IndraControl SafeLogic compact

IndraControlSafeLogic compactFirst Steps

Commissioning ManualR911346744

Edition 04

IndraControlSafeLogic compactFirst Steps

Commissioning Manual

DOK-CONTRL-SLC*F*STEP*-CO04-EN-P

RS-ee7d9a0dcc7a5dda0a6846a5001cfd03-4-en-US-3

Change Record Edition 04 , 2019-03Refer to tab. 1-1 "Change Record" on page 3

Copyright © Bosch Rexroth AG 2019All rights reserved, also regarding any disposal, exploitation, reproduction,editing, distribution, as well as in the event of applications for industrial prop‐erty rights.

Liability The specified data is intended for product description purposes only and shallnot be deemed to be a guaranteed characteristic unless expressly stipulatedin the contract. All rights are reserved with respect to the content of this docu‐mentation and the availability of the product.

Editorial Department Engineering Automation Systems Solution Integration PLC, Safety and Con‐trol HW MiSe (MaKo, MS/PiaSt)

Title

Type of Documentation

Document Typecode

Internal File Reference

Bosch Rexroth AG DOK-CONTRL-SLC*F*STEP*-CO04-EN-PIndraControl SafeLogic compact First Steps

Table of ContentsPage

1 About this documentation.............................................................................................. 31.1 Overview on target groups and product phases..................................................................................... 31.2 Purpose.................................................................................................................................................. 31.3 Qualification............................................................................................................................................ 41.4 Availability............................................................................................................................................... 41.5 Related documents................................................................................................................................. 41.6 Documentation structure......................................................................................................................... 61.7 Information representation...................................................................................................................... 61.7.1 Safety instructions............................................................................................................................... 61.7.2 Symbols used...................................................................................................................................... 71.8 Terms and abbreviations........................................................................................................................ 71.9 Customer feedback................................................................................................................................. 7

2 For safety....................................................................................................................... 92.1 Qualified safety personnel...................................................................................................................... 92.2 Use cases of the devices........................................................................................................................ 92.3 Intended use........................................................................................................................................... 92.4 General safety instructions and protective measures........................................................................... 102.5 Environmentally-friendly behavior......................................................................................................... 102.5.1 Disposal............................................................................................................................................. 102.5.2 Separation of materials...................................................................................................................... 10

3 SafeLogic compact product description....................................................................... 133.1 General information.............................................................................................................................. 133.2 Version and compatibility overview....................................................................................................... 133.3 Functionality of the Sercos Gateway.................................................................................................... 143.4 Safe cross communication (EFI Link and Flexi Line)............................................................................ 15

4 SafeLogic Designer – First configuration steps............................................................ 174.1 General information.............................................................................................................................. 174.2 SafeLogic Designer as stand-alone tool............................................................................................... 174.3 SafeLogic Designer DTMs in the IndraWorks FDT Container.............................................................. 194.4 Hardware configuration......................................................................................................................... 194.5 Logic editor........................................................................................................................................... 20

5 Sercos Gateway (GS3S) – First configuration steps.................................................... 235.1 Commissioning steps............................................................................................................................ 235.2 Sercos bus configuration...................................................................................................................... 235.2.1 Cyclic I/O data between Sercos master and GS3S........................................................................... 235.2.2 Sercos cross communication ("assigning CSos targets").................................................................. 255.3 SafeLogic Designer communication: TCP/IP routing............................................................................ 265.4 CIP Safety Originator configuration...................................................................................................... 275.4.1 General information........................................................................................................................... 27

DOK-CONTRL-SLC*F*STEP*-CO04-EN-P Bosch Rexroth AG I/57IndraControl SafeLogic compact First Steps

Table of Contents

Page

5.4.2 Originator configuration..................................................................................................................... 275.4.3 Target identification........................................................................................................................... 285.4.4 Device profiles (target device description files)................................................................................. 295.4.5 Connection parameters..................................................................................................................... 295.4.6 CIP Safety inputs and outputs........................................................................................................... 305.4.7 Connection status.............................................................................................................................. 30

6 Diagnostics.................................................................................................................. 336.1 Diagnostics in the SafeLogic Designer................................................................................................. 336.2 Diagnostics for the Sercos master........................................................................................................ 33

7 Application instructions................................................................................................ 357.1 Retrieving diagnostics of the SafeLogic compact station via Sercos.................................................... 357.1.1 Diagnostics in the cyclic Sercos communication............................................................................... 357.1.2 Retrieving diagnostics acyclically via Sercos.................................................................................... 367.1.3 SLC_DIAG_GS3S.............................................................................................................................. 377.1.4 SLC_DIAG_XTxx............................................................................................................................... 387.1.5 SLC_DIAG_STIO............................................................................................................................... 387.1.6 SLC_DIAG_CPUX............................................................................................................................. 397.1.7 SLC_DIAG_MOCX............................................................................................................................ 397.2 Controlling the Rexroth IndraDrive safety technology.......................................................................... 407.2.1 SafeStop1 (E-STOP)......................................................................................................................... 417.2.2 SafeStop2 (safe operating stop)........................................................................................................ 417.2.3 Safe motion (SMM)............................................................................................................................ 427.3 Binary coder/decoder............................................................................................................................ 437.3.1 Binary coding of 16 bits..................................................................................................................... 447.3.2 Decoding 6 binary bits....................................................................................................................... 447.4 Notes on the TCP/IP communication with GS3S.................................................................................. 457.4.1 IP configuration of a Sercos device................................................................................................... 457.4.2 TCP/IP communication designer....................................................................................................... 467.4.3 Remote diagnostics........................................................................................................................... 487.4.4 Testing options and troubleshooting.................................................................................................. 49

8 Service and support..................................................................................................... 53

Index............................................................................................................................ 55

Bosch Rexroth AG DOK-CONTRL-SLC*F*STEP*-CO04-EN-PII/57IndraControl SafeLogic compact First Steps

Table of Contents

1 About this documentationPlease read this chapter and chapter 2 "For safety" on page 9 carefullybefore working with this documentation and the modular safety control Safe‐Logic compact.Editions of this documentation

Edition ReleaseDate

Note

Edition 01 2014-09 First edition

Edition 02 2016-04 Supplements

Edition 03 2018-05 Update for Designer V1.8.0

Edition 04 2019-03 FDT/DTM is not supported anymore in IndraWorks 15VRS,updates in chapter Application instructions

Tab. 1-1: Change Record

1.1 Overview on target groups and product phasesIn the following illustration, the framed activities, product phases and targetgroups refer to the present documentation.Example: In the product phase "Engineering", the target group "programmerand commissioning engineer" can execute the activities "parameterizing, pro‐gramming and configuring" using this documentation.

Presales Aftersales

Selection Mounting(assembly/installation) Engineering Commissioning Operation DecommissioningProduct

phases

Targetgroups

Activities

Design engineer

Programmer

Technologist

Processspecialist

Select

Prepare

Design

Construct

Mechanic/electrician

Unpack

Mount

Install

Programmer

Commissioning engineer

Parameterize

Program

Configure

Simulate

Technologist

Process specialist

Optimize

Test

Machineoperator

Maintenancetechnician

Service

Operate

Maintain

Removefaults

Createthe NC program

Mechanic/electrician

Disposal company

Dismount

Dispose

Fig. 1-1: Assigning the present documentation to the target groups, productphases and activities of the target group

1.2 PurposeOperating instructions and project planning manuals of the SafeLogic com‐pact system are additionally required. This "First Steps" manual is a simple"quick start" instruction to adapt initial skills in the SafeLogic compact system.It is focused on the software configuration (working with the SafeLogic De‐signer). The Sercos Gateway commissioning for CIP Safety on Sercos is alsodescribed in detail.

DOK-CONTRL-SLC*F*STEP*-CO04-EN-P Bosch Rexroth AG 3/57IndraControl SafeLogic compact First Steps

About this documentation

1.3 QualificationRequired qualification: Individual who is able to assess the tasks assignedand identify possible safety risks owing to qualification in the subject, knowl‐edge and experience. The individual should also be familiar with the stand‐ards and regulations.

1.4 AvailabilityThis commissioning manual is not provided upon product delivery.

1.5 Related documentsThere are the following related documentations for the SafeLogic compact:

Document Part number,document type

Description

IndraControlSafeLogic compactDesigner Software

R911332749Operating Instructions

This operating instructions provides information onthe software configuration as well as on the opera‐tion and diagnostics of a SafeLogic compact systemwith the SafeLogic Designer software for the techni‐cal staff of the machine manufacturer

IndraControlSafeLogic compactHardware


This operating instruction instructs the technicalstaff of the machine manufacturer and the machineoperator regarding the safe assembly, electrical in‐stallation, commissioning as well as the mainte‐nance of the SafeLogic compact Diagnostic Gate‐way

IndraControlSafeLogic compactDiagnostic Gateways


Describes the SafeLogic compact Diagnostic Gate‐ways and their functions in detail

IndraControlSafeLogic compactSercos Gateway

R911338436Project Planning Man‐ual

This operating instructions instructs the technicalstaff of the machine manufacturer and the machineoperator regarding the safe assembly, configura‐tion, electrical installation, commissioning as well asoperation and maintenance of the SafeLogic com‐pact Sercos Gateway

Safety controls, network solutions SafeLogiccompact

R911332754Safety instructions

The safety instructions provide information on theinitial commissioning and operating of the machine/system to the planners, developers and operatorsas well as to persons installing protective devices ina machine/system

