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Documentation for
AX8911 - TwinSAFE Drive Option
TwinSAFE Drive Option for AX8xxx-x1xx Servo Drives
1.0.02017-10-26
Version:Date:
Table of contents
AX8911 - TwinSAFE Drive Option 3Version: 1.0.0
Table of contents1 Foreword .................................................................................................................................................... 5
1.1 Notes on the documentation........................................................................................................... 51.2 Safety instructions .......................................................................................................................... 6
1.2.1 Delivery state ..................................................................................................................... 61.2.2 Operator's obligation to exercise diligence ........................................................................ 61.2.3 Description of safety symbols ............................................................................................ 7
1.3 Documentation issue status............................................................................................................ 7
2 References ................................................................................................................................................. 8
3 System description ................................................................................................................................... 93.1 The AX8000 multi-axis servo system ............................................................................................. 9
4 Product description................................................................................................................................. 104.1 General description....................................................................................................................... 10
4.1.1 AX8911 with STO function (AX8xxx-x1xx)....................................................................... 104.1.2 AX8911 with Safe Motion functions (AX8xxx-x2xx) ......................................................... 11
4.2 Intended use ................................................................................................................................. 114.3 Technical data .............................................................................................................................. 144.4 Safety parameters ........................................................................................................................ 154.5 Project design limits for AX8911 (AX8xxx-x1xx)........................................................................... 16
5 Operation.................................................................................................................................................. 175.1 Environmental conditions.............................................................................................................. 175.2 Installation..................................................................................................................................... 17
5.2.1 Safety instructions............................................................................................................ 175.2.2 Transport / storage........................................................................................................... 175.2.3 Mechanical installation..................................................................................................... 175.2.4 Electrical installation......................................................................................................... 18
5.3 Configuration of the option in TwinCAT ........................................................................................ 205.3.1 Adding an axis module..................................................................................................... 205.3.2 Using the AX8911 with the default project ....................................................................... 205.3.3 Use of the AX8911 with a fail-safe user program ............................................................ 245.3.4 Creation of safety functions ............................................................................................. 30
6 Use of the STO function.......................................................................................................................... 316.1 Default STO function in the AX8911............................................................................................. 33
6.1.1 Process image of the AX8xxx-x1xx ................................................................................. 356.1.2 Error reaction ................................................................................................................... 35
7 Implementation of Safe Motion functions ............................................................................................. 367.1 Safe inputs and outputs ................................................................................................................ 367.2 Safety function STO...................................................................................................................... 367.3 Safety function SS1 ...................................................................................................................... 367.4 Safety function SS2 ...................................................................................................................... 367.5 Safety function SOS ..................................................................................................................... 367.6 Safety functions SLS, SSM, SSR ................................................................................................. 367.7 Safety function SAR...................................................................................................................... 367.8 Safety functions SDIp, SDIn ......................................................................................................... 367.9 Safety function SLI........................................................................................................................ 367.10 Safety functions SLP, SCA ........................................................................................................... 36
Table of contents
AX8911 - TwinSAFE Drive Option4 Version: 1.0.0
8 Diagnostics .............................................................................................................................................. 378.1 Diagnostic display of the AX8xxx axis module ............................................................................. 378.2 AX8xxx Diag history tab................................................................................................................ 378.3 Diagnosis History.......................................................................................................................... 38
9 Maintenance............................................................................................................................................. 41
10 Service life................................................................................................................................................ 42
11 Decommissioning.................................................................................................................................... 43
12 Appendix .................................................................................................................................................. 4412.1 Support and Service ..................................................................................................................... 4412.2 Certificates.................................................................................................................................... 45
Foreword
AX8911 - TwinSAFE Drive Option 5Version: 1.0.0
1 Foreword
1.1 Notes on the documentation
Intended audience
This description is only intended for the use of trained specialists in control and automation engineering whoare familiar with the applicable national standards.
It is essential that the following notes and explanations are followed when installing and commissioningthese components.
The responsible staff must ensure that the application or use of the products described satisfy all therequirements for safety, including all the relevant laws, regulations, guidelines and standards.
Origin of the document
This documentation was originally written in German. All other languages are derived from the Germanoriginal.
Currentness
Please check whether you are using the current and valid version of this document. The current version canbe downloaded from the Beckhoff homepage at http://www.beckhoff.com/english/download/twinsafe.htm.In case of doubt, please contact Technical Support [} 44].
Product features
Only the product features specified in the current user documentation are valid. Further information given onthe product pages of the Beckhoff 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. Forthat reason the documentation is not in every case checked for consistency with performance data,standards or other characteristics. We reserve the right to revise and change the documentation at any timeand without prior announcement. No claims for the modification of products that have already been suppliedmay be made on the basis of the data, diagrams and descriptions in this documentation.
Trademarks
Beckhoff®, TwinCAT®, EtherCAT®, Safety over EtherCAT®, TwinSAFE®, XFC® and XTS® are registeredtrademarks of and licensed by Beckhoff Automation GmbH.Other designations used in this publication may be trademarks whose use by third parties for their ownpurposes could violate the rights of the owners.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following patent applications andpatents: EP1590927, EP1789857, DE102004044764, DE102007017835 with corresponding applications orregistrations in various other countries.
The TwinCAT Technology is covered, including but not limited to the following patent applications andpatents: EP0851348, US6167425 with corresponding applications or registrations in various other countries.
Foreword
AX8911 - TwinSAFE Drive Option6 Version: 1.0.0
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,Germany
Copyright
© Beckhoff Automation GmbH & Co. KG, Germany.The reproduction, distribution and utilization of this document as well as the communication of its contents toothers without express authorization are prohibited.Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of apatent, utility model or design.
Delivery conditions
In addition, the general delivery conditions of the company Beckhoff Automation GmbH & Co. KG apply.
1.2 Safety instructions
1.2.1 Delivery stateAll the components are supplied in particular hardware and software configurations appropriate for theapplication. Modifications to hardware or software configurations other than those described in thedocumentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.
1.2.2 Operator's obligation to exercise diligenceThe operator must ensure that
• the TwinSAFE products are only used as intended (see chapter Product description);• the TwinSAFE products are only operated in sound condition and in working order.• the TwinSAFE products are operated only by suitably qualified and authorized personnel.• the personnel is instructed regularly about relevant occupational safety and environmental protection
aspects, and is familiar with the operating instructions and in particular the safety instructions containedherein.
• the operating instructions are in good condition and complete, and always available for reference at thelocation where the TwinSAFE products are used.
• none of the safety and warning notes attached to the TwinSAFE products are removed, and all notesremain legible.
