Safe Operation Cartesian protected spaces

Hello, they are mapped or predefined already in PROFISAFE, look at the manual for PROFINET or SafeOperation, chapter SafeOperation via PROFIsafe, input byte 4 and byte 5 are used for activating monitoring spaces, total of 16 monitoring can be defined and controlled. Also you have to have SafeOperation installed on the robot, etc...

Quote from jaiiyer

1) Am i approaching this right

2) how do i map those inputs which activate this zones?

1. Yes.

2. Depends. SafeOperaton comes in X11, Ethernet/IP, ProfiNet, and (I think?) Ethercat versions.

For X11 SafeOp, each safety zone has a unique pair of contact sets. For the network-based safeties, the KRC appears to the PLC as two devices -- one non-Safe device, and one Safe device. The signals on the Safe device are pre-mapped and cannot be changed. So, on the robot side, there is no mapping to be done for Safety signals.

Quote from jaiiyer

My Robot has CONFIGURATION CIP SafetyTM so i will have to find the eds file for this and then map it to my safety PLC?

The correct EDS should be in your WorkVisual installation:

I'll admit, I never seem to get the right one on the first try, but one of them eventually works.

The SafeOperation manual lists the entire set of Safe Input and Output bytes, as shown in @DannyDJ's post. There are two sets -- the "basic" Safety signals that replace the X11 (E-Stop, Operator Safety, etc), and the "extended" set that includes the activation signals for each SafeOp Zone, Safety Tool, and a few other special options like Standstill and Remote Shutdown.

I've only done this with profisafe and physical inputs but the way i have done it is with a separate zone interlock bit on the none safe side. So when the plc does restrict the use of a space it sets the corresponding UER bit to activate the space and also set the none safe interlock bit to whatever state representing "not allowed" at the same time or slightly before.

I set a decent point exactly or close to the zone with a sptp or slin. And use "stop when path" to stop the robot before entering the zone if the non safe interlock bit is in "not allowed" state. If the robot would miss the interlock signal it will trigger an emergency stop upon entering the zone. Robot will also stop even if the user manually jogs it in to the restricted zone or tries to bypass it in by skipping lines. As long as the plc has activated the UER signal of said zone. Only way to bypass that would be either fiddling with safety config in either plc or robot.

There is an interesting segment in the system integrators manual regarding "braking before restricted areas" that i do not know by heart if it could be applicable or helpful but might be worth taking a look at.

I figured it was best to use a separate non safe bit to actually handle not entering restricted zones or lowering speeds. As i didnt find a good way to access them and you also want to know beforehand. E.g. if you want to lower speeds say if safe braking distance cannot be maintained and robot hence needs to move slower. You first need to actually tell the robot beforehand to lower the speed, before activating safe speed monitoring and BEFORE user can get closer to robot. Then robot needs time to decellerate, and then plc can activate speed monitoring thru safe i/o. Hence safety stuff is always handled on the safety classified stuff and cannot be manipulated. But the non safe handshakes, signals, interlocks takes care of telling the robot beforehand how to react to not trigger a safety stop due to violating max speed or being in a not allowed zone etc.