Omron NX-SL3500

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6 Programming

6 - 25

NX-series Safety Control Unit User's Manual (Z930)

6-4 Programming Languages

6-4-2 FBD Language

Main Page

Introduction3
- Intended Audience3
- Applicable Products3
Sections in this Manual5
- Table of Contents6
Relevant Manuals13
Manual Structure15
- Page Structure15
- Special Information16
- Precaution on Terminology16
Terms and Conditions Agreement17
- Warranty, Limitations of Liability17
- Application Considerations18
- Disclaimers18
Safety Precautions20
- Definition of Precautionary Information20
- Symbols20
- Warnings21
Precautions for Safe Use26
Precautions for Correct Use31
Regulations and Standards33
- Conformance to EU Directives33
- Conformance to en ISO 13849-1 and en 6206134
- Conformance to UL and CSA Standards35
- Conformance to Shipbuilding Standards35
- Conformance to KC Certification35
Unit Versions37
- Unit Versions of Units and Sysmac Studio Versions38
Related Manuals39
Terminology41
Revision History44
- Overview47
Section 1 Overview48
Introduction and Features48
- Overview of Safety Control Unit48
- Features of Safety Control Unit51
System Configuration and Configuration Devices54
- Safety Control System Configuration on NX Bus of CPU Unit or Ethercat Network54
- Safety Control System Configuration on Ethernet/Ip Network56
- Standalone Safety Control System Configuration56
- Types of Safety Control Unit57
Support Software58
- Applicable Support Software58
- Connection Method and Procedures for Ethercat Coupler Units58
- Connection Method and Procedures for Ethernet/Ip Coupler Units60
Commissioning Procedures61
- Overall Procedure61
- Detailed Procedures62
  - Specifications67
Section 2 Specifications68
Safety CPU Unit68
- Models and Specifications68
- Part Names and Functions74
- Indicators76
Safety Input Unit82
- Models and Specifications82
- Part Names and Functions88
- Indicators90
Safety Output Unit94
- Models and Specifications94
- Part Names and Functions101
- Indicators104
Pfh107
- Installation and Wiring109
Section 3 Installation and Wiring110
Installing Units110
- Installing NX Units110
- Attaching Markers112
- Removing Units113
- Installation Orientation114
Power Supply Types and Wiring116
- Applications of I/O Power Supply and Supply Methods116
- Calculating the Total Current Consumption from I/O Power Supply117
Wiring the Terminals118
- Wiring to the Screwless Clamping Terminal Blocks118
- Checking Wiring131
  - Safety Control Unit Operation133
Section 4 Safety Control Unit Operation134
Relationship between Units and Types of Communications134
- Safety Control System on CPU Rack or Ethercat Network134
- Safety Control System on Ethernet/Ip Network136
- Standalone Safety Control System138
I/O System140
- Relationship between the Types of Signals and the Types of Communications140
- Relationship between the Types of Signals and the Types of Com- Munications140
- Safety Data Types and Standard Data Types140
- Specifying Safety Data Types and Standard Data Types141
Safety I/O Function142
- Safety Input Function142
- Safety Output Function164
Section 5 System Configuration and Setup174
- System Configuration and Setup174
Configuration and Setup Procedures174
Part Names and Functions of the Sysmac Studio Window175
Controller Configuration and Setup of the Safety Control Units177
- Procedures for Creating the Controller Configuration for Safety Control178
- Setting and Viewing the Safety Control Unit Settings181
- Procedure to Change the Model of the Safety Control Unit182
Setting up the Safety Process Data Communications184
- Setting up the Fsoe Communications184
- Setting up the CIP Safety Communications185
- Calculating the Number of Connections192
Safety I/O Functions195
Registering Device Variables198
Exposing Variables to Standard Controllers202
- Exposing Global Variables202
- Setting Exposed Variables203
- Safety CPU Unit Status207
- I/O Ports for Safety I/O Units208
- I/O Refreshing Method208
Setting Standard Process Data Communications209
- Using an CPU Unit or Ethercat Coupler Unit209
- Using an Ethernet/Ip Coupler Unit209
Exporting/Importing Settings Data211
- Exporting/Importing the Settings for the Entire Slave Terminal211