Rexroth IndraControl SafeLogic compact Mounting Instructions

Bosch Rexroth AG DOK-CONTRL-SLC*F*STEP*-CO04-EN-P4/57IndraControl SafeLogic compact First Steps


http://www.boschrexroth.com/various/utilities/mediadirectory/index.jsp?language=en-GB&publication=NET&edition_enum=DOK-IWORKS-SLC*DESIGN*-OP

http://www.boschrexroth.com/various/utilities/mediadirectory/index.jsp?language=en-GB&publication=NET&edition_enum=DOK-CONTRL-SLC*HW*****-OP

http://www.boschrexroth.com/various/utilities/mediadirectory/index.jsp?language=en-GB&publication=NET&edition_enum=DOK-CONTRL-SLC*GW*****-OP

http://www.boschrexroth.com/various/utilities/mediadirectory/index.jsp?language=en-GB&publication=NET&edition_enum=DOK-CONTRL-SLC*GW*GS3S-PR

http://www.boschrexroth.com/various/utilities/mediadirectory/index.jsp?language=en-GB&publication=NET&edition_enum=DOK-CONTRL-SLC*SAFETY*-OP

Document Part number,document type

Description

Sercos Gateway SLC-3-GS3S00300 R911339570 These mounting instructions describe the mountingof modules into a SafeLogic compact safety controlEthernet Gateway Profinet IO SLC-0-

GPNT00300R911334404

Profibus Gateway SLC-0-GPRO00300 R911334403

Motion control modules SLC-3-MOC000300 R911343758

Main Modules SLC-3-CPU0/SLC-3-CPU1/SLC-3-CPU3

R911334402

Extension Modules SLC-3-XTDI/SLC-3-XTIO/SLC-3-XTDS/SLC-0-STIO

R911334401

Relay Modules SLC-A-UE410-2RO4/ SLC-A-UE410-4RO4

R911334400

Encoder Connection Boxes SLC-A-MOC-MFSB-RX/SLC-A-MOC-DECB-RX

R911343761

Tab. 1-2: Required and supplementing documentation



http://www.boschrexroth.com/various/utilities/mediadirectory/index.jsp?language=en-GB&publication=NET&edition_enum=DOK-CONTRL-SLC*GW*GS3S-IS

http://www.boschrexroth.com/various/utilities/mediadirectory/index.jsp?language=en-GB&publication=NET&edition_enum=DOK-CONTRL-SLC*GW*ETH*-IS

http://www.boschrexroth.com/various/utilities/mediadirectory/index.jsp?language=en-GB&publication=NET&edition_enum=DOK-CONTRL-SLC*GW*PRO*-IS

http://www.boschrexroth.com/various/utilities/mediadirectory/index.jsp?language=en-GB&publication=NET&edition_enum=DOK-CONTRL-SLC*MOC*MOD-IS

http://www.boschrexroth.com/various/utilities/mediadirectory/index.jsp?language=en-GB&publication=NET&edition_enum=DOK-CONTRL-SLC*CPU*MOD-IS

http://www.boschrexroth.com/various/utilities/mediadirectory/index.jsp?language=en-GB&publication=NET&edition_enum=DOK-CONTRL-SLC*DIO*MOD-IS

http://www.boschrexroth.com/various/utilities/mediadirectory/index.jsp?language=en-GB&publication=NET&edition_enum=DOK-CONTRL-SLC*UE410**-OP

http://www.boschrexroth.com/various/utilities/mediadirectory/index.jsp?language=en-GB&publication=NET&edition_enum=DOK-CONTRL-SLC*BOX*MOD-IS

1.6 Documentation structureThe first part of the document provides important instructions on use andsafety (chapter 2 "For safety" on page 9).For a description of the SafeLogic compact system, refer to chapter 3 "Safe‐Logic compact product description" on page 13.For a description on how to work with the SafeLogic Designer, refer to chap‐ter 4 "SafeLogic Designer – First configuration steps" on page 17.For the Sercos Gateway description, refer to chapter 5 "Sercos Gateway(GS3S) – First configuration steps" on page 23.For the diagnostic options of the SafeLogic compact system, refer to chapter6 "Diagnostics" on page 33.For notes on how to create an application, refer to chapter 7 "Application in‐structions" on page 35.For information on the customer service help desk of Bosch Rexroth, refer tochapter 8 "Service and support" on page 53.

1.7 Information representation1.7.1 Safety instructions

If there are safety instructions in the documentation, they contain certain sig‐nal words ("Danger", "Warning", "Caution", "Notice") and sometimes a safetyalert symbol (according to ANSI Z535.6-2006).The signal word draws attention to the safety instruction and indicates therisk potential.The signal graphics (warning triangle with exclamation mark), added in frontof the signal words "Danger", "Warning" and "Caution" refers to hazards topersons.The safety instructions are represented as follows in this documentation:

DANGER

In case of non-compliance with this safety instruction, death or serious injurywill occur.

WARNING

In case of non-compliance with this safety instruction, death or serious injurycan occur.

CAUTION

In case of non-compliance with this safety instruction, minor or moderate in‐jury can occur.

NOTICE

In case of non-compliance with this safety instruction, material damage canoccur.



1.7.2 Symbols usedNote Notes are shown as follows:

This is a note for the user.

Tip Tips are shown as follows:

This is a tip for the user.

1.8 Terms and abbreviationsTerm Explanation

IndraMotion MLC Compact Motion Logic systems with Motion, Robot andLogic Control functionalities

IndraMotion XLC Compact PLC system with Motion functionality

IndraMotion MTX Universal CNC control

IndraMotion MLD Compact MotionLogic system based on the scalable driveplatform IndraDrive

IndraWorks EngineeringFramework

Configuration and commissioning tool developed by BoschRexroth

Sercos Sercos (Serial real-time communication system) is an in‐ternationally standardized general automation bus

SLc SafeLogic compact

SLC-3-GS3S Gateway Sercos III Safety

CSos CIP Safety on Sercos: Safe communication via Sercos(CIP: Common Industrial Protocol, ODVA)

Originator "Master" of the CIP Safety connections

Target "Slave" of a CIP Safety connection

CC Sercos cross communication (direct cross communicationbetween Sercos slaves)

EFI Enhanced Function Interface: Safe networking (multi-cast)of up to four SafeLogic compact stations. EFI sensors orEFI gateways can also be operated

SDDML Sercos Device Description Markup Language. It is an XMLdevice description file for Sercos III devices and followsthe Sercos III device model

Tab. 1-3: Terms and abbreviations

1.9 Customer feedbackCustomer requests, comments or suggestions for improvement are of greatimportance to us. Please email your feedback on the documentations [email protected]. Directly insert comments in theelectronic PDF document and send the PDF file to Bosch Rexroth.



mailto:[email protected]


2 For safetyThis chapter deals with your own safety and the safety of the equipment op‐erators.Read this chapter carefully before working with either a Safety control or amachine protected by a Safety control.

2.1 Qualified safety personnelOnly qualified staff is permitted to mount, commission and maintain the Safe‐ty control.Qualified safety personnel are defined as persons who…● has undergone the appropriate technical trainingand● has been instructed by the responsible machine operator in the opera‐

tion of the machine and the current valid safety guidelinesand● have access to the instructions, project planning manuals and assembly

instructions about the Safety control and have read and acknowledgedthe instructions, project planning manuals and assembly instructions

and● have access to the instructions to the safety devices connected to the

Safety control (e.g. light arrays) and have to have read and acknowl‐edge these instructions

2.2 Use cases of the devicesThe modular safety control SafeLogic compact can be used…● acc. to IEC 61 508 to SIL3● acc. to EN 62 061 to SILCL3● acc. to EN ISO 13 849-1 up to category 4 and Performance Level eThe actual degree of safety depends on the external wiring, the wiring de‐sign, the parameterization, the selection of the command initiators and theirlocations at the machine.

2.3 Intended useThe Safety controls comply with the requirements of class A (in‐dustrial applications) according to the "emission" standard.The Safety controls are thus only suitable for the use in the indus‐trial environment and not in the private sector.

Material damage to Safety control compo‐nents!

NOTICE

Safety controls can only be used within their specified operating limits (volt‐age, temperature, etc.).

Any warranty claim against the Bosch Rexroth AG shall be waived in case ofunintended use if the device is modified or changed in any way - even withinthe framework of mounting or installation.


For safety

The external power supply of the devices has to bridge a short power failureof 20 ms according to EN 60 204. Suitable PELV- and SELV-compatible pow‐er supply units are available as accessories from Bosch Rexroth.

2.4 General safety instructions and protective measuresObserve the safety instructions and protective measures!Comply with the following to ensure the intended use of the Safety functionmodule:● Comply with the specific standards and directives of the country you re‐

side in when assembling, installing and using the Safety function mod‐ule

● The following national/international statutory provisions apply to installa‐tion and use as well as commissioning and periodic technical inspec‐tions of the safety control, especially:– Machine directive 2006/42/EC– EMC directive 2014/30/EU– Provision and use of work equipment directive 2009/104/EC– Low voltage directive 2014/35/EC– The accident prevention regulations/safety rules

● The machine manufacturer and the machine operator are responsiblefor the coordination of and the compliance with all applicable safety reg‐ulations and provisions with the responsible authorities

● Information, in particular the test instructions of the instructions, the proj‐ect planning manuals and the assembly instructions (such as for use,assembly, installation or integration in the control of the machine) mustbe complied with

● The tests must be carried out by specialized personnel or speciallyqualified and authorized personnel and must be recorded and documen‐ted to ensure that the tests can be reconstructed and retraced at anytime by third parties

2.5 Environmentally-friendly behaviorThe safety controls are designed to reduce environmental damage. The safe‐ty controls only consume a minimum of energy and resources.● At work, always act in an environmentally responsible manner

2.5.1 DisposalDefective or irreparable devices always should be disposed of according tothe statutory national waste disposal regulations (e.g. European waste entry16 02 14).We would be pleased to be of assistance to you on the disposal of these de‐vices. Contact us.

2.5.2 Separation of materialsOnly appropriately trained personnel are allowed to separate materials!Caution is required when dismantling devices. The danger of injury is pres‐ent.Prior to recycling the devices in an environmentally responsible manner, it isrequired to separate the different materials of the Safety function module.


