Set Up FSoE Master and an AKD2G with SafeMotion Monitor

This topic describes how to:

  • Manually set up FSoE PDOs.
  • Copy links for a FSoE Master and an AKD2G with SafeMotion Monitor.

This example uses a simple EtherCAT topology consisting of:

  • A Controller (PxMM or PCMM2G).
  • A BBH SCU safety master (Device_1).
  • An AKD2G with SMM Basic safety drive (AKD2G_1).

  • If using a BBH SCU-1-EC and SafePLC2 software, the FSoE PDOs can be automatically setup by the KAS-IDE and SafePLC2.
    See SafePLC2 Projects.
    For all other third party FSoE Masters, use this procedure.

1. Create Safety Application

Use the 3rd-party Safety PLC software to create a safety application for the FSoE master.

Example: The application will contain a FSoE master and an AKD2G with Axis1 and Axis2 as slave devices.

  1. Set the AKD2G Connection IDs to match the the AKD2G SafeIDs.
  2. Compile and download the safety application to the FSoE Master.
  3. Run the safety application in FSoE Master.
    The state is Run Intern and the FSoE state is 8.

2. KAS-IDE Project Set Up

To finish the example, a project is created in the KAS-IDE using the 2-axis Pipe Network template.

  1. The IP address of the controller is set in the project.
  2. Scan the EtherCAT network to discover the devices. (Figure 1)

    3. Figure 1: Discovered devices

  3. We are prompted to recompile the project due to changes in the EtherCAT topology.
    We respond No because we have not set up the PDO copy links.
  4. To connect the PDOs we open the FSoE / PDO Connections tab which is populated with Input and Output PDOs. (Figure 2)

    5. Figure 2: Connected PDOs

  5. To connect PDOs we choose an input, an output, and click the Connect button.
    Connections are displayed at the bottom of the tab. (Figure 3)

    6. Figure 3: Chosen input and output

  6. We make these connections:
    • Device_1[SCU] PDO 0x1A00   to   AKD2G_1 PDO 0x1650
    • Device_1 [SCU] PDO 0x1A20   to   AKD2G_1 PDO 0x1660
    • AKD2G_1 PDO 0x1A50   to   Device_1 [SCU] PDO 0x1600
    • AKD2G_1 PDO 0X1A60   to   Device_1 [SCU] PDO 0x1620
  7. Compile, download, and run the KAS application.
    The BBH master has changed the state to Run and the FSoE state is 4.

The Safety Master and the Safety Slave are now exchanging data over EtherCAT.

See Also