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NX-SID800
Omron NX-SID800 User Manual
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Appendix
A - 58
NX-series Safety Control Unit
User
’
s Manual (Z930)
Safety
I/O T
erminal Settings
I/O Map Settings
Ti
m
in
g
C
h
a
r
t
Safety I/O T
erminal & I/O Map Setting
Safety Connection
Status (Units 2 to 4)
E-STOP S1
Reset S2
Reset ON
E-STOP pushed
E-STOP released
EDM feedback
MAX_Feedback_Time (T
EDM
)
T
EDM
T
EDM
Servomotor 1 (D1)
Servomotor 2 (D2)
Servomotor 3 (D3)
Servomotor 4 (D4)
457
459
Table of Contents
Default Chapter
3
Introduction
3
Intended Audience
3
Applicable Products
3
Table of Contents
4
Relevant Manuals
10
Manual Structure
11
Page Structure and Icons
11
Special Information
12
Precaution on Terminology
12
Terms and Conditions Agreement
13
Warranty, Limitations of Liability
13
Application Considerations
14
Disclaimers
14
Safety Precautions
15
Definition of Precautionary Information
15
Symbols
15
Warnings
16
Precautions for Safe Use
20
Precautions for Correct Use
24
Regulations and Standards
26
Conformance to EC Directives
26
Conformance to en ISO 13849-1 and en 62061
27
Conformance to UL and CSA Standards
27
Conformance to Shipbuilding Standards
28
Conformance to KC Standards
28
Software Licenses and Copyrights
28
Unit Versions
29
Unit Versions and Sysmac Studio Versions
31
Related Manuals
32
Terminology
34
Revision History
37
Sections in this Manual
39
Overview
41
Introduction and Features
42
Overview of Safety Control Units
42
Features of Safety Control Units
44
System Configuration and Configuration Devices
46
Safety Control System Configuration on Ethercat
46
Safety Control System Configuration on Ethernet/Ip
48
Types of Safety Control Units
48
Support Software
49
Applicable Support Software
49
Connection Method and Procedures for Ethercat Coupler Units
49
Connection Method and Procedures for Ethernet/Ip Coupler Units
51
Exchanging Signals between Units
52
Relationship between Units and Types of Communications
52
I/O System for Safety I/O Units
55
Commissioning Procedures
57
Overall Procedure
57
Detailed Procedures
58
Specifications
63
General Specifications
64
Specifications of Individual Units
65
Models
65
Safety CPU Unit
65
Safety Input Units
65
Safety Output Units
65
Safety Input Units
69
Safety Output Units
73
PFH Values
78
Safety CPU Unit
78
Safety Input Units
78
Safety Output Units
78
Part Names and Functions
79
Safety CPU Unit
80
Parts and Names
80
Indicators
81
Safety I/O Units
84
Parts and Names
84
Indicators
84
Indicators
87
Safety I/O Functions
89
Safety Input Functions
89
Safety Output Functions
113
Calculating Safety Reaction Times
127
Safety Reaction Times
128
Calculating Safety Reaction Times
128
Verifying Safety Reaction Times
130
Calculating Safety Reaction Times
130
Safety Task
131
Operation of Safety Task
131
Calculating the Minimum Safety Task Period
132
Setting the Safety Task Period
133
Fsoe Watchdog Timers
135
Checking Fsoe Watchdog Timers
135
Settings for Fsoe Watchdog Timers
136
Changing Fsoe Watchdog Timers
137
Installing Units
140
Installing NX Units
140
Attaching Markers
142
Removing Units
143
Installation Orientation
144
Wiring the Power Supply to the Slave Terminal
145
Power Supply Types
145
Power Supply Methods and Wiring
145
Calculating the Total Current Consumption from the I/O Power Supply
146
NX-Series Power Supply-Related Units
147
Wiring the Terminals
150
Wiring to the Screwless Clamping Terminal Block
150
Checking Wiring
163
Configuration and Setup Procedures
166