Foreword
AX8911 - TwinSAFE Drive Option 7Version: 1.0.0
1.2.3 Description of safety symbolsIn these operating instructions the following symbols are used with an accompanying safety instruction ornote. The safety instructions must be read carefully and followed without fail!
DANGER
Serious risk of injury!Failure to follow the safety instructions associated with this symbol directly endangers thelife and health of persons.
WARNING
Risk of injury!Failure to follow the safety instructions associated with this symbol endangers the life andhealth of persons.
CAUTION
Personal injuries!Failure to follow the safety instructions associated with this symbol can lead to injuries topersons.
Attention
Damage to the environment or devicesFailure to follow the instructions associated with this symbol can lead to damage to the en-vironment or equipment.
Note
Tip or pointerThis symbol indicates information that contributes to better understanding.
1.3 Documentation issue statusVersion Comment1.0.0 • Certificate added
• Description of the safe inputs and outputs added0.4.0 • Safety parameters for the STO and SS1 functions added0.3.0 • Description of the Safe Motion functions updated0.2.0 • Preliminary (internal only)0.1.0 • Preliminary (internal only)
References
AX8911 - TwinSAFE Drive Option8 Version: 1.0.0
2 ReferencesNo Version Title / description[1] 1.4.0 or newer AX8000 StartUp
This documentation contains the description of the assembly, installationand operation of an AX8000.
[2] 1.4.1 or newer Operating instructions for EL6910 TwinSAFE logic moduleThe document contains a description of the logic functions of the EL6910,and thus also of the AX8911, and their programming
[3] 3.1.0 or newer Documentation – TwinSAFE Logic FBThe document describes the safety function blocks that are available in theEL6910, and thus also in the AX8911, and form the safety application.
[4] 1.0 or newer AX8000 system manualDescription of the mechanical and electrical parameters as well as allinformation necessary for the use of the AX8000 multi-axis servo system.
[5] 1.8.0 or newer TwinSAFE application guideThe application guide provides the user with examples for the calculation ofsafety parameters for safety functions according to the standards DIN ENISO 13849-1 and EN 62061 or EN 61508:2010, such as are typically usedon machines.
System description
AX8911 - TwinSAFE Drive Option 9Version: 1.0.0
3 System description
3.1 The AX8000 multi-axis servo systemMulti-channel drive solutions can be constructed with the AX8000 multi-axis servo system. The requirednumber of single-channel or two-channel axis modules are attached to the central supply module. Themodules are connected without screws or tools using the built-in AX-Bridge quick connection system, whichis based on spring-loaded terminals. The single-axis and dual-axis modules can optionally be equipped withSTO or Safe Motion (AX8xxx-x1xx or AX8xxx-x2xx).
eXtreme Fast Control in the drive
The EtherCAT-based AX8000 multi-axis servo system combines powerful FPGA technology with multi-coreARM processors. The new multi-channel current control technology makes extremely short sampling andreaction times possible. The entirely hardware-implemented current controller combines the advantages ofanalog and digital control technology: reaction to a deviation of the current from the setpoint value is possiblewithin 1 µs; the velocity controller cycle time is around 16 µs at a switching frequency of 32 kHz. Theprocessing of the EtherCAT process data (actual and setpoint values) can take place without a processoralmost without delay in the hardware, so that the minimum EtherCAT cycle time is only 62.5 µs.
One Cable Technology (OCT)
The AX8000 multi-axis servo system supports OCT, the one-cable solution for power and feedback. Inconnection with the servo motors from the AM8000 (standard), AM8500 (increased inertia) and AM8800(stainless steel) series, the wiring is reduced to the obligatory motor cable, via which the feedback signalsare then also directly transmitted. As in sensorless control, the user no longer has to use an additionalfeedback cable. All the information required for control purposes is transferred reliably and fail-safe via adigital interface.
Product description
AX8911 - TwinSAFE Drive Option10 Version: 1.0.0
4 Product description
4.1 General description
AX8911 - TwinSAFE drive option for AX8000 series servo drives
The AX8911 TwinSAFE drive option is an optional extension of the Beckhoff AX8000 servo drive series.There are two versions of the AX8911 option. The first version provides only the STO function via the digitalinputs of the AX8000 axis module or via a TwinSAFE (FSoE) connection. The second version provides STOand additionally the Safe Motion functions such as Safe Limited Speed.
The AX8911 meets the requirements of IEC 61508:2010 SIL 3, EN 62061:2005/A1:2013/A2:2015 SILCL3and EN ISO 13849-1:2015 (Cat 4, PL e).
The AX8911 is intended for use in a servo drive from the AX8000 series, in which it is permanently installed.
4.1.1 AX8911 with STO function (AX8xxx-x1xx)Through the integration of the AX8911 drive option in the AX8000, the STO safety function can be enabledvia two digital inputs per channel of the servo drive or via Safety-over-EtherCAT (FSoE). The digital inputsand the signals via FSoE are equivalent and are logically ORed internally. It is therefore sufficient to enablethe axis via either one of the two ways.
The respective axis is enabled if both of its digital inputs are logic 1 (24VDC). If at least one of the two digitalinputs is logic 0, then the STO safety function is active and the motor is switched torque-free.
Alternatively, the STO function of the axis can be accessed via Safety-over-EtherCAT (FSoE). Therespective axis is enabled if the STO signal via FSoE is logic 1. If the STO signal via FSoE is logic 0, theSTO safety function is active and the motor is switched torque-free.
The AX8911 drive option is typically addressed via FSoE. The digital inputs are intended for thecommissioning of the AX8000. It is also possible via the digital inputs to operate the AX8911 drive optionwith a safety controller that doesn't support the FSoE protocol.
Attention
Digital inputs and Safety-over-EtherCAT (FSoE)If you use the FSoE connection for accessing the AX8911 drive option and additionally thedigital inputs of the AX8000 on X15 or X25 during the commissioning of the axis, makesure that the wiring to the digital inputs is removed after the commissioning of the axis.
Note
STO functionIf the STO function described above is not suitable for the application, it must be changedby the user or by loading a user-defined safety project into the AX8911.
Product description
AX8911 - TwinSAFE Drive Option 11Version: 1.0.0
4.1.2 AX8911 with Safe Motion functions (AX8xxx-x2xx)Through the integration of the AX8911 into the AX8000, the user can implement safety functions inaccordance with the following list:
• Stop functions such as STO, SOS, SS1, SS2• Speed functions such as SLS, SSM, SSR• Acceleration functions such as SAR• Direction of rotation functions such as SDIp, SDIn• Position functions such as SLP, SCA, SLI (however, SLP and SCA are possible only if an appropriate
safe feedback system is used)
Like the programming or configuration of the safety application, the entire parameterization of the AX8911option card is performed from the TwinCAT software. All system-specific settings are stored together with theapplication in the AX8911. The backup/restore mechanism familiar from the EL69x0 can be used for theexchange of the AX8911. Further information on this can be found in the EL6910 user documentation (seeReferences [} 8]).
