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Safe Motion functions

AX8911

41

Version: 1.2.0

Offset

Name

Data
type

Group

Description

70-73

Primary SAFEDRIVEFEEDBACK
Axis 1 Encoder Acceleration Max

INT32

Safety

Analog value of maximum acceleration in the last logic cycle 
(Axis 1, Port X13.T+ and T-) (unit: increments/ms²)

74-77

Primary SAFEDRIVEFEEDBACK
Axis 1 Encoder Velocity Max

INT32

Safety

Analog value of the maximum velocity in the last logic cycle 
(Axis 1, Port X13.T+ and T-) (unit: increments/ms)

78-81

Reserve (0)

82-107

Secondary SAFEDRIVEFEED-
BACK Axis 1

Axis 1, feedback on Port X21
(structure same as Primary SAFEDRIVEFEEDBACK Axis 1
(56-81)) 
Alternative to link 56.0 / 56.1:
(Link from 82.0 to output signal 7.0) 
(Link from 82.1 to output signal 16.0)

108-133

Primary SAFEDRIVEFEEDBACK
Axis 2

Axis 2, feedback on Port X23.T+ and T-
(structure same as Primary SAFEDRIVEFEEDBACK Axis 1
(56-81)) 
(Link from 108.0 to output signal 10.7) 
(Link from 108.1 to output signal 20.0)

134-159

Secondary SAFEDRIVEFEED-
BACK Axis 2

Axis 2, feedback on Port X22
(structure same as Primary SAFEDRIVEFEEDBACK Axis 1
(56-81)) 
Alternative to link 108.0 / 108.1:
(Link from 134.0 to output signal 11.0) 
(Link from 134.1 to output signal 24.0)

160-511

Reserve (0)

-

Содержание AX8911

Страница 1: ...Documentation for AX8911 TwinSAFE Drive Option for AX8xxx xxxx Servo Drives 1 2 0 2020 03 30 Version Date...

Страница 2: ......

Страница 3: ...5 1 Environmental conditions 19 5 2 Installation 19 5 2 1 Safety instructions 19 5 2 2 Transport storage 19 5 2 3 Mechanical installation 19 5 2 4 Electrical installation 20 5 3 Configuration of the o...

Страница 4: ...S 51 7 9 Safety function SAR SMA 51 7 10 Safety function SDI 52 7 11 Safety function SLI 52 7 12 Safety functions SLP SCA 53 7 13 Safety function SBC 53 7 14 Safety function SBT 54 8 Diagnostics 55 8...

Страница 5: ...ion are valid Further information given on the product pages of the Beckhoff homepage in emails or in other publications is not authoritative Disclaimer The documentation has been prepared with care T...

Страница 6: ...on Modifications to hardware or software configurations other than those described in the documentation are not permitted and nullify the liability of Beckhoff Automation GmbH Co KG 1 2 2 Operator s o...

Страница 7: ...to persons NOTE Damage to the environment equipment or data loss Failure to follow this instruction can lead to environmental damage equipment damage or data loss Tip or pointer This symbol indicates...

Страница 8: ...mentation TwinSAFE Logic FB The document describes the safety function blocks that are available in the EL6910 and thus also in the AX8911 and form the safety application 4 1 0 or newer AX8000 system...

Страница 9: ...y hardware implemented current controller combines the advantages of analog and digital control technology reaction to a deviation of the current from the setpoint value is possible within 1 s the vel...

Страница 10: ...ctions a further more diverse encoder signal must be used together with the EDS35 EDM35 OCT encoder This can be done for example by attaching and using a second encoder CAUTION Higher Performance Leve...

Страница 11: ...nCAT software All system specific settings are stored together with the application in the AX8911 The backup restore mechanism familiar from the EL69x0 can be used for the exchange of the AX8911 Furth...

Страница 12: ...System limits The T V S D certificate applies to these TwinSAFE components the function blocks available in it the documentation and the engineering tool TwinCAT 3 1 and the TwinSAFE Loader are permit...

Страница 13: ...oned can lead to switch off The AX8911 switches the motors of the AX8000 servo drive torque free Any motors that are still moving coast to a halt With suspended or pulling loads the motors may also ac...

Страница 14: ...safety measures e g mechanical service brakes are to be provided by the user to avoid unwanted movements WARNING Activation or restart of a project in TwinCAT The activation or restart of a project i...

Страница 15: ...le air pressure operation storage transport 750 hPa to 1100 hPa this corresponds to an altitude of approx 690 m to 2450 m above sea level assuming an international standard atmosphere Climate category...

Страница 16: ...n Guide or in EN ISO 13849 1 2015 Table K 1 In terms of safety related parameters the Safety over EtherCAT communication is already considered with 1 of SIL3 according to the protocol specification Sa...

