Bosch Rexroth IndraControl S20 User manual

The Drive & Control Company
Rexroth IndraControl
S20 Module
With Safe Digital Outputs S20-SSDO-8/3
Edition 02
Application Description
R911342482

IndraControl
S20 Module
With Safe Digital Outputs S20-SSDO-8/3
Application Description
DOK-CONTRL-S20*SSDO*8*-AP02-EN-P
RS-0316e487311727a80a6846a501e4aaca-2-en-US-3
Change Record Edition Release
Date
Notes
Edition 01 2015-07 First edition
Edition 02 2015-10 Error corrections
Copyright © Bosch Rexroth AG 2015
This document, as well as the data, specifications and other information set
forth in it, are the exclusive property of Bosch Rexroth AG. It may not be re‐
produced or given to third parties without its consent.
Liability The specified data is intended for product description purposes only and shall
not be deemed to be a guaranteed characteristic unless expressly stipulated
in the contract. All rights are reserved with respect to the content of this docu‐
mentation and the availability of the product.
Editorial Department System Development Automation Motion Logic Control, HaBu (MaKo/MePe)
Title
Type of Documentation
Document Typecode
Internal File Reference
Bosch Rexroth AG DOK-CONTRL-S20*SSDO*8*-AP02-EN-P
IndraControl S20 Module With Safe Digital Outputs S20-SSDO-8/3

