Introduction

The purpose of this document is to demonstrate how to connect and configure GS7A using NX-SL3300 and NJ/NX Controller. 

Pre-Requisites

The programmer should have very good understanding of Sysmac Studio. 
Please follow this EStop Configuration for EStop configuration

Further Reading

Procedure

Step1

Adding NX-ECC coupler in Sysmac

Double click EtherCAT and add ECC coupler by dragging it from Toolbox

Step 2

Add safety controller and IOs

Double click Node 1 NX-ECC under EtherCAT and drag all the required hardware from the toolbox list including NX-SL3300 (mandatory) ,NX-SID800 (mandatory), NX-SIH400, NX-SOD400 (mandatory), NX-ID3317, NX-OD3256

Step 3

Creating safety variable

Go to the new_SafetyCPU and select I/O Map. Under NX SID800, provide the variable name for Si00 and Si01 as EstopButton and ResetSwitch01 respectively. Similarly, create EDM for Sio7. Also, under NX-SOD400, Create variable SafetyOut1 under So00. 

Step 4

Configuring Safety Input Device

Double click Parameters under safety I/O – NX-SID800.

Drag Emergency Estop Switch for single channel from Toolbox to Sio0.

Drag Reset Switch with Test Pulse from Input Device: Standard Input Device (Toolbox) 

Drag EDM Feedback from Toolbox to Sio7

Step 5

Configuring Safety Output Device

Double click Parameters under safety I/O – NX-SOD400

Drag Relays with Forcibly Guided Contacts for single channel from Output Device: Relays with forcibly Guided Contacts to So00.

Step 6

Creating Estop and EDM Function block

Double click on Program0 under safety controller.

Drag SF_EmergencyStop from Toolbox to safety rung 1.

Drag SF_EDM from Toolbox to S_EStopOut

Step 7

Define variables for SF_EmergencyStop

Activate-True

S_EStopIn : EstopButton

S_StartReset:True

S_AutoReset : False

Reset : ResetSwitch01

S_EStopOut:SafetyRelayOut

Define variables for SF_EDM

Activate : True

S_EDM1: EDM

S_EDM2: EDM

MonitoringTime: t#200ms

Reset:ResetSwitch01

S_EDM_Out:SafetyOut1

Step 8

Go online and transfer the program to verify

For safety program you can debug by going online and clicking debug icon

End of step by step guide