Страница 17: ...g of IEC 61508 2010 up SIL 3 EN 62061 2005 A1 2013 A2 2015 up to SILCL3 and EN ISO 13849 1 2015 up to PL e Cat 4 Further information on calculating or estimating the MTTFD value from the PFHD value ca...

Страница 18: ...11 project design limits Project design limits The maximum project design size of the AX8911 is limited by the available memory This is man aged dynamically The values specified in the following table...

Страница 19: ...mits specified in the standards are operated near Twin SAFE components the function of the TwinSAFE components may be impaired 5 2 Installation Installation note Please also refer to the installation...

Страница 20: ...ee Contacts 1 and 2 of the connection X25 are the STO inputs for axis B Axis B can be moved if both signals are logic 1 24 VDC STO is triggered for axis B if one of the signals is logic 0 Axis B is sw...

Страница 21: ...which is located under the cover between the X15 and X25 inputs or in the case of 1 axis modules to the left of X15 AX81xx xxxx 1 axis module AX82xx xxxx 2 axis module DIP switch Address 1 2 3 4 5 6...

Страница 22: ...r the Drives category Fig 2 Addition of an axis module In addition to the manual creation of the configuration it can also be created by scanning the EtherCAT line 5 3 2 Using the AX8911 with the defa...

Страница 23: ...Operation AX8911 23 Version 1 2 0 Fig 3 Addition of an alias device Fig 4 Dialog Add new item AX891x Safe Drive Module The STO signals can be used as safe outputs in the fail safe user program...

Страница 24: ...Operation AX8911 24 Version 1 2 0 Fig 5 Dialog for linking the variables of the AX8911 The variables are displayed with the corresponding designation in Variable Mapping...

Страница 25: ...Operation AX8911 25 Version 1 2 0 Fig 6 Projects with outputs to the AX8911...

Страница 26: ...is added by right clicking on the safety node and selecting Add new item Fig 7 Add new item The target system can be selected by double clicking on the subentry Target System The AX891x is selected h...

Страница 27: ...Add new item Alias Device AX891x Fig 11 AX8911 Linking Mode local After changing the linking mode to local all alias device settings that are not relevant are shown as disabled for input The further...

Страница 28: ...3 4 Creation of safety functions The creation of a fail safe user program is explained in the documentation for the EL6910 and the FB description The corresponding documents are listed under Reference...

Страница 29: ...ut by the machine manufacturer NOTE Testing the X15 and X25 inputs The functions of the STO inputs 1 and 2 of the connections X15 or X25 are tested internally by the AX8911 TwinSAFE Drive Option card...

Страница 30: ...r with a filter time of 3 5 ms is implemented within the logic of the AX8911 NOTE Safety assessment When using a third party safety controller the safety assessment must be carried out by the user or...

Страница 31: ...uts from a third party manufacturer connected to STO inputs without the use of test pulses Use of the STO function via a TwinSAFE FSoE connection Additional wiring of the STO inputs is unnecessary if...

Страница 32: ...e STO signals for axis A and axis B For the STO signal a logic TRUE signal is required so that movement of the axis is possible The safety address for this connection is set with the DIP switch of the...

Страница 33: ...11 firmware The default Twin SAFE logic program shown above is implemented accordingly on the AX8911 however the brake outputs 1 and 2 currently have no effect The Brake over FSoE signal does not exis...

Страница 34: ...0100 0101 6 1 2 Error reaction Errors in the FSoE slave connection are automatically acknowledged on the slave side AX8911 since acknowledgment by the user takes place on the FSoE master side TwinSAFE...

Страница 35: ...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 Setting...

Страница 36: ...verter is not permissible Safe resolution The data type of the SingleTurn Position is a UDINT with a length of 32 bits The maximum resolution of the encoder with 24 bits is entered left aligned in the...

Страница 37: ...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...

Страница 38: ...d unsafe signals For each signal in the input process image the entry in the Group column indicates whether it is a safe or an unsafe signal Unsafe signals must not be used for the safety evaluation o...

Страница 39: ...2 False No error Link to output signal 10 2 1 4 SAFEOUT STO Module Axis 1 STO Not Active BOOL Standard Inverted signal from output signal STO NOT Active Axis 1 1 5 SAFEOUT STO Module Axis 2 STO Not Ac...

Страница 40: ...and B mea sured by C2 in mA 48 49 Reference Voltage Brake Currents C1 mV UINT16 Standard Analog value of brake reference voltage measured by C1 in mV 50 51 Reference Voltage Brake Currents C2 mV UINT1...