Table of Contents
Page
1 Using safety instructions................................................................................................ 5
1.1 Structure of the safety instructions......................................................................................................... 5
1.2 Explaining signal words and safety alert symbol.................................................................................... 5
2 For your safety............................................................................................................... 7
2.1 General information................................................................................................................................ 7
2.2 General safety instructions..................................................................................................................... 7
2.3 Electrical safety....................................................................................................................................... 8
2.4 Safety of machine or system.................................................................................................................. 8
2.5 Guidelines and standards....................................................................................................................... 9
2.6 Intended use........................................................................................................................................... 9
2.7 Documentation........................................................................................................................................ 9
2.8 Abbreviations used............................................................................................................................... 10
3 Product description...................................................................................................... 11
3.1 Brief module description....................................................................................................................... 11
3.2 Module structure................................................................................................................................... 11
3.3 Housing dimensions............................................................................................................................. 12
3.4 Assigning terminal points...................................................................................................................... 12
3.5 Safe digital outputs............................................................................................................................... 13
3.6 Connecting options for actuators depending on the parameterization................................................. 14
3.7 Local diagnostic and status displays.................................................................................................... 15
3.8 Safe state.............................................................................................................................................. 18
3.8.1 Overview............................................................................................................................................ 18
3.8.2 Operating state.................................................................................................................................. 18
3.8.3 Error detection in the periphery......................................................................................................... 18
3.8.4 Device errors..................................................................................................................................... 19
3.8.5 Parameterization errors..................................................................................................................... 19
3.9 Switching on safe outputs at CSos....................................................................................................... 19
3.10 Programming and configuration data.................................................................................................... 20
4 Integrating the local bus............................................................................................... 21
4.1 General information.............................................................................................................................. 21
4.2 Supply voltage of the module logic....................................................................................................... 21
4.3 Supply voltage UO................................................................................................................................. 21
4.4 DC distribution network acc. to IEC 61326-3-1..................................................................................... 22
5 Mounting, demounting and electric installation............................................................ 23
5.1 Mounting and demounting.................................................................................................................... 23
5.1.1 Unpacking the module....................................................................................................................... 23
5.1.2 Preparation and mounting................................................................................................................. 23
5.1.3 Setting DIP switch............................................................................................................................. 23
5.1.4 Mounting and demounting modules.................................................................................................. 25
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Page
5.2 Electric installation................................................................................................................................ 27
5.2.1 General information........................................................................................................................... 27
5.2.2 Electric installation of the IndraControl S20 station........................................................................... 27
5.2.3 Electric installation of the module...................................................................................................... 27
6 Parameterizing the module.......................................................................................... 29
6.1 Setting CSos and device parameters................................................................................................... 29
6.2 Parameterizing the safe outputs........................................................................................................... 29
6.3 Behavior of the outputs if the switch-off delay for stop category 1 is switched on................................ 30
7 Connection examples of the safe outputs.................................................................... 33
7.1 Explanation on the examples................................................................................................................ 33
7.2 Notes on the protective circuitry of external relays and contactors (free-wheeling circuit)................... 34
7.3 Measures to meet a certain safety integrity.......................................................................................... 34
7.4 Single-channel assignment of safe outputs.......................................................................................... 36
7.5 Dual-channel assignment of the safe outputs....................................................................................... 38
8 Commissioning and validation..................................................................................... 41
8.1 Initial commissioning............................................................................................................................. 41
8.2 Recommissioning after module exchange............................................................................................ 42
8.2.1 Replacing the module........................................................................................................................ 42
8.2.2 Recommissioning.............................................................................................................................. 42
8.3 Validating.............................................................................................................................................. 42
9 Errors: Reporting and troubleshooting......................................................................... 43
9.1 Reading out diagnostic messages........................................................................................................ 43
9.1.1 General information........................................................................................................................... 43
9.1.2 DiagState object 0x0018................................................................................................................... 44
9.1.3 DiagStateChannelNo object 0x0033................................................................................................. 45
9.1.4 DiagStateAddValue object 0x0034 ................................................................................................... 45
9.1.5 ResetDiag object 0x0019.................................................................................................................. 46
9.1.6 Examples on reading out a diagnostic message............................................................................... 46
9.2 Error codes........................................................................................................................................... 47
9.2.1 General information........................................................................................................................... 47
9.2.2 Errors of the safe digital outputs........................................................................................................ 48
9.2.3 Errors of the supply voltage............................................................................................................... 49
9.2.4 Parameterization errors..................................................................................................................... 49
9.2.5 General errors................................................................................................................................... 50
9.3 CSos errors........................................................................................................................................... 50
9.4 Acknowledging an error at Csos........................................................................................................... 51
10 Maintaining, repairing, decommissioning and disposal................................................ 53
10.1 Maintenance......................................................................................................................................... 53
10.2 Repair................................................................................................................................................... 53
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Page
10.3 Decommissioning and disposal............................................................................................................ 53
11 Technical data and ordering data................................................................................ 55
11.1 System data CSos................................................................................................................................ 55
11.2 Module data of the S20-SSDO 8/3....................................................................................................... 55
11.2.1 General data...................................................................................................................................... 55
11.2.2 Mechanical requirements.................................................................................................................. 56
11.2.3 Safety characteristics acc. to EN 61508............................................................................................ 56
11.2.4 Safety characteristics acc. to EN 62061............................................................................................ 57
11.2.5 Safety characteristics acc. to EN ISO 13849-1................................................................................. 57
11.2.6 Supply voltage UBUS (logic)................................................................................................................ 57
11.2.7 Supply voltage UO (actuators)........................................................................................................... 58
11.2.8 Safe digital outputs............................................................................................................................ 58
11.2.9 Approvals........................................................................................................................................... 60
11.3 Compliance with EMC directive............................................................................................................ 61
11.4 Ordering information............................................................................................................................. 61
11.4.1 Ordering data: Module....................................................................................................................... 61
11.4.2 Ordering data: Documentation.......................................................................................................... 61
12 CSos glossary.............................................................................................................. 63
13 CSos parameters and device parameters................................................................... 65
13.1 Sercos parameter (CIP safety parameter objects)............................................................................... 65
13.2 CSos parameters (safe configuration).................................................................................................. 66
13.3 Device parameters (safe parameterization).......................................................................................... 67
13.4 CSos diagnostic messages.................................................................................................................. 67
14 Checklists..................................................................................................................... 69
14.1 General information.............................................................................................................................. 69
14.2 Planning................................................................................................................................................ 70
14.3 Mounting and electrical installation....................................................................................................... 72
14.4 Commissioning and parameterization.................................................................................................. 73
14.5 Validation.............................................................................................................................................. 74
15 Disposal....................................................................................................................... 77
15.1 General information.............................................................................................................................. 77
15.2 Return................................................................................................................................................... 77
15.3 Packaging............................................................................................................................................. 77
15.4 Batteries and accumulators.................................................................................................................. 77
16 Service and support..................................................................................................... 79
Index............................................................................................................................ 81
DOK-CONTRL-S20*SSDO*8*-AP02-EN-P Bosch Rexroth AG III/85
IndraControl S20 Module With Safe Digital Outputs S20-SSDO-8/3
Table of Contents

