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Beckhoff TwinSAFE Logic FB Documentation

Twincat function blocks for twinsafe logic components
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Documentation | EN
TwinSAFE Logic FB
TwinCAT Function Blocks for TwinSAFE Logic Components
2024-09-10 | Version: 4.1.0

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  • Page 1 Documentation | EN TwinSAFE Logic FB TwinCAT Function Blocks for TwinSAFE Logic Components 2024-09-10 | Version: 4.1.0...

  • Page 3: Table Of Contents

    Documentation issue status ...................... 11 References ............................ 12 Staff qualification .......................... 13 Safety and instruction........................ 14 Beckhoff Support and Service...................... 15 Notes on information security...................... 16 2 For your safety ............................ 17 Duty of care .............................  17 3 System description .......................... 18 TwinSAFE Logic Terminals ......................
  • Page 4 Signal description...................... 92 4.11.3 FB SR configuration in the TwinCAT System Manager ...........  93 4.11.4 Display in TwinCAT 3.......................  93 4.12 The function block TON ........................ 94 4.12.1 Functional description ......................  94 4.12.2 Signal description...................... 95 Version: 4.1.0 TwinSAFE Logic FB...
  • Page 5 FB LIMIT configuration in TwinCAT 3 ................ 131 4.22 The function block COUNTER ......................  132 4.22.1 Functional description .................... 132 4.22.2 Signal description...................... 133 4.22.3 FB Counter configuration in TwinCAT 3.................  135 4.23 The function block SCALE ...................... 136 TwinSAFE Logic FB Version: 4.1.0...
  • Page 6 Configuration of FB ADVPOSMON in TwinCAT 3 ............ 195 4.32 The function block Envelope ...................... 197 4.32.1 Functional description .................... 197 4.32.2 Signal description...................... 198 4.32.3 FB Envelope configuration in TwinCAT 3 .............. 200 4.33 The function block ViolationCounter .....................  201 Version: 4.1.0 TwinSAFE Logic FB...
  • Page 7 FB ViolationCnt configuration in TwinCAT 3 .............. 204 4.34 The function block XOR ........................  205 4.34.1 Functional description .................... 205 4.34.2 Signal description...................... 206 4.34.3 Configuration of the FB XOR in TwinCAT 3.............. 209 5 Appendix .............................. 211 Support and Service........................ 211 TwinSAFE Logic FB Version: 4.1.0...
  • Page 8 Table of contents Version: 4.1.0 TwinSAFE Logic FB...

  • Page 9: Notes On The Documentation

    Notes on the documentation Disclaimer Beckhoff products are subject to continuous further development. We reserve the right to revise the operating instructions at any time and without prior announcement. No claims for the modification of products that have already been supplied may be made on the basis of the data, diagrams and descriptions in these operating instructions.

  • Page 10: Limitation Of Liability

    Modifications and changes to the hardware and/or software configuration that go beyond the documented options are prohibited and nullify the liability of Beckhoff Automation GmbH & Co. KG. The following is excluded from the liability: •...

  • Page 11: Documentation Issue Status

    • FB OPMODE description extended • Service/support information modified 2.0.0 • EL6900 function blocks added 1.1.1 • Corrections during the translation into English 1.1.0 • Adaptations in the application examples 1.0.0 • First released version TwinSAFE Logic FB Version: 4.1.0...

  • Page 12: References

    Product features The valid product properties are always those specified in the current manual. Further information given on the product pages of the Beckhoff homepage, in emails or in other publications is not authoritative. References In addition to these operating instructions, the following documents form part of the overall documentation,...

  • Page 13: Staff Qualification

    • Independently identify, avoid and eliminate sources of hazard. • Apply relevant standards and directives. • Implement specifications from accident prevention regulations. • Evaluate, prepare and set up the workplaces. • Evaluate, optimize and execute work independently. TwinSAFE Logic FB Version: 4.1.0...

  • Page 14: Safety And Instruction

    Warning of damage to property or environment NOTICE Notes The environment, equipment, or data may be damaged. Information on handling the product This information includes, for example: Recommendations for action, assistance or further information on the product. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 15: Beckhoff Support And Service

    The employees support you in the programming and commissioning of sophisticated automation systems. Hotline: +49 5246/963-157 E-mail: support@beckhoff.com Web: www.beckhoff.com/support Training Training in Germany takes place in our training center at the Beckhoff headquarters in Verl, at subsidiaries or, by arrangement, at the customer's premises. Hotline: +49 5246/963-5000 E-mail: training@beckhoff.com Web: www.beckhoff.com/training...

  • Page 16: Notes On Information Security

    Notes on the documentation Notes on information security The products of Beckhoff Automation GmbH & Co. KG (Beckhoff), insofar as they can be accessed online, are equipped with security functions that support the secure operation of plants, systems, machines and networks.

  • Page 17: For Your Safety

    Products marked with a crossed-out waste bin must not be disposed of with domestic waste. The device is considered waste electrical and electronic equipment when it is disposed of. Observe the national regulations for the disposal of waste electrical and electronic equipment. TwinSAFE Logic FB Version: 4.1.0...

  • Page 18: System Description

    The safe state is always the non-energized state at the output, which corresponds to logical 0. The data of a TwinSAFE connection (and therefore of a TwinSAFE input terminal or TwinSAFE output terminal) are always assigned to exactly one TwinSAFE group. Version: 4.1.0 TwinSAFE Logic FB...
  • Page 19 Inputs and outputs of the TwinSAFE group of the EL6910/EJ6910 The EL6910 offers additional inputs and outputs of the TwinSAFE group. This typically also applies to TwinSAFE components that are based on the logic of the EL6910, such as the EK1960. TwinSAFE Logic FB Version: 4.1.0...
  • Page 20 The TwinSAFE group is in the RUN state. The group state and diagnostics (see Group info data [} 29]) can be loaded via the group properties in the cyclic process image. The following tables show the possible values. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 21: Twinsafe Connection

    If the checkboxes or the properties ‘Map State’ and ‘Map Diag’ are set, the state and diagnostic data for the group are copied into the cyclic process image and can be linked directly with PLC variables. TwinSAFE Logic FB Version: 4.1.0...

  • Page 22: Diagram Showing El6900/Kl6904 Diagnostics Under Twincat 2

    RESET A positive edge (FALSE->TRUE) for acknowledgement of a function block or a TwinSAFE connection error was detected on the ERR_ACK input. The system is waiting for the negative edge of the ERR_ACK input. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 23: Fig. 3 Function Block List Online Values

    The checkboxes ‘Map State’ and ‘Map Diag’ are not available. Fig. 4: Emergency Stop 3.2.1.3 TwinSAFE connection diagnostics The TwinSAFE connections status is displayed on the TwinSAFE connection list summary under the "Connection List" tab. Diagnostics bits are also set in addition to the status. TwinSAFE Logic FB Version: 4.1.0...

  • Page 24: Fig. 5 Connection List

    With the KL6904 copying of the diagnostic information to the cyclic process image is only possible to a limited extent. The checkboxes ‘Map State’, ‘Map Diag’‚ ‘Map Inputs’ and ‘Map Outputs’ are not available. The button “Com Err Ack” is also not available. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 25: Fig. 6 Variables Tab (Connection)

    FSoE master reports Failsafe Value active Status information for a connection Value Description 100 (0x64) Reset state: The Reset state is used to reinitialize the FSoE connection after power-on or an FSoE communication error. 101 (0x65) Session state: TwinSAFE Logic FB Version: 4.1.0...

  • Page 26: Diagram Showing El69X0 Diagnostics Under Twincat 3

    Errors are stored in the diag history of the EL/EJ6910, from where they can be read out. Fig. 7: Diag History of the EL6910 with a Com Error due to a false CRC Version: 4.1.0 TwinSAFE Logic FB...

  • Page 27: Info Data Connection

    Diagnostics in the event of an error via Safety Project Online View Fig. 8: Safety Project Online View 3.2.3 Info data connection Info data for TwinSAFE / FSoE connections can be enabled on the Connection tab of the alias device. Fig. 9: Info data connection TwinSAFE Logic FB Version: 4.1.0...

  • Page 28: Function Blocks Info Data

    Info data for function blocks can be enabled in the properties of the function block. Fig. 11: Function block properties The Info Data is shown in the I/O tree structure below the TwinSAFE logic in the process image. From here, you can link the signals with PLC variables. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 29: Groups Info Data

    Fig. 13: Access to Info Data via Properties The Info Data is shown in the I/O tree structure below the TwinSAFE logic in the process image. From here, these signals can be linked with PLC variables. TwinSAFE Logic FB Version: 4.1.0...

