Beckhoff AX8911 Manuale dell'operatore
Documentation for
AX8911
TwinSAFE Drive Option for AX8xxx-xxxx Servo Drives
1.2.0
2020-03-30
Version:
Date:
Table of contents
AX8911 3Version: 1.2.0
Table of contents
1 Foreword ....................................................................................................................................................5
1.1 Notes on the documentation..............................................................................................................5
1.2 Safety instructions .............................................................................................................................6
1.2.1 Delivery state ..................................................................................................................... 6
1.2.2 Operator's obligation to exercise diligence ........................................................................ 6
1.2.3 Description of instructions.................................................................................................. 7
1.3 Documentation issue status ..............................................................................................................7
2 References .................................................................................................................................................8
3 System description ...................................................................................................................................9
3.1 The AX8000 multi-axis servo system ................................................................................................9
4 Product description.................................................................................................................................10
4.1 General description .........................................................................................................................10
4.1.1 AX8911 with STO function (AX8xxx-x1xx) ...................................................................... 10
4.1.2 AX8911 with Safe Motion functions (AX8xxx-x2xx)......................................................... 11
4.2 Intended use....................................................................................................................................11
4.3 Technical data .................................................................................................................................15
4.4 Safety parameters ...........................................................................................................................16
4.5 AX8911 project design limits ...........................................................................................................18
5 Operation..................................................................................................................................................19
5.1 Environmental conditions ................................................................................................................19
5.2 Installation .......................................................................................................................................19
5.2.1 Safety instructions ........................................................................................................... 19
5.2.2 Transport / storage .......................................................................................................... 19
5.2.3 Mechanical installation..................................................................................................... 19
5.2.4 Electrical installation ........................................................................................................ 20
5.3 Configuration of the option in TwinCAT...........................................................................................22
5.3.1 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
6.1 Default STO function in the AX8911................................................................................................32
6.1.1 Process image of the AX8xxx-x1xx ................................................................................. 34
6.1.2 Error reaction ................................................................................................................... 34
7 Safe Motion functions .............................................................................................................................35
7.1 Parameters of the AX891x ..............................................................................................................35
7.2 Feedback system requirements ......................................................................................................36
7.3 Process image.................................................................................................................................38
7.4 Basic functions ................................................................................................................................44
7.4.1 Signal assignment ........................................................................................................... 44
7.4.2 Evaluation of module errors............................................................................................. 46
7.4.3 Checking SafeDriveFeedback Position Valid .................................................................. 47
7.4.4 Evaluation of AX8000 Status ........................................................................................... 47
Table of contents
AX89114 Version: 1.2.0
7.4.5 Sample of an implementation in the TwinCAT Safety Editor ........................................... 47
7.5 Safety function STO ........................................................................................................................49
7.6 Safety function SS1 .........................................................................................................................49
7.7 Safety functions SOS, SS2..............................................................................................................49
7.8 Safety function SLS, SSM, SSR, SMS ............................................................................................51
7.9 Safety function SAR, SMA...............................................................................................................51
7.10 Safety function SDI..........................................................................................................................52
7.11 Safety function SLI ..........................................................................................................................52
7.12 Safety functions SLP, SCA..............................................................................................................53
7.13 Safety function SBC ........................................................................................................................53
7.14 Safety function SBT.........................................................................................................................54
8 Diagnostics ..............................................................................................................................................55
8.1 Diagnostic display of the AX8xxx axis module ................................................................................55
8.2 AX8xxx Diag history tab ..................................................................................................................55
8.3 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
Foreword
AX8911 5Version: 1.2.0
1 Foreword
1.1 Notes on the documentation
Intended audience
This description is only intended for the use of trained specialists in control and automation engineering who
are familiar with the applicable national standards.
It is essential that the following notes and explanations are followed when installing and commissioning
these components.
The responsible staff must ensure that the application or use of the products described satisfy all the
requirements for safety, including all the relevant laws, regulations, guidelines and standards.
Origin of the document
This original documentation is written in German. All other languages are derived from the German original.
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.
In case of doubt, please contact Technical Support [}62].
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. 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.
Trademarks
Beckhoff®, TwinCAT®, EtherCAT®, EtherCATG®, EtherCATG10®, EtherCATP®, SafetyoverEtherCAT®,
TwinSAFE®, XFC®, XTS® and XPlanar® are registered trademarks of and licensed by 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.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following patent applications and
patents: EP1590927, EP1789857, EP1456722, EP2137893, DE102015105702 with corresponding
applications or registrations in various other countries.
Foreword
AX89116 Version: 1.2.0
EtherCAT® and Safety over EtherCAT® are registered trademarks and patented technologies, licensed by
Beckhoff Automation GmbH, Germany.
Copyright
© Beckhoff Automation GmbH & Co. KG, Germany.
The reproduction, distribution and utilization of this document as well as the communication of its contents to
others without express authorization are prohibited.
Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a
patent, utility model or design.
Delivery conditions
In addition, the general delivery conditions of the company Beckhoff Automation GmbH & Co. KG apply.
1.2 Safety instructions
1.2.1 Delivery 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.
Foreword
AX8911 7Version: 1.2.0
1.2.3 Description of instructions
In these operating instructions the following instructions are used.
These instructions must be read carefully and followed without fail!
DANGER
Serious risk of injury!
Failure to follow this safety instruction directly endangers the life and health of persons.
WARNING
Risk of injury!
Failure to follow this safety instruction endangers the life and health of persons.
