 2 GND for actuator DO 1...
  • Page 48 VIPA System SLIO Product description SDO 4xDC 24V 0.5A - Operating and display elements Address switch for F- The F-address is to be configured by the F-address switch at the safety module and addi- address tionally in the master system e.g. hardware configurator. The F-address is to be set by the F-address switch besides on the safety module.

  • Page 49: Sdo 4Xdc 24V 0.5A - Io Structure

    VIPA System SLIO Product description SDO 4xDC 24V 0.5A - IO structure 2.8 SDO 4xDC 24V 0.5A - IO structure IO structure for the output module Index Subindex Type Name Rx direction 0x7000 USINT FSoE Master Command 0x7001 BOOL 0x7001 BOOL 0x7001 BOOL...

  • Page 50: Sdo 4Xdc 24V 0.5A - Fsoe Parameter Record Set

    VIPA System SLIO Product description SDO 4xDC 24V 0.5A - FSoE Parameter record set > FSoE application parameters 2.9 SDO 4xDC 24V 0.5A - FSoE Parameter record set 2.9.1 FSoE application parameters Record set 0x8000 This data record set is transmitted once via the FSoE mechanism when the FSoE master system is started.
  • Page 51 VIPA System SLIO Product description SDO 4xDC 24V 0.5A - FSoE Parameter record set > FSoE application parameters Sub- Name Description / Type Offset Access Default index Range of values Parameter change mode 0: Normal parameter record BOOL 1: Parameter change F- address Activation 0: deactivated...
  • Page 52 VIPA System SLIO Product description SDO 4xDC 24V 0.5A - FSoE Parameter record set > FSoE application parameters Activation diagnostic Here you activate respectively deactivate the diagnostic interrupt function. With a set interrupt diagnostic interrupt bit in case of an error a diagnostic interrupt message is sent to the upper master system.
  • Page 53 VIPA System SLIO Product description SDO 4xDC 24V 0.5A - FSoE Parameter record set > FSoE application parameters Test pulse length Each output with “1” state is continuously observed whether this can still be switched off. Here wiring errors e.g. short circuit to DC 24V and errors within the System SLIO safety module can be detected.

  • Page 54: Fsoe Communication Parameters

    VIPA System SLIO Product description SDO 4xDC 24V 0.5A - FSoE Parameter record set > FSoE communication parameters 2.9.2 FSoE communication parameters Record set 0x9001 Sub- Name Description / range of Type Offset Access Default Transfer index values SubIndex 000 USINT Version Supported FSoE version...

  • Page 55: Sdo 4Xdc 24V 0.5A - Technical Data

    VIPA System SLIO Product description SDO 4xDC 24V 0.5A - Technical data Calculating the watchdog So that the watchdog running in the System SLIO safety modules is regularly reset, that it time does not trigger, the following cyclical data flow should be considered: PSTO = 2*T + 2*T...
  • Page 56 VIPA System SLIO Product description SDO 4xDC 24V 0.5A - Technical data Order no. 022-1SD10 Lamp load Parallel switching of outputs for redundant control of a load not possible Parallel switching of outputs for increased power not possible Actuation of digital input ü...
  • Page 57 VIPA System SLIO Product description SDO 4xDC 24V 0.5A - Technical data Order no. 022-1SD10 Safety requirements SIL CL 3, PL e, Kat 4 Secure user address 1 - 4095 Watchdog parameterizable 20ms - 65s Two channels Each 2 of 4 outputs switchable Test pulse length parameterizable 20ms - 65s Circuit monitoring...

  • Page 58: Response Time

    VIPA System SLIO Product description Response time > Error-free case 2.11 Response time General The response times of the System SLIO safety modules are listed below. The response time of the safety modules is included in the calculation of the fail-safe system response time.
  • Page 59 VIPA System SLIO Product description Response time > Error-free case Maximum expected = TI + TI + TI + TI + (2xTI ) + TI + (2xT maxNF WCDT FSoESync ECM_ECAT response time in the case + TI + (4xT ) + TO + TO +(2xT...

