Beckhoff AX8911, Documentation

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Safe Motion functions
AX8911 46 Version: 1.2.0
7.4.2 Evaluation of module errors
In addition to the exchange of the module errors between the AX8000 and the AX8911 (see Signal
assignment [ } 44] ), the module errors are also evaluated within the safety application.
For this purpose, in the case of an error in an active module, the user must implement the corresponding
reaction in the TwinSAFE application. Depending on the number of axes and the feedback system in use,
not all of the signals listed in the table below need to be used. The following sample shows all signals of Axis
1 when using an OCT Feedback. The output of the OR function block can be processed further within the
logic and used to switch off after STO.
Offset Designation Module Fault Data
type Group Description
0.0 SAFEOUT STO Module Axis 1
Module Fault BOOL Safety True : Error detected in the switch-off paths (STO Axis 1)
False : No error
0.1 SAFEOUT STO Module Axis 2
Module Fault BOOL Safety True : Error detected in the switch-off paths (STO Axis 2)
False : No error
0.2 SAFEOUT BRAKE Module Axis 1
Module Fault BOOL Safety True : Error detected in the brake control (Axis 1)
False : No error
0.4 SAFEOUT BRAKE Module Axis 2
Module Fault BOOL Safety True : Error detected in the brake control (Axis 2)
False : No error
1.0 SAFEIN Module Axis 1 Module
Fault BOOL Safety True: Error detected in the safe inputs (Axis 1)
False: No error
1.3 SAFEIN Module Axis 2 Module
Fault BOOL Safety True : Error detected in the safe inputs (Axis 2)
False : No error
2.2 Encoder Axis 1 Module Fault BOOL Standard True : Fault in encoder voltage
False : No error
24.2 Encoder Axis 2 Module Fault BOOL Standard True : Fault in encoder voltage
False : No error
56.0 Primary SAFEDRIVEFEEDBACK
Axis 1 Module Fault BOOL Safety True : Error detected in the encoder (Axis 1 Port X13.T+ and T-)
False : No error
82.0 Secondary SAFEDRIVEFEED-
BACK Axis 1 Module Fault BOOL Safety True : Error detected in the encoder (Axis 1 Port X21)
False : No error
108.0 Primary SAFEDRIVEFEEDBACK
Axis 2 Module Fault BOOL Safety True: Error detected in the encoder (Axis 2 Port X23.T+ and T-)
False : No error
134.0 Secondary SAFEDRIVEFEED-
BACK Axis 2 Module Fault BOOL Safety True : Error detected in the encoder (Axis 2 Port X22)
False : No error