CAUTION
Personal injuries!
Failure to follow this safety instruction can lead to injuries to persons.
NOTE
Damage to the environment/equipment or data loss
Failure to follow this instruction can lead to environmental damage, equipment damage or data loss.
Tip or pointer
This symbol indicates information that contributes to better understanding.
1.3 Documentation issue status
Version Comment
1.2.0 • General revision
1.1.0 • Description of the Safe Motion functions added
• Safety instructions adapted to IEC 82079-1
• Illustration of the safety parameters updated
1.0.0 • Certificate added
• 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)
References
AX89118 Version: 1.2.0
2 References
No Version Title / description
[1] 1.4.0 or newer AX8000 StartUp
This documentation contains the description of the assembly, installation
and operation of an AX8000.
[2] 1.4.1 or newer Operating instructions for EL6910 TwinSAFE logic module
The document contains a description of the logic functions of the EL6910,
and thus also of the AX8911, and their programming
[3] 3.1.0 or newer Documentation – TwinSAFE Logic 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.
[4] 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.
[5] 1.8.0 or newer TwinSAFE application guide
The application guide provides the user with examples for the calculation of
safety parameters for safety functions according to the standards DIN EN
ISO 13849-1 and EN 62061 or EN 61508:2010, such as are typically used
on machines.
System description
AX8911 9Version: 1.2.0
3 System description
3.1 The AX8000 multi-axis servo system
Multi-channel drive solutions can be constructed with the AX8000 multi-axis servo system. The required
number of single-channel or two-channel axis modules are attached to the central supply module. The
modules are connected without screws or tools using the built-in AX-Bridge quick connection system, which
is based on spring-loaded terminals. The single-axis and dual-axis modules can optionally be equipped with
STO or Safe Motion (AX8xxx-x1xx or AX8xxx-x2xx).
eXtreme Fast Control in the drive
The EtherCAT-based AX8000 multi-axis servo system combines powerful FPGA technology with multi-core
ARM processors. The new multi-channel current control technology makes extremely short sampling and
reaction times possible. The entirely hardware-implemented current controller combines the advantages of
analog and digital control technology: reaction to a deviation of the current from the setpoint value is possible
within 1 µs; the velocity controller cycle time is around 16 µs at a switching frequency of 32 kHz. The
processing of the EtherCAT process data (actual and setpoint values) can take place without a processor
almost without delay in the hardware, so that the minimum EtherCAT cycle time is only 62.5 µs.
One Cable Technology (OCT)
The AX8000 multi-axis servo system supports OCT, the one-cable solution for power and feedback. In
connection with the servo motors from the AM8000 (standard), AM8500 (increased inertia) and AM8800
(stainless steel) series, the wiring is reduced to the obligatory motor cable, via which the feedback 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.
Product description
AX891110 Version: 1.2.0
4 Product description
4.1 General description
AX8911 - TwinSAFE Drive Option for AX8000 Servo Drives
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.
AX8xxx-x1xx axis module
The variant in the AX8xxx-x1xx axis module only provides the safety function STO (Safe Torque Off) or SS1
(Safe Stop 1) via the digital inputs of the AX8000 axis module or via a TwinSAFE (FSoE) connection.
AX8xxx-x2xx axis module
The variant in the AX8xxx-x2xx axis module also provides SafeMotion functions such as Safe Limited Speed
in addition to STO and SS1.
Attainable safety level
For the safety functions STO, SS1 and SBC (AX8xxx-x2xx), the AX8911 meets the requirements of
IEC61508:2010SIL3, EN62061:2005/A1:2013/A2:2015SILCL3 and ENISO13849-1:2015(Cat4,PLe).
For the Safe Motion safety functions (all except STO, SS1 und SBC), the subsystem consisting of AX8911
and SICK EDS35/EDM35 OCT encoder meets the requirements of IEC61508:2010up toSIL2,
EN62061:2005/A1:2013/A2:2015up toSILCL2 and ENISO13849-1:2015up to Cat.3,PLd.
If a higher safety level is required for the SafeMotion safety functions, a further, more diverse encoder signal
must be used together with the EDS35/EDM35 OCT encoder. This can be done, for example, by attaching
and using a second encoder.
CAUTION
Higher Performance Level for SafeMotion functions
The machine manufacturer or user is solely responsible for the execution and evaluation of the measures to
attain a higher Performance Level.
4.1.1 AX8911 with STO function (AX8xxx-x1xx)
Through the integration of the AX8911 Drive Option in the AX8000, the STO safety function can be enabled
via two digital inputs per channel of the servo drive or via Safety-over-EtherCAT (FSoE). The digital inputs
and the signals via FSoE are equivalent and are logically ORed internally. It is therefore sufficient to enable
the axis via either one of the two ways.
The respective axis is enabled if both of its digital inputs are logic 1 (24VDC). If at least one of the two digital
inputs is logic 0, then the STO safety function is active and the motor is switched torque-free.
Alternatively, the STO function of the axis can be accessed via Safety-over-EtherCAT (FSoE). The
respective axis is enabled if the STO signal via FSoE is logic 1. If the STO signal via FSoE is logic 0, the
STO safety function is active and the motor is switched torque-free.
The AX8911 Drive Option is typically addressed via FSoE. The digital inputs are intended for the
commissioning of the AX8000. It is also possible via the digital inputs to operate the AX8911 Drive Option
with a safety controller that doesn't support the FSoE protocol.
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