4.2 Intended useThe AX8911 TwinSAFE drive option card extends the field of use of the Beckhoff AX8000 servo drive bysafety functions that allow it to also be used in the field of machine safety.
WARNING
Observe the intended use!Use of the TwinSAFE drive option card other than for the intended purpose as describedbelow is not permitted!
The AX8911 card can be addressed as a TwinSAFE drive option card via the TwinSAFE inputs X15 or X25or via an FSoE or TwinSAFE connection. Depending on which of these variants is used, the error reactionsof the TwinSAFE drive option card described below may be different.
The following safety measures and safety instructions must be observed when using the TwinSAFEdrive option card
General notes
WARNING
Power supply from SELV/PELV power supply unit!The TwinSAFE components must be supplied with 24 VDC by an SELV/PELV power supplyunit with an output voltage limit Umax of 36 VDC. Failure to observe this can result in a loss ofsafety.
WARNING
Caution - Risk of injury!Basically, electronic devices are not fail-safe. The machine manufacturer is responsible forensuring that the connected motors and the machine are brought into a safe state in theevent of a voltage outage in the drive system
CAUTION
Follow the machinery directive!The TwinSAFE Drive option cards may be used in machines only as defined in the machinedirective.
CAUTION
Ensure traceability!The buyer has to ensure the traceability of the device via the serial number.
Product description
AX8911 - TwinSAFE Drive Option12 Version: 1.0.0
Parameterization
WARNING
Check the parameterization of the TwinSAFE drive option card!The TwinSAFE drive option card determines errors in the parameterization, but no logicaltesting of the parameters or the loaded safety program can take place. Hence, you mustensure by means of an acceptance test that the parameterization and the safety programare correct for the application. This test must be performed by the machine manufacturer.The combination of AX8000 and AX8911 may be used in production only when this testhas produced a positive result for all safety-relevant functions.
WARNING
Avoid incorrect parameterization of the servo drive!Incorrect parameterization of the servo drive (e.g. current controller oscillates or is toolethargic) can lead to switch-off. The AX8911 switches the motors of the AX8000 servodrive torque-free. Any motors that are still moving coast to a halt. With suspended or pullingloads the motors may also accelerate. External safety measures (e.g. mechanical servicebrakes) are to be provided by the user to avoid unwanted movements.
WARNING
Avoid incorrect dimensioning of the servo drive!Loads that cannot be braked by the AX8000 servo drive (e.g. if the AX8000 servo drive isunder-dimensioned) can lead to switch-off. The AX8911 switches the motors of the AX8000servo drive torque-free. Any motors that are still moving coast to a halt. With suspended orpulling loads the motors may also accelerate. External safety measures (e.g. mechanicalservice brakes) are to be provided by the user to avoid unwanted movements.
External safety measures
WARNING
Provide for external safety measures for the STO function of the TwinSAFEdrive option card!If the STO safety function is executed, the connected motors are not braked, but areswitched torque-free. This leads to the motors coasting to a halt. The duration of this coast-ing depends on how much kinetic energy is present in the system. With suspended orpulling loads the motors may also accelerate. The user must provide appropriate externalsafety measures (e.g. mechanical service brakes) to prevent this.
WARNING
Provide for external safety measures for the error reactions of the TwinSAFEdrive option card!The STO error reaction is executed if the TwinSAFE drive option card determines an error.If the STO error reaction is executed, the connected motors are not braked, but are directlyswitched torque-free. This leads to the motors coasting to a halt. The duration of this coast-ing depends on how much kinetic energy is present in the system. With suspended orpulling loads the motors may also accelerate. The user must provide appropriate externalsafety measures (e.g. mechanical service brakes) to prevent this.
Product description
AX8911 - TwinSAFE Drive Option 13Version: 1.0.0
Diagnostics / faults
WARNING
Avoid line interruptions!Line interruptions can lead to switch-off. The AX8911 can switch the motors of the AX8000servo drive torque-free according to the safety project used on it. Any motors that are stillmoving coast to a halt. With suspended or pulling loads the motors may also accelerate.External safety measures (e.g. mechanical service brakes) are to be provided by the userto avoid unwanted movements.
WARNING
Avoid faults and interruptions in the EtherCAT communication!Faults and interruptions in the EtherCAT communication lead to switch-off. The AX8911can switch the motors of the AX8000 servo drive torque-free according to the safety projectused on it. Any motors that are still moving coast to a halt. With suspended loads the mo-tors may even be accelerated. External 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 TwinCATThe activation or restart of a project in TwinCAT can lead to switch-off. The AX8911 canswitch the motors of the AX8000 servo drive torque-free according to the safety projectused on it. Any motors that are still moving coast to a halt. With suspended loads the mo-tors may even be accelerated. External safety measures (e.g. mechanical service brakes)are to be provided by the user to avoid unwanted movements.
WARNING
Downloading the safety project to the TwinSAFE logic or the AX8911 canlead to switch-off!Downloading the safety project to the TwinSAFE logic or the AX8911 can lead to switch-off.The AX8911 switches the motors of the AX8000 servo drive torque-free. Any motors thatare still moving coast to a halt. With suspended or pulling loads the motors may also accel-erate. External safety measures (e.g. mechanical service brakes) are to be provided by theuser to avoid unwanted movements.
Product description
AX8911 - TwinSAFE Drive Option14 Version: 1.0.0
4.3 Technical dataProduct designation AX8911 (AX8xxx-x1xx)Number of inputs 2 digital inputs per channel (X15, X25)Status display "S" display on the AX8000Minimum/maximum cycle time approx. 1 ms / according the project sizeFault response time ≤ watchdog timesWatchdog time min. 2 ms, max. 60000 msSupply voltage (SELV/PELV) 24 VDC (–10% / +10%)
refer also to the AX8000 Startup manual (References[} 8])
Dimensions (W x H x D) integrated in the AX8xxx-x1xxWeight approx. 25 gPermissible ambient temperature (operation) 0 °C to +55 °CPermissible ambient temperature (transport/storage) -25 °C to +70 °CPermissible air humidity 5% to 95%, non-condensingPermissible air pressure (operation/storage/transport) 750 hPa to 1100 hPa
(this corresponds to an altitude of approx. -690 m to2450 m above sea level, assuming an internationalstandard atmosphere)
Climate category according to EN 60721-3-3 3K3(the deviation from 3K3 is possible only with optimalenvironmental conditions and also applies only to thetechnical data which are specified differently in thisdocumentation)
Permissible level of contamination according toEN 60664-1
level of contamination 2
Inadmissible operating conditions TwinSAFE drive option cards may not be used underthe following operating conditions:
• under the influence of ionizing radiation(exceeding the natural background radiation)
• in corrosive environments• in an environment that leads to impermissible
contamination of the option cardCorrect installation position refer also to the AX8000 Startup manual (References
[} 8])Approvals CE, TÜV SÜD
Product description
AX8911 - TwinSAFE Drive Option 15Version: 1.0.0
4.4 Safety parameters
Safety functions STO, SS1
Characteristic numbers AX8911 - STO, SS1 (AX8xxx-x1xx)Lifetime [a] 20Proof test interval [a] not required 1)
PFHD 3.04E-09%SIL3 of PFHD 3% of SIL3PFDavg 9.20E-05%SIL3 of PFDavg 9% of SIL3MTTFD highDC high, 99.5%SFF >99%Performance level PL eCategory 4HFT 1Classification element 2) Type B
