Working with SafePLC2 Projects

A node can be added to the Project tree connected to a SafePLC2 project.

• This is used to synchronize Combines an axis or axes group (as slave) with an axis as master. The slave executes its path with synchronization to the progress of the master. This is linked to a one dimension source for synchronization. a SafePLC2 project with a KAS project.
• The KAS-IDE Kollmorgen Automation Suite - Integrated Development Environment automatically generates the PDOs for the connected devices and establishes the Black Channel A Black Channel allows transmission of safety data via the standard network line. Safety over EtherCAT® frames, known as safety containers, contain safety-critical process data and additional information used to secure this data. The safety containers are transported as part of the communication’s process data. with the EtherCAT Ethernet ofr Control Automation Technology. EtherCAT® is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT is to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs. Safety network.

These are the methods for creating the synchronization between KAS Runtime In computer science, runtime (or run-time) describes the operation of a computer program, the duration of its execution, from beginning to termination (compare compile time). In KAS, runtime refers to the virtual machine that manage the program written in a computer language while it is running. and SafePLC2:

• Direct Method Connection - This is used when both the KAS-IDE Integrated Development Environment - An type of computer software that assists computer programmers in developing software. IDEs normally consist of a source code editor, a compiler and/or interpreter, build-automation tools, and a debugger. and SafePLC2 are installed on the same computer.
• Import Method Connection - This is used when KAS-IDE and SafePLC2 are installed on different computers.

See the online help or the AKT2G I/O Manual for detailed directions.

Direct Method Connection

This method is used when SafePLC2 is installed on the same computer as the KAS-IDE.

The procedure assumes you have already added a SafePLC2 project to the KAS project tree (see Add or Import a SafePLC2 Project).

1. Double-click on the SafePLC2 node.
   Alternatively, right-click on SafePLC2 and select Open SafePLC2.
   
2. SafePLC2 and the Safety Project open.
   SafePLC2 automatically populates the safety devices from the EtherCAT Safe topology defined in the KAS-IDE.
3. Complete and save the SafePLC2 Safety Project.
4. Compile the Safety Project and download it to the SCU1 controller.
5. Return to the KAS-IDE to complete and compile the project.

   The KAS-IDE automatically creates the required black channel communication required for FSoE from the connected module information passed to the KAS-IDE from SafePLC2.

6. Download the compiled KAS application to the controller and run it.
   • The Black Channel will establish the Safety network connection when EtherCAT goes into the operational state.
   • The SCU transitions to Run mode.

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• • The KAS project supports a single SafePLC2 instance and project.
  • The SafePLC2 node cannot be deleted while the application is running.
  • The KAS-IDE cannot be closed while SafePLC2 is running with a synchronized project.

See Also

AKD2G Safety Parametrization Using FSoE with SCU-1-EC and PxMM / PCMM2G

Import Method Connection

This method is used when the KAS-IDE and SafePLC2 are not installed on the same computer. This procedure assumes you have already added a SafePLC2 project to the KAS project tree.

1. Export the SafePLC2 node.
   See Export a SafePLC2 Project.
2. Name and save the .k2s Safety Project file.
3. Transfer the exported file to a computer which has SafePLC2 installed.
4. Open the Safety Project file with SafePLC2.
   SafePLC2 automatically populates the safety devices from the EtherCAT Safe topology defined in the KAS-IDE.
5. Complete and save the SafePLC2 Safety Project.
6. Compile the Safety Project and download it to the SCU1 controller.
7. Transfer the completed .k2s Safety Project file back to the computer with the KAS-IDE.
8. Import the completed Safety Project.
   See Add or Import a SafePLC2 Project.
9. Complete and compile the KAS project.

   The KAS-IDE automatically creates the required black channel communication required from the connected module information passed to KAS from SafePLC2.

10. Download the compiled KAS application to the controller and run it.
    • The Black Channel will establish the Safety network connection when EtherCAT goes into the operational state.
    • The SCU transitions to Run mode.

Add or Import a SafePLC2 Project

A SafePLC2 project can be added to the KAS-IDE or imported into an existing project.

1. Right-click on Controller in the Project tree.
2. Select Add SafePLC2 Project or Import SafePLC2 Project.
   

   When importing a project you are prompted to select the file's location.

   • There may only be a single instance of a SafePLC2 project in the KAS-IDE.
     • If none exists, a SafePLC2 Project is added to the end of the Project tree.
   • If there is a project, you are prompted to overwrite the project or cancel the import.
   • The import cannot occur if SafePLC2 is running.
3. A node is added to the end of the Project tree.

Export a SafePLC2 Project

1. Right-click on the SafePLC2 node in the Project tree and select Export.
2. Navigate to and select the location to save the exported file.
3. Click Save.

Connect SafePLC2 to an SCU-1-EC

1. Connect to the SCU-1-EC by clicking the Device Interface and then click the Connect button.
   

   

2. After successfully connecting to the device, click Send Configuration to download the safety application.

   

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   • The download status is available at the status bar of the SafePLC2application.
     

3. After a successful download of the application, click on the Start button to run the safety application.
   

   

4. The status of the SCU changes to RunIntern.
   

   

Working Together: KAS, SCU-1-EC, and the AKD2G

1. Run the KAS application.

2. When the Execute input on the FSoEParamsInit function block A function block groups an algorithm and a set of private data. It has inputs and outputs. goes high, the safety parameters are transferred to the AKD2G.

3. On a successful transfer, the safety network starts exchanging the Safety Process Data.

   • In the message window, SafePLC shows Status Changed to Run.
     

   • The Status LED on the BBH SCU-1-EC shows 4.

     

   • The status of the AKD2G drive In electrical engineering, a drive is an electronic device to provide power to a motor or servo. Control device for regulating the speed, torque and position of a motor. A unit controlling a motor using the current and timing in its coils. in KAS-IDE WorkBench or WorkBench shows Safety State: 6 – Normal operation and FSOE State: 54 - Process Data.
     

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   • Checking the AKD2G's status is also recommended.