  • Page 60: Existing Error

    VIPA System SLIO Product description Response time > Existing error 2.11.2 Existing error Possible single errors In the presence of an error, it is assumed that a time monitoring responds and triggers the corresponding error response. Possible causes include errors in the system, incorrect runtime information in the documentation of the standard system or an extension of the runtime beyond the value used in the calculation by changing the configuration of the standard system.

  • Page 61: Arbitrary Run Times At Single Errors

    VIPA System SLIO Product description Response time > Arbitrary run times at single errors 2.11.3 Arbitrary run times at single errors Times to be considered At arbitrary run times of the standard system in addition to an existing error, it is assumed that the values of all the relevant run times lie nearby the limit of the monitored times.

  • Page 62: Designations

    VIPA System SLIO Product description Response time > Designations Max. response time at = TI + TI + TI + TI maxRT WCDT ECSMWD arbitrary run times at one error + MIN (TI , TO ECSMWD maxCL ECSMWD + TO + TO WCDT ECSMWD...
  • Page 63 VIPA System SLIO Product description Response time > Designations Component Meaning Where from Time System SLIO Max. response time in the case 11ms WCDT without errors Safety SDI (Worst Case Delay Time). WCDT Safety SDO System SLIO Max. response time in the pres- 11ms OFDT ence of an error...

  • Page 64: Compatibility List

    VIPA System SLIO Product description Compatibility list Component Meaning Where from Time Safety PLC Configured PLC cycle time for Documentation PLC with EtherCAT copying the EtherCAT input/output master data from Safety SDI to the FSoE master and back respectively between Safety SDO and FSoE master.
  • Page 65 VIPA System SLIO Product description Compatibility list Actuators The System SLIO safety output module was successfully tested with the following actua- tors: Pilz Safety switch device PNOZ X2.7P You can also use sensors and actuators from other producers, which have the properties suitable for the application and the corresponding type examination.

  • Page 66: Deployment

    VIPA System SLIO Deployment Planning of a safety-related control system Deployment 3.1 Planning of a safety-related control system General In the planning phase the complete definition of the safety function(s) takes place. Besides the risk evaluation the planning contains the detailed definition of all system components, the definition of the system parameters, the detailed installation and wiring of the components.
  • Page 67 VIPA System SLIO Deployment Planning of a safety-related control system Sequence of a risk evalua- tion in accordance to DIN EN ISO 12100-1 and EN ISO 14121 HB300 | SM-S | 02x-1SD10 | en | 20-02...

  • Page 68: Installation Guidelines

    VIPA System SLIO Deployment Installation guidelines Installation and wiring dia- In the phase of planning an installation and a wiring diagram for the total safety system gram are to be created. It contains all system components and their wiring. CAUTION! Please consider a separation of high- and low-voltage signals in the installation and wiring diagram for the exclusion of cross- or short circuits to potentials >...
  • Page 69 VIPA System SLIO Deployment Installation guidelines Power supply Protected earth conductor Depending on the spreading medium (lead bound or lead free) and the distance to the interference cause, interferences to your control occur by means of different coupling mechanisms. There are: galvanic coupling capacitive coupling inductive coupling...
  • Page 70 VIPA System SLIO Deployment Installation guidelines When isolating cables you have to regard the following: If possible, use only cables with isolation tangle. The hiding power of the isolation should be higher than 80%. Normally you should always lay the isolation of cables on both sides. Only by means of the both-sided connection of the isolation you achieve high quality interference suppression in the higher frequency area.