  • Page 30: Fig. 14 Twinsafe Group Info Data In The I/O Tree Structure

    The timeout has elapsed while waiting for the COM error in "passivate" mode of a manual control unit RESTARTERROR The TwinSAFE logic program was restarted because the EtherCAT connection was restarted or a user logged in without reloading the TwinSAFE logic program (or parts of it). Version: 4.1.0 TwinSAFE Logic FB...

  • Page 31: Function Blocks

    AND (and the second input is a safe one, which prevents switching on). Fig. 15: Function block AND 4.1.2 Signal description FB AND inputs Offset Name Permitted type Data type Description AndIn1 TwinSAFE-In BOOL 1st input channel FB-Out Standard-In TwinSAFE Logic FB Version: 4.1.0...
  • Page 32 Diagnostic information (16-bit value) Description 0.0-15.0 always 0 Status information (8-bit value) Value Description If all active inputs AndIn1-AndIn8 are set to 1 (ACTIVE_ANDIN=TRUE), the RUN state is assumed. The outputs assume the following values: AndOut=1 Version: 4.1.0 TwinSAFE Logic FB...

  • Page 33: Fb And Configuration In The Twincat System Manager

    The 'AndIn(x)' buttons can only be selected if the corresponding input has been activated via the Settings button. In the default setting all inputs are disabled. The FB AND input variables are linked using the 'AndIn(x)' buttons. The output variable of the FB AND are linked using the 'AndOut' button. TwinSAFE Logic FB Version: 4.1.0...

  • Page 34: Display In Twincat 3

    With the FB OR several input signals can be linked via OR to one output signal. The input signal of each can be set to represent a break contact or a make contact. A make contact means that the corresponding input signal is negated, before it affects the OR. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 35: Signal Description

    4th input channel FB-Out 12.0 OrIn5 TwinSAFE-In BOOL 5th input channel FB-Out 13.0 OrIn6 TwinSAFE-In BOOL 6th input channel FB-Out 14.0 OrIn7 TwinSAFE-In BOOL 7th input channel FB-Out 15.0 OrIn8 TwinSAFE-In BOOL 8th input channel FB-Out TwinSAFE Logic FB Version: 4.1.0...
  • Page 36 If the checkboxes 'Map State' and 'Map Diag' are checked, the status and diagnostic data of the FB are copied to the cyclic process image. NOTICE KL6904 The Map State and Map Diag checkboxes do not exist in the case of the KL6904. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 37: Fb Or Configuration In The Twincat System Manager

    The FB OR does not supply any error information and therefore the error button is basically deactivated. 4.2.4 Display in TwinCAT 3 Display of the function block and its properties in TwinCAT 3. TwinSAFE Logic FB Version: 4.1.0...

  • Page 38: The Function Block Opmode

    [} 42]). No time monitoring of the restart signal takes place. The output is switched on when the restart signal changes from TRUE to FALSE. A discrepancy time can be specified to monitor the change from one operation mode to the next. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 39: Signal Description

    2nd input channel FB-Out 10.0 OpIn3 TwinSAFE-In BOOL 3rd input channel FB-Out 11.0 OpIn4 TwinSAFE-In BOOL 4th input channel FB-Out 12.0 OpIn5 TwinSAFE-In BOOL 5th input channel FB-Out 13.0 OpIn6 TwinSAFE-In BOOL 6th input channel FB-Out TwinSAFE Logic FB Version: 4.1.0...
  • Page 40 TwinSAFE input, e.g. on an EL1904/KL1904 Standard-In Standard PLC variable (output in the PLC %Q*) FB-Out TwinSAFE FB output TwinSAFE-Out TwinSAFE output, e.g. on an EL2904/KL2904 Standard-Out Standard PLC variable (input in the PLC %I*) FB-In TwinSAFE FB input Version: 4.1.0 TwinSAFE Logic FB...
  • Page 41 OpOutX output becomes TRUE. The outputs assume the following values: Error=0 OpOutX=0 (1<=X<=8) If the checkboxes 'Map State' and 'Map Diag' are checked, the status and diagnostic data of the FB are copied to the cyclic process image. TwinSAFE Logic FB Version: 4.1.0...

  • Page 42: Configuration Of The Fb Opmode In The Twincat System Manager

    Restart signal from TRUE to FALSE triggers a check whether exactly one OpIn input is still logical 1. The corresponding output is enabled if these criteria are met and the function block is not in ERROR state. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 43: Fig. 25 Restart Behavior Opmode (Sample 1)

    Changing the input OpIn1 from TRUE to FALSE results in a switch to state 3. Once operation mode OpIn2 is TRUE, the system changes to the Start state (FB State 6), since the Restart input is already TRUE. The output OpOut2 is activated by changing the Restart input from TRUE to FALSE. TwinSAFE Logic FB Version: 4.1.0...

  • Page 44: Display In Twincat 3

    Function blocks Fig. 26: Restart behavior OPMODE (sample 2) 4.3.5 Display in TwinCAT 3 Display of the function block and its properties in TwinCAT 3. Fig. 27: FB OPMODE in TwinCAT 3 Version: 4.1.0 TwinSAFE Logic FB...

  • Page 45: The Function Block Estop

    In order to exit the safe state of the outputs, a rising and falling edge must be detected at the Restart input (see also chapter 3.4.4 [} 50] Restart behavior [} 50]). No time monitoring of the restart signal takes place. TwinSAFE Logic FB Version: 4.1.0...

  • Page 46: Signal Description

    FB-Out group is started) or a restart (when an input has Standard-In requested the safe state), a falling edge must be detected at the Restart input before the safe state of the outputs is canceled. Version: 4.1.0 TwinSAFE Logic FB...
  • Page 47 0. The safe state is output with a delay, which Standard-Out corresponds to the parameterized Delay Time. Local-Out Input and output types Type Description TwinSAFE-In TwinSAFE input, e.g. on an EL1904/KL1904 Standard-In Standard PLC variable (output in the PLC %Q*) FB-Out TwinSAFE FB output TwinSAFE Logic FB Version: 4.1.0...
  • Page 48 The outputs assume the following values: Error=0 EStopOut=0 EStopDelOut=0 ERROR If the FB ESTOP module detects an error, the FB ESTOP module switches to the ERROR state and transmits the corresponding Diag message to the GROUP module. Version: 4.1.0 TwinSAFE Logic FB...
  • Page 49 If the checkboxes 'Map State' and 'Map Diag' are checked, the status and diagnostic data of the FB are copied to the cyclic process image. NOTICE KL6904 The checkboxes 'Map State', 'Map Diag' and 'Safe Inputs after Discrepancy Error' are not available in the KL6904. TwinSAFE Logic FB Version: 4.1.0...

  • Page 50: Fb Estop Configuration In The Twincat System Manager

    FALSE triggers a check whether all active EStop-In inputs are still TRUE and whether the EDM signal is still TRUE. The output is enabled if these criteria are met and the function block is not in ERROR state. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 51: Fig. 31 Restart Behavior Estop (Sample 1)

    Start state (FB state 6) is only assumed if both signals are TRUE. The output is enabled when the Restart input changes from TRUE to FALSE. At least one of the EDM inputs of the FB is active. TwinSAFE Logic FB Version: 4.1.0...

  • Page 52: Fig. 32 Restart Behavior Estop (Sample 2)

    TRUE may occur at the Restart input is not monitored. This may also be the case before the emergency stop event. In this case the FB output is enabled when the Restart input changes from TRUE to FALSE. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 53: Estop Extension

    EL6900 and KL6904. Fig. 35: EDM Reset Time The FB ESTOP can also be used to monitor the change of the state of the feedback signal (EDMn) when the outputs are switched on. TwinSAFE Logic FB Version: 4.1.0...

  • Page 54: Display In Twincat 3

    This function can be switched off by entering 0 as Reset Time (ms). 4.4.6 Display in TwinCAT 3 Display of the function block and its properties in TwinCAT 3. Fig. 36: FB ESTOP in TwinCAT 3 Fig. 37: FB ESTOP properties Version: 4.1.0 TwinSAFE Logic FB...

  • Page 55: The Function Block Mon

    MonDelOut to the input EDM2 through external wiring. The EDM inputs are checked as soon as the FB changes to the START status (6) (see Restart behavior [} 60]). If Restart is enabled, the FB MON assumes the error state (FB Error) and sets the Error output to 1 if the TwinSAFE Logic FB Version: 4.1.0...

  • Page 56: Signal Description

    2nd input channels are considered to be the 1st input pair and a discrepancy time monitoring is carried out between both channels. 10.0 MonIn3 TwinSAFE-In BOOL 3rd input channel or 1st input channel of the 2nd input FB-Out pair, otherwise corresponds with MonIn1 Version: 4.1.0 TwinSAFE Logic FB...
  • Page 57 Type Description FB MON This description applies to BLG 1.0 (internal version number) Diagnostic and status information for FB MON Diagnostic information (16-bit value) Description Discrepancy error input group 1 Discrepancy error input group 2 TwinSAFE Logic FB Version: 4.1.0...
  • Page 58 Secure inputs has requested the safe state and the delay time for the MonDelOut output has not yet expired. This state can only be assumed if the Output Delay time in the configuration data is not equal to 0. The outputs assume the following values: Version: 4.1.0 TwinSAFE Logic FB...