For safety

● Separate the housing from the rest of the parts (in particular the circuitboard)

● Dispose of the separated components in the corresponding recyclingcenters (see the following table)

Components Disposal

Product● Housing● PCBs, cables, plugs and electrical

connection pieces

Plastic recyclingElectronic recycling

Packaging● Cardboard, paper

Paper and cardboard recycling

Tab. 2-1: Overview on disposal according to materials


For safety


3 SafeLogic compact product description3.1 General information

SafeLogic compact is a modular safety control to process binary logic.A SafeLogic compact station consists of one CPU module, up to 12 extensionmodules (I/O modules, drive monitor1) ) and optionally up to two gatewaymodules.

Fig. 3-1: Hardware structure of a SafeLogic compact stationConfigure the SafeLogic compact with the SafeLogic Designer. Link up to255 function blocks from a comprehensive function block library using thefunction block-oriented logic editor. The logic cycle time is automatically set.The setting depends on the application program (4...40 ms). The Designer al‐so contains a simulation mode as well as detailed report functions.

3.2 Version and compatibility overviewA Designer version V1.x always supports all "steps" (= major firmware ver‐sion) of a module such as the Designer V1.7 up to step 3. The latest Design‐er can thus always be used. A parallel installation of multiple Designer ver‐sion is not possible.The following table provides an overview on the modules in the SafeLogicDesigner V1.x.

Module type Designer V1.4 Designer V1.7 Designer V1.8

CPU modules 1) CPU0: "low cost" Step 2 Step 3 Step 4

CPU1: EFI Link 5) Step 2 Step 3 Step 4

CPU3: EFI Link + Flexi Line 5) - Step 3 Step 4

1) A drive monitor (MOCx) module requires two "slots" (of the up to 12 possible ex‐tension modules)


SafeLogic compact product description

Module type Designer V1.4 Designer V1.7 Designer V1.8

I/O modules 2) XTDI: 8 Safe In Step 2 Step 3 Step 3

XTIO: 8 Safe In, 4 Safe Out Step 2 Step 3 Step 3

XTDS: 8 Safe In, 4(6) Std. Out - Step 3 Step 3

STIO: 8(6) Std. In, 6(8) Std. Out - Step 3 Step 3

Gateways 3) GPRO: Profibus Step 1 Step 1 Step 1

GPNT: Profinet Step 1 Step 1 Step 2

GS3S: Sercos III Safety Step 1 Step 1 Step 1

Motion Control 4) MOC0: Drive monitor speed - Step 1 Step 1

1) CPU0/1 requires memory plug MPL0, CPU3 requires memoryplug MPL1.

2) SICK Flexi Loop requires at least CPUx step 3 and XTxx step3.

3) Up to two gateways at one CPUx (any combination).4) MOC0 requires at least CPUx step 3.5) Refer to chapter 3.4 "Safe cross communication (EFI Link and

Flexi Line)" on page 15.Tab. 3-1: Overview on the modules in the Designer V1.x

Firmware compatibility of the modulesA module always has to obtain a major firmware version higherthan or equal to the configured version ("Step") in the SafeLogicDesigner. A new firmware version is always downward compati‐ble (a new firmware version always replaces the previous one).The firmware is coupled to the hardware. Thus, it cannot be upda‐ted.

3.3 Functionality of the Sercos GatewayThe SafeLogic compact Sercos Gateway (SLC-3-GS3S) is a standard SercosIII I/O slave and a CIP Safety Originator ("master").

Functionality ● Up to 16 CIP Safety on Sercos targets ("slaves") can be operated at oneSLC-3-GS3S– Up to two SLC-3-GS3S at one SafeLogic compact CPUx– Safe cross communication via CPU module (EFI link or Flexi Line

for CPU1/3)● Control and/or status connection to each target● Data width of a CIP Safety connection: 1 or 2 bytes● Group formation of targets with same function possible● Designer communication using TCP/IP routing via Sercos

Target devices whose application-specific configuration data (e.g.discrepancy time) has to be entered into the originator2) are notsupported for SLC-3-GS3S →, i.e. modular Sercos Safety I/OsS20-SSDI and S20-SSDO cannot be operated at the SLC-3-GS3S.

2) This configuration data has to be applied when establishing the connection"FwdOpen Type 1"



Sercos cycle time The minimum Sercos cycle time of the SLC-3-GS3S is 1 ms. If nine or moretargets are operated at an SLC-3-GS3S, the minimum Sercos cycle time is 2ms. To operate more than eight CSos targets with a Sercos cycle time of 1ms, multiple SLC-3-GS3S can be operated in the Sercos network, e.g. up totwo Sercos Gateways at one SLC-3-CPUx module.

Example topology A cross communication CIP Safety on Sercos between two Sercos gatewaysor with another Safety control (e.g. Safety function module) is not supported.A safe cross communication between two SafeLogic compact stations is di‐rectly possible at the CPU module.

Fig. 3-2: Example topology

The number of SLC-3-GS3S in a Sercos ring depends only on theSercos master (total number of supported Sercos connections).An SLC-3-GS3S is provided with two connections for the master-slave communication and up to 32 cross communication connec‐tions for the up to 16 CIP Safety on Sercos targets.With XLC/MLC/MTX 13V06 and later, more than 16 SLC-3-GS3Sare supported in one Sercos ring.

3.4 Safe cross communication (EFI Link and Flexi Line)EFI Link can safely connect up to four SafeLogic compact stations. TheCPU3 module additionally supports Flexi Line allowing a serial connection ofup to 32 CPU3 stations, also refer to fig. 3-2 "Example topology" on page 15.

EFI Link Flexi Line

Which CPU modules arerequired?

CPU1CPU3

-CPU3

For the CPU3, EFI Link and Flexi Line can be operated simul‐taneously

How many stations can benetworked?

4 32 As the CPU3 supports the EFI link in addition to the FlexiLine, for example to a CPU3 of another Flexi Line, there canbe many different topologies



EFI Link Flexi Line

How many bits can betransferred ?

26/52 bits(from eachstation)

32/64/96 bits(global image)

Flexi Line: Data width can be set (dependencies on the up‐date rate), connection in series

EFI Link: One EFI cross-linking (EFI1: 26 Bits), doublecross-linking (EFI1+2: 52 Bits). Multicast, i.e. each station isprovided with the bits of all other stations

Max. distance betweentwo stations?

100 m(between allstations)

1000 m(between twostations)

Flexi Line: The max. line length between two stations is 1,000m. Separated plugs for predecessor/successor at the CPU3module → no continuous connection

EFI Link: The max. total line length (all stations) is 100 m● A connector at CPU1/3, that is a direct connection

between all stations (multicast)● All stations require the same 0 V DC (see hardware

operating instructions)

Refresh rates/Short response times

4.5 ms N * (10 ms + 2* UpdateRate)

For more detailed information, refer to the hardware operatinginstructions

Topology/addressing Yes(StationA, B, C, D)

No(Teachrequired)

Flexi Line: Serial connection (with configurable network logic)and teach function

EFI Link: Multicast

Teach function Yes(Suspended)

Yes(Topology)

Flexi Line: Teach function in the Designer or in the logic toconfirm the current topology (number and sequence of thestations)Information:A Flexi Line station can also be operated individually. Defaultvalues are set at the interface with regard to the predecessorand successor

EFI Link: Teach function to suspend a station (e.g. for mainte‐nance purposes)

Network logic No Yes Flexi Line: Automatic globalization of signals by configuringdefault values and routing direction

EFI Link: Default values and multicast, but no configurablenetwork logic

Designer communication/routing via EFI Link/FlexiLine

Yes No Flexi Line: Own Designer project for each station

EFI Link: System project consisting of all four stations, routingthe Designer communication

Tab. 3-2: Comparing EFI Link and Flexi Line



4 SafeLogic Designer – First configuration steps4.1 General information

The SafeLogic Designer uses the FDT/DTM technology (Field Device Tool/Device Type Manager).The Designer can be used as "stand-alone" tool. Thus, the SafeLogic De‐signer is a specific frame only processing the DTMs of the SafeLogic com‐pact modules.The general FDT Container can also be used in IndraWorks to integrate theSafeLogic compact DTMs into the IndraWorks project (not supported any‐more from 15VRS).Another option to integrate a Designer project into an IndraWorks project is toembed a SafeLogic Designer "stand-alone" project (*.slp file) into theIndraWorks project tree. Thus, an existing Designer project file can be easilyintegrated into the IndraWorks project via "Add → File" in the context menu ofa node in the IndraWorks project tree, e.g. directly on the project node or ona folder.

The SafeLogic Designer supports different user groups. For de‐tails, refer to the description in the operating instructions"IndraControl SafeLogic compact Designer Software" (refer tochapter 1.5 "Related documents" on page 4).A new configuration may only be transferred if the user group"Authorized customer" and the password "REXROTH" are preset.

4.2 SafeLogic Designer as stand-alone toolWhen using the SafeLogic Designer as "stand-alone" tool, a significant ad‐vantage is that frame functions such as "Connect/Disconnect" and "Transfer/Upload" are displayed in the menu bar of the SafeLogic Designer Frame.

Fig. 4-1: SafeLogic Designer menu barConfigure connection profiles under "Com settings". The TCP/IP profile is ex‐plained together with the Sercos Gateway in the next main chapter. Optional‐ly, a COM profile can be used when using a serial connection to the CPUmodule. If the COMx port is fixedly set (instead of the automatic detection),the connection can be established significantly faster.


SafeLogic Designer – First configuration steps

Fig. 4-2: SafeLogic Designer: Configuring COM profile

There are communication problems in different USB serial adapt‐ers. The USB adapter UC-232A by ATEN is strongly recommen‐ded.

A USB profile can also be used for the CPU3 module.If a corresponding profile was enabled in the connection settings, "Connect"can be directly executed. The SafeLogic Designer automatically detects thehardware structure and scans the topology. An existing software configura‐tion can also be loaded.A SafeLogic Designer project file (*.slp) can also be embedded into theIndraWorks project (the project file is then integrated into the IndraWorksproject folder). Double-click on the file in the IndraWorks project tree and theSafeLogic Designer is started as stand-alone application.