Страница 41: ...AFEDRIVEFEED BACK Axis 1 Axis 1 feedback on Port X21 structure same as Primary SAFEDRIVEFEEDBACK Axis 1 56 81 Alternative to link 56 0 56 1 Link from 82 0 to output signal 7 0 Link from 82 1 to output...

Страница 42: ...is 2 Port X23 1 2 SAFEOUT STO Module Axis 2 Er rAck BOOL Standard Acknowledgement of an error in the switch off paths Axis 2 1 3 SAFEOUT STO Module Axis 2 Drive Application BOOL Standard True Enable t...

Страница 43: ...r undervoltage OCT or Endat Axis 2 10 5 Safety status Axis 2 bit 5 Encoder Overrange Error BOOL Standard Status of AX8000 Encoder overvoltage OCT or Endat Axis 2 10 6 Safety status Axis 2 bit 6 Encode...

Страница 44: ...creating the Twin SAFE group and can be placed on a standard signal If the signals from the AX8000 are to be used the adjacent as signment can be used 22 0 GroupPort_RunStop GroupPort_Er rAck This sig...

Страница 45: ...odule fault in the primary feedback 42 1 22 0 Errack_Sec2 Acknowledgement of a module fault in the secondary feed back 42 1 26 0 STOerror2 Module error in the STO module for Axis 1 0 1 10 1 FSINerror2...

Страница 46: ...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...

Страница 47: ...fety application as a safe signal The target velocity can be read via the NC interface and transferred to the safety application Scaling can take place in the safety application or in the standard PLC...

Страница 48: ...e position value is invalid This function is only available if the parameter Safe Motion Enabled is set for the corresponding axis The Error Acknowledge signal for error acknowledgement comes in this...

Страница 49: ...the input signal SafeFunction is implemented in the Envelope function block The function block receives the safe speed as a further input and calculates the envelope at the time of the falling edge a...

Страница 50: ...the safety application The order of execution of the function blocks must be kept processing from left to right so that STO_SOS_Out does not change for a short time to FALSE in the transition from the...

Страница 51: ...falls below the limit The restart lock is implemented via a Restart which is connected to a safe signal Fig 24 SLS SSM SSR SMS with FB Limit 7 9 Safety function SAR SMA The safety functions SAR Safe A...

Страница 52: ...and can be used directly in the safety application see Process image 38 7 11 Safety function SLI The safety function SLI Safe Limited Increment is implemented via the function block FB SLI The current...

Страница 53: ...e TRUE and the FB AND output SLP_Position_Reached is thus set to TRUE This safe signal can be used in the following safety application This example can be used if the step size for the multi turn posi...

Страница 54: ...ase of error an axis will be switched to STO If the result of the risk and hazard analysis is that an axis that is still in motion could lead to the endangerment of persons in the STO state then a saf...

Страница 55: ...abled S flashing green S steadily lit red STO function active or error S flashing red 8 2 AX8xxx Diag history tab Errors in the AX8xxx axis module and the AX8911 TwinSAFE drive option installed in it...

Страница 56: ...ed in the TwinCAT logger window Overwrite Acknowledge Mode This setting is currently not supported 8 3 Diagnosis History The diagnostic history of the TwinSAFE devices that support this function is im...

Страница 57: ...3 45 Diagnosis Message 064 Diagnostic message 64 BYTE 32 RO 0 Structure of the diagnostic messages DiagCode 4 bytes in this case always 0x 0000 E000 Flags 2 bytes diagnosis type info warning or error...

Страница 58: ...nSAFE device On the basis of the Text ID contained in the diagnostic message the corresponding plain text message can be found in the respective languages The parameters can be inserted in the appropr...

Страница 59: ...chnical data If the TwinSAFE component is operated outside the permitted temperature range it will switch to Global Shutdown state Cleaning Protect the TwinSAFE component from unacceptable soling duri...

Страница 60: ...serial number of the complete device can be read from the type plate on the AX8000 axis module Refer here to the AX8000 startup documentation under References 8 Type plate No Position No Position No...

Страница 61: ...ined from our Service Dept see Support and Service 62 The device should be disposed of by a certified disposal company Addresses can be obtained from our service department Metal parts can be sent for...

Страница 62: ...eckhoff components there Beckhoff Headquarters Beckhoff Automation GmbH Co KG Huelshorstweg 20 33415 Verl Germany Phone 49 5246 963 0 Fax 49 5246 963 198 e mail info beckhoff com Beckhoff Support Supp...

Страница 63: ...Appendix AX8911 63 Version 1 2 0 12 2 Certificates...

Страница 64: ...Appendix AX8911 64 Version 1 2 0...

Страница 65: ...y manufacturer connected to STO inputs 30 Fig 14 Safe outputs from a third party manufacturer connected to STO inputs without the use of test pulses 31 Fig 15 STO function via TwinSAFE connection 31 F...

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