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Beckhoff EJ6910, Руководство по эксплуатации

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TwinSAFE System Description

EJ6910

10

Version: 1.7.0

2.3

EtherCAT plug-in module system (EJ)

Similar to the EtherCAT terminal system, a module strand consists of a Bus Coupler and any desired I/O
modules. In contrast to the EtherCAT Terminals, however, the EtherCAT plug-in modules have no spring-
loaded contacts, since the wiring level is outsourced: communication, signal distribution and the supply of
power to the modules takes place via plug connectors on the back side of the modules and the conductive
tracks of the signal distribution board.

The EtherCAT plug-in modules and the plug level for sensors and actuators can be placed flexibly on the
signal distribution board. Signal distribution boards can be user-developed or provided as custom solutions
by Beckhoff Automation GmbH & Co. KG.

Fig. 1: EtherCAT plug-in module system (EJ)

Содержание EJ6910

Страница 1: ...Operation Manual for EJ6910 TwinSAFE Logic Module 1 7 0 2017 11 15 Version Date...

Страница 2: ......

Страница 3: ...al installation 15 4 2 4 Electrical installation 17 4 3 Configuration of the EJ6910 in TwinCAT 17 4 3 1 Configuration requirements 17 4 3 2 Adding an EJ6910 17 4 3 3 Address setting on the TwinSAFE EJ...

Страница 4: ...16 Diagnostics 99 4 16 1 Diagnostic LEDs 99 4 16 2 Status LEDs 101 4 16 3 Diagnostic objects 101 4 16 4 Cycle time of the safety project 102 4 17 Maintenance 103 4 18 Service life 103 4 19 Decommissi...

Страница 5: ...homepage in emails or in other publications is not authoritative Disclaimer The documentation has been prepared with care The products described are subject to cyclical revision For that reason the d...

Страница 6: ...s 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 obligation to ex...

Страница 7: ...endangers the life and health of persons WARNING Risk of injury Failure to follow the safety instructions associated with this symbol endangers the life and health of persons CAUTION Personal injurie...

Страница 8: ...winSAFE SC description updated 1 5 1 Screenshots User Administration updated State and Diag of TwinSAFE group updated Technical data permissible air pressure expanded 1 5 0 Screenshots updated Certifi...

Страница 9: ...operations 2 2 Safety concept TwinSAFE Safety and I O technology in one system Extension of the familiar Beckhoff I O system with TwinSAFE components Safe and non safe components can be combined as r...

Страница 10: ...the wiring level is outsourced communication signal distribution and the supply of power to the modules takes place via plug connectors on the back side of the modules and the conductive tracks of the...

Страница 11: ...automation tasks It is therefore approved only for applications with a defined fail safe state This safe state is the wattless state The TwinSAFE EJ modules are suitable for operation on an EJ distri...

Страница 12: ...20 Prooftest Interval a not required 1 PFHD 1 81E 09 SIL3 of PFHD 1 81 PFDavg 2 56E 05 SIL3 of PFDavg 2 56 MTTFd high DC high Performance level PL e Category 4 HFT 1 Element classification 2 Type B 1...

Страница 13: ...evel assuming an international standard atmosphere Climate category according to EN 60721 3 3 3K3 the deviation from 3K3 is possible only with optimal environmen tal conditions and also applies only t...

Страница 14: ...Product description EJ6910 14 Version 1 7 0 3 5 Dimensions Fig 3 EJ6910 dimensions Width 12 mm Height 66 mm Depth 55 mm...

Страница 15: ...that exceed the interference emissions limits specified in the stan dards are operated near TwinSAFE components the function of the TwinSAFE compo nents may be impaired 4 2 Installation 4 2 1 Safety...

Страница 16: ...3 Temperature measurement The temperature measurement consists of an EJ1100 EtherCAT coupler to which EJ modules are attached based on the typical distribution of digital and analog signal types at a...

Страница 17: ...in your plant provide a surge filter for the voltage supply to the Bus Terminal blocks and the TwinSAFE EJ modules 4 3 Configuration of the EJ6910 in TwinCAT CAUTION Do not change CoE objects Do not...

Страница 18: ...18 Version 1 7 0 Fig 5 TwinCAT adding an EJ6910 Note Size of the process image The process image of the EJ6910 TwinSAFE logic module is adjusted dynamically accord ing to TwinSAFE configuration creat...

Страница 19: ...1023 are available DIP switch Address 1 2 3 4 5 6 7 8 9 10 ON OFF OFF OFF OFF OFF OFF OFF OFF OFF 1 OFF ON OFF OFF OFF OFF OFF OFF OFF OFF 2 ON ON OFF OFF OFF OFF OFF OFF OFF OFF 3 OFF OFF ON OFF OFF...

