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Beckhoff AX8911 Documentation

Twinsafe drive option for ax8xxx-xxxx servo drives
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AX8911
TwinSAFE Drive Option for AX8xxx-xxxx Servo Drives
Version:
Date:
1.2.0
2020-03-30

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Summary of Contents for Beckhoff AX8911

  • Page 1 Documentation for AX8911 TwinSAFE Drive Option for AX8xxx-xxxx Servo Drives Version: 1.2.0 Date: 2020-03-30...

  • Page 3: Table Of Contents

    Adding an axis module .................... 22 5.3.2 Using the AX8911 with the default project...............  22 5.3.3 Use of the AX8911 with a fail-safe user program ............ 26 5.3.4 Creation of safety functions .....................  28 6 Use of the STO function.......................... 29 Default STO function in the AX8911.................... 32...
  • Page 4 7.14 Safety function SBT ......................... 54 8 Diagnostics .............................. 55 Diagnostic display of the AX8xxx axis module ................ 55 AX8xxx Diag history tab ........................ 55 Diagnosis History.......................... 56 9 Maintenance ............................. 59 10 Service life.............................. 60 11 Decommissioning............................ 61 12 Appendix .............................. 62 12.1 Support and Service ........................ 62 12.2 Certificates............................ 63 Version: 1.2.0 AX8911...

  • Page 5: Foreword

    Product features Only the product features specified in the current user documentation are valid. Further information given on the product pages of the Beckhoff homepage, in emails or in other publications is not authoritative. Disclaimer The documentation has been prepared with care. The products described are subject to cyclical revision. For that reason the documentation is not in every case checked for consistency with performance data, standards or other characteristics.

  • Page 6: Safety Instructions

    Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a patent, utility model or design. Delivery conditions In addition, the general delivery conditions of the company Beckhoff Automation GmbH & Co. KG apply. Safety instructions 1.2.1...

  • Page 7: Description Of Instructions

    • Description of the safe inputs and outputs added 0.4.0 • Safety parameters for the STO and SS1 functions added 0.3.0 • Description of the Safe Motion functions updated 0.2.0 • Preliminary (internal only) 0.1.0 • Preliminary (internal only) AX8911 Version: 1.2.0...

  • Page 8: References

    3.1.0 or newer Documentation – TwinSAFE Logic FB The document describes the safety function blocks that are available in the EL6910, and thus also in the AX8911, and form the safety application. 1.0 or newer AX8000 system manual Description of the mechanical and electrical parameters as well as all information necessary for the use of the AX8000 multi-axis servo system.

  • Page 9: System Description

    (stainless steel) series, the wiring is reduced to the obligatory motor cable, via which the feedback signals are then also directly transmitted. As in sensorless control, the user no longer has to use an additional feedback cable. All the information required for control purposes is transferred reliably and fail-safe via a digital interface. AX8911 Version: 1.2.0...

  • Page 10: Product Description

    The AX8911 TwinSAFE Drive Option is an optional extension of the Beckhoff AX8000 Servo Drive series. The AX8911 is intended for use in a servo drive from the AX8000 series, in which it is permanently installed. There are 2 versions of the AX8911 option.

  • Page 11: Ax8911 With Safe Motion Functions (Ax8Xxx-X2Xx)

    Use of the TwinSAFE drive option card other than for the intended purpose as described below is not per- mitted! The AX8911 card can be addressed as a TwinSAFE drive option card via the TwinSAFE inputs X15 or X25 or via an FSoE or TwinSAFE connection. Depending on which of these variants is used, the error reactions of the TwinSAFE drive option card described below may be different.
  • Page 12 WARNING Commissioning test Before the AX8000 with integrated AX8911 can be used for the safety task, a commissioning test must be performed by the user. The test must include all safety functions, error reactions and operating states of the machine specified and implemented by the user. The purpose of this test is to check the axis assignment, direction and speed of the travel path, transmission ratio, position offset and, if applicable, other axis func- tions.
  • Page 13 This test must be performed by the machine manufacturer. The combination of AX8000 and AX8911 may be used in production only when this test has produced a positive result for all safety-relevant functions.
  • Page 14 Activation or restart of a project in TwinCAT The activation or restart of a project in TwinCAT can lead to switch-off. The AX8911 can switch the motors of the AX8000 servo drive torque-free according to the safety project used on it. Any motors that are still moving coast to a halt.