  • Page 59: Fb Mon Configuration In The Twincat System Manager

    The characteristics of the input pair are configured with the setting buttons on the right near the two MonIn or Secure inputs of an input pair. The 'MonIn(x)' and 'Secure(x)' buttons can only be selected if the corresponding input has been activated via the Settings button. In the default state all inputs are disabled. TwinSAFE Logic FB Version: 4.1.0...

  • Page 60: Restart Behavior

    The following diagram shows the behavior when an event is triggered via MonIn and subsequent acknowledgement of the MON function block via the Restart input. At least one of the EDM inputs of the FB is active. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 61: Fig. 40 Restart Behavior Mon (Sample 1)

    MonIn inputs. The Start state (FB state 6) is only assumed if both signals are TRUE. The output is enabled with the falling edge at the Restart input. At least one of the EDM inputs of the FB is active. Fig. 41: Restart behavior MON (sample 2) TwinSAFE Logic FB Version: 4.1.0...

  • Page 62: Mon Extension

    EDMx by right-clicking on the EDMx input of the MON function block. If this value is not equal to 0, the timer is started when the output MonOut is activated. If the EDM input does not switch to FALSE within this time, a function block error is set and the outputs are switched off. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 63: Display In Twincat 3

    The display of the corresponding parameter and its value only applies if the function block is used on an EL6900; it can be ignored for the EL6910. A warning is issued if the parameter is set to TRUE under an EL6910. TwinSAFE Logic FB Version: 4.1.0...

  • Page 64: The Function Block Decouple

    TwinSAFE connection are linked with the FB DECOUPLE outputs, the FB DECOUPLE inputs can once again come from various TwinSAFE groups. 4.6.2 Signal description FB DECOUPLE inputs Offset Name Permitted type Data type Description DecIn1 TwinSAFE-In BOOL 1st input channel FB-Out Version: 4.1.0 TwinSAFE Logic FB...
  • Page 65 DecOut8 TwinSAFE-Out BOOL 8th output channel FB-In Standard-Out Local-Out Input and output types Type Description TwinSAFE-In TwinSAFE input, e.g. on an EL1904/KL1904 Standard-In Standard PLC variable (output in the PLC %Q*) FB-Out TwinSAFE FB output TwinSAFE Logic FB Version: 4.1.0...
  • Page 66 If the checkboxes 'Map State' and 'Map Diag' are checked, the status and diagnostic data of the FB are copied to the cyclic process image. NOTICE KL6904 The checkboxes 'Map State' and 'Map Diag' are not available for the KL6904. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 67: Fb Decouple Configuration In The Twincat System Manager

    The FB DECOUPLE does not supply any error information and therefore the error button is basically deactivated. 4.6.4 Display in TwinCAT 3 Display of the function block and its properties in TwinCAT 3. TwinSAFE Logic FB Version: 4.1.0...

  • Page 68: The Function Block Twohand

    Each input group can be configured as a single-channel input, two-channel input or two-channel input with discrepancy time monitoring. In addition, time monitoring up to 2500 ms between the two input groups can be defined. Each input can be configured as break contact (NC) or make contact (NO). Version: 4.1.0 TwinSAFE Logic FB...

  • Page 69: Signal Description

    3rd input channel or 1st input channel of the 2nd input FB-Out pair, otherwise corresponds with Twohand1 11.0 Twohand4 TwinSAFE-In BOOL 4th input channel or 2nd input channel of the 2nd input FB-Out pair, otherwise corresponds with Twohand2 TwinSAFE Logic FB Version: 4.1.0...
  • Page 70 The FB TWOHAND module assumes the RUN state if all active inputs are TRUE. The FB TWOHAND module can only assume the RUN state from one of the states 1BUTTON or 2BUTTON. The outputs assume the following values: Error=0 TwoHandOut=1 Version: 4.1.0 TwinSAFE Logic FB...
  • Page 71 If at least one active input is FALSE, the FB TWOHAND module assumes the RELEASE state. If all active inputs are FALSE, the FB TWOHAND module leaves the RELEASE state. The outputs assume the following values: Error=0 TwoHandOut=0 TwinSAFE Logic FB Version: 4.1.0...

  • Page 72: Fb Twohand Configuration In The Twincat System Manager

    The 'MapState' and 'MapDiag' checkboxes are used to specify which FB diagnostic functions are mapped to the cyclic process image. 4.7.4 Display in TwinCAT 3 Display of the function block and its properties in TwinCAT 3. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 73: The Function Block Muting

    The maximum duration of the MUTING process can be monitored via the 'Max. MUTINGTime' parameter. The MUTING process starts with a logic 1 signal of the first MUTING input and ends with the logic 0 signal of TwinSAFE Logic FB Version: 4.1.0...

  • Page 74: Signal Description

    EDM2 is the feedback loop for the output channel FB-Out (MuteDelOut), which is switched off with a delay. If this Standard-In input as activated, the safe output state is only exited when EDM2 is set to 1 Version: 4.1.0 TwinSAFE Logic FB...
  • Page 75 TwinSAFE input, e.g. on an EL1904/KL1904 Standard-In Standard PLC variable (output in the PLC %Q*) FB-Out TwinSAFE FB output TwinSAFE-Out TwinSAFE output, e.g. on an EL2904/KL2904 Standard-Out Standard PLC variable (input in the PLC %I*) TwinSAFE Logic FB Version: 4.1.0...
  • Page 76 If no more errors are present after an error has occurred and the ErrAck input of the associated group is set to TRUE, the FB MUTING module assumes the RESET state. The outputs assume the following values: Error=0 MutingActive=0 MuteOut=0 MuteDelOut=0 Version: 4.1.0 TwinSAFE Logic FB...

  • Page 77: Fb Muting Configuration In The Twincat System Manager

    16.0 MUTING8 (figure 3-35 [} 78] number 9-10) Outputs see State 9 17.0 MUTING9 (figure 3-35 [} 78] number 10-11) Outputs see State 9 4.8.3 FB MUTING configuration in the TwinCAT System Manager Fig. 55: FB MUTING configuration TwinSAFE Logic FB Version: 4.1.0...
  • Page 78 Fig. 56: Configuration example with 4 individual MUTING sensors The following screenshot shows the parameterization of FB MUTING for this case. The 'Sequential Inputs' checkbox is checked. The 4 MUTING inputs are configured and wired as single-channel inputs. Version: 4.1.0 TwinSAFE Logic FB...
  • Page 79 Function blocks Fig. 57: Parameterization of the FB MUTING for 4 individual MUTING sensors Fig. 58: Sequence for 4 individual MUTING sensors TwinSAFE Logic FB Version: 4.1.0...
  • Page 80 The following screenshot shows the parameterization of FB MUTING for this case. The 'Sequential Inputs' checkbox is not checked. The 4 MUTING inputs are configured and wired as two-channel inputs with discrepancy time monitoring. Fig. 60: Parameterization of the FB MUTING for 2 two-channel MUTING sensors Version: 4.1.0 TwinSAFE Logic FB...

  • Page 81: Extensions Fb Muting El/Ej6910

    Fig. 61: Parameterization for 2 two-channel MUTING sensors 4.8.4 Extensions FB Muting EL/EJ6910 NOTICE Support The extensions described below are only available in the EL6910 or newer terminals. These options cannot be used under the EL6900 and KL6904. Fig. 62: EL6910 FB MUTING TwinSAFE Logic FB Version: 4.1.0...

  • Page 82: Display In Twincat 3

    MUTING7 (figure 3‑35 [} 78] number 8-9) 16.0 MUTING8 (figure 3‑35 [} 78] number 9-10) 17.0 MUTING9 (figure 3‑35 [} 78] number 10-11) 4.8.5 Display in TwinCAT 3 Display of the function block and its properties in TwinCAT 3. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 83: The Function Block Edm

    The FB EDM (External Device Monitor) is used for time monitoring of signals Mon1 and Mon2. Switch-on and switch-off monitoring can be configured. In default state both monitoring functions are inactive. At least one of the two monitoring functions must be enabled. TwinSAFE Logic FB Version: 4.1.0...

  • Page 84: Signal Description

    1st input. The input can be parameterized as a break FB-Out contact or a make contact. Standard-In Mon2 TwinSAFE-In BOOL 2nd input, which has to assume the value opposite to FB-Out input 1 within the set times. Standard-In Version: 4.1.0 TwinSAFE Logic FB...
  • Page 85 The outputs assume the following values: Error=0 14.0 MONOFF If the input MonIn1=FALSE, the FB EDM module assumes the MONOFF state in order to carry out switch-off monitoring. The outputs assume the following values: Error=0 TwinSAFE Logic FB Version: 4.1.0...