Страница 20: ...the directory can be freely selected Fig 8 Creating a safety project project name and directory 4 3 4 2 TwinCAT Safety Project Wizard In the TwinCAT Safety Project wizard you can then select the targe...

Страница 21: ...the Target System node Fig 10 Selecting the Target System node Set the target system to EJ6910 via the drop down list and link it with the EJ6910 module via the Link button next to Physical Device If...

Страница 22: ...e created for all safe inputs and outputs and also for standard signal types For the safe inputs and outputs this can be done automatically via the I O configuration The connection and device specific...

Страница 23: ...via OK Alternatively the user can create the alias devices individually To this end select Add and New item from the context menu followed by the required device Fig 13 Creating alias devices by the u...

Страница 24: ...vice If an ADS online connection to the physical I O device exists the DIP switch setting is displayed Re reading of the setting can be started via the button The links to the EL6910 EJ6910 process im...

Страница 25: ...this connection is defined Yes ComErrAck If ComErrAck is linked with a variable the connection must be reset via this signal in the event of a communication error Yes Info data The info data to be sh...

Страница 26: ...o set the safety functions of the AX5000 safety drive options Creating and opening of an alias device for an AX5805 results in five tabs the Linking Connection and Safety Parameters tabs are identical...

Страница 27: ...Offers user friendly display and editing of the parameters The parameters under the Safety Parameters tab can also be edited The parameters for this function can be set by selecting a function in the...

Страница 28: ...al connection An external custom FSoE connection can be created for a connection to a further EL69x0 EJ6910 KL6904 or a third party device If an own ESI file exists for an third party device this devi...

Страница 29: ...uitable data types for different numbers of safety data are provided in the dropdown lists for the input and output parameters Fig 24 Parameterization of the process image size When the size is select...

Страница 30: ...Linking tab The Link button next to Full Name input and Full Name output can be used to select the corresponding variable Fig 26 Selecting the variable This can be a PLC variable for sample which is t...

Страница 31: ...ng with the process image of an EtherCAT Terminal Further information can be found in the TwinCAT documentation for the variable selection dialog The Connection tab is used to set the connection speci...

Страница 32: ...og time Yes Module Fault is ComError This checkbox is used to specify the behavior in the event of an error If the checkbox is ticked and a module error occurs on the alias device this also leads to a...

Страница 33: ...he function blocks can be moved from the toolbox into the sal worksheet via drag and drop Variables can be created by clicking next to a function block input or output which can then be linked with al...

Страница 34: ...n 1 7 0 Once the pointer connector has been selected from the toolbox connections between the input and output ports of the function blocks can be dragged with the mouse Fig 31 Dragging a connection b...

Страница 35: ...Network or Add Before and Network to create a network after or before the current network Fig 33 Creating a network The instance path to the FB port to be linked can be specified in order to exchange...

Страница 36: ...t menus next to the FB port Fig 34 Change Link This function opens a dialog for selecting a suitable FB port Fig 35 Dialog for selecting a suitable FB port Once the link has been created on one side o...

Страница 37: ...context menu of the safety project and selecting Add and New Item Fig 37 Creating a TwinSAFE group Like the first group the group of a subitem for the alias devices and a sal worksheet Fig 38 Componen...

Страница 38: ...hange Link This function opens a dialog for selecting a suitable FB port Fig 40 Dialog for selecting a suitable FB port Once the link has been created on one side of the connection the link is automat...

Страница 39: ...TwinSAFE group The inputs and outputs of the TwinSAFE groups are consolidated under the Group Ports tab of the Variable Mapping dialog Note EL6910 group inputs For a project to be valid as a minimum t...

Страница 40: ...or has occurred all errors have been rectified and the Err Ack signal is 1 6 START The group remains in this state as long as not all connections have started up after the start of the group RUN 1 7 S...

Страница 41: ...r of the groups can be changed The individual groups do not necessarily have to be numbered in consecutive ascending order The numbering can contain gaps Fig 43 Context menu Edit TwinSAFE Group Order...

Страница 42: ...ing Sample FBAnd1 AndIn1 testVariable FB_INSTANCENAME PORTNAME FB_INSTANCENAME PORTNAME Creating a connection between two FBs Sample FBAnd1 AndIn1 FBOr1 OrOut 4 3 4 14 FB port properties The behavior...

Страница 43: ...Both inputs activated and two channel evaluation with discrepancy time ms If the Two Channel evaluation is enabled the corresponding Discrepancy time ms can be set in milliseconds For each input ther...

