ProfiSAFE SafeMove issues

dontworry

Hello all,
System IRC5 with RW Ver: 6.15.05.00, with:
735-8 Keyless mode
888-2 Profinet Controller/Device
997-1 ProfiSAFE F-Device
1125-5 SafeMove Pro
996-1 Safety Module
among other licenses...

Beckhoff PLC CX5140 with EL1918 for safety IO, EL6910 for safety control, EL6631 for Profinet connection

Context:
I am using the robot to perform movements with a custom head attached to it, that has a lot of control systems. I have setup the Profinet side of things and it works without an issue. But when it comes to the safety side of things, it is not working as expected. I have setup the system's safety IO's and linked them up as a Stop Configuration-PLC EStop (Input, General Stop) and linked the LocalEmergencyStopStatus signal to a safety output I made.

Expected Outcomes:
I want the robot's EStop to give out a signal so that it can trigger the PLC safety, and like wise I want the PLC's EStop to trigger the robot.

Robot issues:
1. I used Signal Analyser to view the signals and make sure I am getting an output for the PLC E Stop signal from the PLC, but when the robot EStop is triggered, I get no signal response.
2. Although I am getting a signal from the PLC, it doesn't trigger a stop on the robot. But when I restart the controller I always get the 90518 (Safety Controller Emergency Stop triggered) error message, yet the robot remains free to move.

PLC side issues:
1. I keep getting a watchdog time expired error. I am using the Profinet internal device, and have put the correct source and destination addresses on the PLC side. I feel the issue is on the robot end, because of the lack of signals I am able to see on the Signal Analyser.

This issue needs to be sorted asap.

matti

Hallo,

expected outcome: With SafeMove you actually avoid EStop. So when Profisafe operates a safety-violation,

you can stop the robot without an EStop (and supervise stand-still etc.) .

The robot Estop itself will not necessary announce an safety violation to the PLC.

In "Safety" in RSO we connected the SafetyEnable-function with a "safe-signal" (input) from the Profinet internal device. So PLC can set controller into "safe" (or unsafe). We have 2 additional signals(input) configured on internal device there: "AreaSafe" and "AreaUnsafe". These are set from PLC according to "safe-Signal" and connected (system-input signal) in the IRC5 with action "Start" and and action "Stop" for the robot.

I do not know exactly how the PLC-ProfiSafe Device makes that "safe-signal", but "safe" it is in our case from safety hardware like door-switches and light barriers.

Despite of a lot of other functions, SafeMove is basically a method to avoid emergeny off (and all the trouble that is connected to it when actuated within a program sequence).

 

dontworry

Hey matti,

Thank you for the reply. That is an approach I wouldn't have thought off. If I understood you correctly, enabling and disabling safety would stop the robot as a general stop(I assume, because it is not an E stop and would also have to work in manual mode, so it's not an Auto Stop as well), and is it stop 0 or stop 1?

matti

Hallo, the stop from system input is a "slow" stop, the robot will remain on path.

Maybe we overdid it with start and stop from system input. The manual says (application manual functional safety 3HAC052610-001) that safety_enable = false actually will stop the robot already.

dontworry

Hey matti,

I tried this approach, but it doesn't seem to stop the robot from some reason. The controller is detecting the signal (as I can see the signal I setup go green in the Stop Status and I am getting an Event Message 90523: Safety Controller Protective Stop Triggered, no mater if the signal is high or low. The action recommended is to deactivate the safety stop.