  • Page 86: Fb Edm Configuration In The Twincat System Manager

    The 'MapState' and 'MapDiag' checkboxes are used to specify which FB diagnostic functions are mapped to the cyclic process image. 4.9.4 Display in TwinCAT 3 Display of the function block and its properties in TwinCAT 3. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 87: The Function Block Rs

    Logic 0 at input Set and logic 1 at input Reset leads to logic 0 at the output. If both inputs are set to logic 1, the Reset signal is dominant and leads to logic 0 at the output. If both inputs are logic 0, the output remains in its current state. TwinSAFE Logic FB Version: 4.1.0...

  • Page 88: Signal Description

    FB RS outputs Offset Name Permitted type Data type Description RsOut TwinSAFE-Out BOOL 1st output channel, the safe state corresponds to a FB-In logical 0. Standard-Out Version: 4.1.0 TwinSAFE Logic FB...
  • Page 89 If the Reset input is 1, the FB RS module assumes the SAF state. The outputs assume the following values: RsOut=0 If the Reset input is 0 and the Set input is 1, the FB RS module assumes the RUN state. The outputs assume the following values: RsOut=1 TwinSAFE Logic FB Version: 4.1.0...

  • Page 90: Fb Rs Configuration In The Twincat System Manager

    The 'MapState' and 'MapDiag' checkboxes are used to specify which FB diagnostic functions are mapped to the cyclic process image. 4.10.4 Display in TwinCAT 3 Display of the function block and its properties in TwinCAT 3. Fig. 71: FB RS in TwinCAT 3 Version: 4.1.0 TwinSAFE Logic FB...

  • Page 91: The Function Block Sr

    If both inputs are set to logic 1, the Set signal is dominant and leads to logic 1 at the output. If both inputs are logic 0, the output remains in its current state. Fig. 73: Function block SR TwinSAFE Logic FB Version: 4.1.0...

  • Page 92: Signal Description

    Diagnostic and status information for FB SR Diagnostic information (16-bit value) Description 0.0-15.0 always 0 Status information (8-bit value) Value Description STOP If the input FbRun=FALSE, the FB SR module assumes the STOP state. The outputs assume the following values: SrOut=0 Version: 4.1.0 TwinSAFE Logic FB...

  • Page 93: Fb Sr Configuration In The Twincat System Manager

    The 'MapState' and 'MapDiag' checkboxes are used to specify which FB diagnostic functions are mapped to the cyclic process image. 4.11.4 Display in TwinCAT 3 Display of the function block and its properties in TwinCAT 3. TwinSAFE Logic FB Version: 4.1.0...

  • Page 94: The Function Block Ton

    The output is not activated if the input is set to 0 again before the delay time has elapsed. The error output is inactive since the function block sets no errors. The maximum switch-on delay is 6000 x 100 ms (10 minutes). Version: 4.1.0 TwinSAFE Logic FB...

  • Page 95: Signal Description

    0. Standard-Out Input and output types Type Description TwinSAFE-In TwinSAFE input, e.g. on an EL1904/KL1904 Standard-In Standard PLC variable (output in the PLC %Q*) FB-Out TwinSAFE FB output TwinSAFE- TwinSAFE output, e.g. on an EL2904/KL2904 TwinSAFE Logic FB Version: 4.1.0...
  • Page 96 The outputs assume the following values: TimerOut=0 DELAYIN If the TimerIn input is 1 and the delay time has not yet expired (DelayTimeExpired=FALSE), the FB TON module assumes the DELAYIN state. The outputs assume the following values: TimerOut=0 Version: 4.1.0 TwinSAFE Logic FB...

  • Page 97: Fb Ton Configuration In The Twincat System Manager

    FB TON and FB TON2 extension (software 04 - EL6910) From software version 04 of the EL6910 and newer TwinSAFE Logic components, the FB TON also supports the timebases of 100 ms and 1000 ms. Switch-on delays of up to 60,000 s can thus be set. TwinSAFE Logic FB Version: 4.1.0...

  • Page 98: Display In Twincat 3

    TonIn and the function block must be parameterized accordingly (parameter: Starts with remaining time = True). NOTICE Support The function block TON2 is not available in the KL6904, EL6900 and EL6910 (SW ≤ 03). Version: 4.1.0 TwinSAFE Logic FB...
  • Page 99 TON function block is processed with the remaining time. The TonOut output is set after the parameterized time of 120 seconds has elapsed. The Enable signal is not shown in the diagram because it is set to TRUE throughout. TwinSAFE Logic FB Version: 4.1.0...

  • Page 100: Signal Description

    FB, the TwinSAFE Logic changes to the Global Shutdown state with error code 0x3510) FB TON2 outputs Offset Name Permitted type Data type Description TonOut TwinSAFE-Out BOOL 1st output; the safe state corresponds to logic 0. FB-In Standard-Out Version: 4.1.0 TwinSAFE Logic FB...

  • Page 101: The Function Block Tof

    FB TOF is used to realize a switch-off delay. Logic 1 at input 'TofIn' is transferred to the output with a set delay time. The output remains activated if the input is set to 1 again before the switch-off delay time has elapsed. The error output is inactive since the function block sets no errors. TwinSAFE Logic FB Version: 4.1.0...

  • Page 102: Signal Description

    1st output channel, the safe state corresponds to a FB-In logical 0. Standard-Out Input and output types Type Description TwinSAFE-In TwinSAFE input, e.g. on an EL1904/KL1904 Standard-In Standard PLC variable (output in the PLC %Q*) FB-Out TwinSAFE FB output Version: 4.1.0 TwinSAFE Logic FB...
  • Page 103 The outputs assume the following values: TimerOut=0 DELAYOUT If the TimerIn input is 0 and the DelayTime has not yet expired (DelayTimeExpired=FALSE), the FB TOF module assumes the DELAYOUT state. The outputs assume the following values: TimerOut=1 TwinSAFE Logic FB Version: 4.1.0...

  • Page 104: Fb Tof Configuration In The Twincat System Manager

    With a timebase of 10 ms the maximum time is 600,000 ms in 10 ms steps. The timebase is automatically selected in TC3.1 Safety Editor according to the set time. 4.14.5 Display in TwinCAT 3 Display of the function block and its properties in TwinCAT 3. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 105: The Function Block Connection Shutdown

    TwinSAFE groups. CAUTION Deactive inputs Please note that the signal used to shut down the connection must have the same safety level as the signals of the shut-down connection. TwinSAFE Logic FB Version: 4.1.0...
  • Page 106 The Connection Shutdown function block is not available in the KL6904. On the opposite side the function block is called without connected inputs. The output Deactivated is set when the connection is terminated due to a shutdown command from the communication partner. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 107: Signal Description

    ERR_ACK input of the related TwinSAFE group. FALSE: No error was found Deactivated TwinSAFE-Out BOOL 1st output channel, the safe state corresponds to a FB-In logical 0. Standard-Out The output is set when the connection is terminated. TwinSAFE Logic FB Version: 4.1.0...
  • Page 108 If there is no longer an error after an error has occurred and the ErrAck input of the associated group is set to TRUE, the FB CS module assumes the RESET state. The outputs assume the following values: Error=0 Deactivated=0 Version: 4.1.0 TwinSAFE Logic FB...

  • Page 109: Fb Connectionshutdown Configuration In The Twincat System Manager

    The 'MapState' and 'MapDiag' checkboxes are used to specify which FB diagnostic functions are mapped to the cyclic process image. 4.15.4 Display in TwinCAT 3 Display of the function block and its properties in TwinCAT 3. TwinSAFE Logic FB Version: 4.1.0...

  • Page 110: The Function Block Add

    1. When the ErrAck input of the corresponding group changes to 0 again, the system switches from RESET state to RUN state. In RESET state the AnalogOut output and the Error output are 0. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 111: Signal Description

    UINT16 n=4: INT32 UINT32 Input and output types Type Description TwinSAFE-In TwinSAFE input, e.g. an EL1904/KL1904 Standard-In Standard PLC variable (output in the PLC %Q*) FB-Out TwinSAFE FB output TwinSAFE-Out TwinSAFE output, e.g. an EL2904/KL2904 TwinSAFE Logic FB Version: 4.1.0...
  • Page 112 If there is no longer an error after an error has occurred and the ErrAck input of the associated group is set to TRUE, the FB ADD module assumes the RESET state. The outputs assume the following values: Error=0 AnalogOut=0 Version: 4.1.0 TwinSAFE Logic FB...

  • Page 113: Fb Add Configuration In Twincat 3

    Input settings, such as changing the data type or activation of the input, can be made via the properties of the FB port. The MapState and MapDiag entries define which diagnostic functions of the FB are mapped to the cyclic process image. TwinSAFE Logic FB Version: 4.1.0...