  • Page 15: Technical Data

    Product description Technical data Product designation AX8911 (AX8xxx-x1xx + AX8xxx-x2xx) Number of inputs 2 digital inputs per channel (X15, X25) Status display "S" display on the AX8000 Minimum/maximum cycle time approx. 1 ms / according the project size Fault reaction time ≤...

  • Page 16: Safety Parameters

    SS1 corresponds to SS1-t (safe stop 1 time controlled) according to EN 61800-5-2:2017 The AX8911 TwinSAFE Drive Option Card with the safety functions STO and SS1 can be used for fail-safe applications within the meaning of IEC 61508:2010 up SIL 3, EN 62061:2005/A1:2013/A2:2015 up to SILCL3 and EN ISO 13849-1:2015 up to PL e (Cat.4).
  • Page 17 Category Classification element Type B Special proof tests are not required during the entire service life of the AX8911 TwinSAFE Drive Option card. 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 with the safety function SBC can be used for fail-safe applications within the meaning of IEC 61508:2010 up SIL 3, EN 62061:2005/A1:2013/A2:2015 up to SILCL3 and...

  • Page 18: Ax8911 Project Design Limits

    AX8911 project design limits Project design limits The maximum project design size of the AX8911 is limited by the available memory. This is man- aged dynamically. The values specified in the following table are therefore only guide values and may differ from the actual values, depending on the safety project.

  • Page 19: Operation

    Before installing and commissioning the TwinSAFE components please read the safety instructions in the foreword of this documentation. 5.2.2 Transport / storage For transport and storage of the AX8xxx with the AX8911 TwinSAFE drive option card, use the original packaging in which the components were delivered. CAUTION Observe the specified environmental conditions Please ensure that the digital TwinSAFE components or the AX8000 with AX8911 TwinSAFE drive option card are only transported and stored under the specified environmental conditions (see technical data).

  • Page 20: 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 for the 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 both signals are logic 1 (24 V ).
  • Page 21 X15 and X25 inputs or, in the case of 1-axis modules, to the left of X15. AX81xx-xxxx 1-axis module AX82xx-xxxx 2-axis module DIP switch Address 1023 WARNING TwinSAFE address Each TwinSAFE address may only be used once within a network / a configuration! The address 0 is not a valid TwinSAFE address! AX8911 Version: 1.2.0...

  • Page 22: Configuration Of The Option In Twincat

    Using the AX8911 with the default project The AX8911 TwinSAFE Drive Option, with which an STO function can be implemented, is installed in the AX8xxx-x1xx and AX8xxx-x2xx devices. Information on this project can be found in Default STO function in the AX8911 [} 32].

  • Page 23: Fig. 3 Addition Of An Alias Device

    Operation 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. AX8911 Version: 1.2.0...

  • Page 24: Fig. 5 Dialog For Linking The Variables Of The Ax8911

    Operation Fig. 5: Dialog for linking the variables of the AX8911 The variables are displayed with the corresponding designation in Variable Mapping. Version: 1.2.0 AX8911...

  • Page 25: Fig. 6 Projects With Outputs To The Ax8911

    Operation Fig. 6: Projects with outputs to the AX8911 AX8911 Version: 1.2.0...

  • Page 26: Use Of The Ax8911 With A Fail-Safe User Program

    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.

  • Page 27: Fig. 9 Ax8911 - Add New Item

    Operation 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 disabled for input.

