Setup of SLIO Safety Modules with iC9226M-FSOE

Version Number	Description
1.0	Initial version, Explains how to setup the ASM7 using the configuration tool.
1.1	Updates to content

1. Hardware and Software Components

Component Name	Version
iC9226M-FSoE	≥ 2023.9
iCube Engineer	≥ 2023.9
SLIO EtherCAT coupler 053-1EC01 Enhanced
SLIO Module 021-1SD10 SDI4x24V
SLIO Module 022-1SD10 SDO4x24V

2. Solution details

This application note explains how to use Safety SLIO input and output modules with an iC9226M-FSOE controller, where the SLIO safety modules are installed on both the SliceBus and an EtherCAT bus coupler

2.1 Starting Conditions

1. FSoE addresses for each safety module have been configured using the F-Addr dip switches on the side of each module

2. Install (1) safe digital input (021-1SD10) and (1) safe digital output (022-1SD10) on the SliceBus and EtherCAT bus coupler

2.2 Create & Configure iCube Engineer Project

Create a new project with template "Yaskawa iC9226M-FSoE safety 2023.9" (or current version for your installed version of iCube Engineer)

2. Hint: Enable Write and Start incl. Safety in Extras->Options->Online->Write and Start Command to allow the Standard and Safety PLC projects to be downloaded together, rather than individually.

3. The Safety PLC is included in the plant as shown below:

4. When prompted for the Project Authorization, the default safety PLC password for the template is "safety"

Note: the default Safety PLC password is also "safety"

5. Add Safety Modules to the SliceBus, (1) each of Safe Digital Input (021-1SD10) and Safe Digital Output (022-1SD10)

6. Set the FSoE device address that corresponds to the dip switch setting on the module’s side:

7. Add the EtherCAT bus coupler
Note: Be sure that the bus coupler is set up for enhanced mode (see "EtherCAT Bus Coupler - Enable Enhanced Mode")

8. Add the safety modules to the bus coupler and set the FSoE Device address to match the dip switch setting on each module

9. Set the Safety Parameters for all safety modules according to the application requirements
Note: Reference " #32525 " for details of the safety parameters for SLIO safe digital input & output modules

10. Add Safety PLC variables to PDIs (Process Data Items) required for the application
a. Safety variables can be added through the Safety PLC data list as well as the data lists available for each safety device

Note: at least (1) Safety PLC variable must be mapped to PDIs for each direction (input/output)

11. Make sure safety variables are added to the safety PLC data list for the Slice bus and SLIO coupler as shown below.