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Documentation for

AX8911 - TwinSAFE Drive Option

TwinSAFE Drive Option for AX8xxx-x1xx Servo Drives

1.0.02017-10-26

Version:Date:

Table of contents

AX8911 - TwinSAFE Drive Option 3Version: 1.0.0

Table of contents1 Foreword .................................................................................................................................................... 5

1.1 Notes on the documentation........................................................................................................... 51.2 Safety instructions .......................................................................................................................... 6

1.2.1 Delivery state ..................................................................................................................... 61.2.2 Operator's obligation to exercise diligence ........................................................................ 61.2.3 Description of safety symbols ............................................................................................ 7

1.3 Documentation issue status............................................................................................................ 7

2 References ................................................................................................................................................. 8

3 System description ................................................................................................................................... 93.1 The AX8000 multi-axis servo system ............................................................................................. 9

4 Product description................................................................................................................................. 104.1 General description....................................................................................................................... 10

4.1.1 AX8911 with STO function (AX8xxx-x1xx)....................................................................... 104.1.2 AX8911 with Safe Motion functions (AX8xxx-x2xx) ......................................................... 11

4.2 Intended use ................................................................................................................................. 114.3 Technical data .............................................................................................................................. 144.4 Safety parameters ........................................................................................................................ 154.5 Project design limits for AX8911 (AX8xxx-x1xx)........................................................................... 16

5 Operation.................................................................................................................................................. 175.1 Environmental conditions.............................................................................................................. 175.2 Installation..................................................................................................................................... 17

5.2.1 Safety instructions............................................................................................................ 175.2.2 Transport / storage........................................................................................................... 175.2.3 Mechanical installation..................................................................................................... 175.2.4 Electrical installation......................................................................................................... 18

5.3 Configuration of the option in TwinCAT ........................................................................................ 205.3.1 Adding an axis module..................................................................................................... 205.3.2 Using the AX8911 with the default project ....................................................................... 205.3.3 Use of the AX8911 with a fail-safe user program ............................................................ 245.3.4 Creation of safety functions ............................................................................................. 30

6 Use of the STO function.......................................................................................................................... 316.1 Default STO function in the AX8911............................................................................................. 33

6.1.1 Process image of the AX8xxx-x1xx ................................................................................. 356.1.2 Error reaction ................................................................................................................... 35

7 Implementation of Safe Motion functions ............................................................................................. 367.1 Safe inputs and outputs ................................................................................................................ 367.2 Safety function STO...................................................................................................................... 367.3 Safety function SS1 ...................................................................................................................... 367.4 Safety function SS2 ...................................................................................................................... 367.5 Safety function SOS ..................................................................................................................... 367.6 Safety functions SLS, SSM, SSR ................................................................................................. 367.7 Safety function SAR...................................................................................................................... 367.8 Safety functions SDIp, SDIn ......................................................................................................... 367.9 Safety function SLI........................................................................................................................ 367.10 Safety functions SLP, SCA ........................................................................................................... 36

Table of contents

AX8911 - TwinSAFE Drive Option4 Version: 1.0.0

8 Diagnostics .............................................................................................................................................. 378.1 Diagnostic display of the AX8xxx axis module ............................................................................. 378.2 AX8xxx Diag history tab................................................................................................................ 378.3 Diagnosis History.......................................................................................................................... 38

9 Maintenance............................................................................................................................................. 41

10 Service life................................................................................................................................................ 42

11 Decommissioning.................................................................................................................................... 43

12 Appendix .................................................................................................................................................. 4412.1 Support and Service ..................................................................................................................... 4412.2 Certificates.................................................................................................................................... 45

Foreword


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 whoare familiar with the applicable national standards.

It is essential that the following notes and explanations are followed when installing and commissioningthese components.

The responsible staff must ensure that the application or use of the products described satisfy all therequirements for safety, including all the relevant laws, regulations, guidelines and standards.

Origin of the document

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

Currentness

Please check whether you are using the current and valid version of this document. The current version canbe downloaded from the Beckhoff homepage at http://www.beckhoff.com/english/download/twinsafe.htm.In case of doubt, please contact Technical Support [} 44].

Product features

Only the product features specified in the current user documentation are valid. Further information given onthe 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. Forthat 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 timeand without prior announcement. No claims for the modification of products that have already been suppliedmay be made on the basis of the data, diagrams and descriptions in this documentation.

Trademarks

Beckhoff®, TwinCAT®, EtherCAT®, Safety over EtherCAT®, TwinSAFE®, XFC® and XTS® are registeredtrademarks of and licensed by Beckhoff Automation GmbH.Other designations used in this publication may be trademarks whose use by third parties for their ownpurposes could violate the rights of the owners.

Patent Pending

The EtherCAT Technology is covered, including but not limited to the following patent applications andpatents: EP1590927, EP1789857, DE102004044764, DE102007017835 with corresponding applications orregistrations in various other countries.