  • Page 114: The Function Block Sub

    TwinSAFE-In n=2: 1st input channel for subtraction (n-1) FB-Out INT16 Standard-In UINT16 TwinSAFE SC n=4: INT32 UINT32 AnalogIn2 TwinSAFE-In m=2: 2nd input channel for subtraction (m+n-1) FB-Out INT16 Standard-In UINT16 TwinSAFE SC m=4: INT32 UINT32 Version: 4.1.0 TwinSAFE Logic FB...
  • Page 115 The FB SUB module cyclically subtracts the two analog inputs AnalogIn1 and AnalogIn2. If no overflow or underflow occurs during subtraction, the FB SUB module is in the RUN state. The outputs assume the following values: Error=0 AnalogOut=result of the subtraction TwinSAFE Logic FB Version: 4.1.0...

  • Page 116: Fb Sub Configuration In Twincat 3

    TRUE, the FB ADD module assumes the RESET state. The outputs assume the following values: Error=0 AnalogOut=0 4.17.3 FB SUB configuration in TwinCAT 3 Fig. 98: FB SUB configuration Fig. 99: FB SUB properties Version: 4.1.0 TwinSAFE Logic FB...

  • Page 117: The Function Block Mul

    If an overflow or underflow occurs during the multiplication, the ERROR state is assumed. The AnalogOut output is then set to 0, the Error output is set to 1. Fig. 101: Function block MUL NOTICE KL6904/EL6900 The function block MUL is not available in the KL6904 and the EL6900. TwinSAFE Logic FB Version: 4.1.0...

  • Page 118: Signal Description

    Diagnostic information Value Description The output AnalogOut is correct The output AnalogOut has an underflow (is less than the smallest possible value) The output AnalogOut has an overflow (is greater than the largest possible value) Version: 4.1.0 TwinSAFE Logic FB...

  • Page 119: Fb Mul Configuration In Twincat 3

    If there is no longer an error after an error has occurred and the ErrAck input of the associated group is set to TRUE, the FB MUL module assumes the RESET state. The outputs assume the following values: Error=0 AnalogOut=0 4.18.3 FB MUL configuration in TwinCAT 3 Fig. 102: FB MUL configuration TwinSAFE Logic FB Version: 4.1.0...

  • Page 120: The Function Block Div

    The Division Rounding parameter can be used to specify the rounding method to be used. Parameter Rounding method Floor Decimal places are truncated Ceil The next higher integer is returned as result Round Commercial rounding is used (e.g. 2.5 is rounded to 3) Version: 4.1.0 TwinSAFE Logic FB...

  • Page 121: Signal Description

    Error output (see diagnostic information) FB-In Standard-Out 0.0- AnalogOut TwinSAFE-Out n=2: 1st output channel with the division result (n-1) FB-In INT16 Standard-Out UINT16 n=4: INT32 UINT32 Input and output types Type Description TwinSAFE-In TwinSAFE input, e.g. an EL1904/KL1904 TwinSAFE Logic FB Version: 4.1.0...
  • Page 122 If there is no longer an error after an error has occurred and the ErrAck input of the associated group is set to TRUE, the FB DIV module assumes the RESET state. The outputs assume the following values: Error=0 AnalogOut=0 Version: 4.1.0 TwinSAFE Logic FB...

  • Page 123: Fb Div Configuration In Twincat 3

    A mouse click next to the FB port, here AnalogIn1 and AnalogIn2, can be used to create variables that can be linked to input signals. Input settings, such as changing the data type or activation of the input, can be made via the properties of the FB port. TwinSAFE Logic FB Version: 4.1.0...

  • Page 124: The Function Block Compare

    FB output CompOut is set to 0 and the output IsValid is reset. Fig. 109: Function block COMPARE NOTICE KL6904/EL6900 The function block COMPARE is not available in the KL6904 and the EL6900. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 125: Signal Description

    UINT16 n=4: INT32 UINT32 Input and output types Type Description TwinSAFE-In TwinSAFE input, e.g. an EL1904/KL1904 Standard-In Standard PLC variable (output in the PLC %Q*) FB-Out TwinSAFE FB output TwinSAFE-Out TwinSAFE output, e.g. an EL2904/KL2904 TwinSAFE Logic FB Version: 4.1.0...
  • Page 126 If the FB COMPARE module detects an error when checking the value range of CompOut, the FB COMPARE module switches to the ERROR state and transfers the corresponding Diag message to the GROUP module. The outputs assume the following values: Version: 4.1.0 TwinSAFE Logic FB...

  • Page 127: Fb Compare Configuration In Twincat 3

    (ValuesEqual=FALSE), the DelayOutTimer is started with the ToleranceTime. As long as the DelayOutTimer has not expired (DelayOutExpired=FALSE), the FB COMPARE module assumes the DELAYOUT state. The outputs assume the following values: Error=0 IsValid=1 CompOut=unchanged 4.20.3 FB COMPARE configuration in TwinCAT 3 Fig. 110: FB Compare configuration TwinSAFE Logic FB Version: 4.1.0...

  • Page 128: The Function Block Limit

    UINT16 and UINT32 are permitted. The In_Limit output is set if the AnalogIn value is within the Minimum Value and Maximum Value limits. If the value is above the AboveMax limit, it is set below BelowMin. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 129: Signal Description

    MaxValue TwinSAFE-In k=2: Maximum value (k+m+n FB-Out INT16 Standard-In UINT16 TwinSAFE SC k=4: INT32 UINT32 FB LIMIT outputs Offset Name Permitted type Data type Description Error TwinSAFE-Out BOOL Error output (see diagnostic information) FB-In Standard-Out TwinSAFE Logic FB Version: 4.1.0...
  • Page 130 FB LIMIT module assumes the RUN state. The outputs assume the following values: Error=0 InLimit=1 BelowMin=0 AboveMax=0 STOP If the input FbRun=FALSE, the FB LIMIT module assumes the STOP state. The outputs assume the following values: Error=0 Version: 4.1.0 TwinSAFE Logic FB...

  • Page 131: Fb Limit Configuration In Twincat 3

    TRUE, the FB LIMIT module assumes the RESET state. The outputs assume the following values: Error=0 InLimit=0 BelowMin=0 AboveMax=0 4.21.3 FB LIMIT configuration in TwinCAT 3 Fig. 114: FB LIMIT configuration TwinSAFE Logic FB Version: 4.1.0...

  • Page 132: The Function Block Counter

    If the TwinSAFE group is started (Run=1) and the Reset input is TRUE, the output ActValue is set to PresetValue. When the group is stopped, ActValue is set to 0. Further status information can be found in chapter Signal description [} 133]. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 133: Signal Description

    Error output (see diagnostic information) FB-In Standard-Out CounterOut TwinSAFE-Out BOOL Output is set when the counter limit is reached FB-In Standard-Out CounterZero TwinSAFE-Out BOOL Output is set when the internal counter value is 0 FB-In Standard-Out TwinSAFE Logic FB Version: 4.1.0...
  • Page 134 CountDown inputs detect a rising edge). The outputs assume the following values: Error = 0 CounterOut = (ActValue >= CounterLimit) CounterZero = (ActValue == 0) Reset=TRUE: ActValue = PresetValue Reset=FALSE: ActValue = ActValue + n (-1 <= n <= 1) Version: 4.1.0 TwinSAFE Logic FB...

  • Page 135: Fb Counter Configuration In Twincat 3

    TRUE, the FB Counter module assumes the RESET state. The outputs assume the following values: Error = 0 CounterOut = 0 CounterZero = 0 ActValue = 0 4.22.3 FB Counter configuration in TwinCAT 3 Fig. 118: FB COUNTER configuration TwinSAFE Logic FB Version: 4.1.0...

  • Page 136: The Function Block Scale

    Round Commercial rounding is used (e.g. 2.5 is rounded to 3) The parameter Multiplication First can be used specify whether the first scaling operation after the optional negation should be multiplication (TRUE) or division (FALSE). Version: 4.1.0 TwinSAFE Logic FB...

  • Page 137: Signal Description

    Name Permitted type Data Description type Error TwinSAFE-Out BOOL Error output (see diagnostic information) FB-In Standard-Out StuckAtError TwinSAFE-Out BOOL Output that is set if the input AnalogIn remains FB-In unchanged over the parameterized period Standard-Out TwinSAFE Logic FB Version: 4.1.0...
  • Page 138 A 32-bit overflow occurred during the FB number AnalogIn division due to rounding. Status information Value Description In the RUN state, the FB SCALE module enters the result of scaling in the output AnalogOut. The outputs assume the following values: Version: 4.1.0 TwinSAFE Logic FB...