Bosch Rexroth AG DOK-CONTRL-S20*SSDO*8*-AP02-EN-PIV/85
IndraControl S20 Module With Safe Digital Outputs S20-SSDO-8/3

1 Using safety instructions
1.1 Structure of the safety instructions
The safety instructions are structured as follows:
Burns and chemical burns due to wrong
battery treatment!
CAUTION
Safety alert symbol
Signal word
Consequences and
source of danger
Avoiding danger
Do not open the batteries and do not heat them over 80 °C.
Fig. 1-1: Structure of the safety instructions
1.2 Explaining signal words and safety alert symbol
The safety instructions in this documentation contain specific signal words
(danger, warning, caution, notice) and, if necessary, a safety alert symbol
(according to ANSI Z535.6-2006).
The signal word is used to draw attention to the safety instruction and also
provides information on the severity of the hazard.
The safety alert symbol (a triangle with an exclamation point), which pre‐
cedes the signal words danger,warning and caution is used to alert the read‐
er to personal injury hazards.
DANGER
In the event of non-compliance with this safety instruction, death or serious
injury will occur.
WARNING
In the event of non-compliance with this safety instruction, death or serious
injury will occur.
CAUTION
In the event of non-compliance with this safety instruction, minor or moderate
injury can occur.
NOTICE
In the event of non-compliance with this safety instruction, material damage
can occur.
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IndraControl S20 Module With Safe Digital Outputs S20-SSDO-8/3
Using safety instructions

Bosch Rexroth AG DOK-CONTRL-S20*SSDO*8*-AP02-EN-P6/85
IndraControl S20 Module With Safe Digital Outputs S20-SSDO-8/3

2 For your safety
2.1 General information
Target of the application descrip‐
tion
The present information informs on the functioning, operating and connecting
elements and the parameterization of the safety module S20-SSDO-8/3. This
information allows to use the module S20-SSDO-8/3 in a CSos systems as
per the given requirements.
Validity of the application descrip‐
tion
This application description applies to the moduleS20-SSDO-8/3 in the ver‐
sion mentioned in the following as well as to the replacement by other device
types for the same or higher versions.
● Module type: S20-SSDO-8/3
● HW/FW version: 00/1.01
● Part number: R911173192
Target group of the application de‐
scription
The product use described in this application description is only intended for
qualified electricians and staff trained by these qualified electricians that are
familiar with the current standards and other guidelines of the electrical engi‐
neering and especially with the relevant safety concepts.
Bosch Rexroth is not liable for unintended handling and damages at Bosch
Rexroth and third-party products by disregarding information given in this ap‐
plication description.
2.2 General safety instructions
Fatal injuries caused by unintended module
use.
WARNING
Observe the safety instructions given in this chapter and the warnings in the
manual.
Qualified staff Qualified personnel in this manual are persons who by their training, experi‐
ence, instruction and their knowledge of the relevant standards, regulations,
accident prevention rules and working conditions have been authorized to
perform the appropriate activities required and thereby are able to recognize
and prevent potentially dangerous situations.
Additionally, knowledge on the following topics and products is required:
● Non-safety-related target system Sercos
● CIP Safety on Sercos (CSos)
● Components used
● IndraControl S20 product family
● Operation of software tools
● Safety regulations in the area of application
When using Csos systems, the following works have to be performed by
qualified staff:
● Planning
● Configuring, parameterizing, programming
● Installing, commissioning, maintaining
● Maintaining, decommissioning
DOK-CONTRL-S20*SSDO*8*-AP02-EN-P Bosch Rexroth AG 7/85
IndraControl S20 Module With Safe Digital Outputs S20-SSDO-8/3
For your safety