  • Page 71: Setting The F-Address

    VIPA System SLIO Deployment Setting the F-address 3.3 Setting the F-address Address switch for F- The F-address respectively "Secure user address" is to be configured by the F-address address switch at the safety module and additionally in the master system e.g. hardware configu- rator.
  • Page 72 VIPA System SLIO Deployment Setting the F-address > Changing the F-address 3.3.1 Changing the F-address The following 2 steps are required to change the F-address: Changing an existing F-address at the module Changing the F-address in the configuration For this please consider the hints below at "Demounting and module exchange”.
  • Page 73 VIPA System SLIO Deployment Setting the F-address > Changing the F-address Online via the configura- With the following approach the System SLIO safety module is to be powered off and to tion tool of the FSoE demounted. master Switch off the DC 24V power supply of your System SLIO safety module. Demount the System SLIO safety module.
  • Page 74 VIPA System SLIO Deployment Mounting > Requirements to the operating personnel 3.4 Mounting CAUTION! In the phase of installation the "Check list Installation" of the appendix is Ä Appendix B ‘Checklist installation’ page 131 to be used. – Make sure that the installation is complete in accordance with the installation and wiring plan.
  • Page 75 VIPA System SLIO Deployment Mounting > Mounting Proceeding 3.4.2 Functional principle There is a locking lever at the top side of the terminal module. For mounting and demounting this locking lever is to be turned upwards until this engages audible. For mounting plug the module to the module installed before and push the module to the mounting rail guided by the strips at the upper and lower side of the module.
  • Page 76 VIPA System SLIO Deployment Mounting > Mounting Proceeding Possibilities Horizontal hanging or lying Mounting mounting rail Mount the mounting rail! Please consider that a clearance from the middle of the mounting rail of at least 80mm above and 60mm below, respectively 80mm by deployment of shield bus carriers, exist.
  • Page 77 VIPA System SLIO Deployment Mounting > Mounting Proceeding Mounting head module (e.g. bus coupler) Start at the left side with the head module (e.g. bus coupler). For this turn both locking lever upwards, put the head module to the mounting rail and turn both locking lever downward.
  • Page 78 VIPA System SLIO Deployment Mounting > Mounting Proceeding Characteristics when Please consider when planning with System SLIO safety modules that you may not installing System SLIO install a System SLIO safety module before and or behind System SLIO clamp safety modules modules! Please consider when planning with System SLIO safety modules that you may not install a System SLIO safety module behind a slave extension module of the System...
  • Page 79 VIPA System SLIO Deployment Mounting > Mounting Proceeding Mounting the bus cover at a clamp module If the last module is a clamp module, for adaptation the upper part of the bus cover is to be removed. Mounting shield bus car- rier The shield bus carrier (available as accessory) serves to carry the shield bus to connect cable shields.
  • Page 80 – Defective modules must be labelled as defective and should be sent back to YASKAWA. A re-use is absolutely prevented by measures within the quality management with the user. 3.5.1 Proceeding With demounting and exchange of a module, head module (e.g. bus coupler) or a group of modules for mounting reasons you have always to remove the electronic module of the just mounted right module.
  • Page 81 VIPA System SLIO Deployment Demounting and module exchange > Proceeding Ä Chap. 3.6 ‘Wiring’ page 84. Exchange of a module Remove if exists the wiring at the module Press the unlocking lever at the lower side of the just mounted right module and pull it forward.
  • Page 82 VIPA System SLIO Deployment Demounting and module exchange > Proceeding Exchange of a head module (e.g. bus coupler) CAUTION! Bus interface and power module of a head module may not be separated! Here you may only exchange the electronic module! Ä...
  • Page 83 VIPA System SLIO Deployment Demounting and module exchange > Proceeding Ä Chap. 3.6 ‘Wiring’ page 84. Exchange of a module Remove if exists the wiring of the module group. group Press the unlocking lever at the lower side of the just mounted right module of the module group and pull it forward.
  • Page 84 VIPA System SLIO Deployment Wiring Turn all the locking lever downward again. Plug again the electronic module, which you have removed before. 3.6 Wiring Requirements on the elec- To be able to fulfil the standard EN 60 204-1 (electrical equipment of machines), you have trical connection to use the cables, which are suggested there.
  • Page 85 VIPA System SLIO Deployment Wiring Terminals Terminals with spring clamp technology are used for wiring. The spring clamp technology allows quick and easy connection of your signal and supply lines. In contrast to screw terminal connections this type of connection is vibration proof. Requirements for the con- necting cable : 240V AC / 30V DC...