- Exporting/Importing the Settings for All the NX Units on a CPU Rack or Slave Terminal213
- Exporting/Importing Data for Individual Safety CPU Unit214
  - Programming217
Section 6 Programming219
Pous (Program Organization Units)219
- Pou219
- Overview of the Three Types of Pous219
- Differences between Programs, Functions, and Function Blocks220
- Details on Programs221
- Details on Function Blocks222
- Details on Functions226
- Instructions227
Variables228
- Types of Variables228
- Type of User-Defined Variable228
- Attributes of Variables229
- Data Type230
- Variable Attributes Other than Data Type232
- Function Block Instances233
- Restrictions on Variable Names and Other Safety Program-Related Names233
Constants (Literals)235
- Constants235
- Types of Constants235
Programming Languages237
- FBD Language237
Programming Operations242
- Programming Layer on the Sysmac Studio242
- Registering Pous243
- Registering Variables252
- FBD Programming257
- Function Block Conversion for Programs276
- Building277
- Searching and Replacing279
- Safety Task Settings282
Automatic Programming284
- Generation Algorithms for Automatic Programming284
- Automatic Programming Settings287
- Automatic Programming Execution Procedure290
Monitoring Memory Usage for Safety Control Unit293
Offline Debugging295
- Offline Safety Program Debugging295
- Monitoring298
- Controlling BOOL Variables, Changing Present Values, and Using Forced Refreshing298
- Setting the Initial Values of Variables298
- Feedback Settings299
- Simple Automatic Test300
  - Checking Operation and Actual Operation307
Section 7 Checking Operation and Actual Operation309
Procedures before Operation and Transferring the Required Data309
- Commissioning Procedure309
- Data that You Must Transfer before Operation and Data Transfer Procedures310
Transferring the Configuration Information313
- Overview313
- Transfer Procedure for a Connection to NJ/NX-Series CPU Unit314
- Transfer Procedure for a Connection to Communications Coupler Unit314
Operating Modes of the Safety CPU Unit317
- Startup Operating Mode and Changing the Operating Mode317
- Operation When Changing Operating Mode319
- Executable Functions in each Mode of the Safety CPU Unit320
Changing to DEBUG Mode323
Checking External Device Wiring326
- Overview of Functions for Checking Wiring326
- Monitoring Safety I/O Units326
- Troubleshooting Safety I/O Terminals330
- Clear All Memory Operation for Safety I/O Units331
Functions for Checking Operation333
- Overview of Functions for Checking Operation333
- Starting and Stopping the Safety Programs in DEBUG Mode333
- Monitoring Variables in the FBD Editor333
- Monitoring Variables in a Watch Tab Page333
- Controlling BOOL Variables, Changing Present Values, and Using Forced Refreshing333
- Monitoring Variables in the FBD Editor334
- Monitoring Variables in a Watch Tab Page335
- Controlling BOOL Variables, Changing Present Values, and Using Forced Refreshing337
Online Functional Test346
- Online Functional Test Settings346
- Online Functional Test Execution Procedure350
Node Name356
Security Settings357
- Setting the Safety Password357
- Data Protection358
Performing Safety Validation and Operation362
- Performing Safety Validation362
- Changing to RUN Mode363
- Changing to PROGRAM Mode364
- Uploading Configuration Information and Safety Application Data366
- 7-12 Transferring Safety Application Data369
- 7-13 Monitoring Controller Status370
- 7-14 Restarting and Clearing All Memory372
  - Restarting372
  - Clear All Memory Operation373
- Safety Reaction Time380
  - Calculating the Safety Reaction Time380
  - Verifying Safety Reaction Times382
- Safety Task383
- Fsoe Watchdog Timer387
- EPI (Data Packet Interval)389
  - Changing the EPI389
  - EPI Restrictions389
    - Communications Load391
Section 9 Communications Load392
- Adjusting the Communications Load392
- Checking Bandwidth Usage for Tag Data Links393
- Checking the Device Bandwidth Usage of the CIP Safety Routing394
- Relationship between the Number of Packets Used Per Second and Packet Intervals395
- Adjusting the Device Bandwidth Usage395
Safety Unit Restore397
- Generate Safety Unit Restore File Function398
- 10-1 Safety Unit Restore398
- Safety Unit Restore Function399
- Specifications of a Safety Unit Restore File402