Documentation Observe all specifications in this manual and other applicable documents, re‐
fer to chapter 2.7 "Documentation" on page 9.
Personal and property protection Personal and property protection can only be ensured if the module is used
as intended, refer to chapter 2.6 "Intended use" on page 9.
Error detection Depending on the wiring and the parameterization, the module detects errors
in the safety-related installations.
Do not repair or make any
changes!
Repairs or user-specific changes at the module are prohibited. The housing
must not be opened. The module is protected against manipulations using
protective labels. In case of unauthorized repair or opening of the housing,
the protective label is damaged. The function of the safety module is not
guaranteed anymore in this case.
In case of error, send the module to Bosch Rexroth or contact the Bosch
Rexroth service immediately.
Interchanging or reversing polarity
of the connections
Ensure that the connections are neither interchanged, polarity is not reversed
nor manipulated. To better impede interchanging, plugs and slot markings
are colored.
2.3 Electrical safety
Loss of the safety function and presence of
hazardous shock currents due to an incorrect
installation.
WARNING
● Observe the notes on electric safety.
● Design the module used and perform their installation in the system ac‐
cording to the specific requirements.
● Check the systems upgraded with Csos again.
Direct and indirect touching Ensure that all components connected to the system are protected against di‐
rect and indirect touching acc. to VDE 0100 part 410. If an error occurs, no
hazardous parasitic voltages may occur (single-failure proof!)
Required actions:
● Use power supply units with protective separation (PELV)
● Decoupling circuits, which are no PELV systems, via opto-couplers, re‐
lays and other components meeting the requirements on the safe sepa‐
ration.
Power supply units for 24 V supply Only use power supply units with protective separation and PELV voltage ac‐
cording to EN 50178/VDE 0160 (PELV). These power supply units exclude
short circuits between the primary and the secondary side.
Ensure that the output voltage of the voltage supply does also not exceed 32
V in case of error.
Insulation measurement Observe the dirt and overvoltages at runtime when selecting equipment.
The module is designed for overvoltage category II (acc. to DIN EN 60664-1).
If overvoltages exceeding the values (defined in overvoltage category II) are
expected in the system, take additional measures to limit the voltage.
2.4 Safety of machine or system
The machine or system vendor as well as the operator are reliable for the
safety of machine or system and the application used in the machine or sys‐
tem.
Bosch Rexroth AG DOK-CONTRL-S20*SSDO*8*-AP02-EN-P8/85
IndraControl S20 Module With Safe Digital Outputs S20-SSDO-8/3
For your safety