1. Special proof tests are not required during the entire service life of the AX8911 TwinSAFE drive optioncard.
2. Classification according to IEC 61508-2:2010 (see chapters 7.4.4.1.2 and 7.4.4.1.3)
The AX8911 TwinSAFE drive option card can be used for safety-related applications within the meaning ofIEC 61508:2010 up to SIL3, EN 62061:2005/A1:2013/A2:2015 up to SILCL3 and EN ISO 13849-1:2015 upto PL e (Cat.4).
Further information on calculating or estimating the MTTFD value from the PFHD value can be found in theTwinSAFE application 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 with1% of SIL3 according to the protocol specification.
Safe Motion functions SS2, SOS, SLS, SLP
The safety parameters for the Safe Motion functions are inserted here as soon as the AX8xxx-x2xx deviceswith AX891x safety option card are enabled.
Product description
AX8911 - TwinSAFE Drive Option16 Version: 1.0.0
4.5 Project design limits for AX8911 (AX8xxx-x1xx)
Note
Project design limitsThe maximum project design size of the AX8911 (AX8xxx-x1xx) is limited by the availablememory. This is managed dynamically. The values specified in the following table aretherefore only guide values and may differ from the actual values, depending on the safetyproject.
TwinSAFE connections max. 8(up to 12 CRCs in total; 1 CRC is required for a TwinSAFE connectionwith 1 or 2 byte safe data.)
Safe data per TwinSAFEconnection
maximum 24 byte (telegram length 51 byte)
TwinSAFE blocks maximum 512 (ESTOP with complete input and output mapping)TwinSAFE groups max. 128TwinSAFE user 40 max.Standard PLC inputs dynamic (memory-dependent), max. 54 byteStandard PLC outputs dynamic (memory-dependent), max. 62 byte
Operation
AX8911 - TwinSAFE Drive Option 17Version: 1.0.0
5 Operation
5.1 Environmental conditionsPlease ensure that the TwinSAFE components are only transported, stored and operated under the specifiedconditions (see technical data)!
WARNING
Risk of injury!The TwinSAFE components must not be used under the following operating conditions.
• under the influence of ionizing radiation (that exceeds the level of the natural environ-mental radiation)
• in corrosive environments• in an environment that leads to unacceptable soiling of the TwinSAFE component
Attention
Electromagnetic compatibilityThe TwinSAFE components comply with the current standards on electromagnetic compat-ibility with regard to spurious radiation and immunity to interference in particular.However, in cases where devices such as mobile phones, radio equipment, transmitters orhigh-frequency systems 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.
5.2 Installation
Note
Installation notePlease also refer to the installation notes on the mechanical and electrical installation of theAX8000 in the AX8000 StartUp manual.
5.2.1 Safety instructionsBefore installing and commissioning the TwinSAFE components please read the safety instructions in theforeword of this documentation.
5.2.2 Transport / storageFor transport and storage of the AX8xxx with the AX8911 TwinSAFE drive option card, use the originalpackaging in which the components were delivered.
CAUTION
Observe the specified environmental conditionsPlease ensure that the digital TwinSAFE components or the AX8000 with AX8911 Twin-SAFE drive option card are only transported and stored under the specified environmentalconditions (see technical data).
5.2.3 Mechanical installationThe AX8911 TwinSAFE drive option is permanently installed in the AX8000 servo drive. Subsequentinstallation or exchange of the option by the user is not possible.
Operation
AX8911 - TwinSAFE Drive Option18 Version: 1.0.0
5.2.3.1 Control cabinet / terminal box
The TwinSAFE components must be installed for operation in a control cabinet or terminal box with at leastIP54 protection according to IEC 60529.
5.2.4 Electrical installation
5.2.4.1 Digital inputs X15, X25
With the AX8911 TwinSAFE drive option installed, the inputs X15 (axis "A") and X25 (axis "B") are used forthe STO inputs of the axis or axes.
Contacts 1 and 2 of the connection X15 are the STO inputs for axis "A". Axis "A" can be moved if bothsignals are logic 1 (24 VDC). STO is triggered for axis "A" if one of the signals is logic 0. Axis "A" is switchedtorque-free.
Contacts 1 and 2 of the connection X25 are the STO inputs for axis "B". Axis "B" can be moved if bothsignals are logic 1 (24 VDC). STO is triggered for axis "B" if one of the signals is logic 0. Axis "B" is switchedtorque-free.
Fig. 1: AX8911: Connection to X15 and X25
A plug connector is required in each case to connect signals to X15 and, in the case of two-channel axismodules, to X25 also.
View Terminalpoint
Connection Strip length Clamping method
1 STO input 1 9 mm push in2 STO input 23 Digital input 3
(Filter time 8 µs)4 Digital input 4
(Filter time 8 µs)
Wire type Wire cross-sectionWire cross-section (solid wire) 0.14 mm² - 1.5 mm²Wire cross-section (fine wire) 0.14 mm² - 1.5 mm²Wire cross-section – fine wire (with ferrule without plastic collar) 0,25 mm² - 1.5 mm²Wire cross-section – fine wire (with ferrule with plastic collar) 0,25 mm² - 1 mm²
Operation
AX8911 - TwinSAFE Drive Option 19Version: 1.0.0
Attention
WiringWires with ferrules with plastic collars must be used when using the STO safety function viathe STO inputs on X15 and X25.
5.2.4.2 Setting the TwinSAFE address
If a TwinSAFE connection is used instead of the digital inputs for the implementation of the safety functionsor selection of the STO function, a safety address must be set on the axis module.
This setting is made with the integrated DIP switch on the AX8000 axis module, which is located under thecover between the X15 and X25 inputs or, in the case of single-axis modules, to the left of X15.