Fig. 4-3: SafeLogic Designer project file (*.slp) embedded in the IndraWorksproject



4.3 SafeLogic Designer DTMs in the IndraWorks FDT ContainerUsing the SafeLogic Designer DTMs in the IndraWorks FDT Container, ob‐serve the following version dependencies due to a .NET version change:● SafeLogic Designer V1.3/V1.4 can be used from IndraWorks 11V08 up

to 13VRS● SafeLogic Designer V1.7 can be used from IndraWorks 11V08 up to

13VRS and up to 14V06● FDT is not supported anymore in IndraWorks from 15VRS.

FDT Container and DTM catalog After installing the SafeLogic Designer, update the DTM catalog once beforestarting the first application in the IndraWorks FDT Container (IndraWorksmenu bar: Tools ▶ Update DTM catalog).The FDT Container can be removed from the "Drive and Control" library andadded to any position in the project. Select the possible DTMs via the contextmenu item "Add" on the FDT Container in the IndraWorks project tree or dragit from the library.

Communication DTM The SafeLogic compact communication DTM is always required below theFDT dontainer. Double-click on this "Communication DTM" to make the con‐nection settings for the SafeLogic Designer communication with the SafeLog‐ic compact CPU module. The TCP/IP profile is explained together with theSercos Gateway in the next main chapter.For going "online/offline", the configuration and the "upload/download of pa‐rameters", go to the context menu of the CPU main module. The scan func‐tions are also enabled in online state. It can be scanned first on the communi‐cation DTM to identify a CPU module and then on the CPU module to detectthe connected modules.The SafeLogic compact station is only configured in the CPU main module(double-click on the CPU module or go to "Configuration" in the contextmenu).

Fig. 4-4: SafeLogic Designer DTMs in the IndraWorks FDT Container

4.4 Hardware configurationConfigure the modules in the SafeLogic Designer hardware configurator viadrag&drop (add/remove/move).Add input elements and output elements to the I/O modules via drag&drop aswell. Only a configured element can be selected as input or output in the log‐ic. Double-click on a configured element to make specific settings.



Fig. 4-5: SafeLogic Designer hardware configuration

4.5 Logic editorFor the configuration in the logic editor, drag&drop the input elements andoutput elements as well as the function blocks that are then graphically wiredwith each other. To set specific parameters or to read the documentation of afunction block, go to the context menu of this function block ("double-click" onthe function block).



Fig. 4-6: SafeLogic Designer logic editorInputs and outputs cannot be connected directly. A routing function block isrequired.All inputs of a function block have to be assigned. Otherwise, the configura‐tion is invalid. An invalid configuration cannot be loaded to the station.Enable the simulation or force mode (in online state) via the correspondingicons above the configuration area.After loading a configuration, it is labeled as "not verified", i.e. after switchingon and off the station, the application program remains in "Stop" state andcan only be started using the SafeLogic Designer. A boot project is createdwhen the user verifies the configuration (click on the "Receive and Compare"icon in the SafeLogic Designer hardware configurator on the left next to thestation image).




5 Sercos Gateway (GS3S) – First configuration steps5.1 Commissioning steps

To commission CIP Safety on Sercos (CSos), multiple steps are required.The following procedure is recommended:

1. Sercos bus configurationFirst, set up the Sercos bus configuration as far as required to reach thecommunication phase CP4 (cyclic operation). A (one-time) switching toCP4 is important, as a valid TCP/IP configuration is set up for all Sercosslaves. This TCP/IP configuration is for example required for the TCP/IPcommunication in the SafeLogic Designer (see chapter 5.3 "SafeLogicDesigner communication: TCP/IP routing" on page 26).For the Sercos bus configuration, the cross communication connectionsrequired for the CSos have to be configured, see chapter 5.2.2 "Sercoscross communication (assigning CSos targets)" on page 25.

2. CIP Safety configuration in the targets (IndraDrive)In the CSos targets (e.g. IndraDrive), set a safe address for the safecommunication:Safety Device ID (SDID): Each CSos device requires a unique "safe ad‐dress". Any value can be set (value unequal to the Sercos address isgenerally recommended. The SDID does not depend on the Sercos ad‐dress).Safety Network Number (SNN): GS3S and all assigned targets requirethe same SNN. The default value 0x000600000001 can directly beused. In case of multiple GS3S in the Sercos network, each GS3S is aSafety network. It is recommended to use an individual SNN for eachGS3S and the respectively assigned targets (0x000600000002 etc.). Aunique TUNID1) (= SDID + SNN) is required for each CSos device.

Fig. 5-1: Configuring the Safety Device ID (SDID) in the IndraDrive3. CIP Safety configuration in the originator (GS3S)

For a detailed description of the GS3S originator configuration, refer tochapter 5.4 "CIP Safety Originator configuration" on page 27.

5.2 Sercos bus configuration5.2.1 Cyclic I/O data between Sercos master and GS3S

The Sercos Gateway (GS3S) is a standard Sercos I/O slave. Thus, the com‐mon configuration mechanisms such as scanning, adding or drag&drop canbe used as for a standard Sercos I/O. Setting the Sercos address in GS3S isalso only possible via the "remote address specification".Seen from the Sercos configuration, three "slots" are available for the GS3S.Data length can be set via "Set Devices" in the context menu of a slot:● Slot 0: Up to 18 bytes of user-definable I/O data and 6 bytes of diagnos‐

tic data (operational status/internal error/external error)

1) TUNID: Target Unique Network Identifier


Sercos Gateway (GS3S) – First configuration steps

The "External error" bit is a collective message for external errorsin a module. The following applies:– Bit 0 = CPU module– Bit 1..12 = Extension modules– Bit 13..14 = Gateways

● Slot 1: Status of CIP Safety groups, 16 x (2+2) byte (control word + sta‐tus word)

● Slot 2: Status of the extension modules, 12 x (1+1) bytes (inputs + out‐puts)

From the firmware V2.00, the I/O modules are also provided withdiagnostic bits in the process data. For two-channel input ele‐ments, the lower-order bit contains the state of the preliminaryevaluation of the two-channel element. The lower-order bit corre‐sponds to the element state in the logic program. The higher-or‐der bit indicates an error in the preliminary evaluation, such as"cross-circuit detection". As for all diagnostic bits, the followingapplies: 0 = Error, 1 = No error.

Fig. 5-2: Sercos bus configuration

The Sercos configuration of GS3S (lengths in slots) does nothave to match the physical structure or the Safety configuration inthe SafeLogic Designer. "0" is applied if there are no modules.

The up to 18 bytes of user-definable data between the Sercos master and theSafeLogic compact CPU modules also have to be configured in the SafeLog‐ic Designer. Enter a name for each bit to be able to select the bit in the Safe‐Logic Designer logic editor.



Fig. 5-3: SafeLogic Designer: Configuring user-definable I/O data transferredto the Sercos master

User-defined data from the Sercos masterWARNING

The user-defined data from the Sercos master is not safety-related and maythus not be used for safety functions!

5.2.2 Sercos cross communication ("assigning CSos targets")In the GS3S context menu, the Sercos devices (IndraDrives) are directly se‐lected via the "Assign CIP Safety on Sercos Targets" dialog. The GS3S issupposed to establish a safe communication to the Sercos devices. A logic"target number" is assigned to each device (GS3S supports up to 16 targets).This logic target number is required to uniquely set up the Sercos cross com‐munication2) connections. This target number is also required for the CIPSafety Originator configuration in the SafeLogic Designer to establish CIPSafety connections to exactly this Sercos device (target).

Fig. 5-4: Sercos cross communication configuration for CIP Safety on Sercosfor GS3S

2) Direct cross communication between Sercos slaves



5.3 SafeLogic Designer communication: TCP/IP routingA TCP/IP communication with the SafeLogic compact station requires a validIP address entered into GS3S. The IP is configured in a Sercos slave via S-parameters (S-0-1020, S-0-1021, S-0-1022) and is normally automatically setby the Sercos master. One-time switching in CP4 is usually required to writea valid IP configuration to all slaves. The Rexroth control systems use the fol‐lowing settings:● IndraLogic XLC/IndraMotion MLC: 172.31.254.<S3-Addr> (the third byte

can also be configured as "control address")● IndraMotion MTX: 192.168.143.<S3 addr>● IndraMotion MLD-M/CCD-Modus: In MLD-M 18VRS, the IP addresses

in the slaves are not automatically set. Thus, the addresses have to beconfigured manually in the S-parameters if required (then restart device)

If there is a direct IP connection of the engineering PC to the Sercos network,routing is not required. Only enter the IP address of the GS3S into theTCP/IP profile in the SafeLogic Designer.If the Rexroth control hardware CML or XM is used, IP routing via the engi‐neering port of the control to the Sercos network can be used. The IP ad‐dress of the engineering port is then entered as "gateway address" into theTCP/IP profile with routing (refer to in the following figure).

Fig. 5-5: SafeLogic Designer: TCP/IP profile with routing



For the TCP/IP routing, the SafeLogic Designer has to adjust therouting table of the engineering PC. The SafeLogic Designer V1.4has to be executed as "administrator" or start IndraWorks as "ad‐ministrator" when using the IndraWorks FDT Container.To ensure that a valid IP configuration is set in the Sercos net‐work, switch the Sercos bus once to communication phase CP4.If required, retrieve the IP address of the GS3S in the Sercos pa‐rameter S-0-1020.FDT/DTM is not supported anymore in IndraWorks 15VRS.

Only one profile can be active in the SafeLogic compact Commu‐nication DTM. If multiple SafeLogic compact stations are operat‐ed, the desired profile (e.g. the corresponding TCP/IP protocol)has to be enabled before connecting to a specified station.

For more information on the TCP/IP communication, refer tochapter 7.4 "Notes on the TCP/IP communication with GS3S" onpage 45.