Safety Data Logging403
- Outline of the Safety Data Logging Function404
- Creating a Safety Data Logging Settings File with the Sysmac Studio406
- Safety Data Logging Operation Procedure408
- 11-4 Checking the Logging Status409
  - Checking the Seven-Segment Indicator409
  - Checking with System-Defined Variables409
11-5 Log File Specifications410
Section 12 Troubleshooting414
12-1 How to Check for Errors414
Checking for Errors with the Indicators415
- Troubleshooting the Main Errors in the Safety CPU Unit415
- Troubleshooting the Main Errors in the Safety I/O Units423
Checking for Errors with the Sysmac Studio426
- Checking for Errors from the Sysmac Studio426
- Types of Errors427
- Event Codes for Errors and Troubleshooting Procedures429
- Error Descriptions443
12-4 Resetting Errors502
Troubleshooting Flow When Errors Occur503
Inspection and Maintenance505
13-1 Cleaning and Inspection506
- Cleaning506
- Periodic Inspections506
13-2 Maintenance Procedures509
- Replacing the Safety CPU Unit509
- Replacing Safety I/O Units511
Appendices515
A-1 Dimensions515
- A-1-1 Safety CPU Unit515
- Safety CPU Unit515
- A-1-2 Safety I/O Units516
A-2 NX Objects517
- A-2-1 Format of NX Object Descriptions517
- A-2-2 Safety CPU Unit (NX-SL3300/NX-SL3500)517
- Format of NX Object Descriptions517
- Safety CPU Unit (NX-SL3300/NX-SL3500)517
- A-2-3 Safety CPU Unit (NX-SL5500/NX-SL5700)519
- Safety CPU Unit (NX-SL5500/NX-SL5700)519
- A-2-4 NX-SID800 Safety Input Unit523
- NX-SID800 Safety Input Unit523
- A-2-5 NX-SIH400 Safety Input Unit528
- NX-SIH400 Safety Input Unit528
- A-2-6 NX-SOD400 Safety Output Unit533
- NX-SOD400 Safety Output Unit533
- A-2-7 NX-SOH200 Safety Output Unit537
- NX-SOH200 Safety Output Unit537
A-3 Application Examples542
- A-3-1 Emergency Stop Pushbutton Switches542
- Emergency Stop Pushbutton Switches542
- A-3-2 Safety Doors544
- A-3-3 Safety Laser Scanners548
- Safety Laser Scanners548
- A-3-4 Safety Door Switches with Magnetic Locks and Key Selector Switches551
- Safety Door Switches with Magnetic Locks and Key Selector Switches551
- A-3-5 Enable Switches555
- A-3-6 Two-Hand Switches559
- Two-Hand Switches559
- A-3-7 D40A Non-Contact Door Switches562
- D40A Non-Contact Door Switches562
- A-3-8 D40Z Non-Contact Door Switches565
- D40Z Non-Contact Door Switches565
- A-3-9 Safety Mats and Safety Light Curtains568
- Safety Mats and Safety Light Curtains568
- A-3-10 Safety Edges573
- Safety Edges573
- A-3-11 Single Beam Safety Sensor575
- A-3-12 Multi-Axis Servo Drives (STO)578
A-4 Change Tracking582
A-5 Safety CPU Unit Status584
- Nx-Sl3300/Nx-Sl3500584
- Nx-Sl5500/Nx-Sl5700584
A-6 I/O Ports of Safety I/O Units586
- A-6-1 NX-SIH400 Safety Input Unit586
- NX-SIH400 Safety Input Unit586
- A-6-2 NX-SID800 Safety Input Unit588
- NX-SID800 Safety Input Unit588
- A-6-3 NX-SOH200 Safety Output Unit589
- NX-SOH200 Safety Output Unit589
- A-6-4 NX-SOD400 Safety Output Unit590
- NX-SOD400 Safety Output Unit590
A-7 CIP Response Codes593
- A-7-1 General Status Codes593
- General Status Codes593
- Extended Status Codes595
Icon List for Safety Slave Unit Parameters598
- External Device Icons for Input Devices598
- A-8-2 Contact Icons for Input Devices601
- Contact Icons for Input Devices601
- A-8-3 External Device Icons for Output Devices603
- External Device Icons for Output Devices603
- A-8-4 Contact Icons for Output Devices604
- Contact Icons for Output Devices604
Calculating I/O Sizes for CPU Rack or Slave Terminals605
A-10 Printing606
- A-10-1 Selecting the Items to Print606
- A-10-2 Items that Are Printed606
List of Screwless Clamping Terminal Block Models608
- A-11-1 Model Notation608
- A-11-2 List of Terminal Block Models608
I/O Response Times for Communications between NX Units on Ethernet/Ip Slave Terminals610
Units that Support Communications between NX Units612
Checking the Signature Code on the Seven-Segment Indicator613
Execution Scenarios for the Simple Automatic Test614
Differences in Checking Operation between the Simulator and Safety CPU Unit616
A-17 Version Information617
- Relationship between Unit Versions and Sysmac Studio Versions617
- A-17-2 Functions that Were Added or Changed for each Version621

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