  • Page 28: Creation Of Safety Functions

    The corresponding documents are listed under References [} 8]. NOTE Switching back to the default project If the entire project (Safe Logic, parameters and mapping) is deleted on the AX8911 TwinSAFE Drive Op- tion, the default project will be active again after restarting the AX8911. Version: 1.2.0...

  • Page 29: Use Of The Sto Function

    Testing the X15 and X25 inputs The functions of the STO inputs 1 and 2 of the connections X15 or X25 are tested internally by the AX8911 TwinSAFE Drive Option card. The external test pulses for detecting cross-circuits or an external power sup- ply serve only to check the correct wiring between the safety controller and the TwinSAFE Drive Option card.

  • Page 30: Fig. 12 Twinsafe Outputs Connected To Sto Inputs

    The user must ensure that the test pulse length and frequency do not lead to a switch-off of the STO channels or the AX8911. A filter with a filter time of 3.5 ms is implemented within the logic of the AX8911.

  • Page 31: Fig. 14 Safe Outputs From A Third-Party Manufacturer Connected To Sto Inputs Without The Use Of Test Pulses

    Additional wiring of the STO inputs is unnecessary if the AX8911 is connected to a TwinSAFE logic via EtherCAT and the Safety-over-EtherCAT protocol. Here, the signals of the connection to, for example, an EL6910 are used in the AX8911 logic in order to switch off the STO channels and the brake controller of the AX8911.

  • Page 32: Default Sto Function In The Ax8911

    Use of the STO function Default STO function in the AX8911 A fail-safe logic program is stored on the AX8911 in the delivery state. There are 2 different ways to activate the STO function. • The hardware inputs on X15 and X25 The input signals are filtered (external test pulses up to a length of 3.5 ms are supported) and tested...

  • Page 33: Fig. 16 Default Twinsafe Logic Program For Ax8911

    The brake is only controlled via the AX8000 in the delivery state in accordance with the parameterization in the TC3 Drive Manager 2. The brake output is generally enabled in the AX8911 firmware. The default Twin- SAFE logic program shown above is implemented accordingly on the AX8911; however, the brake outputs 1 and 2 currently have no effect.

  • Page 34: Process Image Of The Ax8Xxx-X1Xx

    The process image of the AX8xxx-x1xx contains process data for the FSoE connection to the internal AX8911. The telegram length is 7 bytes and thus contains 2 bytes of safe user data. The STO signal for axis A is located in bit 0 in the first byte. The STO signal for axis B is located in bit 0 in the second byte.

  • Page 35: Safe Motion Functions

    AX8911 (see chapter Default STO function in the AX8911 [} 32]). To reset the AX8911 to the delivery state, the logic, the mapping and the parameter data on the AX8911 must be deleted. After switching the servo drive off and on again, the default project is active once more.

  • Page 36: Feedback System Requirements

    Encoder functions If functions of the encoder such as Set Position (101h) or Factory Settings (108h) are executed, this will be detected by the AX8911 and an error displayed. A subsequent start is possible only after an update and download of the safety parameters.
  • Page 37 - Restart the EnDat2.2 safety encoder - Function test of all axes must be performed - All axes that use a safe EnDat2.2 encoder must be moved. The respective axis movement must be checked and must meet the expectations. AX8911 Version: 1.2.0...