5.4 CIP Safety Originator configuration5.4.1 General information

The CIP Safety Originator configuration is divided into several menus. Clickon CIP Safety Originator to go to these menus (see fig. 5-6 "SafeLogic De‐signer: Configuring the CIP Safety Originator" on page 28).

5.4.2 Originator configurationThe targets and their device profiles used are specified in the "OriginatorConfiguration" dialog.

Target no. For a logic reference to a Sercos device, refer to fig. 5-4 "Sercos cross com‐munication configuration for CIP Safety on Sercos for GS3S" on page 25.

Target name The target name is optional and not required for the CIP Safety communica‐tion. Recommendation: Enter the logic name of the Sercos device, e.g."Drive2".

Device type and device profile Device type and profile is information from the device description file of thetarget. If required, install missing device description files, refer to chapter5.4.4 "Device profiles (target device description files)" on page 29.For Rexroth IndraDrive, the device profile (e.g. "2-byte SMO, bit-codedSMM") is fixedly selected when commissioning the drive-integrated safetytechnology. In the originator, the identical profile has to be selected.

Connection parameters The same connection parameter set 01 is used for all targets by default. Fordetails, refer to chapter 5.4.5 "Connection parameters" on page 29.

Group generation Targets with the same device profile can be summarized in one group. In onegroup, the same control word is assigned to each target and the status sig‐nals of the targets are logically linked using an AND operation. Only the con‐trol/status word of the group is visible in the logic program.



Binary-coded CSos input dataWARNING

If binary-coded information is present in the status signals of the targets, datacan be falsified by an AND operation. Thus, binary-coded information in theCSos input data may not be used together with the group formation or agroup may only consist of one target.

SDID/SNN The "Safety Device ID" (SDID) is a safe address of the CIP Safety communi‐cation and the value set in the target has to be entered. The "Safety NetworkNumber" (SNN) can only be entered for the originator. This value has to beequal in all assigned targets. The chapter 5.4.3 "Target identification" onpage 28 dialog supports this value configuration.

SCCRC/SCTS "Safety Configuration CRC" (SCCRC) and "Safety Configuration TimeStamp" (SCTS) identify the Safety configuration in the target device. If thevalue is not equal to "0", it is checked whether the expected configuration ispresent when establishing the CIP Safety connection. If the value is equal to"0", there is no check and the user is responsible for the correct configurationin the target.

Fig. 5-6: SafeLogic Designer: Configuring the CIP Safety Originator

5.4.3 Target identificationThe "Target Identification" dialog is available with the SafeLogic DesignerV1.7 and is supported with the GS3S firmware V1.02.At the beginning of the Sercos communication phase CP4, configuration data(refer to the following figure) is retrieved from the targets for diagnostic purpo‐ses and can be applied to the originator configuration. The Refresh buttononly retrieves data from the GS3S. It is only retrieved from the targets whenswitching the phase to CP4 (or at the beginning of CP4).

The Sercos address is an optional CIP attribute and thus not sup‐ported by all targets. The IndraDrive firmware MPx18/19 does notyet support this functionality. "0" is displayed.



Fig. 5-7: SafeLogic Designer: Configuring target identification

5.4.4 Device profiles (target device description files)In the "Device Profiles" dialog, device description files (SDDML) of CIP Safe‐ty on Sercos targets can be imported into the SafeLogic Designer (or re‐moved). The dialog is additionally used to display available devices and cor‐responding device profiles.When installing the SafeLogic Designer V1.4, no SDDML is installed. The lat‐est released SDDML files of the Rexroth IndraDrive are stored on the datacarrier of the SafeLogic Designer in the "DeviceDescriptions" subfolder. IfIndraDrive SDDML files are required, contact the Rexroth Service.

5.4.5 Connection parametersThe same connection parameter set 01 is used for all targets by default. It isonly reasonable to use different connection parameters if there are very dif‐ferent delay or cycle times in the devices.In IndraWorks 13/14VRS, the general Sercos cycle time is used for theSercos cross communication connections (thus, only enter the Sercos cycletime in this dialog). The Sercos cycle time is used as a basis to calculate theCIP Safety cycle time (EPI) and the CSos network response time.For a detailed description of the CIP Safety connection parameters, refer tothe "Sercos Gateway" project planning manual "IndraControl SafeLogic com‐pact Sercos Gateway" (see tab. 1-2 "Required and supplementing documen‐tation" on page 4).



Fig. 5-8: SafeLogic Designer: Configuring CIP Safety connection parameters

5.4.6 CIP Safety inputs and outputsThese dialogs display the bit assignment of the CIP Safety inputs and outputsfrom the individual groups. The bits are assigned when selecting the respec‐tive device profile from the device description file of the target. The names ofthe individual CIP Safety signals as well as the names of groups can bechanged at any time.

5.4.7 Connection statusThis dialog shows the status of the individual CIP Safety connections. In caseof error, the "diagnostic" logbook of the SafeLogic Designer provides a de‐tailed description.

● If an "error occurs while establishing the connection", the "di‐agnostic" logbook of the SafeLogic Designer also provides adetailed descriptionExample: The "Safety Device ID" (SDID) in the target doesnot match the originator configuration in the SafeLogic De‐signer

● A "timeout while establishing a connection" indicates an in‐complete or incorrect Sercos CC configuration, refer tochapter 5.2.2 "Sercos cross communication (assigningCSos targets)" on page 25

⇒ If multiple GS3S are used in one Sercos ring, check that eachGS3S is provided with the correct address. The Sercos address isdisplayed in the "General Configuration" GS3S menu in the Safe‐Logic Designer. The Sercos address can only be changed usingthe "Remote address specification" via the Sercos master.

"Max Data Age" can be used to optimize the network response time. This isonly recommended for CIP Safety experts.With the SafeLogic Designer V1.7 and GS3S firmware V1.02 and later, anerror counter is displayed for each single connection. This counter indicatesthe connection losses of the cyclic CIP Safety communication (since device



activation). The total error counter (total of all single connections) can be re‐trieved in the parameter S-0-1800.0.4 of the GS3S.




6 Diagnostics6.1 Diagnostics in the SafeLogic Designer

For an overview on all current error bits of the SafeLogic compact system, re‐fer to the hardware configurator (online status).For a detailed error description, refer to the SafeLogic Designer log.

For the "Report" function, the diagnostic log is added to the PDFdocumentation in online state, i.e. the report contains all informa‐tion on hardware design, software configuration as well as on di‐agnostic history.

Fig. 6-1: Diagnostics in the SafeLogic Designer hardware configurator (onlinestatus)

6.2 Diagnostics for the Sercos masterModule status A SafeLogic compact station consists of up to 15 modules: 1 CPU module,

up to 2 gateways, up to 12 extension modules (I/O modules, drive monitor).Each module is provided with a 4-byte module status diagnostics. These di‐agnostic bits are also displayed in the SafeLogic Designer hardware configu‐rator (online status), see e.g. fig. 6-1 "Diagnostics in the SafeLogic Designerhardware configurator (online status)" on page 33. For a detailed descriptionof these module status diagnostic bits, refer to the diagnostic gateway docu‐mentation "IndraControl SafeLogic compact Diagnostic Gateway" (see tab.1-2 "Required and supplementing documentation" on page 4).The first three bits of this status diagnostics (operational status/internal error/external error) are identical in each module and already parallely available tothe user-defined data in the cyclic communication to the Sercos master, referto chapter 5.2.1 "Cyclic I/O data between Sercos master and GS3S" on page23. All other bits can also be selected in the logic editor with the SafeLogicDesigner V1.7 and CPUx FW 3.00 (and later) and can thus be configuredwith regard to user-definable data if a cyclic transfer to the Sercos master isrequested.


Diagnostics

Fig. 6-2: Module status diagnostic bits in the logic editorAs the "External error" bit is a collective error message and already availablein the cyclic communication (slot 0), it is sufficient to acyclically retrieve theother diagnostic bits if required. In the GS3S, the parameter P-0-3692.SI.3contains the complete 4-byte diagnostic status. SI is the module number forthe following modules:● SI = 0: CPU module● SI = 1..12: Extension modules (I/O modules or drive monitor)● SI = 13..14: Gateway modulesSee also chapter 7.1 "Retrieving diagnostics of the SafeLogic compact sta‐tion via Sercos" on page 35.

I/O modules From the firmware V2.00, the I/O modules are provided with more diagnosticbits in the process data (→ slot 2 in the cyclic Sercos communication of theGS3S). For two-channel input elements, the lower-order bit contains the stateof the preliminary evaluation of the two-channel element. The lower-order bitcorresponds to the element state in the logic program. The higher-order bitindicates an error in the preliminary evaluation, such as "cross-circuit detec‐tion". As for all diagnostic bits, the following applies: 0 = Error, 1 = No error.


Diagnostics

7 Application instructions7.1 Retrieving diagnostics of the SafeLogic compact station via

SercosA SafeLogic compact station consists of up to 15 modules1) . Each moduleprovides a 4-byte diagnostics. For a detailed description of these module sta‐tus diagnostic bits, refer to the diagnostic gateway documentation"IndraControl SafeLogic compact Diagnostic Gateway" , part no.R911332752.The first three bits in the 4-byte module status are identical for each module:● Bit 0: "Operational status" (module is in RUN)● Bit 1: "Internal error" (e.g. error in case of hardware self test)● Bit 2: "External error" (collective bit for all external errors)

There is a diagnostic example program "SLc_GS3S_Diag" asGAT plugin that can also be used without Gat with XLC, MLC,MTX or MLD.The GAT plug-ins are installed with IndraWorks (with 'x' = Num‐ber of IndraWorks installation):C:\ProgramData\Rexroth\IndraWorks\'x'\GatWizard\PluginsGAT plugins consist of the following components:● An *.iwx file that can be imported below an application,● A brief documentation (*.pdf, mainly in English)● A configuration file *Config.txt, only required by the GAT

WizardFor further information, refer to the GAT manual.

