Logical I/O of a Safe Physical Device
These logical I/Os are used for the exchange of safety-oriented I/Os between the safety PLC and the standard PLC.
The safe field device is inserted below the standard PLC as in standard CODESYS.
Tip
Information about linking safe 1oo1 and 1oo2 input modules with the safety application and what you should pay attention to when doing so can be found in the CODESYS Safety User Manual: "Linking Digital 1oo1 and 1oo2 Input Modules".
When inserting the safe field device under the standard controller, the corresponding logical I/O is automatically inserted in the Logical I/Os node of the safety application, provided that only one safety controller exists under the standard controller under which the safe field device is inserted.
Adding a safe field device below the standard PLC
In the project tree, select the corresponding fieldbus slave below the standard PLC.
In the context menu, click Add Device.
In the dialog that opens, select the desired safe field device from the corresponding subcategory (for example, Safe modules) in the Fieldbuses category. The safe field devices are grouped as follows:
For PROFIsafe:
For FSoE:
For PROFINET:
Click the Add Device button.
Click the Close button.
Type consistency of the I/O channels
Caution
if the application revision levels on the safety controller and on the standard controller correspond to the revision level of the same translatable project
and
if the field devices in the project correspond to the field devices in the machine. – Depending on the bus system, a mismatch is recognized automatically here (e.g. with PROFIBUS).
Adding the logical I/O of a safe field device below the safety PLC
If the logical I/O is not inserted automatically when the safe field device is inserted into the safety application, then you must insert it manually as follows:
In the project tree, select the Logical I/Os node point of the safety application object.
Click the Add Object context menu command with the Logical Device selection.
Select the logical I/O below the corresponding fieldbus in the Add Logical Device dialog:
For PROFIsafe:
For FSoE:
For PROFINET:
Click the Add button.
The Device Editor of Logical I/Os opens.
Connection of the logical I/O to the safe field device of the standard controller
Select the safe physical field device of the standard controller.
Click Edit object in the context menu.
Open the (...) I/O Mapping tab.
Click the Logical I/O mapping combo box.
Select the corresponding logical I/O from the list that opens.
Among the logical I/Os, only those that have not already been mapped to other devices or Logical Exchange GVLs can be selected. The system accepts only the selection of a logical I/O that has the same device description as the physical device.
An existing connection is terminated by clicking the Reset button.
Linking of EtherCAT devices
EtherCAT devices that have both safety channels and standard channels (e.g. EL2904): Only the safety channels are mapped to a logical I/O of the safety application. On the other hand, the data of the standard channels of the main application are available.
EtherCAT devices that drive two safety connections in parallel (example: SamX_Bi_Axes or BLK20): The physical device is mapped to 2 different logical devices.
Caution
For EtherCAT devices with several parallel FSoE connections, each one must have its own FSoE address specified. These different FSoE addresses of the same EtherCAT device must not be confused.