Elaborate and implement a safety
concept!
The use of the module requires a safety concept for your machine or system.
These include the hazard and risk analysis and an inspection report (check‐
list) to validate the safety function, refer to chapter 2.5 "Guidelines and
standards" on page 9 and chapter 14 "Checklists" on page 69.
The target safety integrity (SIL acc. to IEC 61508, SILCL acc. to EN 62061 or
the performance level and category acc. to EN ISO 13849-1) results from the
risk analysis. The determined safety integrity depends on how the module is
to be wired and parameterized in the safety function.
Validating hardware and parame‐
terization
Perform a safety validation in the complete system after each safety-relevant
change.
Ensure the following points are observed using your test report:
● The safe modules are connected to the correct sensors and actuators
● The parameterization of the safe input and output channels is correct
● The linking of the variables to the safe sensors and actuators (single-or
dual-channel) is correct.
2.5 Guidelines and standards
The standards corresponding to the module are mentioned in the certificate
of the registration authority and in the EC declaration of conformity (refer to
www.boschrexroth.com/electrics).
2.6 Intended use
The module S20-SSDO-8/3 is intended to be exclusively used in a CSos sys‐
tem. It can fulfill its tasks only if the specifications from this document are
used.
Use this module only according to the specified technical data and ambient
conditions, refer to chapter 11 "Technical data and ordering data" on page
55.
This module is intended to connect single- or dual-channel actuators used
with safety engineering.
Example on module use:
● Single- or dual-channel E-STOP devices or protecting door devices
● Applications with enabling button
● Applications with two-hand circuits
● Applications with operation mode switches
● Downstream device for safety-related light barriers.
● Safety circuits acc. to EN 60204, part 1.
2.7 Documentation
Current documentation Ensure that the current documentation is consulted. For changes and supple‐
ments of the present documentation, go to the internet www.boschrex‐
roth.com ▶ Products ▶ Electric Drives and Controls ▶ CAD and documenta‐
tion ▶ Documentation
CSos When working with the Csos system and its components, these application
descriptions and the other documents on the product information have to be
available and observed. Observe the application descriptions of the following
products:
● The safe control used
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IndraControl S20 Module With Safe Digital Outputs S20-SSDO-8/3
For your safety

● Input and output modules of Csos
● CSos function blocks
Also note the relevant information on Sercos and CSos in the internet. Go to
www.sercos.org and www.odva.org.
IndraControl S20 product family Title Part number
Rexroth IndraControl S20
System and Installation
R911335988
Application Description
Rexroth IndraControl
S20 bus coupler
For Sercos
R911342782
Data sheet
Rexroth IndraControl S20
Error messages
R911344826
Application Description
Tab. 2-1: Related documents
2.8 Abbreviations used
Abbreviation Meaning Standard Example
SIL Safety integrity lev‐
el
IEC 61508 SIL 2, SIL 3
SILCL SIL Claim Limit EN 62061 SILCL 3
Cat. Category EN ISO 13849-1 Cat. 2, cat. 4
PL Performance Level EN ISO 13849-1 PL e, PL d
Tab. 2-2: Abbreviations of the safety requirements
Abbreviation Meaning
PELV Protective extra-low voltage acc. to EN 50178/VDE 0160
EUC Equipment under control
Tab. 2-3: General abbreviations
Explanations on the terms and abbreviations used with Csos: Re‐
fer to chapter 12 "CSos glossary" on page 63.
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IndraControl S20 Module With Safe Digital Outputs S20-SSDO-8/3
For your safety

3 Product description
3.1 Brief module description
The module S20-SSDO-8/3 is a safe output module to be used in an
IndraControl S20 station at any position in a Sercos I/O system. The module
can only be used together with a safety control. The safe connection is estab‐
lished via the safe bus protocol CSos (CIP Safety on Sercos).
Set the TUNID (SNN and SDID) for the Csos device via a DIP switch.
The module is provided with four safe digital outputs for the dual-channel as‐
signment or eight digital outputs for the single-channel assignment.
The outputs can be parameterized user-specifically and allow the integration
of actuators into the safe Csos system.
In the Csos system, safety categories with the following requirements can be
met with the module depending on the application conditions:
● Up to SIL 3 acc. to IEC 61508
● Up to SILCL 3 acc. to EN 62061
● Up to cat. 4/PL e acc. to EN ISO 13849-1
3.2 Module structure
1
4
2
3
65
7
1Bus base module
2Electronics module
3Plug to connect the supply voltage
4Color code of the function
5Peripheral connector
6Diagnostic and status displays
7DIP switch
Fig. 3-1: Module structure
For more information on the settings of the DIP switches, refer to
chapter 5.1.3 "Setting DIP switch" on page 23.
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IndraControl S20 Module With Safe Digital Outputs S20-SSDO-8/3
Product description