AX81xx-x1xx single-axis module AX82xx-x1xx dual-axis module
DIP switch Address1 2 3 4 5 6 7 8 9 10ON OFF OFF OFF OFF OFF OFF OFF OFF OFF 1OFF ON OFF OFF OFF OFF OFF OFF OFF OFF 2ON ON OFF OFF OFF OFF OFF OFF OFF OFF 3OFF OFF ON OFF OFF OFF OFF OFF OFF OFF 4ON OFF ON OFF OFF OFF OFF OFF OFF OFF 5OFF ON ON OFF OFF OFF OFF OFF OFF OFF 6ON ON ON OFF OFF OFF OFF OFF OFF OFF 7... ... ... ... ... ... ... ... ... ... ...ON ON ON ON ON ON ON ON ON ON 1023
WARNING
TwinSAFE addressEach TwinSAFE address may only be used once within a network / a configuration!The address 0 is not a valid TwinSAFE address!
Operation
AX8911 - TwinSAFE Drive Option20 Version: 1.0.0
5.3 Configuration of the option in TwinCAT
5.3.1 Adding an axis moduleWhen adding an axis module in TwinCAT 3, a distinction is made between a module with TwinSAFE driveoption and a module without TwinSAFE drive option. After adding a supply module, an axis module can beadded under 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 default projectThe AX8911 TwinSAFE drive option, with which an STO function can be implemented, is installed in theAX8xxx-x1xx devices. Information on this project can be found in Default STO function in the AX8911 [} 33].
To use the AX8911 in a project (e.g. EL6910), add an Alias Device AX891x (Safe Drive Module).
Operation
AX8911 - TwinSAFE Drive Option 21Version: 1.0.0
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.
Operation
AX8911 - TwinSAFE Drive Option22 Version: 1.0.0
Fig. 5: Dialog for linking the variables of the AX8911
The variables are displayed with the corresponding designation in Variable Mapping.
Operation
AX8911 - TwinSAFE Drive Option 23Version: 1.0.0
Fig. 6: Projects with outputs to the AX8911
Operation
AX8911 - TwinSAFE Drive Option24 Version: 1.0.0
5.3.3 Use of the AX8911 with a fail-safe user program
Target system
For the use of the user-specific functions in the AX8911, a safety project is created in TwinCAT and theAX8911 or the axis module is selected as the target system.
A safety project 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 here in the drop-down list and linked with the axis module using the button.
Fig. 8: Target system AX8911
In order to be able to use the inputs and outputs of the AX8911, an alias device AX891x (Safe Drive Module)must be added in the safety application and set to local under Linking Mode.
Operation
AX8911 - TwinSAFE Drive Option 25Version: 1.0.0
Fig. 9: AX8911 - Add new item
Fig. 10: AX8911 - 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 disabledfor input.
Operation
AX8911 - TwinSAFE Drive Option26 Version: 1.0.0
Safe inputs and outputs within the safety logic
The local inputs and outputs of the AX8911 and their meaning are listed in the following tables.
Fig. 12: AX8911 – safe inputs of the local alias device
Operation
AX8911 - TwinSAFE Drive Option 27Version: 1.0.0
Input (for each axis A and B) Data type MeaningFSOUT STO Module Fault BOOL STO module faultFSOUT BRAKE Module Fault BOOL currently not used
(Brake module fault)FSOUT BRAKE Active BOOL currently not used
(Activate brake)FSIN Channel1.Input BOOL Digital input 1 to X15 or X25 respectivelyFSIN Channel2.Input BOOL Digital input 2 to X15 or X25 respectivelyFSIN Module Fault BOOL Input module faultFSDRIVE Underrange EncoderVoltage
BOOL The encoder supply voltage is too low
FSDRIVE Overrange EncoderVoltage
BOOL The encoder supply voltage is too high
FSDRIVE Module Fault BOOL Drive module faultFSDRIVE Encoder Enable BOOL currently not used
(Activate encoder)FSDRIVE Run BOOL Run signal from AX8000 – can be used for the group
inputsFSDRIVE ErrAck BOOL Error Acknowledge Signal from AX8000 – can be used for
the group inputs and for the ErrAck outputs to resetmodule faults (executed together with an axis reset).
FSDRIVE Control 2 - 15 BOOL not used
Operation
AX8911 - TwinSAFE Drive Option28 Version: 1.0.0
Fig. 13: AX8911 – safe outputs of the local alias device
Operation
AX8911 - TwinSAFE Drive Option 29Version: 1.0.0
Output (for each axis A andB)
Data type Meaning
FSOUT STOChannel1.Output
BOOL STO switch-off path A(all four switch-off paths and STO Active must be set to logic 1 inorder to enable the axis and to logic 0 for the STO function)
FSOUT STOChannel2.Output
BOOL STO switch-off path B(all four switch-off paths and STO Active must be set to logic 1 inorder to enable the axis and to logic 0 for the STO function)
FSOUT STOChannel3.Output
BOOL STO switch-off path C(all four switch-off paths and STO Active must be set to logic 1 inorder to enable the axis and to logic 0 for the STO function)
FSOUT STOChannel4.Output
BOOL STO switch-off path D(all four switch-off paths and STO Active must be set to logic 1 inorder to enable the axis and to logic 0 for the STO function)
FSOUT STO ErrAck BOOL Acknowledgment of a module fault in the STO module(In the default project this signal is linked with the FSDRIVEErrAck input)
FSOUT STO STO Active BOOL Information sent to the AX8000 about the state of the STOfunction. Must be set to logic 1 so that the AX8000 will enable theaxis.
FSOUT BRAKE PWM Output BOOL PWM signal for controlling the brakeFSOUT BRAKE Digital Output BOOL Enable signal for the brake controlFSOUT BRAKE ErrAck BOOL Acknowledgment of a module fault in the BRAKE module
(In the default project this signal is linked with the FSDRIVEErrAck input)
FSIN ErrAck BOOL Acknowledgment of a module fault in the FSIN module(In the default project this signal is linked with the FSDRIVEErrAck input)
FSDRIVE ErrAck BOOL Acknowledgment of a module fault in the FSDRIVE module(In the default project this signal is linked with the FSDRIVEErrAck input)
FSDRIVE Group Error BOOL Status information about a group error for the AX8000FSDRIVE Axis STO Error BOOL Status information about an STO error for the AX8000FSDRIVE Axis Digital InputError
BOOL Status information about an input error for the AX8000
FSDRIVE Axis Brake Error BOOL Status information about a brake error for the AX8000FSDRIVE EncoderUndervoltage Error
BOOL Status information about an undervoltage error for the AX8000
FSDRIVE EncoderOvervoltage Error
BOOL Status information about an overvoltage error for the AX8000
FSDRIVE Encoder Enabled BOOL Status information sent to the AX8000 about whether the encoderis active. (not used so far)
FSDRIVE Status 7 - 13 BOOL not usedFSDRIVE FSIN Test pulseChannel 1
BOOL used internally to test input 1 on X15 or X25 respectively. Cannotbe used by the user.
