Beckhoff AX8911, Документация

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Safe Motion functions
AX8911 37 Version: 1.2.0
Name Description
Safe EnDat2.2 A safe EnDat2.2 encoder must be used in order to be able to use safety functions.
Error reaction In case of an encoder error, a corresponding error reaction must be implemented by
the user within the safety logic.
Mechanical errors In order to be able to rule out mechanical errors, an evaluation for "StuckAt" errors or
a setpoint/actual comparison must be implemented within the safety application.
Error detection After detection of an error, an effectiveness test of the encoder is performed following
the restart. If the test is successful, the encoder can continue to be used. If the test is
unsuccessful following a further restart (power-on reset), the encoder/motor must be
replaced or cannot be used any longer for the safety function.
Encoder
documentation Instructions and requirements from the respective user documentation and data
sheets for the encoder must be followed.
Acceptance Test An Acceptance Test must be performed prior to the productive use of the system and
after every change to the system:
Requirement Acceptance Test:
- All encoders used must be physically connected
- All components that are relevant for the safety application are ready to operate
- The serial numbers of the encoders are known and assigned to the encoder inputs
- Any necessary position offsets have been entered
- The expected parameter values are transferred in a non-volatile manner to the
encoder
- Unique identifiers are issued for each encoder if several encoders are used
Performance of the Acceptance Test:
- Restart the EnDat2.2 safety encoder
- Check whether the correct encoders are connected (checking and transfer of the
motor ID by the user and entry in the safe parameters)
- Check that each encoder is linked to the correct encoder inputs
- Performance of an initialization test (see below)
Initialization test An initialization test must be performed prior to the productive use of the system:
(The purpose of this test is to check the axis assignment, direction and velocity of the
travel path, transmission ratio, position offset, etc.)
Conditions for the initialization test:
- The Acceptance Test has been performed and there are checked, expected
parameter values
Performance of the initialization test:
- Restart the EnDat2.2 safety encoder
- Function test of all axes must be performed
- All axes that use a safe EnDat2.2 encoder must be moved. The respective axis
movement must be checked and must meet the expectations.