  • Page 139: Fb Scale Configuration In Twincat 3

    TRUE, the FB SCALE module assumes the RESET state. The outputs assume the following values: Error = 0 AnalogOut = 0 StuckAtError = 0 4.23.3 FB SCALE configuration in TwinCAT 3 Fig. 122: FB SCALE configuration TwinSAFE Logic FB Version: 4.1.0...

  • Page 140: The Function Block Speed

    The input data types INT16, INT32, UINT16 and UINT32 are permitted. The output must be selected to match the input types. The speed output is given in increments per time interval. The parameter Time Interval is specified in ms. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 141: Signal Description

    Standard PLC variable (output in the PLC %Q*) FB-Out TwinSAFE FB output TwinSAFE- TwinSAFE output, e.g. an EL2904/KL2904 Standard-Out Standard PLC variable (input in the PLC %I*) FB-In TwinSAFE FB input TwinSAFE SC Input of a TwinSAFE connection (TwinSAFE SC technology) TwinSAFE Logic FB Version: 4.1.0...
  • Page 142 If there is no longer an error after an error has occurred and the ErrAck input of the associated group is set to TRUE, the FB SPEED module assumes the RESET state. The outputs assume the following values: Error = 0 Speed = 0 Version: 4.1.0 TwinSAFE Logic FB...

  • Page 143: Fb Speed Configuration In Twincat 3

    The MapState and MapDiag entries define which diagnostic functions of the FB are mapped to the cyclic process image. The parameter Overflow Check can be used to specify speed calculation method in the event of an input signal overflow. TwinSAFE Logic FB Version: 4.1.0...

  • Page 144: The Function Block Loadsensing

    Outside = FALSE: Y1[index] <= WY1[index] < WY2[index] <= Y2[index] Outside = TRUE: WY1[index] <= Y1[index] < Y2[index] <= WY2[index] Fig. 129: Function block LOADSENSING NOTICE KL6904/EL6900 The function block LOADSENSING is not available in the KL6904 and the EL6900. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 145: Signal Description

    (m+n-1) FB-Out INT16 Standard-In UINT16 TwinSAFE SC INT32 UINT32 FB LoadSensing outputs Offset Name Permitted type Data type Description Valid TwinSAFE-Out BOOL This output is set if AnalogInY is within the switch-off FB-In level. Standard-Out TwinSAFE Logic FB Version: 4.1.0...
  • Page 146 The outputs assume the following values: Valid = 0 Warning = 0 16.0 INACTIVE If InActive = TRUE, the FB LS module assumes the INACTIVE state. The outputs assume the following values: Valid = 0 Warning = 0 Version: 4.1.0 TwinSAFE Logic FB...

  • Page 147: Fb Loadsensing Configuration In Twincat 3

    If InActive = FALSE and AreaValidButWarning = TRUE, the FB LS module assumes the WARNING state. The outputs assume the following values: Valid = 1 Warning = 1 4.25.3 FB LOADSENSING configuration in TwinCAT 3 Fig. 131: FB LOADSENSING configuration TwinSAFE Logic FB Version: 4.1.0...

  • Page 148: Fig. 132 Fb Loadsensing Table

    Function blocks Fig. 132: FB LOADSENSING table If values for Y1 and Y2 are specified in the table, values for the warning level WY1 and WY2 must also be specified. Fig. 133: FB LOADSENSING properties Version: 4.1.0 TwinSAFE Logic FB...

  • Page 149: The Function Block Cammonitor

    FB CAMMONITOR The FB CAMMONITOR provides a safe evaluation function block, which can output the cam data (TDC, BDC, UpwardsMove) according to the set fixed values, depending on the current position. Fig. 135: Function block CAMMONITOR TwinSAFE Logic FB Version: 4.1.0...

  • Page 150: General Properties Of The Fb Cammonitor

    For pendulum mode the Pendulum Mode checkbox will be set. The inputs TDC2_UpperLimit and TDC2_LowerLimit or the parameters are used. NOTICE KL6904/EL6900 The function block CAMMONITOR is not available in the KL6904 and the EL6900. 4.26.2 General properties of the FB CAMMONITOR Fig. 136: FB CAMMONITOR properties Version: 4.1.0 TwinSAFE Logic FB...

  • Page 151: Fig. 137 Fb Cammonitor Port Properties

    One channel (here: sin/cos encoder) is transferred to the EL6910 logic via the TwinSAFE SC technology. The second channel is transferred via the standard EtherCAT communication of the EL6910. Fig. 138: Structure diagram of the configuration TwinSAFE Logic FB Version: 4.1.0...

  • Page 152: Use Case Excentric Mode

    This is only permitted if the position is between TDC1_UpperLimit and BDC_LowerLimit. The backward movement ends when TDC1_UpperLimit is reached. 4.26.3.1 Schematic diagram of the ranges Fig. 140: Excentric mode - schematic diagram of the ranges Version: 4.1.0 TwinSAFE Logic FB...
  • Page 153 CamMonOK is set to FALSE. The input or parameter OverrunMax must be greater than TDC1_UpperLimit and less than BDC_LowerLimit. 4.26.3.3 Outputs Offset Name Permitted type Description Digital Error safeBOOL Error output BOOL TwinSAFE Logic FB Version: 4.1.0...
  • Page 154 MoveDetectionTime MaxPosition The parameter MaxPosition is used to set the maximum permitted position value during a 360° movement of the press. Pendulum Mode Checkbox for activating pendulum mode Excentric Mode Checkbox for activating excentric mode Version: 4.1.0 TwinSAFE Logic FB...

  • Page 155: Fig. 141 Scopeview Display Of The Signal Curve

    FB output TDC. Press is in top dead center (here set between 8092 and 100 increments). Press 0° is 8192 or 0 increments. FB output Upwards. Press is in upward movement. The signal is set when BDC is exited and reset after 0° or 0 increments. TwinSAFE Logic FB Version: 4.1.0...

  • Page 156: Use Case: Pendulum Mode

    Reset input, the system is stopped immediately by setting CamMonOK to FALSE. The optional function block inputs for connecting an upward or overrun cam are not supported in this operation mode. An error is set if they are active erroneously. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 157: Fig. 143 Pendulum Mode - Schematic Diagram Of The Ranges

    TDC1_UpperLimit. 4.0-5.0 TDC1UpperLimit Fixed value The input or parameter TDC1_UpperLimit indicates the (UINT16/UINT32) upper limit of the TDC in the “left” half of the press. The value must greater than TDC1_LowerLimit and less than MaxPosition. TwinSAFE Logic FB Version: 4.1.0...
  • Page 158 If the input PressStarted is active, the time must be specified after which the position must change when a motion was detected for the first time. MinPositionChange If the input PressStarted is active, a value must be specified to indicate the minimum position change within the MoveDetectionTime Version: 4.1.0 TwinSAFE Logic FB...

  • Page 159: Fig. 144 Scopeview Display Of The Signal Curve

    4496 and 7796 increments for the left side) FB output Upwards. Press is in upward movement. The signal is set when BDC is exited and reset when press standstill is detected. TwinSAFE Logic FB Version: 4.1.0...

  • Page 160: Use Case: Hardware Cams

    0: Normal operation 1: Automatic mode (no parameter verification) BackwardsMove safeBOOL The input BackwardsMove can be used to move the press in backward direction in excentric mode. This is possible until TDC1_UpperLimit is reached. Version: 4.1.0 TwinSAFE Logic FB...
  • Page 161 Reset input. UpwardsMove safeBOOL The output UpwardsMove is set to logical 1 between BDC_UpperLimit and 0°. BOOL safeBOOL Boolean output TDC is set if the current position is between TDCx_LowerLimit and TDCx_UpperLimit. BOOL TwinSAFE Logic FB Version: 4.1.0...

  • Page 162: Fig. 146 Scopeview Display Of The Signal Curve

    Excentric Mode Checkbox for activating excentric mode 4.26.5.4 Scope recording of the sequence Fig. 146: ScopeView display of the signal curve Color Signal description FB input CamReset (rising and falling edge before a motion may start) Version: 4.1.0 TwinSAFE Logic FB...

  • Page 163: Fig. 147 Fb Cammonitor In Excentric Mode With Hardware Cams

    The MaxPosition of 65535 increments is output in the event of a complete stroke by the encoder system used. All other fixed values are derived from this MaxPosition (see schematic diagram of the ranges excentric mode). TwinSAFE Logic FB Version: 4.1.0...