FSDRIVE FSIN Test pulseChannel 2
BOOL used internally to test input 2 on X15 or X25 respectively. Cannotbe used by the user.
Operation
AX8911 - TwinSAFE Drive Option30 Version: 1.0.0
5.3.4 Creation of safety functionsThe creation of a fail-safe user program is explained in the documentation for the EL6910 and the FBdescription. The corresponding documents are listed under References [} 8].
Note
Switching back to the default projectIf the entire project (safe logic, parameters and mapping) is deleted on the AX8911 Twin-SAFE drive option, the default project will be active again after restarting the AX8911.
Use of the STO function
AX8911 - TwinSAFE Drive Option 31Version: 1.0.0
6 Use of the STO function
CAUTION
Restart lockThe restart lock is to be implemented in the higher-level safety controller.Alternatively, this can be adapted by the user or the machine manufacturer by modifyingthe fail-safe program on the AX8911.
CAUTION
OSSD signals on X15 and X25The test pulses must not exceed a length of 3.5 ms. Longer test pulses can lead to trigger-ing of the STO. Alternatively, this can be adapted by the user or the machine manufacturer by modifyingthe fail-safe program on the AX8911.
CAUTION
Cross-circuits / external power supplyThe higher-level safety controller is responsible for checking the wiring between the safetycontroller and the TwinSAFE inputs of the AX8911 (X15, X25). The necessary tests andchecks arise from the risk and hazard analysis carried out by the machine manufacturer.
Note
Testing the X15 and X25 inputsThe functions of the STO inputs 1 and 2 of the connections X15 or X25 are tested internallyby the AX8911 TwinSAFE drive option card. The external test pulses for detecting cross-circuits or an external power supply serve only to check the correct wiring between thesafety controller and the TwinSAFE drive option card.
Using the STO inputs with TwinSAFE outputs
In this application case the STO inputs 1 and 2 of the digital inputs X15 and, if applicable, X25 are wireddirectly to safe outputs, for example of an EL2904. When using the EL2904, the safe outputs areparameterized in such a way that the test pulses are active, but the parameter Current Measurement activeis disabled. If other TwinSAFE outputs are used they must also be parameterized in the same way so thattest pulses are active at the output.
A filter is implemented within the logic of the AX8911 (default 3.5 ms) so that the test pulses of, for example,the EL2904 cannot lead to a switch-off of the STO channels.
Fig. 14: TwinSAFE outputs connected to STO inputs
Use of the STO function
AX8911 - TwinSAFE Drive Option32 Version: 1.0.0
Using the STO inputs with a third-party safety controller
It must also be ensured that test pulses are generated when using a third-party safety controller or safeoutput. The user must ensure that the test pulse length and frequency do not lead to a switch-off of the STOchannels or the AX8911. A filter with a filter time of 3.5 ms is implemented within the logic of the AX8911.
Attention
Safety assessmentWhen using a third-party safety controller, the safety assessment must be carried out bythe user or the machine manufacturer.
Fig. 15: Safe outputs from a third-party manufacturer connected to STO inputs
If the safety controller is unable to implement test pulses at the outputs, but instead supplies only static24 VDC signals, the user must implement the wiring in such a way that a fault exclusion is permitted for thewiring. Further information about fault exclusions can be found in EN ISO 13849-2.
WARNING
protected wiringIf no test pulses are used on the signals between the outputs of the safety controller andthe STO inputs of the AX8xxx-x1xx, the wiring must be implemented in the form of pro-tected cable laying (see also EN ISO 13849-2).
Fig. 16: Safe outputs from a third-party manufacturer connected to STO inputs without the use of test pulses
Use of the STO function
AX8911 - TwinSAFE Drive Option 33Version: 1.0.0
Use of the STO function via a TwinSAFE (FSoE) connection
Additional wiring of the STO inputs is unnecessary if the AX8911 is connected to a TwinSAFE logic viaEtherCAT and the Safety-over-EtherCAT protocol. Here, the signals of the connection to, for example, anEL6910 are used in the AX8911 logic in order to switch off the STO channels and the brake controller of theAX8911.
Fig. 17: STO function via TwinSAFE connection
6.1 Default STO function in the AX8911A fail-safe logic program is stored on the AX8911 in the delivery state. There are two different ways toactivate the STO function.
• The hardware inputs on X15 and X25The input signals are filtered (external test pulses up to a length of 3.5 ms are supported) and testedfor discrepancy. A logic TRUE of both signals allows movement of the axis. The discrepancy time for the two input signals is set to 1000 ms. If the two signals are different for alengthy time, an error is signaled and a diagnostic message output.
• A TwinSAFE or Safety-over-EtherCAT connectionThis connection contains the STO signals for axis A and axis B. For the STO signal a logic TRUEsignal is required so that movement of the axis is possible. The safety address for this connection is setwith the DIP switch of the AX8000 axis module.
The outputs of the two groups are logically ORed and then placed on the four STO channels. The groups areimplemented equivalently in the default application i.e. if one group supplies information that the axis may bemoved, then this is sufficient.
Use of the STO function
AX8911 - TwinSAFE Drive Option34 Version: 1.0.0
Note
Hardware inputs / TwinSAFE signalsHardware inputs and signals via the TwinSAFE connection are equivalent. If one of the twosupplies the enable signal to move the axis, the axis can be moved.If this does not suit the functionality desired by the user, the fail-safe program on theAX8911 can be replaced by the user or the machine manufacturer with a program suitablefor the application case.
Fig. 18: Default TwinSAFE logic program for AX8911
Attention
Brake controlBrake control currently takes place only by the AX8000 in accordance with the parameteri-zation in the TC3 Drive Manager 2. The brake output is generally enabled in the AX8911firmware. The default TwinSAFE logic program shown above is implemented accordinglyon the AX8911; however, the brake outputs 1 and 2 currently have no effect. The Brake(over FSoE) signal does not exist in the TwinSAFE connection.
Note
STO switch-off pathsThere are four STO switch-off paths per axis within the logic (STO output A - D). If thesafety logic on the AX8911 is replaced by a user-specific project, all four switch-off pathsmust be set for each axis.
Use of the STO function
AX8911 - TwinSAFE Drive Option 35Version: 1.0.0
6.1.1 Process image of the AX8xxx-x1xxThe process image of the AX8xxx-x1xx contains process data for the FSoE connection to the internalAX8911. The telegram length is 7 bytes and thus contains 2 bytes of safe user data. The STO signal for axisA is located in bit 0 in the first byte. The STO signal for axis B is located in bit 0 in the second byte.