The TwinCAT Technology is covered, including but not limited to the following patent applications andpatents: EP0851348, US6167425 with corresponding applications or registrations in various other countries.

http://www.beckhoff.com/english/download/twinsafe.htm

Foreword


EtherCAT® is registered trademark and patented technology, 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 toothers 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 apatent, 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 stateAll the components are supplied in particular hardware and software configurations appropriate for theapplication. Modifications to hardware or software configurations other than those described in thedocumentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.

1.2.2 Operator's obligation to exercise diligenceThe 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 containedherein.

• the operating instructions are in good condition and complete, and always available for reference at thelocation where the TwinSAFE products are used.

• none of the safety and warning notes attached to the TwinSAFE products are removed, and all notesremain legible.

Foreword


1.2.3 Description of safety symbolsIn these operating instructions the following symbols are used with an accompanying safety instruction ornote. The safety instructions must be read carefully and followed without fail!

DANGER

Serious risk of injury!Failure to follow the safety instructions associated with this symbol directly endangers thelife and health of persons.

WARNING

Risk of injury!Failure to follow the safety instructions associated with this symbol endangers the life andhealth of persons.

CAUTION

Personal injuries!Failure to follow the safety instructions associated with this symbol can lead to injuries topersons.

Attention

Damage to the environment or devicesFailure to follow the instructions associated with this symbol can lead to damage to the en-vironment or equipment.

Note

Tip or pointerThis symbol indicates information that contributes to better understanding.

1.3 Documentation issue statusVersion Comment1.0.0 • Certificate added

• Description of the safe inputs and outputs added0.4.0 • Safety parameters for the STO and SS1 functions added0.3.0 • Description of the Safe Motion functions updated0.2.0 • Preliminary (internal only)0.1.0 • Preliminary (internal only)

References


2 ReferencesNo Version Title / description[1] 1.4.0 or newer AX8000 StartUp

This documentation contains the description of the assembly, installationand operation of an AX8000.

[2] 1.4.1 or newer Operating instructions for EL6910 TwinSAFE logic moduleThe 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 FBThe document describes the safety function blocks that are available in theEL6910, and thus also in the AX8911, and form the safety application.

[4] 1.0 or newer AX8000 system manualDescription of the mechanical and electrical parameters as well as allinformation necessary for the use of the AX8000 multi-axis servo system.

[5] 1.8.0 or newer TwinSAFE application guideThe application guide provides the user with examples for the calculation ofsafety parameters for safety functions according to the standards DIN ENISO 13849-1 and EN 62061 or EN 61508:2010, such as are typically usedon machines.

System description


3 System description

3.1 The AX8000 multi-axis servo systemMulti-channel drive solutions can be constructed with the AX8000 multi-axis servo system. The requirednumber of single-channel or two-channel axis modules are attached to the central supply module. Themodules are connected without screws or tools using the built-in AX-Bridge quick connection system, whichis based on spring-loaded terminals. The single-axis and dual-axis modules can optionally be equipped withSTO 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-coreARM processors. The new multi-channel current control technology makes extremely short sampling andreaction times possible. The entirely hardware-implemented current controller combines the advantages ofanalog and digital control technology: reaction to a deviation of the current from the setpoint value is possiblewithin 1 µs; the velocity controller cycle time is around 16 µs at a switching frequency of 32 kHz. Theprocessing of the EtherCAT process data (actual and setpoint values) can take place without a processoralmost 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. Inconnection 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 signalsare then also directly transmitted. As in sensorless control, the user no longer has to use an additionalfeedback cable. All the information required for control purposes is transferred reliably and fail-safe via adigital interface.

Product description


4 Product description

4.1 General description

AX8911 - TwinSAFE drive option for AX8000 series servo drives

The AX8911 TwinSAFE drive option is an optional extension of the Beckhoff AX8000 servo drive series.There are two versions of the AX8911 option. The first version provides only the STO function via the digitalinputs of the AX8000 axis module or via a TwinSAFE (FSoE) connection. The second version provides STOand additionally the Safe Motion functions such as Safe Limited Speed.

The AX8911 meets the requirements of IEC 61508:2010 SIL 3, EN 62061:2005/A1:2013/A2:2015 SILCL3and EN ISO 13849-1:2015 (Cat 4, PL e).

The AX8911 is intended for use in a servo drive from the AX8000 series, in which it is permanently installed.

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 enabledvia two digital inputs per channel of the servo drive or via Safety-over-EtherCAT (FSoE). The digital inputsand the signals via FSoE are equivalent and are logically ORed internally. It is therefore sufficient to enablethe 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 digitalinputs 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). Therespective axis is enabled if the STO signal via FSoE is logic 1. If the STO signal via FSoE is logic 0, theSTO 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 thecommissioning of the AX8000. It is also possible via the digital inputs to operate the AX8911 drive optionwith a safety controller that doesn't support the FSoE protocol.

Attention

Digital inputs and Safety-over-EtherCAT (FSoE)If you use the FSoE connection for accessing the AX8911 drive option and additionally thedigital inputs of the AX8000 on X15 or X25 during the commissioning of the axis, makesure that the wiring to the digital inputs is removed after the commissioning of the axis.