  • Page 38: Process Image

    Safe Motion functions Process image The process image of the AX8911 in the AX8xxx-xxxx servo drive is composed of the input and output process image. Detailed information can be found in the following tables. WARNING Safe and unsafe signals For each signal in the input process image, the entry in the Group column indicates whether it is a safe or an unsafe signal.
  • Page 39 Run signal for Axis 1 from AX8000 control word 22.1 Safety control Axis 1: ErrAck BOOL Standard Error Acknowledge signal for Axis 1 from AX8000 control word (Link to output signal 0.4, 1.5, 2.2, 4.0, 14.0, 18.0) 22.2-23.7 Safety Control Axis 1 reserve AX8911 Version: 1.2.0...
  • Page 40 Analog value of multi-turn position Axis 1 Standard Multiturn Position (Axis 1, Port X13.T+ and T-) (unit: increments) 66-69 Primary SAFEDRIVEFEEDBACK UINT32 Safety Analog value of single-turn position Axis 1 Safety Singleturn Position (Axis 1, Port X13.T+ and T-) (unit: increments) Version: 1.2.0 AX8911...
  • Page 41 Axis 2, feedback on Port X22 BACK Axis 2 (structure same as Primary SAFEDRIVEFEEDBACK Axis 1 (56-81)) Alternative to link 108.0 / 108.1: (Link from 134.0 to output signal 11.0) (Link from 134.1 to output signal 24.0) 160-511 Reserve (0) AX8911 Version: 1.2.0...
  • Page 42 Underrange Error Safety status Axis 1, bit 5: Encoder BOOL Standard Status of AX8000: Encoder overvoltage (OCT or Endat Axis 1) Overrange Error Safety status Axis 1, bit 6: Encoder BOOL Standard Status of AX8000: Encoder enabled Enable Version: 1.2.0 AX8911...
  • Page 43 (same as Primary SAFEDRIVEFEEDBACK Axis 1 (12-15) 20-23 Primary SAFEDRIVEFEEDBACK Axis 2 Port X23 Axis 2 (same as Primary SAFEDRIVEFEEDBACK Axis 1 (12-15) 24-27 Secondary SAFEDRIVEFEED- Axis 2 Port X22 BACK Axis 2 (same as Primary SAFEDRIVEFEEDBACK Axis 1 (12-15) 28-31 Reserve (0) AX8911 Version: 1.2.0...

  • Page 44: Basic Functions

    Assignment of the AX8000 signals (minimum configuration) The table below contains a list of the signals that must at least be exchanged between the AX8911 and the AX8000. The addresses and descriptions for source and destination can be found in the chapter Process image [} 38].

  • Page 45: Fig. 19 Ax8911 - Creation Of Variables

    Assignment column to the signal in the Usages column. In this sample the STOError variable is created, which assigns the signal STO Module Fault to the signal Axis STO Error. Fig. 19: AX8911 – Creation of variables AX8911 Version: 1.2.0...

  • Page 46: Evaluation Of Module Errors

    7.4.2 Evaluation of module errors In addition to the exchange of the module errors between the AX8000 and the AX8911 (see Signal assignment [} 44]), the module errors are also evaluated within the safety application. For this purpose, in the case of an error in an active module, the user must implement the corresponding reaction in the TwinSAFE application.

  • Page 47: Checking Safedrivefeedback Position Valid

    7.4.4 Evaluation of AX8000 Status In the case of an error or unexpected behavior of the AX8000 that is not signaled to the AX8911 and the safety application, an expectation that can discover corresponding faulty behavior can be implemented via an appropriate safety application.

  • Page 48: Fig. 20 Ax8911 Simple Project

    The ESTOPout signal is connected to the 4 STO switch-off channels and both brake switch-off channels. For reasons of clarity, the list of variables below does not contain the standard signal assignments to the AX8000. Fig. 20: AX8911 Simple project Version: 1.2.0 AX8911...

  • Page 49: Safety Function Sto

    Safety function SS1 AX8911 in AX8xxx-x1xx The function SS1 (Safe Stop 1) is supported by a user-specific safety program on the AX8911 by implementing a time delay of the STO signal. Alternatively, the time delay of the STO signal can be implemented in the higher-level safety controller.

  • Page 50: Fig. 22 Sos/Ss2 With Fb Sli

    Please note that in this solution a minimal movement of the axis below the speed values defined in the function block FB Limit is possible. The machine manufacturer or user must consider this and decide whether it could be dangerous. Fig. 23: SOS/SS2 with FB Limit Version: 1.2.0 AX8911...