Part Names and Functions of the Sysmac Studio Window
167
Controller Configuration and Setup of the Safety Control Units
168
Procedures for Creating the Controller Configuration for Safety Control
169
Setting and Viewing the Safety Control Unit Settings
172
Procedure to Change the Model of the Safety CPU Unit
173
Setting up the Safety Process Data Communications
174
Setting the Safety Input and Output Functions
176
Registering Device Variables
179
Exposing Variables to Standard Controllers
184
Exposing Global Variables
184
Setting Exposed Variables
185
Safety CPU Unit Status
190
I/O Ports for Safety I/O Units
190
I/O Refreshing Method
191
Setting Standard Process Data Communications
192
Using an Ethercat Coupler Unit
192
Using an Ethernet/Ip Coupler Unit
192
Exporting/Importing Settings Data
194
Exporting/Importing the Settings for the Entire Slave Terminal
194
Exporting/Importing the Settings for All the NX Units on a Slave Terminal
196
Exporting/Importing Data for Individual Safety CPU Units
198
Programming
201
Pous (Program Organization Units)
203
What Are Pous
203
Overview of the Three Types of Pous
204
Differences between Programs, Functions, and Function Blocks
205
Details on Programs
205
Details on Function Blocks
206
Details on Functions
210
Instructions
211
Variables
212
Types of Variables
212
Types of User-Defined Variables
212
Attributes of Variables
214
Data Types
215
Variable Attributes Other than Data Type
217
Function Block Instances
218
Restrictions on Variable Names and Other Safety Program-Related Names
218
Constants (Literals)
220
Constants
220
Types of Constants
220
Programming Languages
222
FBD Language
222
Programming Operations
227
Programming Layer on the Sysmac Studio
227
Registering Pous
229
Registering Variables
238
FBD Programming
243
Building
261
Searching and Replacing
263
Safety Task Settings
266
Monitoring Memory Usage
267
Offline Debugging
269
Offline Safety Program Debugging
269
Monitoring
272
Controlling BOOL Variables, Changing Present Values, and Using Forced Refreshing
272
Setting the Initial Values of Variables
272
Feedback Setting
273
Simple Automatic Test
274
Checking Operation and Actual Operation
281
Procedures before Operation and Transferring the Required Data
284
Commissioning Procedure
284
Data that You Must Transfer before Operation and Data Transfer Procedures
286
Transferring the Configuration Information
287
Overview
287
Transfer Procedure for a Connection to NJ/NX-Series CPU Unit
288
Transfer Procedure for a Connection to Communications Coupler Unit
289
Operating Modes of the Safety CPU Unit
291
Startup Operating Mode and Changing the Operating Mode
291
Restrictions in DEBUG Mode
294
Operation When Changing Operating Mode
294
Executable Functions in each Mode of the Safety CPU Unit
295
Changing to DEBUG Mode
297
Checking External Device Wiring
300
Overview of Functions for Checking Wiring
300
Monitoring a Safety I/O Unit
301
Troubleshooting Safety I/O Terminals
306
Clear All Memory Operation for the Safety I/O Unit
307
Functions for Checking Operation
309
Overview of Functions for Checking Operation
309
Starting and Stopping the Safety Programs in DEBUG Mode
310
Monitoring Variables in the FBD Editor
311
Monitoring Variables in a Watch Tab Page
311
Controlling BOOL Variables, Changing Present Values, and Using Forced Refreshing
313
Node Name
323
Security Settings
324
Setting the Safety Password
324
Data Protection
325
Performing Safety Validation and Operation
328
Performing Safety Validation
328
Changing to RUN Mode
330
Changing to PROGRAM Mode