  • Page 164: Description Of The Process

    0x4019 (OverrunMax + The value of OverrunMax FB instance OverrunMax BDCLower Limit 2*AllowedPositionJitt (plus twice the maximum + 2*Allowed er) >= position jitter) (%d) is PositionJitter BDCLowerLimit greater than or equal to the value of BDCLowerLimit (%d) Version: 4.1.0 TwinSAFE Logic FB...
  • Page 165 OverrunCAM errors reported in function block state ERROR 0x4005 Automatic = FALSE The OverrunCAM input was FB instance Position AND OverrunCAM = TRUE in the area between TRUE AND OverrunMax and BDCRightArea= BDCUpperLimit, the actual TRUE position is %d TwinSAFE Logic FB Version: 4.1.0...
  • Page 166 %d 0x400A In MOVE-STOP state The Position was moving FB instance Reset is FALSE and while waiting for a rising Stopped changes to edge at the Reset input in FALSE the MOVE-STOP state Version: 4.1.0 TwinSAFE Logic FB...

  • Page 167: Diagnostic Messages Pendulum Mode

    BDCLowerLimit (%d) 0x4018 (BDCLowerLimit + The value of BDCLowerLimit FB instance BDCLowerLimit + MaxPosition/2 AllowedPositionJitter) >= (plus maximum position jitter) AllowedPositionJit MaxPosition/2 (%d) is greater than or equal to the configured value of 180° (%d) TwinSAFE Logic FB Version: 4.1.0...
  • Page 168 Reset input in to FALSE the WAIT-FOR_RESET state 4.26.8.3 Error while PressStarted input is active Text ID Meaning Message Parameter 1 Parameter 2 Parameter 3 Errors reported in function block state ERROR when input PressStarted is TRUE Version: 4.1.0 TwinSAFE Logic FB...

  • Page 169: Status Information

    The function block assumes the MOVE-UP-TDC1 state if TDC1Area or TDC1ExceededArea becomes TRUE in MOVE-DOWN-CLOCKWISE or MOVE-UP- (Pendulum mode) CLOCKWISE state. 35.0 0x23 MOVE-STOP-TDC1 The function block assumes the MOVE-STOP-TDC1 state if the press is stopped in MOVE-UP-TDC1 state. (Pendulum mode) TwinSAFE Logic FB Version: 4.1.0...

  • Page 170: The Function Block Sli

    PositionDiff to 0. The input data types INT16, INT32, UINT16 and UINT32 are permitted for Position. The output PositionDiff supports the output data types INT16 and INT32. The parameters Limit pos and Limit neg are UINT32 values and are therefore always specified positive. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 171: Signal Description

    FB-In the defined limits. Standard-Out 0.0- PositionDiff TwinSAFE-Out Output of the difference position between the saved (n-1) FB-In INT16 (LatchPosition) and current position. PositionDiff is set Standard-Out n=4: to 0 if SLIActive is FALSE. INT32 TwinSAFE Logic FB Version: 4.1.0...
  • Page 172 If the input FbRun=FALSE, the FB SLI module assumes the STOP state. The outputs assume the following values: Error = 0 SLIActive = 0 PositionDiff = 0 SAFE If the input SLI=FALSE, the FB SLI module assumes the SAFE state. The outputs assume the following values: Version: 4.1.0 TwinSAFE Logic FB...

  • Page 173: Fb Sli Configuration In Twincat 3

    (overflow) is in the RUN state, the FB SLI2 module assumes the EXCEEDED state. The outputs assume the following values: Error = 0 SLIActive = 0 PositionDiff = Position - LatchPosition 4.27.3 FB SLI configuration in TwinCAT 3 Fig. 149: FB SLI configuration TwinSAFE Logic FB Version: 4.1.0...

  • Page 174: The Function Block Sli2

    4.28 The function block SLI2 4.28.1 Functional description The FB SLI2 corresponds to the function block SLI with the exception of the outputs. SLI2 has two outputs and two more parameters than SLI. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 175: Description Of The Signals

    Permitted deviation of the saved position (LatchPosition) in negative direction (UINT32) OverflowAllowed Overflow allowed or not allowed ExceededSupport If an underflow or overflow occurs in the RUN state, the FB changes to the EXCEEDED state instead of ERROR TwinSAFE Logic FB Version: 4.1.0...

  • Page 176: Diagnostic Message

    (overflow) in the RUN state, the FB SLI2 module assumes the EXCEEDED state. The outputs assume the following values: Error = 0 SLIActive = 0 BelowMin = Underflow AboveMax = Overflow PositionDiff = Position - LatchPosition Version: 4.1.0 TwinSAFE Logic FB...

  • Page 177: Fb Sli2 Configuration In Twincat 3

    By clicking next to the FB port, you can create variables that can be linked to input or output signals. Fig. 154: FB SLI2 port properties Settings such as changing the data type or activation of the port can be made via the properties of the FB Port. TwinSAFE Logic FB Version: 4.1.0...

  • Page 178: Fig. 155 Fb Sli2 Properties

    Under "Miscellaneous", you can select the position at which the function block is to be executed in the execution order. It is possible to change the instance name in both views. Further information on the parameters can be found in chapter Parameter [} 175]. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 179: The Function Block Slp

    SafePosValid = TRUE, SafePositionLowerLimit ≤ SafePosition ≤ SafePositionHigherLimit FB SLP TRUE PositionInLimit BelowMin AboveMax SafePosValid = TRUE and SafePosition < SafePositionLowerLimit FB SLP FALSE PositionInLimit BelowMin AboveMax SafePosValid = TRUE und SafePosition > SafePositionHigherLimit FB SLP FALSE TwinSAFE Logic FB Version: 4.1.0...

  • Page 180: Description Of The Signals

    1 = SafePosition valid SingleturnPosUL UDINT Upper limit of the single-turn position MultiturnPosUL DINT Upper limit of the multi-turn position SingleturnPosLL UDINT Lower limit of the single-turn position MultiturnPosLL DINT Lower limit of the multi-turn position Version: 4.1.0 TwinSAFE Logic FB...

  • Page 181: Diagnostic Messages

    Encoder sub mask from NC configuration Scaling Unit Textual specification of the unit of the scaled value for the display in the function block view 4.29.2.3 Diagnostic messages Diagnostic information Offset Signal FB-Type (=78) FB State TwinSAFE Logic FB Version: 4.1.0...
  • Page 182 If the input SafePosValid=TRUE, the FB SLP compares the SafePosition with the lower limit SafePositionLowerLimit and the upper limit SafePositionHigherLimit. If InLimit=FALSE, the FB SLP module switches to the SAF state. The outputs assume the following values: Error=0 Version: 4.1.0 TwinSAFE Logic FB...
  • Page 183 TRUE, the FB SLP module switches to the RESET state. The outputs assume the following values: Error=0 PositionInLimit=0 BelowMin=0 AboveMax=0 START If the input SafePosValid=FALSE, the FB SLP module switches to the START state. The outputs assume the following values: Error=0 PositionInLimit=0 BelowMin=0 AboveMax=0 TwinSAFE Logic FB Version: 4.1.0...

  • Page 184: Fb Slp Configuration In Twincat 3

    By clicking next to the FB port, you can create variables that can be linked to input or output signals. Fig. 158: FB SLP port properties Settings such as changing the data type or activation of the port can be made via the properties of the FB Port. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 185: Fig. 159 Fb Slp Properties

    Under "Miscellaneous", you can select the position at which the function block is to be executed in the execution order. It is possible to change the instance name in both views. Further information on the parameters can be found in chapter Parameter [} 181]. TwinSAFE Logic FB Version: 4.1.0...

  • Page 186: The Function Block Sbt

    If the test is successful TestError BrakeValid RemainingTime BrakeTestInterval The timer until the next brake test is reset. SBT=1 after expiry of BrakeTestInterval TestError BrakeValid RemainingTime If the test fails TestError BrakeValid RemainingTime continue decrementing unchanged Version: 4.1.0 TwinSAFE Logic FB...

  • Page 187: Description Of The Signals

    Indicates the remaining time until the next brake test in seconds. Internal identifier of the FB Type Description FB SBT This description applies to BLG 1.0 (internal version number) 4.30.2.2 Parameter Parameter Description MinCurrentIq Torque-forming current for the minimum required torque of the axis TwinSAFE Logic FB Version: 4.1.0...
  • Page 188 • RemainingTime ≤ BrakeTestInterval, the SBT module switches to the RUN state. The outputs assume the following values: • TestError = 0 • BrakeValid = 0 • RemainingTime = current remaining time STOP • FbRun = FALSE Version: 4.1.0 TwinSAFE Logic FB...
  • Page 189 SBT module switches to the TEST-FAILED state. The outputs assume the following values: • TestError = 0 • BrakeValid = 0 • RemainingTime = 0 or current remaining time MONS-ERROR • TimerExpired = TRUE and • SBT = FALSE TwinSAFE Logic FB Version: 4.1.0...

  • Page 190: Fb Slt Configuration In Twincat 3

    By clicking next to the FB port, you can create variables that can be linked to input or output signals. Fig. 162: FB SBT port properties Settings such as changing the data type or activation of the port can be made via the properties of the FB Port. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 191: Fig. 163 Fb Sbt Properties

    Under "Miscellaneous", you can select the position at which the function block is to be executed in the execution order. It is possible to change the instance name in both views. Further information on the parameters can be found in chapter Parameter [} 187]. TwinSAFE Logic FB Version: 4.1.0...