  • Page 86 VIPA System SLIO Deployment Wiring NOTICE! Since the power section supply is not internally protected, it is to be exter- nally protected with a fuse, which corresponds to the maximum current. This means max. 10A is to be protected by a 10A fuse (fast) respectively by a line circuit breaker 10A characteristics Z! The electronic power section supply is internally protected against higher voltage by fuse.
  • Page 87 VIPA System SLIO Deployment Wiring Power module 007-1AB00 Power module 007-1AB10 (1) DC 24V for power section supply I/O area (max. 10A) (2) DC 24V for electronic power supply bus coupler and I/O area (3) DC 24V for power section supply I/O area (max. 4A) (4) DC 24V for electronic power supply I/O area HB300 | SM-S | 02x-1SD10 | en | 20-02...
  • Page 88 VIPA System SLIO Deployment Wiring > Requirements to the sensor and actuators Shield attachment To attach the shield the mounting of shield bus carriers are necessary. The shield bus carrier (available as accessory) serves to carry the shield bus to con- nect cable shields.
  • Page 89 VIPA System SLIO Deployment Wiring > Requirements to the sensor and actuators Requirements to the sen- The System SLIO safety DI module can be used with cable length up to 330m (capacity sors up to 100nF, ohmic resistance up to 22.4Ω). General rule: A single-channel sensor is suf- ficient to achieve SIL2/Cat.
  • Page 90 VIPA System SLIO Deployment Wiring > Requirements to the sensor and actuators Requirements to the The safety-related output modules perform a cyclic test of the outputs. The F module actuators briefly disables the activate outputs. This test pulse lengths can be parametrized to match the load current and the cable capacitance / length.
  • Page 91 VIPA System SLIO Deployment Connection examples 3.7 Connection examples WARNING! Warning against personal and property damage! The use of the connection examples described in this section alone is not enough to execute the safety function according to the SIL, Cat./PL deter- mined from the risk analysis.
  • Page 92 VIPA System SLIO Deployment Connection examples > Connection examples for digital inputs 3.7.1 Connection examples for digital inputs You can operate e.g. the following sensors on the digital inputs: Potential-free, contact emergency off buttons Protective door switches Light array (general contactless protection system) with the following characteristics: –...
  • Page 93 VIPA System SLIO Deployment Connection examples > Connection examples for digital inputs Connection 4 x emergency off, single-channel, Test pulse activation not active You can connect the digital input via a switching element (e.g., an emergency off switch) either to the associated clock output or to the field supply voltage Uv directly. Alternatively, you can connect the semiconductor output of a sensor to the digital input directly.
  • Page 94 VIPA System SLIO Deployment Connection examples > Connection examples for digital inputs Connection 2 x emer- gency-off switch, dual channel, equivalent evalu- ation WARNING! Pay attention to the protected installation of signal lines during Test pulse activation is "deactivated"! If you have set the parameter Test pulse activation to "deactivated", as condition of fault exclusion, the signal lines must be installed protected among each other and between the sensors and inputs according to EN 60204-1 or EN ISO 13849-2 (e.g., as separate sheathed lines or in sepa-...
  • Page 95 VIPA System SLIO Deployment Connection examples > Connection examples for digital inputs 3.7.1.2 Connection interlock monitoring Connection 1 x interlock monitoring, dual channel, antivalent evaluation To monitor protective devices, you can connect the normally open contact of a protec- tive door switch to four digital inputs of the safety module. Ä...
  • Page 96 VIPA System SLIO Deployment Connection examples > Connection examples for digital safety outputs 3.7.2 Connection examples for digital safety outputs The following loads can be operated on the digital safety outputs: resistive loads inductive load after DC13 according EN 60947-5-1 Wire break detection at the digital safety output To detect a wire break between the safety outputs DO 0 ...
  • Page 97 VIPA System SLIO Deployment Connection examples > Connection examples for digital safety outputs Connection with diode When shutting down an inductive load, the magnetic energy stored in the inductive load recovery circuit must be dissipated. This magnetic energy converted by a diode recovery circuit into heat. You can convert the magnetic energy into heat with the SLIO safety module or with a suit- able external diode recovery circuit.
  • Page 98 VIPA System SLIO Deployment Connection examples > Connection examples for digital safety outputs Connection a load to a In the following the connection of a load (relay respectively pneumatic valve) to an output safety output with optional feedback (switch respectively pneumatic pressure switch) to a System SLIO safety input module is shown.
