Safety

What is the Safety widget?

This widget groups all aspects of FSoE and safety-related content of the connected drive; allowing to perform all safety related configurations.

It contains the following parts:

Top menu (orange rectangle above):
Divided into two main sections.

• Upper section:
  State/Mode controls.

  

  • Start/Stop Master Control button: Transitions the state of the FSoE Master from Start to Stop and vice versa.

  • State Master Display: Displays the current FSoE Master state
    ( Reset, Session, Connection, Parameter and Data).

  • Bypass STO Mode: Checkbox to enable STO Mode. When selected, a special Safety Master is loaded that only configures and releases STO. (Learn more about STO Mode).

  • Error Display: LED blinks to indicate FSoE Errors. These errors can also be seen in the error bar.

• Lower section:
  Contains map-related configurations.

  

  • Process Image button: Opens the Process Image Editor, where available safety functions can be mapped. (Learn more about the Process Image Editor).

  • Get Report button: Opens the Report window, displaying all required configuration details (Process Data, Safety Parameters, CRC, etc.). (Learn more about the Report).

  • Group filters:
    Options to show/hide elements in the Groups section.

    • Show Active functions: Displays only active safety functions when checked (this includes mapped functions, and functions that are activated by others.).

    • Show Parameters: Displays parameters when checked; hides them when unchecked.

Groups (green rectangle below):
Displays all available safety fields (IOs and Parameters) grouped by safety function. Includes additional safety parameters and configurable settings such as the FSoE Connection - Slave Address.

Configuring and working with Safety

Bypass STO Mode

When enabled, this mode:

• Overrides the existing Safety Master with a configuration that only maps the STO function.

• When Safety Master is Started, the STO is always released.

How to enable the Bypass STO Mode:

1. Click on Bypass STO Mode.

2. (Optional) Additional options (only available when Bypass STO Mode is selected):

   • Link to Safe Input to trigger STO through the Safe Input. An emergency switch can be added to your setup and connected to this Input, triggering STO when activated.

   • Activate SOUT/SBC to also deactivate the SOUT/SBC upon STO release (only available on certain drives).

3. Click on Start to activate the bypass.

When disabled, the Safety Master is rolled back to the previously configured Safety Master.

Process Image

This pop-up window allows to modify mapped Input and Output safety functions.

Unmapped table (green box):
Displays all available safety functions not yet mapped.
To map a function:

1. Select the desired function in the Unmapped table.

2. Click Add.

3. (Optional) Add Padding following the same steps.

Mapped table (orange box):
Displays all currently mapped safety functions.
To adjust the order:

1. Select the function in the Mapped table.

2. Click Move Up / Move Down.

To modify the size of the padding:

1. Select the padding in the Mapped table.

2. Click on the Size box and input a new value.

   

Validation (purple box):

Before applying changes, both Input and Output Mapped images must be validated.
To validate:

1. Click Validate.

2. If validation fails or is incomplete:

   • The map is invalid and cannot be applied.

   • Modify map and try again.

     

Apply:

To apply changes:

1. Click Apply once both maps are valid.

Get Report

This pop-up window provides all configuration details required by the Safety Master. Use this information as a reference when configuring the Safety Master, but always verify these details against the Products' Safety Manual.

Outputs and Inputs (orange box):
Displays mapped Input and Output functions, including Size and Position.

TxPDO Map and RxPDO Map (green box):
Contains the Rx and Tx PDO map, with their Index:SubIndex, Size and Raw Value.
It also includes the FSoE Command, FSoE CRC, and Truncated 32 bit elements.

Safety Parameters (purple box):
Lists all safety parameters with their Index:SubIndex and Value.

Safety Parameters CRC (blue box):
Displays the CRC for the configured Safety Parameters.

Groups

Contains all safety-related fields (IOs, Safety Parameters, and other settings), grouped by safety function or other functionalities.

• Safety IOs: Values can be viewed and toggled.

• Safety Parameters: Values can be modified.

Functionalities

IOs items		Displays current Output/Input values. Allows modification of the Output signal. Safety functions can be triggered via the Output Command button. Only IOs of active function are enabled.
Input items		Displays Input values. Inputs can not be modified.
Parameters		Displays Parameter values. Editing is only enabled when the Safety Master is Stopped.

Filters

Groups can be filtered at any time:

Show Active functions:
Displays only active safety functions when checked.

Show Parameters:
Displays parameters when checked; hides them when unchecked.