Beckhoff TwinSAFE logic FB Bedienerhandbuch

Documentation

TwinSAFE logic FB

TwinCAT function blocks for TwinSAFE logic components

Version: 3.3.0

Date: 2019-08-29

 Table of contents 
 
Function blocks for TwinSAFE logic components 1 
Table of contents 
1Foreword 7
1 Notes on the documentation 7 
1.1 Target group 7 
1.2 Origin of the document 7 
1.3 Currentness 7 
1.4 Product features 7 
1.5 Disclaimer 7 
1.6 Trademarks 7 
1.7 Patents 7 
1.8 Copyright 8 
1.9 Delivery conditions 8 
2 Safety instructions 8 
2.1 Delivery state 8 
2.2 Operator's obligation to exercise diligence 8 
2.3 Explanation of notes 9 
2.4 Documentation issue status 10 
2System description 11
1 TwinSAFE logic terminals EL69x0/KL6904/EJ6910 11 
1.1 TwinSAFE group 12 
1.2 TwinSAFE connection 14 
2 System diagnosis 15 
2.1 Diagram showing EL6900/KL6904 diagnostics under TwinCAT 2 15 
2.2 Diagram showing EL69x0 diagnostics under TwinCAT 3 20 
2.3 Info data connection 21 
2.4 Function blocks info data 22 
2.5 Groups info data 23 
3Function blocks 25
1 The function block AND 25 
1.1 Functional description 25 
1.2 Signal description 26 
1.3 FB AND configuration in the TwinCAT System Manager 28 
1.4 Display in TwinCAT 3 29 
2 The function block OR 30 
2.1 Functional description 30 
2.2 Signal description 31 
2.3 FB OR configuration in the TwinCAT System Manager 33 
2.4 Display in TwinCAT 3 34 

Table of contents 
 
2Function blocks for TwinSAFE logic components 
3 The function block OPMODE 35 
3.1 Functional description 35 
3.2 Signal description 36 
3.3 Configuration of the FB OPMODE in the TwinCAT System Manager 40 
3.4 Restart behavior 41 
3.5 Display in TwinCAT 3 43 
4 The function block ESTOP 44 
4.1 Functional description 44 
4.2 Signal description 45 
4.3 FB ESTOP configuration in the TwinCAT System Manager 49 
4.4 Restart behavior 50 
4.5 ESTOP extension 53 
4.6 Display in TwinCAT 3 54 
5 The function block MON 55 
5.1 Functional description 55 
5.2 Signal description 57 
5.3 FB MON configuration in the TwinCAT System Manager 61 
5.4 Restart behavior 62 
5.5 MON extension 64 
5.6 Display in TwinCAT 3 65 
6 The function block DECOUPLE 66 
6.1 Functional description 66 
6.2 Signal description 67 
6.3 FB DECOUPLE configuration in the TwinCAT System Manager 70 
6.4 Display in TwinCAT 3 71 
7 The function block TWOHAND 72 
7.1 Functional description 72 
7.2 Signal description 73 
7.3 FB TWOHAND configuration in the TwinCAT System Manager 76 
7.4 Display in TwinCAT 3 77 
8 The function block MUTING 78 
8.1 Functional description 78 
8.2 Signal description 79 
8.3 FB MUTING configuration in the TwinCAT System Manager 83 
8.4 Extensions FB Muting EL/EJ6910 89 
8.5 Display in TwinCAT 3 91 
9 The function block EDM 92 
9.1 Functional description 92 
9.2 Signal description 93 

 Table of contents 
 
Function blocks for TwinSAFE logic components 3 
9.3 FB EDM configuration in the TwinCAT System Manager 95 
9.4 Display in TwinCAT 3 96 
10 The function block RS 97 
10.1 Functional description 97 
10.2 Signal description 98 
10.3 FB RS configuration in the TwinCAT System Manager 99 
10.4 Display in TwinCAT 3 100 
11 The function block SR 101 
11.1 Functional description 101 
11.2 Signal description 102 
11.3 FB SR configuration in the TwinCAT System Manager 103 
11.4 Display in TwinCAT 3 104 
12 The function block TON 105 
12.1 Functional description 105 
12.2 Signal description 106 
12.3 FB TON configuration in the TwinCAT System Manager 107 
12.4 TON extension 108 
12.5 Display in TwinCAT 3 108 
13 The function block TON2 109 
13.1 Functional description 109 
13.2 Signal description 111 
14 The function block TOF 113 
14.1 Functional description 113 
14.2 Signal description 114 
14.3 FB TOF configuration in the TwinCAT System Manager 115 
14.4 TOF extension 116 
14.5 Display in TwinCAT 3 116 
15 The function block CONNECTION SHUTDOWN 117 
15.1 Functional description 117 
15.2 Signal description 118 
15.3 FB ConnectionShutdown configuration in the TwinCAT System Manager 121 
15.4 Display in TwinCAT 3 122 
16 The function block ADD 123 
16.1 Functional description 123 
16.2 Signal description 123 
16.3 FB ADD configuration in TwinCAT 3 126 
17 The function block SUB 127 
17.1 Functional description 127 
17.2 Signal description 127 