Страница 44: ...Operation EJ6910 44 Version 1 7 0 Fig 48 Menu Change Inport Settings Fig 49 Dialog Change InPort Settings 4 3 4 15 Variable Mapping Fig 50 Variable Mapping...

Страница 45: ...d signal types with a white background If several outputs should be set by one variable these signals can be dedicated by holding the CTRL key and selecting the channels Fig 51 Selection dialog for th...

Страница 46: ...ical Online CRC CRC of the safety project on the EL6910 This value is read online by the terminal In the absence of an ADS connection to the EL6910 this value is displayed with Downloaded CRC CRC of t...

Страница 47: ...ecking can take place at the project level if online access is only available for the EL6910 EJ6910 or EK1960 If the check returns no errors the project download can continue CAUTION Use only qualifie...

Страница 48: ...ad of a safety application Fig 56 Download Project Data The Login dialog In the Download Project Data dialog specify the user name the serial number of the EL6910 EJ6910 or EK1960 onto which the proje...

Страница 49: ...59 Download Project Data The Final Verification dialog The locally calculated CRCs and the online CRCs of the safety project are displayed in the Final Verification dialog They are automatically check...

Страница 50: ...Data contains the link data for inputs outputs function blocks connections etc Parameter Data Parameter Data contains the safe user parameters that are to be stored at the TwinSAFE Logic This could b...

Страница 51: ...RUN state no error is present and the output of the FB is set FB State SAFE In SAFE state no error is present and the output of the FB is NOT set FB State ERROR STOP In ERROR STOP state an FB error is...

Страница 52: ...Operation EJ6910 52 Version 1 7 0 Fig 62 Activation of Show Online Values In online mode the analog and digital values are then displayed as text next to the respective variables...

Страница 53: ...g 63 Display of the analog and digital values in online mode Detailed information about the whole safety project is shown on the Safety Project Online View tab Any errors in the connections or functio...

Страница 54: ...Operation EJ6910 54 Version 1 7 0 Fig 64 The Safety Project Online View tab...

Страница 55: ...editor With the release of the TwinCAT version these are available to the user This chapter lists the new features 4 3 7 1 Group status The status of the TwinSAFE group is displayed as a color coded...

Страница 56: ...Operation EJ6910 56 Version 1 7 0 Fig 66 Group Status Online ERROR Fig 67 Group Status Online STOP...

Страница 57: ...background Error information is displayed with a red background Fig 68 Online View Group Ports 4 3 7 3 Group templates The user has the choice between 3 templates The templates differ by the number o...

Страница 58: ...Alias Devices Under the node Alias Devices further subfolders can be created After the subfolder has been created it can be renamed here for example to Drives Fig 71 Adding a subfolder After adding a...

Страница 59: ...e mapping Fig 73 Goto Linked Element 4 3 7 7 Path view to linked signal The Linking tab of the Alias Devices displays the links to the PLC and to the I O devices The name in the process image of the T...

Страница 60: ...Operation EJ6910 60 Version 1 7 0 Fig 75 Path view for Standard Alias Devices 4 3 7 8 Multiline comments Comments in the TwinSAFE project may now be multiline Fig 76 Multiline comments...

Страница 61: ...naming of TwinSAFE connections and standard inputs and outputs from the respective Alias Device names Fig 77 Properties under Target System After the checkboxes are set the names of the alias devices...

Страница 62: ...fication The FB InPort Activation Verification entry is used to determine how the input ports of TwinSAFE FBs are checked Strict activated connected recommended Each enabled port must be connected and...

Страница 63: ...group parameters These are e g the number of connections the number of function blocks or the number of standard signals Fig 83 Group Properties Diagnostic 4 3 7 12 Copy and Paste for FBs and comment...

Страница 64: ...ration EJ6910 64 Version 1 7 0 Fig 84 Copying the data After inserting the data the following message appears The user may have to adjust copied variable names Fig 85 Message box after inserting the d...

Страница 65: ...names are assigned 4 3 7 13 Global settings in Visual Studio You can select options from the Tools menu in Visual Studio These options can be used to make settings for the TwinSAFE environment Fig 87...

Страница 66: ...obal setting Default Info Data Under TwinCAT TwinSAFE Environment Group Diagram Editor you can define whether the undo redo should be automatically zoomed in and scrolled to the area that has changed...

Страница 67: ...ct node Fig 90 Context menu Edit TwinSAFE Group Order By selecting a group and then holding and dragging an entry with the mouse the execution order of the groups can be changed The new order is accep...

