The integration of FSoE (FailSafe over EtherCAT) and SARC (Safe Advanced Aritmetics) technologies enables the implementation of functional safety architectures for secure motion control in complex applications. Available solutions support safe encoder reading and continuous monitoring of position, speed, and trajectories even in dynamic robotic systems.
Safety PLCs and safety modules manage certified functions such as Safe Stop, Safe Limited Speed, and Safe Limited Position. They can also interact with dynamically configurable safety scanners for monitoring the operating area of robots and mobile vehicles.
The architecture is modular and configurable, designed to meet specific functional and regulatory requirements in compliance with international machinery safety standards.
PLC Safety
SSCU/1/x
High-performance Safety PLC designed for complex applications requiring high computational power, such as AGVs. They offer increased processing capabilities compared to the SCU series.
SCU-x-EC/x
Safety PLC equipped with an extensive library of certified mathematical functions (SARC). It operates as an FSoE master, managing communication with other safety devices such as drives and I/O modules. This product enables the implementation of advanced, customized safety functions.
Safety modules
MiS250
Optional module forDigitax M75x drives, enablingsafety functions such as SLP, SLS and many others. It also integrates the FSoE protocol directly into the drive.
Functional safety: main application areas
Robotic safety
In contexts where humans and robots share the same operating space, functional safety is an essential requirement. Safety PLCs and modules enable the implementation of certified controls for speed, position, and dynamic behaviors, reducing the risk of accidents and ensuring smooth and reliable interaction.
Safety tools for AGVs
Safety PLCs, integrated with scanners and sensors, enable reliable monitoring of work areas, supporting dynamic protection strategies and obstacle detection. These solutions are ideal for optimizing the safety of intralogistics flows without compromising operational efficiency.
Examples of safety systems with PLCs
Solutions for robotics and general machinery
In this configuration, a PLC with FSoE master functionality for robotics securely communicates with FSoE drives, such as the Digitax M753 drive equipped with the MiS250 module. The drives transmit position and speed data safely to the PLC via the FSoE protocol.
Thanks to the SARC library, the PLC can perform various mathematical operations on axis position and speed, then apply safety functions to the results (virtual axis). This system offers unique flexibility, giving programmers full freedom in how and where to implement machine safety functions. Through the SARC library, advanced safety functions can be applied to a robot’s TCP without any limitations on its geometry.
Solution for AGVs without FSoE drives
A safety solution for AGVs involves using the SSCU/1 or SSCU/1/AX PLC, specifically designed for integration into autonomous guided vehicles. This PLC supports communication with up to 6 Hokuyo laser scanners and can read up to 4 position and speed feedback signals, without requiring FSoE drives.
Position feedback, such as a resolver, can be connected directly to the safety PLC, which can then measure the speed of the motor wheels. Using the SARC library, the PLC can calculate the vehicle’s orientation and speed, allowing it to dynamically adjust the intervention zones of the Hokuyo laser scanners as needed.
This solution is fully scalable and independent of the vehicle type, making it ideal for heterogeneous fleets in automated logistics, smart factories, and intelligent warehouses.
Solution for AGVs with FSoE drives
The SSCU/1 and SSCU/1/AX PLCs, thanks to their FSoE master functionality, can be integrated with any third-party FSoE-compatible drive (e.g., Elmo or Synapticon drives).
In this configuration, the drives transmit axis position and speed data via FSoE to the PLC. Using the SARC library, the PLC processes this data to calculate the vehicle’s orientation and speed in real time.
These values are then used to dynamically adjust the intervention zones of Hokuyo laser scanners, ensuring continuous adaptation of the safety profile based on the vehicle’s operating conditions. This solution is fully agnostic to the type of AGV, offering maximum flexibility in component selection and system design.
Safe menagement with FSoE encoders
Another proposed solution involves using FSoE encoders. Through the FSoE protocol, the encoder transmits axis position and speed data to the FSoE master.
The safety PLC, leveraging the SARC library, performs various mathematical operations on axis position and speed, then applies safety functions to the results (virtual axis). This system offers exceptional flexibility, giving programmers full freedom in how and where to implement machine safety functions.
Design and production of electronic equipment, programming languages, development environments for robotics and motion control.
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