3.3 Housing dimensions
53,6 54
122,4 126,1
Fig. 3-2: Housing dimensions in mm
3.4 Assigning terminal points
a 1
b1
a 2
b2
a1
a2
b1
b2
00
10
20
30
01
11
21
31
04
14
24
34
05
15
25
35
06
16
26
36
07
17
27
37
02
12
22
32
03
13
23
33
00
10
20
30
07
17
27
37
Fig. 3-3: Terminal point assignment
The IndraControl S20 plugs are delivered with the module. To connect them,
they are identified and labeled in color.
Use exclusively the plugs delivered with the module.
The following applies to the tables:
● All outputs are safe digital outputs
● 0 V (GND): Common ground of the outputs
● FE: Common functional earth
Terminal point Color Assignment
a1, a2 Red 24 V DC (UO) UO: Supply of digital outputs (in‐
ternally connected)
b1, b2 Blue GND Reference potential of the sup‐
ply voltage (internally connec‐
ted)
Tab. 3-1: Terminal point assignment; voltage connection
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IndraControl S20 Module With Safe Digital Outputs S20-SSDO-8/3
Product description

Color Plug 1 Plug 2 Plug 3 Plug 4
(Blue) (Red) (White) (Green)
Terminal
point
Orange 00 01 02 03 04 05 06 07
Function OUT0_CH1 OUT0_CH2 OUT1_CH1 OUT1_CH2 OUT2_CH1 OUT2_CH2 OUT3_CH1 OUT3_CH2
Terminal
point
Blue 10 11 12 13 14 15 16 17
Function GND GND GND GND GND GND GND GND
Terminal
point
Blue 20 21 22 23 24 25 26 27
Function GND GND GND GND GND GND GND GND
Terminal
point
Green Attaching
and remov‐
ing 30 plugs
31 32 33 34 35 36 37
Function FE
Tab. 3-2: Terminal point assignment, I/O connection
Loss of the safety function due to parasitic
voltage
WARNING
Connect the ground of the actuator to the ground terminal point of the corre‐
sponding output on the IndraControl S20 plug. Using an external ground is
not permitted.
3.5 Safe digital outputs
The module is provided with safe digital outputs that can be used as follows:
● For dual-channel assignment: Four dual-channel outputs
● For single-channel assignment: Eight single-channel outputs
For technical data of the safe outputs, refer to tab. 11-9 "Safe digital outputs"
on page 58.
Parameterization The safe digital outputs of the module can be parameterized in pairs. Thus,
the outputs can be adjusted to different operating conditions and different
safety integrities SIL, SILCL, cat., PL can be implemented.
For a high error detection, switch-on the test pulses. If it is not possible to
switch on the test pulses for the connected loads, the test pulses can be
switched off. However, the error detection rate is then lower.
The attainable safety integrity (SIL, SILCL, cat., PL) and error de‐
tection depends on the parameterization, the design of the actua‐
tor and the cable routing, refer to chapter 7 "Connection exam‐
ples of the safe outputs" on page 33.
For information on the parameterization of the outputs, refer to chapter 6.2
"Parameterizing the safe outputs" on page 29.
Diagnostics It is diagnosed via the local diagnostic displays as well as via the diagnostic
messages transferred to the control.
For information on the local diagnostic displays, refer to chapter 3.7 "Local
diagnostic and status displays" on page 15.
For information on the diagnostic messages of the outputs, refer to chapter
9.2.2 "Errors of the safe digital outputs" on page 48.
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IndraControl S20 Module With Safe Digital Outputs S20-SSDO-8/3
Product description