  • Page 192: The Function Block Advposmon

    This function is optional. Outputs Offset Name Data type Description Error BOOL Indicates an error. 0 = no error 1 = error, automatic position monitoring is inactive Active BOOL Indicates the status of automatic position monitoring. Version: 4.1.0 TwinSAFE Logic FB...
  • Page 193 Diagnostic information FB State Offset Signal STOP SAFE ERROR RESET START 0x10 WAIT-FOR-RESTART Diagnostic information FB Diag Offset Signal 0.0-2.0 SAFEDRIVEFEEDBACK instance (1-4) that has changed to the ERROR state 3.0-7.0 Reserve (0) Status information Value Description TwinSAFE Logic FB Version: 4.1.0...
  • Page 194 • OverRange = 0 RESET If in the ERROR state • ErrAck (of the Group) = TRUE and • the assigned SAFEDRIVEFEEDBACK module is in error mode the ADVPOSMON module switches to the RESET state. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 195: Configuration Of Fb Advposmon In Twincat 3

    Fig. 165: Function block ADVPOSMON In the function block view, you have the option of selecting the feedback. By clicking next to the FB port, you can create variables that can be linked to input or output signals. TwinSAFE Logic FB Version: 4.1.0...

  • Page 196: Fig. 166 Properties Of The Ports Of The Fb Advposmon

    Under "Miscellaneous", you can also select where the function block should be executed in the execution order. It is possible to change the instance name in both views. Further information on the parameters can be found in chapter Parameter [} 193]. Version: 4.1.0 TwinSAFE Logic FB...

  • Page 197: The Function Block Envelope

    SafeFunctionOut is set to FALSE when Time after inTarget has elapsed. The output SafeFunctionOut is set to FALSE once MaxTime has elapsed at the latest. This function block can typically be used for SS1 or SS2 safety function, for example. Fig. 168: Time curve of FB Envelope TwinSAFE Logic FB Version: 4.1.0...

  • Page 198: Signal Description

    Output with the safety function (delayed and envelope- FB-In monitored) Standard-Out Input and output types Type Description TwinSAFE-In TwinSAFE input, e.g. an EL1904/KL1904 Standard-In Standard PLC variable (output in the PLC %Q*) FB-Out TwinSAFE FB output TwinSAFE-Out TwinSAFE output, e.g. an EL2904/KL2904 Version: 4.1.0 TwinSAFE Logic FB...
  • Page 199 If the input FbRun=FALSE, the FB ENV module assumes the STOP state. The outputs assume the following values: Error=0 SafeFunctionOut=0 SAFE If the input SafeFunction=FALSE, MaxTimeExpired=TRUE or TimeAfterInTargetExpired=TRUE, the FB ENV module assumes the SAFE state. TwinSAFE Logic FB Version: 4.1.0...

  • Page 200: Fb Envelope Configuration In Twincat 3

    MONITOR state); the value must not be smaller than the TargetValue. If this difference is less than the amount of the current InValue, InValueExpired=TRUE is set. The outputs assume the following values: Error=0 SafeFunctionOut=1 4.32.3 FB Envelope configuration in TwinCAT 3 Fig. 170: FB Envelope configuration Version: 4.1.0 TwinSAFE Logic FB...

  • Page 201: The Function Block Violationcounter

    Decrement No Error; if the input is FALSE (in case of negation of Input: TRUE), the error counter is incremented by Increment Error. InputOK is set to FALSE when the error counter reaches the Counter Limit. TwinSAFE Logic FB Version: 4.1.0...

  • Page 202: Signal Description

    Standard-Out 0.0- ActViolation TwinSAFE-Out UINT16 Indicates the current internal counter value if the input (n-1) FB-In (n=2) Enable is TRUE, otherwise the output is set to 0. Standard-Out UINT32 (n=4) Version: 4.1.0 TwinSAFE Logic FB...
  • Page 203 The outputs assume the following values: InputOK=0 ActViolationCnt = 0 SAFE If the input Enable=TRUE and LimitOverrun=TRUE, the FB VIOCNT module assumes the SAFE state and modifies the ActViolationCnt. The outputs assume the following values: InputOK=0 ActViolationCnt = current value TwinSAFE Logic FB Version: 4.1.0...

  • Page 204: Fb Violationcnt Configuration In Twincat 3

    If the input Enable=FALSE, the FB VIOCNT module assumes the START state. The outputs assume the following values: InputOK=0 ActViolationCnt = 0 4.33.3 FB ViolationCnt configuration in TwinCAT 3 Fig. 174: FB ViolationCnt configuration Fig. 175: FB ViolationCnt properties Version: 4.1.0 TwinSAFE Logic FB...

  • Page 205: The Function Block Xor

    Xor1In(x) and 2 inputs Xor2In(x) are linked in exclusive or mode. The result is output at output XorOut(x). NOTICE Support The function block XOR is not available in the KL6904, EL6900 and EL6910 (SW ≤ 03). TwinSAFE Logic FB Version: 4.1.0...

  • Page 206: Signal Description

    TwinSAFE-In BOOL Input1 of XOR2 FB-Out TwinSAFE SC Xor2In2 TwinSAFE-In BOOL Input2 of XOR2 FB-Out TwinSAFE SC Xor1In3 TwinSAFE-In BOOL Input1 of XOR3 FB-Out TwinSAFE SC Xor2In3 TwinSAFE-In BOOL Input2 of XOR3 FB-Out TwinSAFE SC Version: 4.1.0 TwinSAFE Logic FB...
  • Page 207 XorOut4 TwinSAFE-Out BOOL Output of XOR4 FB-In Standard-Out 12.0 XorOut5 TwinSAFE-Out BOOL Output of XOR5 FB-In Standard-Out 13.0 XorOut6 TwinSAFE-Out BOOL Output of XOR6 FB-In Standard-Out 14.0 XorOut7 TwinSAFE-Out BOOL Output of XOR7 FB-In Standard-Out TwinSAFE Logic FB Version: 4.1.0...
  • Page 208 XorOutY = (Xor1InY XOR Xor2InY) AND FB Input Active(Y) with Y = {1,2 .. 8} STOP If the input FbRun=FALSE, the FB XOR module assumes the STOP state. The outputs assume the following values: XorOutY = 0 with Y = {1,2 ... 8} Version: 4.1.0 TwinSAFE Logic FB...

  • Page 209: Configuration Of The Fb Xor In Twincat 3

    The properties of the FB Port can be used for settings such as port activation. The MapState and MapDiag entries define which diagnostic functions of the FB are mapped to the cyclic process image. Fig. 179: Properties of the FB XOR TwinSAFE Logic FB Version: 4.1.0...

  • Page 210: Fig. 180 Port Properties Of The Fb Xor

    Function blocks Fig. 180: Port properties of the FB XOR Version: 4.1.0 TwinSAFE Logic FB...

  • Page 211: Appendix

    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: www.beckhoff.com You will also find further documentation for Beckhoff components there.

  • Page 212: List Of Figures

    Fig. 40 Restart behavior MON (sample 1) ....................Fig. 41 Restart behavior MON (sample 2) ....................Fig. 42 Restart behavior MON (sample 3) ....................Fig. 43 EDM Reset Time.......................... Fig. 44 FB MON in TwinCAT 3......................... Version: 4.1.0 TwinSAFE Logic FB...
  • Page 213 FB TOF in TwinCAT 3........................105 Fig. 87 FB TOF properties ........................105 Fig. 88 Function block CONNECTION SHUTDOWN................106 Fig. 89 Function block CONNECTION SHUTDOWN on the opposite side ..........107 Fig. 90 FB CONNECTION SHUTDOWN configuration................109 TwinSAFE Logic FB Version: 4.1.0...
  • Page 214 Fig. 131 FB LOADSENSING configuration ....................147 Fig. 132 FB LOADSENSING table......................148 Fig. 133 FB LOADSENSING properties..................... 148 Fig. 134 FB LOADSENSING port properties ..................... 149 Fig. 135 Function block CAMMONITOR ....................149 Fig. 136 FB CAMMONITOR properties...................... 150 Version: 4.1.0 TwinSAFE Logic FB...
  • Page 215 Fig. 177 Configuration of the XOR function block ..................206 Fig. 178 FB XOR configuration ........................209 Fig. 179 Properties of the FB XOR ......................209 Fig. 180 Port properties of the FB XOR ..................... 210 TwinSAFE Logic FB Version: 4.1.0...
  • Page 217 More Information: www.beckhoff.com/twinsafe Beckhoff Automation GmbH & Co. KG Hülshorstweg 20 33415 Verl Germany Phone: +49 5246 9630 info@beckhoff.com www.beckhoff.com...

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