  • Page 99 VIPA System SLIO Deployment Connection examples > Connection examples for digital safety outputs Connection load to safety With this connection, you can achieve SIL3/Cat.4/PLe by re-reading the relay states. output and ground 0V You can connect a load (e.g., a relay) between a digital safety output DO 0 ... 3 and the ground connection 0V of the field power supply.
  • Page 100 VIPA System SLIO Deployment Connection examples > Connection examples for digital safety outputs Connection 4 motors, You can connect a contactor to a digital safety output and connect a motor single-channel external single-channel using normally open contacts of the contactor. Connection is possible to each of the four with feedback (1 contactor digital safety outputs.
  • Page 101 VIPA System SLIO Deployment Connection examples > Connection examples for digital safety outputs Connection 2 motors, 2- With this connection, you can achieve SIL3/Cat.4/PLe by re-reading the relay states. channel with feedback (2 contactor per motor) To achieve signal fault security, we recommend the use of two positively driven nor- mally open contacts of a contactor in series to the motor to be connected.
  • Page 102 VIPA System SLIO Deployment Notes for commissioning 3.8 Notes for commissioning General The Commissioning guarantees that the System SLIO safety module functions correctly. Guarantee before commissioning that the following conditions are fulfilled: The digital module is correctly installed. The digital module is connected to safety components (Emergency stop device, safety light array etc.).
  • Page 103 VIPA System SLIO Deployment Deployment with EtherCAT > Basics EtherCAT: 3.9 Deployment with EtherCAT 3.9.1 Basics EtherCAT: ® ® ® EtherCAT For EtherCAT is valid: EtherCAT is a registered trademark and patented tech- nology, licensed by Beckhoff Automation GmbH, Germany. EtherCAT means Ethernet for Controller and Automation Technology.
  • Page 104 ESI files You got ESI files from YASKAWA for the EtherCAT coupler. These files may be found at the ‘Service / Support è Downloads è Config Dateien’ of www.vipa.com. Install the ESI files in your configuration tool.
  • Page 105 VIPA System SLIO Deployment Deployment with EtherCAT > Diagnostic messages EtherCAT Connect the IO ‘SLIO EtherCAT System’ to your PROFINET system and define the areas for input and output. More details can be found in the corresponding manual for your CPU. Start the SPEED7 EtherCAT Manager.
  • Page 106 VIPA System SLIO Deployment Deployment with EtherCAT > Diagnostic messages EtherCAT Code Description 0x97 Short circuit Short circuit within one channel to DC 24V ERR LED: 1x blinking Diagnostic data CHxERR Bit 0 is set 0x98 Channel cross-circuit detected Cross-circuit error between 2 channels ERR LED: 2x blinking Diagnostic data CHxERR Bit 3 is set 0x99...
  • Page 107 VIPA System SLIO Deployment Validation of the system 3.10 Validation of the system General With the first commissioning all the safety functions and the proper functionality of the programmed and installed system must be checked. And the check of the system must be documented.
  • Page 108 With the System SLIO safety module there is no repeat test possible for the user. If you keep the prescribed environmental conditions (see technical data) the corre- sponding safety module is maintenance-free. If you determine or assume a defect on a safety module, please contact YASKAWA. 3.13 Repair CAUTION! Defective safety modules may only be repaired by the manufacturer.
  • Page 109 VIPA System SLIO Deployment Diagnostics > Error response Fail safe principle The module bases on the fail-safe principle. This means that each error automatically leads to a safety state (safety switched off outputs, every input reports off-circuit state). CAUTION! Do not switch a safety-related incorrect system to operating state again, as long as you do not know the cause of the error or an error has been corrected.
  • Page 110 VIPA System SLIO Deployment Diagnostics > Fault diagnostics Substitute value output for If channels are passivated with safety DI modules, the safety-related system provides safety modules substitute values for the safety program instead of the process values applied to the safety-related inputs: –...
  • Page 111 VIPA System SLIO Deployment Diagnostics > Fault diagnostics Ä Chap. 2.3 ERR LED status in case of On error the ERR LED shows an error by a corresponding blink behavior. error ‘SDI 4xDC 24V - Operating and display elements’ page 27 Thus diagnostic messages that persist only for a short time, also can be handled, you have to adapt the error handling in the corresponding error OB of your user program for example the diagnostic messages are stored...
  • Page 112 VIPA System SLIO Deployment Diagnostics > Fault diagnostics SDO 4xDC 24V 0.5A Error Behavior of the diagnostic mes- Error recovery sages Short circuit The error is only a short time reported Correct the wiring or configuration since with disabling the output no error.