Loss of the safety function due to the use of
diagnostic data for safety-relevant functions
WARNING
Do not use diagnostic data for safety-relevant functions or actions.
Requirements on actuators and
receiving devices
The functional safety has certain requirements on the execution of actuators
and receiving devices. Use suitable actuators and receiving devices that, for
example are described in the common safety standards.
The module capability to detect errors depends on the parameterization. Ad‐
just the parameterization of the modules to the respective actuators and re‐
ceiving devices, refer to chapter 6 "Parameterizing the module" on page
29.
If the outputs are parameterized with test pulses, the circuitries of the outputs
are tested regularly by test pulses. These test pulses can be seen at the out‐
put and can cause unintended responses in case of fast responding actua‐
tors. The test pulses are classified in light pulses (short-term switch-on),
which can be switched off and dark pulses (short-term switch-off), which can‐
not be switched off.
Unintended machine startup due to respon‐
ses to test pulses
WARNING
If the system does not tolerate this behavior, take the following measures:
● Use actuators that are sufficiently slow.
● Ensure that the load is not that dynamically that it causes hazardous
states within 1 ms.
● Do not connect fast actuators responding safety-critically on pulses be‐
low 1 ms.
Switching off the test pulses affects the error detection of the module.
● Observe the attainable safety integrity, refer to chapter 7 "Connection
examples of the safe outputs" on page 33.
● Observe the notes on a safe output assignment, refer to chapter 7.4
"Single-channel assignment of safe outputs" on page 36.
3.6 Connecting options for actuators depending on the parame‐
terization
Actuators meeting different safety requirements depending on the parameter‐
ization can be connected to the outputs.
The maximum attainable SIL/SILCL/Cat./PL is specified in the table. Observe
the following to meet the safety requirements:
● Observe the specifications in the connection examples, refer to chapter
7 "Connection examples of the safe outputs" on page 33.
● Meet the requirements from the standards with regard to the external
wiring and actuators to be used to attain a SIL/SILCL/cat./PL, refer to
chapter 7.3 "Measures to meet a certain safety integrity" on page 34.
Outputs OUT0 to OUT3
Parameterization "Output" Single-channel Dual-channel
Test pulses Any On/off①
Bosch Rexroth AG DOK-CONTRL-S20*SSDO*8*-AP02-EN-P14/85
IndraControl S20 Module With Safe Digital Outputs S20-SSDO-8/3
Product description

Outputs OUT0 to OUT3
Attainable category SIL 2/SILCL 2/Cat. 3/PL d SIL 3/SILCL 3/cat. 4/PL e
Pin example chapter 7.4 "Single-chan‐
nel assignment of safe
outputs" on page 36
chapter 7.5 "Dual-channel
assignment of the safe out‐
puts" on page 38
①If the test pulses are switched off, a cross-fault between the
outputs is only detected if the output is switched on.
Tab. 3-3: Attainable safety level
To meet category 3, dual-channel actuators are generally used.
3.7 Local diagnostic and status displays
FS P
00D
Uo 10
01
11
02
12
03
13
04
14
05
15
06
16
07
17
NE
MS
Fig. 3-4: Local diagnostic and status displays
Name Color State Description
D Diagnostics of the local bus communication
Off Device in (power) reset.
Flashing red
RD
The device is ready, but not connected to the device located in front.
Red on
RD RD
The device is ready, but it lost the connection to the bus coupler.
Yellow on
YE YE
The device is ready, but it has not yet detected a valid cycle after power-on.
Yellow flashing
YE
The device is not (yet) part of the current configuration.
Green and yel‐
low flashing al‐
ternately
GN YE
The device is ready. Communication in the station is ok. Output data cannot
be output and/or input data cannot be loaded. There is a malfunction in the
periphery of the module (periphery error).
Green flashing
GN
The device is ready. Communication in the station is ok. Data is invalid. No
valid data is provided by the control or the superimposed network. There is no
malfunction on the module.
Green on
GN GN
Device is ready and communication in the station is ok. All data is valid. There
is no malfunction.
DOK-CONTRL-S20*SSDO*8*-AP02-EN-P Bosch Rexroth AG 15/85
IndraControl S20 Module With Safe Digital Outputs S20-SSDO-8/3
Product description