Table of contents 
 
4Function blocks for TwinSAFE logic components 
17.3 FB SUB configuration in TwinCAT 3 130 
18 The function block MUL 131 
18.1 Functional description 131 
18.2 Signal description 131 
18.3 FB MUL configuration in TwinCAT 3 134 
19 The function block DIV 135 
19.1 Functional description 135 
19.2 Signal description 136 
19.3 FB DIV configuration in TwinCAT 3 138 
20 The function block COMPARE 139 
20.1 Functional description 139 
20.2 Signal description 140 
20.3 FB COMPARE configuration in TwinCAT 3 143 
21 The function block LIMIT 144 
21.1 Functional description 144 
21.2 Signal description 145 
21.3 FB LIMIT configuration in TwinCAT 3 147 
22 The function block COUNTER 148 
22.1 Functional description 148 
22.2 Signal description 149 
22.3 FB Counter configuration in TwinCAT 3 151 
23 The function block SCALE 152 
23.1 Functional description 152 
23.2 Signal description 153 
23.3 FB Scale configuration in TwinCAT 3 155 
24 The function block SPEED 157 
24.1 Functional description 157 
24.2 Signal description 158 
24.3 FB Speed configuration in TwinCAT 3 160 
25 The function block LOADSENSING 161 
25.1 Functional description 161 
25.2 Signal description 162 
25.3 FB LOADSENSING configuration in TwinCAT 3 165 
26 The function block CAMMONITOR 167 
26.1 Functional description 167 
26.2 General properties of the FB CAMMONITOR 169 
26.3 Application excentric mode 171 
26.4 Application: pendulum mode 176 
26.5 Application: hardware cams 180 

 Table of contents 
 
Function blocks for TwinSAFE logic components 5 
26.6 Description of the process 185 
26.7 Diagnostics messages excentric mode 186 
26.8 Diagnostic messages pendulum mode 190 
26.9 State information 192 
27 The function block SLI 194 
27.1 Functional description 194 
27.2 Signal description 195 
27.3 FB SLI configuration in TwinCAT 3 197 
28 The function block Envelope 199 
28.1 Functional description 199 
28.2 Signal description 201 
28.3 FB Envelope configuration in TwinCAT 3 204 
29 The function block ViolationCounter 206 
29.1 Functional description 206 
29.2 Signal description 207 
29.3 FB ViolationCnt configuration in TwinCAT 3 209 
30 The function block XOR 210 
30.1 Functional description 210 
30.2 Signal description 211 
30.3 Configuration of the FB XOR in TwinCAT 3 213 
4Appendix 215
1 Beckhoff Support and Service 215 
2 Beckhoff headquarters 215 
 

Foreword

Function blocks for TwinSAFE logic components 7

1 Foreword

1.1 Notes on the documentation

1.1.1 Target group

This description is aimed specifically at trained qualified persons with a control and automation

technology background, who are familiar with the current national and international standards and

guidelines.

The following instructions and explanations must be followed during installation and commissioning of the

components.

The qualified personnel must ensure that the application of the described products meets all safety

requirements, including all applicable laws, specifications, regulations and standards.

1.1.2 Origin of the document

This documentation was originally written in German. All other languages are derived from the German

original.

1.1.3 Currentness

Please check whether you are using the current and valid version of this document. The current version

can be downloaded from the Beckhoff homepage at

http://www.beckhoff.com/english/download/twinsafe.htm . If in doubt, please contact the technical support

(see chapter 4.1 Beckhoff Support and Service).

1.1.4 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.

1.1.5 Disclaimer

The documentation has been prepared with care. The products described in this document 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. We reserve the right to revise and change the

documentation 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 this

documentation.

1.1.6 Trademarks

Beckhoff®, TwinCAT®, EtherCAT®, EtherCAT G®, EtherCAT G10®, EtherCAT P®, Safety over EtherCAT®,

TwinSAFE®, XFC®, XTS®and XPlanar®are registered and licensed trademarks of Beckhoff Automation

GmbH.

Other designations used in this publication may be trademarks whose use by third parties for their own

purposes could violate the rights of the owners.

1.1.7 Patents

The EtherCAT technology is patent protected, in particular by the following applications and patents:

EP1590927, EP1789857, DE102004044764, DE102007017835 with the corresponding applications and

registrations in various other countries.

The TwinCAT technology is patent protected, in particular by the following applications and patents:

EP0851348, US6167425 with corresponding applications or registrations in various other countries.

Foreword

8Function blocks for TwinSAFE logic components

EtherCAT®and Safety over EtherCAT®are registered trademarks and patented technologies, licensed by

Beckhoff Automation GmbH, Germany.

1.1.8 Copyright

The reproduction, distribution and utilization of this document as well as the communication of its

contents to others without express authorization are prohibited.

patent, utility model or design.

1.1.9 Delivery conditions

In addition, the general delivery conditions of the company Beckhoff Automation GmbH & Co. KG apply.

1.2 Safety instructions

1.2.1 Delivery state

All the components are supplied in particular hardware and software configurations appropriate for the

application. Modifications to hardware or software configurations other than those described in the

documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.

1.2.2 Operator's obligation to exercise diligence

The operator must ensure that

•the TwinSAFE products are only used as intended (see chapter Product description);

•the TwinSAFE products are only operated in sound condition and in working order.

•the TwinSAFE products are operated only by suitably qualified and authorized personnel.

•the personnel is instructed regularly about relevant occupational safety and environmental

protection aspects, and is familiar with the operating instructions and in particular the safety

instructions contained herein.

•the operating instructions are in good condition and complete, and always available for

reference at the location where the TwinSAFE products are used.

•none of the safety and warning notes attached to the TwinSAFE products are removed, and

all notes remain legible.

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