This document describes how to start safety communication of CC-Link IE TSN between iQ-R Safety, safety remote I/O and MR-J5G-RJ.
To use safety communication over CC-Link IE TSN it is necessary to use iQ-R Safety PLC with firmware version 21 or higher. As a CC-Link IE TSN master Motion module (RD78G) or general CC-Link IE TSN module (RJ71GN11-T2) can be used. MR-J5G-RJ doesn't need to have any additional modules to support safety communication over network. Required firmware version for servo amplifier is B2 or newer. Communication speed 1GBps and 100MBps is aloved.
iQ-R Safety and CC-Link IE TSN configuration
In the first step it is necessary to create project for iQ-R Safety and then create network configuration including all devices that will be used.
iQ-R Safety general configuration
Create new project for iQ-R Safety:
Add user to the project and save the project. It is necessary for Safety PLC.
Create module configuration in GX Works3 by adding modules form Element Selection window or by reading configuration from PLC (menu Online >> Read Module Configuration from PLC). In this example module configuration looks like on the picture bellow. It includes R08SFCPU, R6SFM and RD78G8 motion module. When the configuration is ready Fix the parameters for example by closing Module Configuration window.
CC-Link IE TSN Configuration
Go to RD78G parameters and open Network Configuration Setting Window.
In the Network Configuration Window add devices from Module List to the network configuration. Each device is identified by the IP Address. Network part (first three octets) of IP address is determined by IP Address of master module, last octet needs to be set by switches on slave module (amplifiers and remote IOs). For servos that will use safety communication over CC-Link IE TSN set Motion Mode (Safety) in Station Information column.
To activate safety communication and setup parameters go once again to RD78G Module Parameters (Network). Activate safety communication by setting Use in parameters bellow, then go to Detailed Settings of Safety Communication.
In Safety Communication Setting window in column Communication Destination select Local Network. In the popup that appears select all devices and add them to the configuration. All selected devices should appear in the table like bellow. For all of them set safety devices where in safety input and output data will be refreshed. All devices used in this example needs 32 points of input and output data. In case of other devices number of required points can be different. Optionally Safety Authentication Code can be set to verify if physically connected device is proper. Safety Authentication Code set in device have to match to those in master configuration.
After described settings are finished press Apply button to save settings, rebuild GX Worsk3 Project and download them to the PLC. Restart whole system and check if communication with all devices started. It can be verified by D LINK led on modules or by CC-Link IE TSN/Field Diagnostics window available in GX Works3 Diagnostics menu.
Details regarding network configuration you can find in article:
Servo amplifier configuration
Open MR Configurator2 and create new mulit axis project. Define connection method with amplifiers and add axes with proper IP Addresses to the list.
Details regarding servo parameter setting and configuration of motion module you can find in article:
To set safety parameters open Safety Parameter Setting window from navigation tree. Set parameters like bellow to activate Functional Safety via communication.
PSA01.0 - Activates Functional safety of amplifier
PSA01.1 - allows to set if safety signals are connected directly to amplifier (CN8) or safety communication should be used.
PSA02.1 - determines range of safety functions that can be used and safety category that can be achieved.
Set necessary parameters for safety functions that you want to use. Download parameters to the servo amplifiers (separately for each axis).
Default password for safety parameters of amplifier: 000000
To make parameters active restart servo amplifiers.
Safety Remote IO Parameter setting
To set parameters of safety remote IOs go to Network Configuration window double click <Detail Setting> of Parameter Automatic Setting for NZ2GNSS2-16DTE (safety remote IO).
Window that appears allows to read, write and validate parameters. If parameters of safety remote IO was already set you can read them by selecting Parametr read as a Method selection and clicking Execute Parameter Processing button. To set and write parameters to the module set Parametr write as a Method selection. You can copy Read Value or Initial Value to Write Value and then modify parameters that you need to change. After setting all required parameters check option "Enable safety module when succeed to write parameter" and click Execute Parameter Processing button.
Finally close this window with saving configuration, save also parameters of the network and download project to the PLC. Reset whole system. After restart all devices in the network should start communication including safety communication. It can be confirmed by SAFETY COM RUN LED on R6SFM module, SAFETY LED on remote module and SFTY LED on MR-J5 amplifier.
Safety PLC program creation
In project navigation window add new program, as a safety one. Program have to be created in Ladder and Execution type have to be Fixed Scan.
Bellow you can find list of safety signals transferred form controller to drive and from drive to controller.
In attachment to this article you can find sample GX Works3 project and user library with structures that can be used to simplify access form program to each safety signal.