331
Uploading Configuration Information and Safety Application Data
332
8-10-1 Outline
332
8-10-2 Uploading Data for a Connection to an NJ/NX-Series CPU Unit
333
Uploading Data for a Connection to a Communications Coupler Unit
334
8-11 Transferring Safety Application Data
335
8-12 Monitoring Controller Status
336
8-13 Restarting and Clearing All Memory
338
8-13-1 Restarting
338
8-13-2 Clear All Memory Operation
338
Checking for Errors
344
Checking for Errors with the Indicators
345
Troubleshooting the Main Errors in the Safety CPU Unit
345
Troubleshooting the Main Errors in the Safety I/O Units
347
Checking for Errors with the Sysmac Studio
349
Checking for Errors from the Sysmac Studio
349
Types of Errors
350
Event Codes for Errors and Troubleshooting Procedures
352
Error Descriptions
359
Resetting Errors
390
Troubleshooting Flow When Errors Occur
391
Maintenance and Inspection
393
10-1 Cleaning and Maintenance
394
10-1-1 Cleaning
394
10-1-2 Periodic Inspections
394
10-2 Maintenance Procedures
396
10-2-1 Replacing the Safety CPU Unit
396
10-2-2 Replacing a Safety I/O Unit
398
Appendix
403
A-1 Dimensions
403
A-2-1 Format of NX Object Descriptions
404
A-2 NX Objects
404
A-2-2 Safety CPU Units
405
A-2-3 NX-SID800 Safety Input Unit
407
A-2-4 NX-SIH400 Safety Input Unit
410
A-2-5 NX-SOD400 Safety Output Unit
413
A-2-6 NX-SOH200 Safety Output Unit
416
Emergency Stop Pushbutton Switches
419
A-3 Application Examples
419
A-3-2 Safety Doors
422
A-3-3 Safety Laser Scanners
426
Safety Door Switches with Magnetic Locks and Key Selector Switches
429
A-3-5 Enable Switches
433
Two-Hand Switches
437
A-3-7 D40A Non-Contact Door Switches
440
A-3-8 D40Z Non-Contact Door Switches
443
A-3-9 Safety Mats and Safety Light Curtains
447
A-3-10 Safety Edges
451
A-3-11 Single Beam Safety Sensors
454
A-3-12 Multi-Axis Servo Drives (STO
457
A-4 Change Tracking
460
Safety CPU Unit Status
462
I/O Ports for Safety I/O Units that Are Displayed in the I/O Map of the NJ/NX-Series CPU Unit
463
A-6-1 NX-SIH400 Safety Input Unit
463
A-6 I/O Ports for Safety I/O Units that Are Displayed in the I/O Map of the NJ/NX-Series CPU Unit
463
A-6-2 NX-SID800 Safety Input Unit
464
NX-SOH200 Safety Output Unit
466
A-6-4 NX-SOD400 Safety Output Unit
467
Icon List for Safety Slave Unit Parameters
469
A-7-1 External Device Icons for Input Devices
469
Contact Icons for Input Devices
472
A-7-3 External Device Icons for Output Devices
474
A-7-4 Contact Icons for Output Devices
475
Calculating I/O Sizes for Slave Terminals
476
A-9 Printing
477
A-9-1 Selecting the Items to Print
477
A-9-2 Items that Are Printed
478
A-10 Terminal Block Model Numbers
480
A-10-1 Model Number Notation
480
I/O Response Times for Communications between NX Units on Ethernet/Ip Slave Terminals
481
Units that Support Communications between NX Units
483
A-12-1 NX Unit Device Types
483
A-12-2 Supported Data Types
483
Execution Scenarios for the Simple Automatic Test
484
Differences in Checking Operation between the Simulator and Safety CPU Unit
486
A-15 Version Information
487
And Sysmac Studio Versions
487
A-15-1 Relationship between the Unit Versions of Safety Control Units
487
A-15-2 Functions that Were Added or Changed for each Version
488
Other manuals for Omron NX-SID800
Instruction Manual
26 pages
Network Connection Guide
51 pages
Manual
23 pages
4
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Omron NX-SID800 Specifications
General
Brand
Omron
Model
NX-SID800
Category
Controller
Language
English
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