7.1.1 Diagnostics in the cyclic Sercos communicationThese three bits of all modules are also available in the cyclic Sercos com‐munication of the GS3S on slot 0 under "Diag". They are summarized as oneword each. The following applies:● Bit 0: CPU module● Bit 1..12: Extension module (I/O module or Drive Monitor)● Bit 13..14: Gateways 1 and 2

1) 1 CPU module, up to 2 gateways, up to 12 extension modules (I/O modules, DriveMonitor (2 "slots" assigned))


Application instructions

http://www.boschrexroth.com/various/utilities/mediadirectory/index.jsp?language=en-GB&publication=NET&edition_enum=DOK-CONTRL-SLC*GW*****-OP

Fig. 7-1: Diagnostics in the cyclic Sercos communication

Applies as for all diagnostic bits: 0 = Error, 1 = No error.

From the firmware V2.00, the I/O modules are provided with morediagnostic bits in the process data (→ slot 2 in the cyclic Sercoscommunication of the GS3S). For two-channel input elements,the lower-order bit contains the state of the preliminary evaluationof the two-channel element. The lower-order bit corresponds tothe element state in the logic program. The higher-order bit indi‐cates an error in the preliminary evaluation, such as "cross-circuitdetection". As for all diagnostic bits, the following applies: 0 =Error, 1 = No error.Resetting the error:Resetting an error while preliminarily evaluating a two-channel el‐ement (discrepancy error/timeout or sequence error), the "inac‐tive" state has to be reached, i.e. both channels have to assumea signal state at which the input reached the safe state (0/"low")depending on the evaluation logic (equivalent/antivalent).

7.1.2 Retrieving diagnostics acyclically via SercosThe complete 4-byte module status diagnostics can be retrieved via the pa‐rameter P-0-3692.SI.3 of the GS3S. The following applies:● SI = 0: CPU module● SI = 1..12: Extension module (I/O module or drive monitor)● SI = 13..14: Gateways 1 and 2Reading this 4-byte module status is useful when the "External error" collec‐tive bit (see chapter 7.1.1 "Diagnostics in the cyclic Sercos communication"on page 35) indicates an error. To retrieve the parameter, a standard Sercos"ReadParameter" function block can be used.Program:

fbIL_SIIIReadParameter( Execute:= boExe, Done=> boDone, Active=> boActive, Error=> boError, ErrorID=> rErrID, ErrorIdent=> rErrIdent, BusMaster:= IL_BUSMASTER.IL_BUSMASTER_0,



SercosAdr:= 65, Idn:= IL_SIIIElementsToIdn( ParamType:= IL_P_PARAM, Set:= 0, Nbr:= 3692, StructInst:= 13, // = Gateway 1 StructElem:= 3), Timeout:= T#2S, Value=> , Attribute=> );prSLC_DIAG_GS3S13 := ADR(fbIL_SIIIReadParameter.Value);

The retrieved 4-byte module status can be assigned in a simple structuraldefinition.

Fig. 7-2: Example on the SLC_DIAG_GS3S structureThe following exemplary structures can be used (copy the code from the doc‐umentation and create it as new data type STRUCT in the PLC project).

7.1.3 SLC_DIAG_GS3SProgram:

TYPE SLC_DIAG_GS3S :STRUCT // Byte 0 OperationStatus : BIT; // 0.0 InternalError : BIT; // 0.1 ExternalError : BIT; // 0.2: Summary of Bits 1.0 to 2.7 Reserved03 : BIT; // 0.3 ConfigurationStatus : BIT; // 0.4 ModuleInputStatus : BIT; // 0.5: Sercos in CP4 ModuleOutputStatus : BIT; // 0.6: All CIP Safety output connect. active SercosInCP4 : BIT; // 0.7 // Byte 1 Target01active : BIT; // 1.0 Target02active : BIT; // 1.1 Target03active : BIT; // 1.2 Target04active : BIT; // 1.3 Target05active : BIT; // 1.4 Target06active : BIT; // 1.5 Target07active : BIT; // 1.6 Target08active : BIT; // 1.7 // Byte 2 Target09active : BIT; // 2.0 Target10active : BIT; // 2.1 Target11active : BIT; // 2.2 Target12active : BIT; // 2.3 Target13active : BIT; // 2.4 Target14active : BIT; // 2.5 Target15active : BIT; // 2.6 Target16active : BIT; // 2.7 // Byte 3 Reserved30 : BIT; // 3.0 Reserved31 : BIT; // 3.1



Reserved32 : BIT; // 3.2 Reserved33 : BIT; // 3.3 Reserved34 : BIT; // 3.4 Reserved35 : BIT; // 3.5 Reserved36 : BIT; // 3.6 Reserved37 : BIT; // 3.7END_STRUCTEND_TYPE

7.1.4 SLC_DIAG_XTxxProgram:

TYPE SLC_DIAG_XTXX : // XTDI, XTIO, XTDSSTRUCT // Byte 0 OperationStatus : BIT; // 0.0 InternalError : BIT; // 0.1 ExternalError : BIT; // 0.2: Summary of Bits 0.5 to 3.7 Reserved03 : BIT; // 0.3 ConfigurationStatus : BIT; // 0.4 PowerSupplyOutputs : BIT; // 0.5: XTIO, XTDS FastShutOffOutput : BIT; // 0.6: XTIO OutputOverCurrent : BIT; // 0.7: XTDS // Byte 1 DualChannelInput12 : BIT; // 1.0 DualChannelInput34 : BIT; // 1.1 DualChannelInput56 : BIT; // 1.2 DualChannelInput78 : BIT; // 1.3 Reserved14 : BIT; // 1.4 Reserved15 : BIT; // 1.5 Reserved16 : BIT; // 1.6 Reserved17 : BIT; // 1.7 // Byte 2 TestSignalInput1 : BIT; // 2.0 TestSignalInput2 : BIT; // 2.1 TestSignalInput3 : BIT; // 2.2 TestSignalInput4 : BIT; // 2.3 TestSignalInput5 : BIT; // 2.4 TestSignalInput6 : BIT; // 2.5 TestSignalInput7 : BIT; // 2.6 TestSignalInput8 : BIT; // 2.7 // Byte 3 Output1StuckAtHigh : BIT; // 3.0: XTIO Output1StuckAtLow : BIT; // 3.1: XTIO Output2StuckAtHigh : BIT; // 3.2: XTIO Output2StuckAtLow : BIT; // 3.3: XTIO Output3StuckAtHigh : BIT; // 3.4: XTIO Output3StuckAtLow : BIT; // 3.5: XTIO Output4StuckAtHigh : BIT; // 3.6: XTIO Output4StuckAtLow : BIT; // 3.7: XTIOEND_STRUCTEND_TYPE

7.1.5 SLC_DIAG_STIOProgram:

TYPE SLC_DIAG_STIO :STRUCT // Byte 0 OperationStatus : BIT; // 0.0 InternalError : BIT; // 0.1 ExternalError : BIT; // 0.2: Summary of Bits 0.5 to 3.7 Reserved03 : BIT; // 0.3 ConfigurationStatus : BIT; // 0.4 PowerSupplyOutputs : BIT; // 0.5 Reserved06 : BIT; // 0.6 OutputOverCurrent : BIT; // 0.7 // Byte 1 Reserved10 : BIT; // 1.0 Reserved11 : BIT; // 1.1 Reserved12 : BIT; // 1.2 Reserved13 : BIT; // 1.3 Reserved14 : BIT; // 1.4 Reserved15 : BIT; // 1.5 Reserved16 : BIT; // 1.6 Reserved17 : BIT; // 1.7 // Byte 2



Reserved20 : BIT; // 2.0 Reserved21 : BIT; // 2.1 Reserved22 : BIT; // 2.2 Reserved23 : BIT; // 2.3 Reserved24 : BIT; // 2.4 Reserved25 : BIT; // 2.5 Reserved26 : BIT; // 2.6 Reserved27 : BIT; // 2.7 // Byte 3 Reserved30 : BIT; // 3.0 Reserved31 : BIT; // 3.1 Reserved32 : BIT; // 3.2 Reserved33 : BIT; // 3.3 Reserved34 : BIT; // 3.4 Reserved35 : BIT; // 3.5 Reserved36 : BIT; // 3.6 Reserved37 : BIT; // 3.7 END_STRUCTEND_TYPE

7.1.6 SLC_DIAG_CPUXProgram:

TYPE SLC_DIAG_CPUX :STRUCT // Byte 0 OperationStatus : BIT; // 0.0 InternalError : BIT; // 0.1 ExternalError : BIT; // 0.2: Summary bits 0.5-0.7 (bytes 1-3 not incl.) Reserved03 : BIT; // 0.3 ConfigurationStatus : BIT; // 0.4 PowerSupply : BIT; // 0.5 EFI1 : BIT; // 0.6 EFI2 : BIT; // 0.7 // Byte 1 EFILinkStationsFound : BIT; // 1.0: One or more are missing EFILinkStationsSuspended : BIT; // 1.1: One or several suspended FlexiLineStatus : BIT; // 1.2: comm. error to predecess. or success. // (and/or Flexi Line Teach required) Reserved13 : BIT; // 1.3 Reserved14 : BIT; // 1.4 Reserved15 : BIT; // 1.5 Reserved16 : BIT; // 1.6 Reserved17 : BIT; // 1.7 // Byte 2 Reserved20 : BIT; // 2.0 Reserved21 : BIT; // 2.1 Reserved22 : BIT; // 2.2 Reserved23 : BIT; // 2.3 Reserved24 : BIT; // 2.4 Reserved25 : BIT; // 2.5 Reserved26 : BIT; // 2.6 Reserved27 : BIT; // 2.7 // Byte 3 Reserved30 : BIT; // 3.0 Reserved31 : BIT; // 3.1 Reserved32 : BIT; // 3.2 Reserved33 : BIT; // 3.3 Reserved34 : BIT; // 3.4 Reserved35 : BIT; // 3.5 Reserved36 : BIT; // 3.6 Reserved37 : BIT; // 3.7END_STRUCTEND_TYPE