Страница 68: ...of the function blocks can be accessed via the context menu within the graphical worksheet Fig 93 Context menu Change Execution Order of FBs By selecting an FB and then holding and dragging an entry w...

Страница 69: ...ments have the advantage that no logic program has to be created by the user for this purpose To use the internal direct mapping the linking mode of the Alias Device must be set to local Fig 95 Intern...

Страница 70: ...ly active when FSoE Connection Type is set to Master If the target slave is a logic component that uses the backup restore mechanism the project CRC of the logic project of the target slave must be en...

Страница 71: ...e Connection tab of the alias device Fig 97 Enabling the info data for connections The info data are shown in the I O tree structure below the EJ6910 in the process image From here these signals can b...

Страница 72: ...bled in the properties of the function block Fig 99 Enabling the info data for function blocks The info data are shown in the I O tree structure below the EJ6910 in the process image From here these s...

Страница 73: ...a the properties of the TwinSAFE group Fig 101 Enabling the info data in the properties of the TwinSAFE group The info data are shown in the I O tree structure below the EJ6910 in the process image Fr...

Страница 74: ...ta for the EJ6910 can be enabled on the Target System tab These are the serial number of the EJ6910 and the current online CRC of the safety project Fig 103 Enabling the info data for the EL6910 The i...

Страница 75: ...cture 4 5 Version history The version history button under Target System can be used to read the version history of the EL6910 EJ6910 or EK1960 It includes the user the date the version and the CRC of...

Страница 76: ...replaced with a customer specific password This is done via the Change Password button The default password is TwinSAFE The password must be at least 6 characters long A maximum of 40 users can be cr...

Страница 77: ...g 109 User Administration Add new User s Access Rights Enter the new user and the corresponding password twice The password must be at least 6 characters long In addition select the rights for the new...

Страница 78: ...ownload Project Data in Restore Mode The user is allowed to perform a restore Currently not supported Activate Deactivate Groups The user can execute Customizing enable and disable of TwinSAFE groups...

Страница 79: ...10 EJ6910 or EK1960 has changed or start the restore manually via a service menu e g in the visualization Detailed information about the Backup Restore mechanism is available from Beckhoff Support Not...

Страница 80: ...restore to a TwinSAFE logic component currently EL6910 EJ6910 or EK1960 can be carried out are available through Beckhoff Support This is a compiled library that can be installed in the TwinCAT Librar...

Страница 81: ...R fb_save FB_SAVELOGICPROGRAM fb_restore FB_RESTORELOGICPROGRAM StartBackup BOOL EL6910AmsNetID AT I ARRAY 0 5 OF BYTE EL6910port AT I WORD internalBuffer array 0 16 FFFF of byte FileString T_MaxStrin...

Страница 82: ...internalbuffer2 u32BufferSize SIZEOF internalBuffer2 sFileName FileString sNetIDReadFile LocalAmsNetID Done RestoreDone sResult RestoreResult bErr RestoreErr 4 8 Export import of the safety project T...

Страница 83: ...can be imported via the context menu of the main Safety entry in the TwinCAT project structure Add Existing Item can be used to select the file type for the import Fig 119 Selecting the file type for...

Страница 84: ...ng the EL6910 EJ6910 or EK1960 in the I O tree structure and then selecting the Diag History tab Use the Update History button to fetch the current from the EL6910 EJ6910 or EK1960 Error within the lo...

Страница 85: ...nCAT Overwrite Acknowledge Mode This setting is currently not supported 4 10 TwinSAFE SC configuration The TwinSAFE SC technology enables communication with standard EtherCAT terminals via the Safety...

Страница 86: ...C component process data example EL5021 0090 A TwinSAFE SC connection is added by adding an alias devices in the safety project and selecting TSC TwinSAFE Single Channel Fig 125 Adding a TwinSAFE SC c...

Страница 87: ...nSAFE SC CRC 4 master 0x153F1 TwinSAFE SC CRC 5 master 0x1F1D5 TwinSAFE SC CRC 6 master 0x1663B TwinSAFE SC CRC 7 master 0x1B8CD TwinSAFE SC CRC 8 master 0x1E1BD Fig 127 Selecting a free CRC These set...

Страница 88: ...C must be entered on the TwinSAFE SC slave side This is done via the CoE objects under TSC settings of the corresponding TwinSAFE SC component here for example EL5021 0090 0x8010 01 and 0x8010 02 The...

Страница 89: ...ings Index 800F Fig 131 Entering the safety address and the CRC Note TwinSAFE SC connections If several TwinSAFE SC connections are used within a configuration a different CRC must be selected for eac...

