Beckhoff AX8911, Documentation

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Safe Motion functions
AX8911 35 Version: 1.2.0
7 Safe Motion functions
In addition to the STO function, the AX8xxx-x2xx servo drives also support the implementation of Safe
Motion functions. These functions are created as a safe user program in the TwinCAT Safety Editor and
loaded to the AX8911.
In the delivery state of the AX8xxx-x2xx, the fail-safe user program for the STO function is located on the
AX8911 (see chapter
Default STO function in the AX8911 [
}
32] ).
To reset the AX8911 to the delivery state, the logic, the mapping and the parameter data on the AX8911
must be deleted. After switching the servo drive off and on again, the default project is active once more.
Fig. 18: Delete project data
7.1 Parameters of the AX891x
WARNING
Activation of Safe Motion functions
If the parameter for the Safe Motion functions is activated, the user must perform the corresponding error
evaluations and evaluate the
Position Valid feedback of the encoder in use.
WARNING
Activation of the brake
If the parameter for the brake control is activated, the user must perform the corresponding error evalua-
tions and actively decouple the brake from the safety application.
Index
(hex) Name Default value/
unit Description
C121:01 Ch A FSIN Settings Channel
Channel 1 Inputfiltertime 0x001C (28) / 0.125 ms Input filter time of the input X15.1 (default 3.5 ms)
C121:04 Ch A FSIN Settings Channel
Channel 2 Inputfiltertime 0x001C (28) / 0.125 ms Input filter time of the input X15.2 (default 3.5 ms)
C130:01 Ch A FSDRIVE Settings
Brake Control Enabled FALSE / Boolean Brake control Axis 1 (Channel A) active
C130:02 Ch A FSDRIVE Settings
Safe Motion Enabled FALSE / Boolean Safe Motion functions active (encoders on X13 and X21
will be enabled for safety functions)
C3A1:01 Ch B FSIN Settings Channel
Channel 1 Inputfiltertime 0x001C (28) / 0.125 ms Input filter time of the input X25.1 (default 3.5 ms)
C3A1:04 Ch B FSIN Settings Channel
Channel 2 Inputfiltertime 0x001C (28) / 0.125 ms Input filter time of the input X25.2 (default 3.5 ms)
C3B0:01 Ch B FSDRIVE Settings
Brake Control Enabled FALSE / Boolean Brake control Axis 2 (Channel B) active
C3B0:02 Ch B FSDRIVE Settings
Safe Motion Enabled FALSE / Boolean Safe Motion functions active (encoders on X23 and X22
will be enabled for safety functions)