Beckhoff TwinSAFE SafeMotion Wizard

1. Introduction

1.1 Release Status

1.2 Prerequisites

For this tutorial, please ensure the following prerequisites are met:

• TwinCAT 3 Version ≥ 3.1.4024.11
• TwinCAT Safety Editor TE9000 ≥ 1.2.1.1
• TwinSAFE Firmware ≥ 03
• AX8000 Firmware ≥ 0104; with Default Module ID active

1.3 Starting Point

The starting point for the tutorial includes:

• An existing TwinCAT 3 project with a standard PLC.
• An existing EL6910 project.
• An existing AX8000 project with SLP functionality.

1.4 Demo System

1.4.1 Hardware

The demo system for this tutorial consists of the following hardware:

• CX for EtherCAT communication and standard PLC control.
• EL6910 as Master TwinSAFE Logic.
• EL1918 with safe inputs for reading light barrier signals.
• Light barrier.
• AX8000-x2xx.

1.4.2 Desired Safety Functionality

This tutorial describes the implementation of the following safety functionality:

• Configuration of SLP (Safe Limited Position) with automatic referencing.

1.5 Approach

1.5.1 Capturing Ini-Signals

The process involves:

• Using the safe inputs of the EL1918 on the EL6910 to capture the Ini-Signals.
• Accumulating the Ini-Signals to form the Reference-Signal.
• Transmitting the Reference-Signal to the AX8000.

A diagram shows the logic for capturing Ini-Signals, including inputs like Restart, Monin1-4, Secure1-2, EDM1-2, and outputs like Error, MonOut, and MonDelOut, with a logic block indicating ≥1.

1.5.2 Transmission to AX8000

The process involves extending the process image on the output side of the EL6910 by inserting an additional bit, and making a corresponding change on the AX8000. The table shows output signals like STO_CHA, SS1_ChA, Error_Ack_ChA, STO_ChB, SS1_ChB, SLP_REF_ChB, Error_Ack_ChB, and SLP_1_ChB with their respective types, sizes, and positions.

1.5.3 Setting the Reference Point

This involves extending the process image on the input side of the AX8000 by inserting an additional bit and linking it with the ChB_PriFb_SetRef signal of the internal process image. The table shows input signals like ChB_PriFb_Enable, ChB_PriFb_ErrAck, ChB_PriFb_SetRef, ChB_SecFb_Enable, ChB_SecFb_ErrAck, and ChB_SecFb_SetRef.

2. Demonstration

2.1 Linking the Reference Signal

Steps to link the reference signal:

1. Open the file "ChB_SLP_1.sal".
2. Right-click within the network.
3. Click "Add After" and then "Network" to add another network.
4. Open the Toolbox.
5. Add a safeMon block to the new network.
6. Rename the FB.
7. Right-click on an input.
8. Click "Change Link".
9. Select the variable "SLP_1_REF_CMD" and confirm with "OK".
10. The following links are established for the inputs and outputs of the safeMon block: MonIn1 linked to SLP_1_REF_CMD, MonIn2 linked to ACK_REFERENCE_STD, and MonOut linked to SIGNAL_TO_SDF.
11. Save all settings.

2.2 Configuring Reference Behavior

Steps to configure reference behavior:

1. Open the file "Target Systems.sds".
2. Open the "Internal Safety Parameters" tab.
3. Locate the referencing settings for ChB under C3C2:0.
4. Configure the parameter settings. For "C3C2:01 Operation Mode", select "Automatic Referencing, Set Reference Position enabled" from the Enum dropdown menu.
5. Confirm the selection with "OK".
6. For other parameters, the procedure is identical. For example, for "C3C2:11 Reference SafePosition Singleturn", enter the value 2504785919 in the "Dec" field and confirm with "OK".
7. Save all settings.

2.3 Downloading Safety Projects

Steps to download safety projects:

1. Click "Multi-Download Safety Project(s)".
2. Select the safety projects to download.
3. Confirm the selection by clicking "Next".
4. In the "General Download Settings" window, enter the username "Administrator" and password "TwinSAFE".
5. Select the safety projects to download.
6. Confirm the selection by clicking "Next".
7. In the "Final Verification" window, verify the CRCs and check the box to confirm the verification.
8. Confirm by clicking "Next".
9. In the "Activation" window, ensure the desired safety projects are selected and click "Next".
10. Close the "Multi-Download Result" window with "Finish".
11. Save all settings.

2.4 Verifying Referencing

Steps to verify referencing:

1. Open "Axis 2".
2. Open the "Online" tab.
3. Click "Set" in the "Enabling" section.
4. Close the dialog with "All".
5. Click "F8" to reset the error.
6. Open the "Functions" tab.
7. Enter the target position and time as shown in the figure.
8. Click "Start".
9. Open the file "ChB_SLP_1.sal".
10. Right-click in the network.
11. Click "Show Online Data" to activate the online view.
12. Right-click on "SLP_ACK_STD".
13. Click "Online Force".
14. In the "Set Value Dialog", click "1" for "Boot".
15. Right-click on "SLP_ACK_STD".
16. Click "Online Force".
17. In the "Set Value Dialog", click "0" for "Boot".
18. Right-click on "SLP_ACK_STD".
19. Click "Release Force".

The command from the EL6910 is received correctly. The safeSLP block shows that the command ChB.PriFb_REFPOSITION_VALID is still FALSE.

Next, operate the motor as follows:

1. Open "Axis 2".
2. Open the "Functions" tab.
3. In the "Start Mode" dropdown menu, select "Reversing Sequence".
4. Enter the position and time as shown in the illustration.
5. Click "Start".
6. Open the file "ChB_SLP_1.sal".

In the safeSLP block, you can see that the command ChB.PriFb_REFPOSITION_VALID is now TRUE, and you have successfully referenced.

You can now observe how the motor moves based on the values.

2.5 Additional Information

• If axis movement is necessary when the axis is switched off: → Automatic referencing.
• If position information is invalid after startup: → Manual referencing → new download → Automatic referencing → referencing run.
• If axis movement is necessary while the safety project is running: → No problem.