7.1.7 SLC_DIAG_MOCXProgram:

TYPE SLC_DIAG_MOCX :STRUCT // Byte 0 OperationStatus : BIT; // 0.0 InternalError : BIT; // 0.1 ExternalError : BIT; // 0.2: Summary of Bits 0.5 to 3.7 Reserved03 : BIT; // 0.3 ConfigurationStatus : BIT; // 0.4 Encoder1 : BIT; // 0.5 Encoder2 : BIT; // 0.6



Reserved07 : BIT; // 0.7 // Byte 1 Reserved10 : BIT; // 1.0 Reserved11 : BIT; // 1.1 Reserved12 : BIT; // 1.2 Reserved13 : BIT; // 1.3 UserStatusBit1 : BIT; // 1.4 UserStatusBit2 : BIT; // 1.5 UserStatusBit3 : BIT; // 1.6 UserStatusBit4 : BIT; // 1.7 // Byte 2 Reserved20 : BIT; // 2.0 Reserved21 : BIT; // 2.1 Reserved22 : BIT; // 2.2 Reserved23 : BIT; // 2.3 Reserved24 : BIT; // 2.4 Reserved25 : BIT; // 2.5 Reserved26 : BIT; // 2.6 Reserved27 : BIT; // 2.7 // Byte 3 Reserved30 : BIT; // 3.0 Reserved31 : BIT; // 3.1 Reserved32 : BIT; // 3.2 Reserved33 : BIT; // 3.3 Reserved34 : BIT; // 3.4 Reserved35 : BIT; // 3.5 Reserved36 : BIT; // 3.6 Reserved37 : BIT; // 3.7 END_STRUCTEND_TYPE

7.2 Controlling the Rexroth IndraDrive safety technologyVia the safe communication "CIP Safety on Sercos", the GS3S controls thesafe operation modes of the safety engineering integrated in the RexrothIndraDrive. The safety functions to be controlled depend on the drive configu‐ration.

In the following, example logic circuits for the SafeLogic compactapplication are shown to control the IndraDrive safety functions.The CSos control signals of the IndraDrive are taken from theMPx-18 device description file (SDDML) and can change in laterversions.In the SafeLogic Designer, all control and status signals of anSDDML version are displayed under "Device profiles". For thecontrol/status signals, refer to the "Rexroth IndraDrive IntegratedSafety Engineering" user documentation.

The following examples use the following safety inputs in the logic program:

Input Function

E-Stop 1E-Stop 2

E-Stop request

Light Curtain 1Light Curtain 2

Safe operating stop request, a safe motion is not per‐mitted

Safety Switch 1Safety Switch 2

Switching to safe operation (safe operating stop) toactivate a safe motion by pressing the jog button

Enabling Switch ForwardEnabling Switch Backward

Jog buttons for "Forward"/"Backward" activating asafe motion

Tab. 7-1: Safety inputs for the following examples



7.2.1 SafeStop1 (E-STOP)A "SafeStop1" (SS1) request, e.g. an "E-Stop", usually has to be acknowl‐edged (reset) to enable the deactivation of the safety function and to allowthe restart. For this purpose, the "Reset" function block can be used in theSafeLogic compact logic program. This function block obtains an internalAND operation for up to seven safety requests. The enabling output can bedirectly switched to the "EmergencyStopSignal" IndraDrive CSos control bit(activation with FALSE).

In IndraDrive, this special mode is called "special mode emergen‐cy stop" (SMES).

Fig. 7-3: Example use of the "Reset" function block to control an "Emergency‐Stop" selection

7.2.2 SafeStop2 (safe operating stop)For a "SafeStop2" (SS2, safe operating stop) request, observe that the "Mod‐eSelectionSignal" IndraDrive CSos control bit (operation mode selection) canbe used to select various special modes.

Safe standstill ("special mode safe standstill": SMST) can eitherbe configured as safe operating stop (→ SMST2 with transferfunction SS2) or as Safe Torque Off (→ SMST1 with transfer func‐tion SS1).

In the following, SS2 (or SMST2) is assumed.Operation mode selection ("ModeSelectionSignal") is also required to enablea safe motion ("special mode safe motion": SMM). This means, all require‐ments regarding SS2 and SMM are to be applied to the "ModeSelectionSig‐nal" control bit via an AND operation (activation with FALSE). At the sametime, all signals of an SS2 request not permitting any safe motion are sum‐marized in one "SafeStop2 Request". This logic result is subsequently usedto block the activation of an SMM.The following figure illustrates two "Light Curtain" signals requesting SMSTxas well as two "Safety Switches" whose selection also activates SMSTx andadditionally enables a safe motion (illustrated in the next section).



Fig. 7-4: Exemplary logic circuit for a "SafeStop2" selection

7.2.3 Safe motion (SMM)The IndraDrive supports several safe motions (SMM = "special mode safemotion"). For example, in MPx-18, up to 16 SMM are possible and can be in‐dividually configured (e.g. "safely-limited velocity" and optionally "safe direc‐tion of motion").In the following example, there are two "Enabling switch forward/backward"jog buttons. Their selection can be switched to the "SMMxSignal" CSos con‐trol bits via the "User mode switch" function block (operation mode selectionswitch). Thus, a "one-out-of-N" selection can be ensured for bit-coded controlsignals, as simultaneous selection of multiple SMM signals in IndraDrive isnot permitted. For binary-coded SMM signals, a "one-out-of-N" setting can al‐so be configured with the "binary coder" function block.At the same time, the selection of one of these jog buttons (OR operation)has to set the "EnablingControl" control bit as well. The control bit "Enabling‐Control" (selection with TRUE) may only be set if no "SafeStop2 Request" isactive. Thus, an AND operation with "SafeStop2 Request" (selection withFALSE) is required (refer to the previous section).Activation of a safe motion with "EnablingControl" is only possible if the"ModeSelectionSignal" operation mode selection is controlled (activation withFALSE) as described in the previous section with the safety switches "SafetySwitch 1/2".



Fig. 7-5: Exemplary logic circuit for a "SafeMotion" selection

Binary-coded control and status signalsThe IndraDrive provides various CSos profiles with binary- or bit-coded ("one-out-of-N") status and control signals. Binary codingenables the control of more safe motions (SMMx).In the SafeLogic compact logic editor, binary coders and decod‐ers with various coding modes are available (e.g. one-out-of-N,priority).

Binary-coded CSos input dataFor the group generation of CSos targets in GS3S, the status sig‐nals are operated by AND. This can corrupt binary-coded infor‐mation in the CSos input data. Thus, for binary-coded status sig‐nals, a CSos group may only consist of one target!

7.3 Binary coder/decoderTo code or decode binary information, the logic program of the CPU moduleprovides the following function blocks:● Binary coder: To convert 8 bits to 3 bits of binary code● Binary decoder: To convert up to 5 binary bits to a bit-coded ("one-out-

of-N") code. For 4 and 5 binary bits, a parallel switching of 2 or 4 func‐tion blocks is required, as a function block has a maximum of 8 inputs oroutputs

For a description of these function blocks, refer to the "IndraControl SafeLog‐ic compact Designer Software" instructions (part no. R911332749) or to thecontext menu of the function block directly in the logic editor of the SafeLogicDesigner.In the following, two example logic circuits are illustrated to binarily code 16bits or decode 6 binary bits.



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7.3.1 Binary coding of 16 bitsThe following figure illustrates coding of 16 bit-coded "SMMx" information as4 binary bits. A locking, that only one "SMMx" bit may be activated, is not yetprovided. If required, add it!

Fig. 7-6: Exemplary logic circuit for binary coding of 16 bits (attention:. Nolocking in this example if multiple "SMMx" bits are selected)

When controlling the Rexroth IndraDrive safety technology, lock‐ing can be implemented as follows for example:If an active bit is present (2 OR + AND) in the example circuitabove for SMM 01-08 as well as for SMM 09-16 (2 OR + AND),the control signal "EnablingControl" of the IndraDrive safety tech‐nology may not be set.

7.3.2 Decoding 6 binary bitsTo convert 6 binary bits into a bit-coded ("one-out-of-N") information, ninefunction blocks are required in total. A 3-bit decoder ("FB 0") is used for thepreliminary evaluation and has to be set with the value "range" 0..7. 4-bit de‐



coders with the value ("range") 8..15 is used for the other eight functionblocks.

Fig. 7-7: Decoding exemplary logic circuit by 6 binary bits

7.4 Notes on the TCP/IP communication with GS3S7.4.1 IP configuration of a Sercos device

The IP configuration of a Sercos device is set using the following S-parame‐ters:● S-0-1020: IP address● S-0-1021: Subnet mask● S-0-1022: Standard gatewayObserve the following:● Normally, the Sercos master enables the IP configuration of the slaves

automatically, e.g.:– XLC/MLC: 172.31.254.<SIII addr> (the third byte can also be con‐

figured as "control address")



– MTX: 192.168.143.<SIII address>– MLD-M/CCD mode: Among others, this function is not yet suppor‐

ted in the MPx-18● The standard gateway should be provided with the IP address of the

Sercos master, e.g. XLC/MLC: 172.31.254.254.● When configuring or changing the IP configuration manually in the S-pa‐

rameters, restart the device (switch off and on) or execute the Sercoscommand S-0-1048.

● Normally, the Sercos master writes the IP configuration only in the com‐munication phase CP2 (when reaching or exiting CP2). Thus, it is rec‐ommended to switch the Sercos bus once in CP4 to obtain a valid IPconfiguration in all devices.

7.4.2 TCP/IP communication designerDirect TCP/IP connections

If the engineering PC is provided with a direct IP connection in the Sercosnetwork, only the IP address of the SLc Sercos Gateway has to be set in thedesigner communication settings in the TCP/IP profile. A TCP/IP routing isnot required. The "Scan" function of the designer dialog can be used tosearch for SLc Ethernet gateways in the network.