Fig. 19: Process image of the AX8206-0100-0101
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 logic).• The rule for all other errors is:
error messages and associated acknowledgments are implemented on the AX8911 TwinSAFE driveoption via the status and control word of the AX8000.The ErrAck for errors on the AX8911 is implemented via the DS402 control word (bit 7) together withthe reset of the axis via TwinCAT. If an error occurs on the AX8911, a diag message is generated andthe error bit in the DS402 status word (bit 3) is set.
Implementation of Safe Motion functions
AX8911 - TwinSAFE Drive Option36 Version: 1.0.0
7 Implementation of Safe Motion functions
7.1 Safe inputs and outputsAt present only the four switch-off channels for STO are usable within the logic. The two outputs for brakecontrol are not currently used.
7.2 Safety function STORefer here to Use of the STO function [} 31].
7.3 Safety function SS1This function is supported by the AX8911 TwinSAFE drive option. In order to use it a user-specific safetyprogram must be loaded into the AX8911, or the delay of the STO signal must be implemented in the higher-level safety controller.
7.4 Safety function SS2This function is not currently supported by the AX8911 TwinSAFE drive option.
7.5 Safety function SOSThis function is not currently supported by the AX8911 TwinSAFE drive option.
7.6 Safety functions SLS, SSM, SSRThese functions are not currently supported by the AX8911 TwinSAFE drive option.
7.7 Safety function SARThis function is not currently supported by the AX8911 TwinSAFE drive option.
7.8 Safety functions SDIp, SDInThese functions are not currently supported by the AX8911 TwinSAFE drive option.
7.9 Safety function SLIThis function is not currently supported by the AX8911 TwinSAFE drive option.
7.10 Safety functions SLP, SCAThese functions are not currently supported by the AX8911 TwinSAFE drive option.
Diagnostics
AX8911 - TwinSAFE Drive Option 37Version: 1.0.0
8 Diagnostics
8.1 Diagnostic display of the AX8xxx axis moduleEach axis module has an LED display that indicates the present status of each channel. In the case of axismodules with integrated AX8911 safety option, the present status is displayed with an "S".
A SA S E
TC
Fig. 20: AX8xxx axis module display
The following table describes the information provided by the LED "S".
S symbol MeaningS - off no AX8911 installedS – steadily lit green Axis enabledS – flashing green -S – steadily lit red STO function active or errorS – flashing red -
8.2 AX8xxx Diag history tabErrors in the AX8xxx axis module and the AX8911 TwinSAFE drive option installed in it are stored in the diaghistory. The diag history can be viewed by selecting the AX8xxx axis module in the I/O tree structure andselecting the Diag History tab. The current data can be fetched from the axis module and the TwinSAFEdrive option by actuating the Update History button. All errors that occur are saved with a correspondingtimestamp.
Fig. 21: Diag history
Use the Advanced… button to open the advanced settings. Here, the user can customize the behavior of thediag history.
Diagnostics
AX8911 - TwinSAFE Drive Option38 Version: 1.0.0
Fig. 22: Diag history – advanced settings
Advanced Settings
Setting DescriptionMessage Types • disable Info
Messages with status Info are not stored in the diag history• disable Warnings
Messages with status Warning are not stored in the diag history• disable Errors
Messages with status Error are not stored in the diag historyEmergency In addition to saving the message in the diag history, an emergency object
is also sent and displayed in the TwinCAT logger window.Overwrite / Acknowledge Mode This setting is currently not supported.
8.3 Diagnosis HistoryThe diagnostic history of the TwinSAFE devices that support this function is implemented in accordance withthe ETG guideline ETG.1020 Chapter 13 "Diagnosis Handling". The diagnostic messages are saved by theTwinSAFE device in a dedicated CoE object under 0x10F3 and can be read out by the application or byTwinCAT.
Both the control entries and the history itself can be found in the CoE object 0x10F3. The entry NewestMessage (0x10F3:02) contains the subindex of 0x10F3, which contains the latest diagnostic message, e.g.0x06 for diagnostic message 1.
Diagnostics
AX8911 - TwinSAFE Drive Option 39Version: 1.0.0
Index 10F3hex Diagnosis History
Index (hex) Name Meaning Data type Flags Default10F3:0 Diagnosis
History10F3:01 Maximum
MessagesMaximum number of stored messages. Amaximum of 64 messages can be stored.After that the respective oldest messagesare overwritten.
UINT8 RO 0x40 (64dec)
10F3:02 NewestMessage
Subindex of the latest message UINT8 RO 0x00 (0dec)
10F3:03 NewestAcknowledgedMessage
Subindex of the last confirmed message UINT8 RW 0x00 (0dec)
10F3:04 NewMessagesAvailable
Indicates that a new message is available BOOLEAN RO 0x00 (0dec)
10F3:05 Flags Set via the startup list. If set to 0x0001, thediagnostic messages are additionally sentby emergency to the EtherCAT master
UINT16 RW 0x0000 (0dec)
10F3:06 DiagnosisMessage 001
Diagnostic message 1 BYTE[32] RO {0}
... ... ... ... ... ...10F3:45 Diagnosis
Message 064Diagnostic 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), timestamp and number of parameters
contained (see the following table)• Text ID (2 bytes) – ID of the diagnostic message as a reference to the message text from the ESI/XML• Timestamp (8 bytes) – local slave time in ns since switching on the TwinSAFE device• dynamic parameters (16 bytes) – parameters that can be inserted in the message text (see following
table)
Flags in diagnostic messages
Data type Offset DescriptionUINT16 Bits 0 to 3 DiagType (value)
0 Info message1 Warning message2 Error message3…15 reserved
Bit 4 If the bit = 1, the timestamp contained in the message is the local timestamp of theTwinSAFE device. The age of the diagnostic message can be deduced bycalculation with the current timestamp from the CoE object 0x10F8.
Bits 5 to 7 reservedBits 8 to 15 Number of parameters in this diagnostic message
Diagnostics
AX8911 - TwinSAFE Drive Option40 Version: 1.0.0
Dynamic parameters in the diagnostic messages
Type Data type DescriptionFlags parameter 1 UINT16 Describes the type of parameter 1
Bits 12 to 15 =0
Bits 0 to 11 = data type of parameter 10x0001 - BOOLEAN0x0002 - INT80x0003 - INT160x0004 - INT320x0005 - UINT80x0006 - UINT160x0007 - UINT320x0008 - REAL320x0011 - REAL640x0015 - INT640x001B - UINT64Text parameters and formats arespecified in ETG.2000.