Страница 90: ...d TRUE FALSE Deactivation of manual control unit After starting the deactivation the connection defined in the group must report a COM error after a period of 10 seconds for sample default setting If...

Страница 91: ...s selected the login dialog opens for the user to enter their login data This login must give permission for customizing Fig 134 Login The Customizing dialog opens once the user has entered the data a...

Страница 92: ...nalog input values in an internal memory When the group starts up the stored data are compared with the current data Under the tab Max Start Deviation a corresponding deviation can be specified for ea...

Страница 93: ...Operation EJ6910 93 Version 1 7 0 Fig 138 Activate saving of all analog group inputs...

Страница 94: ...data EL6930 all max 14 byte safe data EL6910 all max 126 byte safe data EJ6910 all max 126 byte safe data KL1904 from 2008 KL2904 from 2008 KL6904 as slave from 2008 AX5805 all AX5806 all Safe data p...

Страница 95: ...ttings of the TwinSAFE logic Fig 140 EtherCAT Advanced Settings To calculate the smallest start address of SM3 the length of SM2 is multiplied by 3 and added to the start address of SM2 Start SM3 Star...

Страница 96: ...tart address for SM3 After changing the start address all dialogs are closed with OK the TwinCAT project is saved and the configuration is activated If the calculation was carried out correctly no err...

Страница 97: ...technical data In the case of the EL1904 it is 4 ms RTComm Reaction time of the communication This is typically 3x the EtherCAT cycle time because new data can only be sent in a new Safety over Ether...

Страница 98: ...o be transferred to the communication interface This is detected by the logic following the watchdog time of the communication link This information should then be transferred to the output but a furt...

Страница 99: ...ror code applies Diag 2 red Together with Diag 3 and 4 Global shutdown1 has occurred see diag history of the TwinSAFE components Logic or environment error code according to Diag1 and tables below is...

Страница 100: ...mbination General function block and communication Environment error codes of LED Diag 2 if LED Diag 1 is off Flashing Code Description 1 Maximum supply voltage C1 exceeded 2 Supply voltage C1 below m...

Страница 101: ...t one TwinSAFE group lit lit lit lit TwinSAFE project loaded and in RUN state Customization is NOT active 4 16 3 Diagnostic objects CAUTION Do not change CoE objects Do not make any modifications to t...

Страница 102: ...e Meaning Flags Default F100 01 Safe Logic State Status of the internal logic 0 OFFLINE 1 RUN 2 STOP 3 SAFE 4 ERROR 6 START 8 PREPARE 10 RESTORE 11 PROJECT CRC OK RO 0bin F100 02 Cycle Counter Life cy...

Страница 103: ...ion Time Maximum processing time of the EL6910 EJ6910 when logic state 1 cycle time 1 25 value RO 0 hex The minimum and maximum values can be reset by writing a value to CoE object 0x1C32 08 4 17 Main...

Страница 104: ...unique serial number Fig 148 Unique serial number of a TwinSAFE EJ module 4 19 Decommissioning DANGER Serious risk of injury Bring the bus system into a safe de energized state before starting disass...

Страница 105: ...f components there Beckhoff Headquarters Beckhoff Automation GmbH Co KG Huelshorstweg 20 33415 Verl Germany Phone 49 0 5246 963 0 Fax 49 0 5246 963 198 e mail info beckhoff com Beckhoff Support Suppor...

Страница 106: ...Appendix EJ6910 106 Version 1 7 0 5 2 Certificates...

Страница 107: ...0 AX5000 safety drive options general AX5805 settings 27 Fig 21 AX5000 safety drive options Process Image 27 Fig 22 AX5000 safety drive options Function Diagram 28 Fig 23 Creating an external connecti...

Страница 108: ...Values 52 Fig 63 Display of the analog and digital values in online mode 53 Fig 64 The Safety Project Online View tab 54 Fig 65 Group Status Online RUN 55 Fig 66 Group Status Online ERROR 56 Fig 67 G...

Страница 109: ...Fig 111 Backup Restore 79 Fig 112 Restore check flow chart 80 Fig 113 FB_SAVELOGICPROGRAM illustration 81 Fig 114 FB_SAVELOGICPROGRAM parameters 81 Fig 115 FB_RESTORELOGICPROGRAM illustration 81 Fig...

Страница 110: ...therCAT Advanced Settings 95 Fig 141 Sync Manager settings 96 Fig 142 Setting the start address for SM3 96 Fig 143 Typical reaction time 97 Fig 144 Worst case reaction time 98 Fig 145 EJ6910 diagnosti...

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