Troubleshooting FSoE Safety Parameters

Safety parameters can be set by using the FSoEParamsInit function block. This operation requires proper configuration of the FSoE master, FSoE safety devices, and the EtherCATClosed ***EtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was 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 master (the PCMM or AKD PDMM).

The first thing to do is to check the ErrorID output of FSoEParamsInit. There are some common failure cases that can be identified from the ErrorID values and the Controller log messages.

ECERR_DEVICE_NOTREADY

The Safety parameters can only be sent after the EtherCAT network state is in op-mode. To verify EtherCAT is ready:

  • Verify the motion engine is running. Use MLMotionStatus to verify the status is MLSTATUS_RUNNING before calling FSoEParamsInit.
  • Check the The EtherCAT state directly. Use ECATMasterStatus to verify the state is EC_STATE_OP.
ECERR_DEVICE_FSOE_MASTER_INVALID

This error is generated if the argument specified for FSoEParamsInit's FSoEMasterAddress is not a FSOE Master.

  • Check to ensure that the EtherCAT address specified for the FSoE master is correct.
  • Check the supported FSoE Masters list.
ECERR_DEVICE_TIMEOUT

This can occur if the FSoE Master is not responding or is not configured properly.

  • Check the FSoE Master diagnostic LEDs, Error Codes/Messages, log messages, and any other diagnostic tools available from the FSoE Master vendor. For example, with the BBH SCU-1-EC FSoE master, use the SafePLC2 software.

If FSoeParamsInit(...) is successful but the AKD2G Safety State does not reach 6 - Normal operation then the CRCClosed "Cyclic redundancy check" A CRC is a type of function that takes as input a data stream of any length and produces as output a value of a certain fixed size. The term CRC is often used to denote either the function or the function's output. A CRC can be used as a checksum to detect accidental alteration of data during transmission or storage expected by the AKD2G SMM does not match the CRC sent by the FSoE master.

  1. Use WorkBench or the KAS IDEClosed "Integrated development environment" An integrated development environment is a 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's integrated WorkBench (Configuration tab for the AKD2G) to diagnose.
  2.  Click the "Safety" item in the status bar.
    • If FSoE is operating normally the Safety State will be 6 - Normal Operation and FSoE Sate will be 54 - Process Data.
    • If the CRC does not match the Safety State will be 3 -Configuration required.

The AKD2G has two options for configuring safety parameters which are determined by selecting the modules associated with the AKD2G in the KAS IDE Project Tree.

If the module(s) are set for “Workbench Parameters” then the FSoE Master cannot set the AKD2G’s safety parameters. The "WorkBench Parameter" modules are set by default when the AKD2G is scanned and discovered. The modules must be changed to accept the parameter from the Safety Maser if you want to use FSoEParamsInit. The picture below shows the appropriate modules for using FSoEParamsInit with AKD2G.

Additionally, the AKD2G profile in the SafePLC2 project should be set to "FSx Axis Y" in order to send the parameters to the AKD2G.

This can occur in two situations: 

  • if the FSoE safety parameters have been previously configured correctly
  • if the FSoE Master has not been configured properly.

FSoEParamsInit will only initialize safety parameters if the FSoE master determines there are parameters to set in the safety device(s). Please check the FSoE master configuration using the vendor’s software. For example, with the BBH SCU-1-EC FSoE master, use the SafePLC2 software.

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