Parameter 1 Data type in accordance withflags
Value of parameter 1
Flags parameter 2 UINT16 see Flags parameter 1Parameter 2 Data type in accordance with
flagsValue of parameter 2
...
The diagnostic messages are saved in text form in the ESI/XML file belonging to the TwinSAFE device. Onthe basis of the Text ID contained in the diagnostic message, the corresponding plain text message can befound in the respective languages. The parameters can be inserted in the appropriate positions. In thefollowing example, %x is used for a hexadecimal representation of the parameters.
Fig. 23: ESI/XML message text
Via the entry New Messages Available the user receives information that new messages are available. Themessages can be read out via CompleteAccess (a CoE read command for the complete CoE object0x10F3). The New Messages Available bit is reset after reading the messages.
The sending of emergency messages to the EtherCAT master is activated by adding the CoE object0x10F3:05 to the startup list (Transition IP, value 0x0001). If new diagnostic messages arrive, they areentered in object 0x10F3 and additionally sent by emergency to the EtherCAT master.
Fig. 24: Startup list
Maintenance
AX8911 - TwinSAFE Drive Option 41Version: 1.0.0
9 MaintenanceMaintenance
The TwinSAFE components are maintenance-free!
Environmental conditions
WARNING
Observe the specified environmental conditions!Please ensure that the TwinSAFE components are only stored and operated under thespecified conditions (see technical data).
If the TwinSAFE component is operated outside the permitted temperature range it will switch to GlobalShutdown state.
Cleaning
Protect the TwinSAFE component from unacceptable soling during operation and storage!
If the TwinSAFE component was subjected to unacceptable soiling it may no longer be operated!
WARNING
Have soiled terminals checked!Cleaning of the TwinSAFE component by the user is not permitted!Please send soiled terminals to the manufacturer for inspection and cleaning!
Service life
AX8911 - TwinSAFE Drive Option42 Version: 1.0.0
10 Service lifeThe TwinSAFE drive option has a service life of 20 years.
Due to the high diagnostic coverage within the lifecycle no special proof tests are required.
The internal TwinSAFE drive option has a unique serial number that can be read out over CoE.
The date of manufacture and the serial number of the complete device can be read from the type plate onthe AX8000 axis module. Refer here to the AX8000 startup documentation under References [} 8].
Type plate
No. Position No. Position No. Position1 Order number 6 Rated output current 11 cULus certification2 Serial number 7 Output frequency range 12 EAC approval3 Rated input voltage 8 Date of manufacture 13 CE conformity4 Max. ambient temperature 9 QR code 14 Serial number sticker5 Rated output voltage 10 EtherCAT conformity 15 Attachment of the type plate
Decommissioning
AX8911 - TwinSAFE Drive Option 43Version: 1.0.0
11 Decommissioning
DANGER
Serious risk of injury!Bring the AX8xxx into a safe, de-energized state before commencing with the disassemblyof the devices!
Disposal
Note
National regulationsObserve the relevant national disposal regulations.
Supplementary information on disposal can be obtained from our Service Dept. (see Support and Service[} 44])
• The device should be disposed of by a certified disposal company. Addresses can be obtained fromour service department.
• Metal parts can be sent for metal recycling.
In accordance with the Directive 2012/19/EU on WEEE we take old devices and accessories back forprofessional disposal, provided the transport costs are taken over by the sender. Send the devices with thenote ‘For disposal’ to the Beckhoff headquarters. You can find the address under Support and Service[} 44].
Appendix
AX8911 - TwinSAFE Drive Option44 Version: 1.0.0
12 Appendix
12.1 Support and ServiceBeckhoff and their partners around the world offer comprehensive support and service, making available fastand competent assistance with all questions related to Beckhoff products and system solutions.
Beckhoff's branch offices and representatives
Please contact your Beckhoff branch office or representative for local support and service on Beckhoffproducts!
The addresses of Beckhoff's branch offices and representatives round the world can be found on her internetpages:http://www.beckhoff.com
You will also find further documentation for Beckhoff components there.
Beckhoff Headquarters
Beckhoff Automation GmbH & Co. KG
Huelshorstweg 2033415 VerlGermany
Phone: +49(0)5246/963-0Fax: +49(0)5246/963-198e-mail: info@beckhoff.com
Beckhoff Support
Support offers you comprehensive technical assistance, helping you not only with the application ofindividual Beckhoff products, but also with other, wide-ranging services:
• support• design, programming and commissioning of complex automation systems• and extensive training program for Beckhoff system components
Hotline: +49(0)5246/963-157Fax: +49(0)5246/963-9157e-mail: support@beckhoff.com
Beckhoff Service
The Beckhoff Service Center supports you in all matters of after-sales service:
• on-site service• repair service• spare parts service• hotline service
Hotline: +49(0)5246/963-460Fax: +49(0)5246/963-479e-mail: service@beckhoff.com
List of figures
AX8911 - TwinSAFE Drive Option 47Version: 1.0.0
List of figuresFig. 1 AX8911: Connection to X15 and X25 .......................................................................................... 18Fig. 2 Addition of an axis module........................................................................................................... 20Fig. 3 Addition of an alias device ........................................................................................................... 21Fig. 4 Dialog Add new item AX891x (Safe Drive Module) ..................................................................... 21Fig. 5 Dialog for linking the variables of the AX8911 ............................................................................. 22Fig. 6 Projects with outputs to the AX8911............................................................................................ 23Fig. 7 Add new item ............................................................................................................................... 24Fig. 8 Target system AX8911 ................................................................................................................ 24Fig. 9 AX8911 - Add new item .............................................................................................................. 25Fig. 10 AX8911 - Add new item - Alias Device AX891x .......................................................................... 25Fig. 11 AX8911 - Linking Mode local ....................................................................................................... 25Fig. 12 AX8911 – safe inputs of the local alias device ............................................................................ 26Fig. 13 AX8911 – safe outputs of the local alias device .......................................................................... 28Fig. 14 TwinSAFE outputs connected to STO inputs .............................................................................. 31Fig. 15 Safe outputs from a third-party manufacturer connected to STO inputs ..................................... 32Fig. 16 Safe outputs from a third-party manufacturer connected to STO inputs without the use of test
pulses .......................................................................................................................................... 32Fig. 17 STO function via TwinSAFE connection...................................................................................... 33Fig. 18 Default TwinSAFE logic program for AX8911.............................................................................. 34Fig. 19 Process image of the AX8206-0100-0101................................................................................... 35Fig. 20 AX8xxx axis module display ........................................................................................................ 37Fig. 21 Diag history.................................................................................................................................. 37Fig. 22 Diag history – advanced settings................................................................................................. 38Fig. 23 ESI/XML message text ................................................................................................................ 40Fig. 24 Startup list.................................................................................................................................... 40
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