Name Color State Description
Uo Diagnostics of feeding digital outputs
Green on
GN GN
Feeding for digital outputs present and > approx. 17 V DC.
Green flashing
GN
No feeding for digital outputs present or < approx. 17 V DC.
FS Diagnostics of the “Failure State”
Off The Safety application has valid CSos and device parameters (applies only if
"UI" is lit at the same time).
Red on
RD RD
Possible error causes:
● Application is not ready on the module
● Hardware error
● TUNID (DIP switch) was changed at runtime
● The communication to a safe parent control is locked.
Flashing red
RD
Module is not parameterized or parameterization was not applied.
P Diagnostics of the safe communication protocol
Off No safe communication.
Green on
GN GN
Safe communication running without malfunction.
Green flashing
GN
Safe communication is running. The control requests "Operator Acknowledge‐
ment".
Bosch Rexroth AG DOK-CONTRL-S20*SSDO*8*-AP02-EN-P16/85
IndraControl S20 Module With Safe Digital Outputs S20-SSDO-8/3
Product description

Name Color State Description
MS CSos module status
Off
Red/green flash‐
ing
GN RD
Self test or configuration is active or required.
Green flashing
GN
Module is in "Stop" state. The outputs are "0".
Green on
GN GN
The outputs are valid.
Flashing red
RD
Recoverable error. Recoverable errors are for example configuration errors of
the Csos firmware.
Red on
RD RD
Unrecoverable error. It is possible that the module has to be replaced.
NE CSos safety network status
Off Module has no connection to the originator
Green flashing
GN
The connection to the originator is established, but no I/O data is exchanged.
Green on
GN GN
I/O data is exchanged with the originator.
Flashing red
RD
I/O connection to originator failed.
Red on
RD RD
An error was detected in the connection that does not allow further process‐
ing.
Red/green flash‐
ing
GN RD
The module is ready to set a new TUNID via DIP switches. The new TUNID is
applied upon the next voltage startup.
00-07 Status per output 0-7
Off Output, logic "0".
Green on
GN GN
Output, logic "1".
DOK-CONTRL-S20*SSDO*8*-AP02-EN-P Bosch Rexroth AG 17/85
IndraControl S20 Module With Safe Digital Outputs S20-SSDO-8/3
Product description

Name Color State Description
10-17 Diagnostics per output 0-7
Off No pending error at the output.
Red on
RD RD
Error at the output (e.g. short circuit).
Tab. 3-4: Overview on diagnostic LEDs
LEDS cannot display any safety-relevant states. LEDs may only
be used for diagnostic purposes. Do not derive safety-relevant
states from the LEDs!
3.8 Safe state
3.8.1 Overview
The safe state for the module if the voltage-free state at the output terminals,
refer to chapter 3.5 "Safe digital outputs" on page 13.
The safe state for output data is "0".
Passivation causes a change to the safe state, refer to "Passiva‐
tion" on page 64.
The safe state can be assumed in the following cases:
1. Operating state
2. Error detection in the periphery
3. Device error
4. Parameterization error
5. Error detection in the safe communication
3.8.2 Operating state
In the operating state, the outputs can assume either state "1" or state "0".
State "0" is the safe state.
3.8.3 Error detection in the periphery
Outputs If an error is detected at an output, this output is disabled ("0" = safe state).
Operating time in incorrect state:
If the module goes into an incorrect state, the user has to check,
acknowledge and recover this error within the next 72 hours to
avoid an increasing number of errors. This measure guarantees
the safe operating state of the module.
If the operating state is faulty, no module-internal tests run any‐
more and due to an increasing number of errors, it is possible,
that the safe state is left.
Depending on the parameterization, the following errors can be detected at
the outputs:
Bosch Rexroth AG DOK-CONTRL-S20*SSDO*8*-AP02-EN-P18/85
IndraControl S20 Module With Safe Digital Outputs S20-SSDO-8/3
Product description