Select the correct Ethernet adapter or network card in the TCP/IPprofile settings of the designer.

TCP/IP routingNormally, there is no direct connection to the Sercos network, but the engi‐neering PC is connected to the engineering port of the Sercos master control(e.g. Rexroth CML or XM control). Enable "TCP/IP routing" in TCP/IP profilesettings of the designer instead. Then, the designer creates a routing entryon the engineering PC. In the example fig. 7-8 "Designer TCP/IP profile con‐figuration settings" on page 47, the Sercos Gateway is provided with the IPaddress 172.31.254.65 (field [0]) and the Sercos master control (here as"gateway" for the TCP/IP communication) is provided with the IP address192.168.1.12 (field [1]).



Fig. 7-8: Designer TCP/IP profile configuration settings

Select the correct Ethernet adapter or network card in the TCP/IPprofile settings of the designer.

Possible problems during TCP/IP routingWindows always uses the first routing entry in the routing table of the PC. Ifthere are multiple routing entries for the same target IP address, problemscan result, as only the first entry is used. The routing table of the PC can beviewed in the Windows command line with "route print". Remove entries thatare not required anymore or incorrect using the command "route delete" (ad‐ministrator rights are required, i.e. start the command line "as administrator").The command "route help" indicates the examples and syntax specifications.Entries created by the designer are also removed when restarting the PC, asthese entries were not entered as persistent entries.



Fig. 7-9: Example of a PC routing table

7.4.3 Remote diagnosticsBasics

In case of a remote diagnostics via internet (e.g. VPN), one or multiple rout‐ers are normally between the engineering PC and the Sercos master controlor the Sercos gateway. The target IP address of the TCP/IP communicationof the designer remains the IP address of the Sercos Gateway. Apart fromthe engineering PC, all routers require a corresponding routing entry to reachthe target IP address via the next "hop" (node).In the example fig. 7-10 "Exemplary network representation for remote diag‐nostics" on page 48, the engineering PC requires a routing entry to reachthe target IP address (here 172.31.x.y) via the IP address of "Router 1"."Router 1" requires a routing entry for telegrams to reach with the target IPaddress via "Router 2", etc. Normally, the Sercos master creates its routingtable in the Sercos network automatically (XLC/MLC/MTX).

Fig. 7-10: Exemplary network representation for remote diagnosticsOn the way back, the Sercos device uses the standard gateway (S-0-1022),which should be the IP address of the Sercos master slave. The control usesthe standard gateway of the Engineering port, which should be the IP ad‐dress of the connected router (in this example "Router 2"). For testing optionsof the IP configuration, refer to chapter 7.4.4 "Testing options and trouble‐shooting" on page 49.



Alternative: "Bridging" for XLC/MLCFor the XLC/MLC, a "bridge" can alternatively be enabled between the engi‐neering port and the Sercos network. Thus, the engineering port is part of theSercos network and no TCP/IP routing to the Sercos network is required. Theengineering port is then provided with the IP address of the Sercos master(172.31.<Control>.254), i.e. only the <Control> address can be set.

Fig. 7-11: Network representation with "bridging" in XLC/MLC

Alternative: Sercos netSwitchAnother option is a Sercos netSwitch (part no. R911328254). This switchconnect a standard Ether network to a Sercos network and no TCP/IP routingis required via the Sercos master control.

Fig. 7-12: Network representation with Sercos netSwitch

7.4.4 Testing options and troubleshootingThe TCP/IP configuration of a network can be tested irrespective of the de‐signer communication. The following steps are recommended:

1. Check the IP configuration of the Sercos device: S-0-1020, S-0-1021,S-0-1022. If the Sercos master does not support the automatic IP con‐figuration or if incorrect settings are present, make these setting man‐ually if required.



2. To especially test the IP routing settings, use the following commands inthe command line:● "ping" <IP address>: Checks whether a device can be reached in

an IP network2)

● "tracert" <IP address>: Determines all nodes, e.g. routers runningthrough an IP telegram. This checks whether the intended pathand the correct device respond

● "Port test" (normally not required): The designer uses the TCP port9000. This cannot be changed. To test that this TCP port is ena‐bled on the complete path (e.g. PC firewall. router), free programsand scripts are available. Search for example for the following in asearch machine in the internet: "Windows PowerShell script: Testport"

3. Additional settings:● "AddOnTimeOut": The standard timeout of the designer communi‐

cation is 1,000 ms.

An additional timeout can also be set. This setting is not docu‐mented in the official project planning instruction of the designer,as a greater timeout slows down working with the designer, e.g.while "scanning" the modules.– Designer installation directory: "SafeLogic compact commu‐

nication \ CommDTM \ RK512CommServer.config"– Set "AddOnTimeout value" to >5,000< ms for example, save

the file and restart the designer

● Firewall settings: Firewalls cannot only block TCP ports, but alsoblock the TCP/IP communication of individual programs for exam‐ple. I.e. check that the designer communication is not blocked, e.g.the firewall could be partially disabled to check for possible restric‐tions.

4. Known problems with the designer V1.7.0With the designer V1.7.0, problems occurred in the remote diagnosticsas well as in a local network if the TCP/IP routing functionality of the de‐signer is enabled (i.e. if the designer creates the routing entry on the en‐gineering PC).If the tests described in the previous sections were successful, but thereare still different types of problems with the TCP/IP communication ofthe designer (timeout, etc.), disable the TCP/IP routing function in thecommunication profile of the designer and restart the designer. Then,create a routing entry manually in the PC routing table (enter "route add"into the command line 3) Administration rights required) or using othertools.

2) The Sercos Gateway responds to the "ping" irrespective of the status of the safetyapplication. If there is a "critical error" in the SLc station, a designer TCP/IP com‐munication is not possible.If an SLc module detects a critical error (LED "MS" flashes red 2 Hz), all modulesof the SLC station go into a safe state (for other modules, LED "MS" is staticallyred). The SLc station has to be switched off and on. For the error cause, go to thediagnostics "Show history" in the designer. If a critical error occurs multiple times,replace the module

3) For the syntax help, enter "route help".



An IP configuration example for remote diagnostics with the designerV1.7.0 is shown in the following:

Fig. 7-13: IP configuration example for remote diagnostics with the designerV1.7.0




8 Service and supportOur worldwide service network provides an optimized and efficient support.Our experts offer you advice and assistance should you have any queries.You can contact us 24/7.

Service Germany Our technology-oriented Competence Center in Lohr, Germany, is responsi‐ble for all your service-related queries for electric drive and controls.Contact the Service Hotline and Service Helpdesk under:

Phone: +49 9352 40 5060Fax: +49 9352 18 4941E-mail: [email protected]: http://www.boschrexroth.com

Additional information on service, repair (e.g. delivery addresses) and trainingcan be found on our internet sites.

Service worldwide Outside Germany, please contact your local service office first. For hotlinenumbers, refer to the sales office addresses on the internet.

Preparing information To be able to help you more quickly and efficiently, please have the followinginformation ready:● Detailed description of malfunction and circumstances● Type plate specifications of the affected products, in particular type co‐

des and serial numbers● Your contact data (phone and fax number as well as your e-mail ad‐

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IndexAAbbreviations........................................................ 7About this documentation..................................... 3

BBinary coder/decoder.......................................... 43

CChange record...................................................... 3CIP Safety input and outputs.............................. 30CIP Safety Originator configuration.................... 27Complaints............................................................ 7Connection parameters....................................... 29Connection status............................................... 30Control Rexroth IndraDrive safety technology.... 40Criticism................................................................ 7Customer Feedback.............................................. 7

DDevice profiles.................................................... 29Diagnostics for the Sercos master...................... 33Diagnostics in the SafeLogic Designer............... 33Disposal.............................................................. 10Documentation

Change record................................................. 3Documentation structure....................................... 6Documents, related............................................... 4

EEditions................................................................. 3Environmentally-friendly behavior....................... 10

FFeedback.............................................................. 7Functionality of the Sercos Gateway.................. 14

GGS3S – Commissioning steps............................ 23GS3S – First configuration steps........................ 23

HHardware configuration....................................... 19Helpdesk............................................................. 53Hotline................................................................. 53

IInformation representation.................................... 6Intended use......................................................... 9IP configuration of a Sercos device.................... 45

LLogic editor......................................................... 20

PProduct description............................................. 13Product phases..................................................... 3Protective measures........................................... 10Purpose of the documentation.............................. 3

RRemote diagnostics............................................ 48Retrieve diagnostics of the SafeLogic com‐pact station via Sercos........................................ 35

SSafe cross communication (EFI Link andFlexi Line)........................................................... 15SafeLogic Designer – First configurationsteps................................................................... 17SafeLogic Designer as stand-alone tool............. 17SafeLogic Designer communication: TCP/IProuting................................................................. 26SafeLogic Designer DTMs in the IndraWorksFDT Container.................................................... 19Safety Device ID (SDID)..................................... 23Safety instructions....................................... 6, 9, 10Safety Network Number (SNN)........................... 23SCCRC/SCTS..................................................... 28SDID/SNN........................................................... 28Separation of materials....................................... 10Sercos bus configuration.................................... 23Sercos cross communication (assigningCSos targets)...................................................... 25Service hotline.................................................... 53Suggestions.......................................................... 7Support............................................................... 53Symbols used....................................................... 7

TTarget groups........................................................ 3Target identification............................................. 28TCP/IP communication designer........................ 46TCP/IP communication with GS3S..................... 45Terms.................................................................... 7Terms and abbreviations...................................... 7Testing options and troubleshooting................... 49

UUse cases............................................................. 9

VVersion and compatibility overview..................... 13


Index

Notes


Notes


Bosch Rexroth AGElectric Drives and ControlsP.O. Box 13 5797803 Lohr, GermanyBgm.-Dr.-Nebel-Str. 297816 Lohr, GermanyPhone +49 9352 18 0Fax +49 9352 18 8400www.boschrexroth.com/electrics

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