  • Page 113 VIPA System SLIO Deployment Diagnostics > Fault diagnostics Configurable diagnostics Via the parametrization you may activate a diagnostic interrupt for the module. With a functions diagnostics interrupt the module serves for diagnostics data for diagnostic interrupt incoming As soon as the reason for releasing a diagnostic interrupt is no longer present, the diag- nostic interrupt automatically takes place.
  • Page 114 VIPA System SLIO Deployment Diagnostics > Fault diagnostics ERR_A - Diagnostic Byte Bit 7 ... 0 Bit 0: set at module failure Bit 1: reserved Bit 2: set at external error Bit 3: set at channel error Bit 4: set at external auxiliary supply missing Bit 6 ...
  • Page 115 VIPA System SLIO Deployment Packing and transport ERR_C - Module-internal Byte Bit 7 ... 0 Module-internal error: Bit 3 ... 0: reserved Bit 4: set at a communication error on the System SLIO safety module Bit 7 ... 5: reserved ERR_D - Module-specific Byte Bit 7 ...
  • Page 116 Shipping For shipping always use the original packaging. Disposal In principle the disposal takes place via YASKAWA. Send defective and/or to be disposed System SLIO safety modules to YASKAWA. Demands on the per- The personnel which you instruct to demount devices must have the knowledge and sonnel training to carry out these jobs properly.
  • Page 117 Software Tool Programming software Siemens SIMATIC Manager Configuration tool VIPA SPEED7 EtherCAT Manager EtherCAT Configuration tool YASKAWA SAFE CPU FSoE master F-addresses Before installing the following modules, set the corresponding F-address using the DIP switch: Module F-address dec- Switch setting...
  • Page 118 Build the application example according to the following illustration: 3.17.2 Configuration in YASKAWA SAFE CPU Proceeding Open the configuration tool YASKAWA SAFE CPU for the FSoE master. Use the corresponding button to create a new project. HB300 | SM-S | 02x-1SD10 | en | 20-02...
  • Page 119 VIPA System SLIO Deployment Sample application > Configuration in YASKAWA SAFE CPU Enter a project name in the ‘Project wizard’ . Leave the ‘Project path’ unchanged. Confirm a new bus structure in the next dialog window. ð The dialog window for assigning the password opens.
  • Page 120 VIPA System SLIO Deployment Sample application > Configuration in YASKAWA SAFE CPU Create the configuration of the System SLIO safety modules via drag & drop. HB300 | SM-S | 02x-1SD10 | en | 20-02...
  • Page 121 VIPA System SLIO Deployment Sample application > Configuration in YASKAWA SAFE CPU The module parameters are then set in the ‘FsoE Master Parameter’ tab and veri- fied with ‘Accept’ . HB300 | SM-S | 02x-1SD10 | en | 20-02...
  • Page 122 VIPA System SLIO Deployment Sample application > Configuration in YASKAWA SAFE CPU Then proceed as follows by clicking on the corresponding buttons: [Validate Param- eter], [Safe Project], [Export Safe Container], [Export FsoE Master ESI-File]. ð The configuration of the safety program is created and exported as an...
  • Page 123 VIPA System SLIO Deployment Sample application > Configuration in YASKAWA SAFE CPU Now program your application in the main program of YASKAWA SAFE CPU according to the following template: Compile and save the project via the corresponding buttons. Bring your FSoE master online.
  • Page 124 Deployment Sample application > Configuration in the Siemens SIMATIC Manager and VIPA SPEED7 EtherCAT Manager Click [Download] and confirm the download options. ð The project is transferred to the FSoE master. Then close YASKAWA SAFE CPU. 3.17.3 Configuration in the Siemens SIMATIC Manager and VIPA SPEED7 EtherCAT Manager...
  • Page 125 VIPA System SLIO Deployment Sample application > Configuration in the Siemens SIMATIC Manager and VIPA SPEED7 EtherCAT Manager Go online via the Ethernet PG/OP channel of the VIPA CPU and read the hardware structure via ‘Network è Scan EtherCAT network’. Now you can close the SPEED7 EtherCAT Manager and confirm the save project dialog box with [Yes].
  • Page 126 VIPA System SLIO Deployment Sample application > Configuration in the Siemens SIMATIC Manager and VIPA SPEED7 EtherCAT Manager Create an FC 1 in the Siemens SIMATIC Manager. This is to ensure that the I/O data between FSoE master and VIPA CPU are copied in each case. Network 1: SDI ->...
  • Page 127 Mount the System SLIO safety module and switch on the DC 24V power supply for your System SLIO safety module, again. Open YASKAWA SAFE CPU with the project for the application example. Select ‘Project è FSoE bus Configurator’ and enter for the according System SLIO safety modul at tab ‘FSoE master parameter’...
  • Page 128 VIPA System SLIO Appendix Appendix HB300 | SM-S | 02x-1SD10 | en | 20-02...
  • Page 129 VIPA System SLIO Appendix Contents Checklist planning..................130 Checklist installation..................131 Checklist commissioning, parameterization and validation....... 132 Checklist operation..................133 Checklist modification and retrofitting............134 Checklist decommissioning................135 HB300 | SM-S | 02x-1SD10 | en | 20-02...