  • Page 51: Safety Function Sls, Ssm, Ssr, Sms

    Here, for example, it is wired to an FB EStop, which switches the output off as soon as the acceleration exceeds or falls below the limit. The restart lock is implemented via a Restart, which is connected to a safe signal. AX8911 Version: 1.2.0...

  • Page 52: Safety Function Sdi

    EncoderPosition is latched on a rising edge at the input SLI. The output SLIActive remains set as long as the input SLI is set and the position lies within the parameterized limits. This safe output signal can be used in the following safety application. Fig. 26: SLI with FB SLI Version: 1.2.0 AX8911...

  • Page 53: Safety Functions Slp, Sca

    AX8000 controller. If the SBC safety function is to be used, it must be implemented via a user-specific safety project on the AX8911. The control of the holding brake can be enabled from AX8911 by setting the Brake Control Enabled parameter to TRUE.

  • Page 54: Safety Function Sbt

    If the test fails, the drive and the brake may no longer be used or activated. Following a repair and a new, successful brake test, the drive can be put back into operation. These functions are implemented in the AX8000 with Safe Motion function by means of an application in the safe user program. Version: 1.2.0 AX8911...

  • Page 55: Diagnostics

    AX8xxx Diag history tab Errors in the AX8xxx axis module and the AX8911 TwinSAFE drive option installed in it are stored in the diag history. The diag history can be viewed by selecting the AX8xxx axis module in the I/O tree structure and selecting the Diag History tab.

  • Page 56: Diagnosis History

    Both the control entries and the history itself can be found in the CoE object 0x10F3. The entry Newest Message (0x10F3:02) contains the subindex of 0x10F3, which contains the latest diagnostic message, e.g. 0x06 for diagnostic message 1. Version: 1.2.0 AX8911...
  • Page 57 TwinSAFE device. The age of the diagnostic message can be deduced by calculation with the current timestamp from the CoE object 0x10F8. Bits 5 to 7 reserved Bits 8 to 15 Number of parameters in this diagnostic message AX8911 Version: 1.2.0...

  • Page 58: Fig. 31 Esi/Xml Message Text

    The sending of emergency messages to the EtherCAT master is activated by adding the CoE object 0x10F3:05 to the startup list (Transition IP, value 0x0001). If new diagnostic messages arrive, they are entered in object 0x10F3 and additionally sent by emergency to the EtherCAT master. Fig. 32: Startup list Version: 1.2.0 AX8911...

  • Page 59: Maintenance

    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! AX8911 Version: 1.2.0...

  • Page 60: Service Life

    Rated output current cULus certification Serial number Output frequency range EAC approval Rated input voltage Date of manufacture CE conformity Max. ambient temperature QR code Serial number sticker Rated output voltage EtherCAT conformity Attachment of the type plate Version: 1.2.0 AX8911...

  • Page 61: Decommissioning

    In accordance with the Directive 2012/19/EU on WEEE we take old devices and accessories back for professional disposal, provided the transport costs are taken over by the sender. Send the devices with the note ‘For disposal’ to the Beckhoff headquarters. You can find the address under Support and Service [} 62].

  • Page 62: Appendix

    Beckhoff's branch offices and representatives Please contact your Beckhoff branch office or representative for local support and service on Beckhoff products! The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet pages: http://www.beckhoff.com You will also find further documentation for Beckhoff components there.

  • Page 63: Certificates

    Appendix 12.2 Certificates AX8911 Version: 1.2.0...
  • Page 64 Appendix Version: 1.2.0 AX8911...
  • Page 65 Target system AX8911 ........................ Fig. 9 AX8911 - Add new item ......................Fig. 10 AX8911 - Add new item - Alias Device AX891x ................Fig. 11 AX8911 - Linking Mode local ....................... Fig. 12 TwinSAFE outputs connected to STO inputs ................

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