  • Page 130: Checklist Planning

    VIPA System SLIO Checklist planning Checklist planning Checklist Run. Requirement fulfilled Notes Planning Was a risk evaluation established and were the required SIL and performance level according to DIN EN ISO 13849-1 or IEC 62061 determined? Are exclusively power supplies used according to PELV specification? Does the wiring take place after valid standards and guidelines?

  • Page 131: B Checklist Installation

    VIPA System SLIO Checklist installation Checklist installation Checklist Run. Requirement fulfilled Notes Installation Is it guaranteed that the safety switch devices are not short-circuited due to a wiring fault? Is it guaranteed that the safety switch devices are not short-circuited due to a wiring fault? Was the wiring checked by means of the installation plan? Are all the plugs labelled according to their allocation?

  • Page 132: Checklist Commissioning, Parameterization And Validation

    VIPA System SLIO Checklist commissioning, parameterization and validation Checklist commissioning, parameterization and validation Checklist Run. Requirement fulfilled Notes Commissioning Is guaranteed that all safe communication participants of a system have a clear safe device address (F- address)? This is valid also for participants, which belong to dif- ferent safety controllers, if the controllers are connected by gateways (e.g.

  • Page 133: D Checklist Operation

    VIPA System SLIO Checklist operation Checklist operation Checklist Run. Requirement fulfilled Notes Operation Is it guaranteed that no changes are made to the system configuration during operation of the safety PLC? Is it guaranteed that before expanding the system, removing individual system components and making changes to the wiring, the control system is set to a safe state dependent on the application by competent per- sonnel?

  • Page 134: E Checklist Modification And Retrofitting

    VIPA System SLIO Checklist modification and retrofitting Checklist modification and retrofitting Checklist Run. Requirement fulfilled Notes Modification and retrofitting Is the modification/retrofitting compatible? Are the requirements of the checklists of planning, installation, commissioning and validation further fulfilled? Are the calculated reaction times further kept after mod- ification/retrofitting? Proof necessary! Were the project data copied on a memory card? Was a complete functional test accomplished and docu-...

  • Page 135: F Checklist Decommissioning

    Ä Chap. 3.5 ‘Demounting and module exchange’ page 80 Is it guaranteed that the defective System SLIO safety module decommissioned is sent to YASKAWA for dis- posal in its original packaging? Date: ......Name: ........Signature: ............HB300 | SM-S | 02x-1SD10 | en | 20-02...

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