Note

STO functionIf the STO function described above is not suitable for the application, it must be changedby the user or by loading a user-defined safety project into the AX8911.

Product description


4.1.2 AX8911 with Safe Motion functions (AX8xxx-x2xx)Through the integration of the AX8911 into the AX8000, the user can implement safety functions inaccordance with the following list:

• Stop functions such as STO, SOS, SS1, SS2• Speed functions such as SLS, SSM, SSR• Acceleration functions such as SAR• Direction of rotation functions such as SDIp, SDIn• Position functions such as SLP, SCA, SLI (however, SLP and SCA are possible only if an appropriate

safe feedback system is used)

Like the programming or configuration of the safety application, the entire parameterization of the AX8911option card is performed from the TwinCAT software. All system-specific settings are stored together with theapplication in the AX8911. The backup/restore mechanism familiar from the EL69x0 can be used for theexchange of the AX8911. Further information on this can be found in the EL6910 user documentation (seeReferences [} 8]).

4.2 Intended useThe AX8911 TwinSAFE drive option card extends the field of use of the Beckhoff AX8000 servo drive bysafety functions that allow it to also be used in the field of machine safety.

WARNING

Observe the intended use!Use of the TwinSAFE drive option card other than for the intended purpose as describedbelow is not permitted!

The AX8911 card can be addressed as a TwinSAFE drive option card via the TwinSAFE inputs X15 or X25or via an FSoE or TwinSAFE connection. Depending on which of these variants is used, the error reactionsof the TwinSAFE drive option card described below may be different.

The following safety measures and safety instructions must be observed when using the TwinSAFEdrive option card

General notes

WARNING

Power supply from SELV/PELV power supply unit!The TwinSAFE components must be supplied with 24 VDC by an SELV/PELV power supplyunit with an output voltage limit Umax of 36 VDC. Failure to observe this can result in a loss ofsafety.

WARNING

Caution - Risk of injury!Basically, electronic devices are not fail-safe. The machine manufacturer is responsible forensuring that the connected motors and the machine are brought into a safe state in theevent of a voltage outage in the drive system

CAUTION

Follow the machinery directive!The TwinSAFE Drive option cards may be used in machines only as defined in the machinedirective.

CAUTION

Ensure traceability!The buyer has to ensure the traceability of the device via the serial number.

Product description


Parameterization

WARNING

Check the parameterization of the TwinSAFE drive option card!The TwinSAFE drive option card determines errors in the parameterization, but no logicaltesting of the parameters or the loaded safety program can take place. Hence, you mustensure by means of an acceptance test that the parameterization and the safety programare correct for the application. This test must be performed by the machine manufacturer.The combination of AX8000 and AX8911 may be used in production only when this testhas produced a positive result for all safety-relevant functions.

WARNING

Avoid incorrect parameterization of the servo drive!Incorrect parameterization of the servo drive (e.g. current controller oscillates or is toolethargic) can lead to switch-off. The AX8911 switches the motors of the AX8000 servodrive torque-free. Any motors that are still moving coast to a halt. With suspended or pullingloads the motors may also accelerate. External safety measures (e.g. mechanical servicebrakes) are to be provided by the user to avoid unwanted movements.

WARNING

Avoid incorrect dimensioning of the servo drive!Loads that cannot be braked by the AX8000 servo drive (e.g. if the AX8000 servo drive isunder-dimensioned) can lead to switch-off. The AX8911 switches the motors of the AX8000servo drive torque-free. Any motors that are still moving coast to a halt. With suspended orpulling loads the motors may also accelerate. External safety measures (e.g. mechanicalservice brakes) are to be provided by the user to avoid unwanted movements.

External safety measures

WARNING

Provide for external safety measures for the STO function of the TwinSAFEdrive option card!If the STO safety function is executed, the connected motors are not braked, but areswitched torque-free. This leads to the motors coasting to a halt. The duration of this coast-ing depends on how much kinetic energy is present in the system. With suspended orpulling loads the motors may also accelerate. The user must provide appropriate externalsafety measures (e.g. mechanical service brakes) to prevent this.

WARNING

Provide for external safety measures for the error reactions of the TwinSAFEdrive option card!The STO error reaction is executed if the TwinSAFE drive option card determines an error.If the STO error reaction is executed, the connected motors are not braked, but are directlyswitched torque-free. This leads to the motors coasting to a halt. The duration of this coast-ing depends on how much kinetic energy is present in the system. With suspended orpulling loads the motors may also accelerate. The user must provide appropriate externalsafety measures (e.g. mechanical service brakes) to prevent this.

Product description


Diagnostics / faults

WARNING

Avoid line interruptions!Line interruptions can lead to switch-off. The AX8911 can switch the motors of the AX8000servo drive torque-free according to the safety project used on it. Any motors that are stillmoving coast to a halt. With suspended or pulling loads the motors may also accelerate.External safety measures (e.g. mechanical service brakes) are to be provided by the userto avoid unwanted movements.

WARNING

Avoid faults and interruptions in the EtherCAT communication!Faults and interruptions in the EtherCAT communication lead to switch-off. The AX8911can switch the motors of the AX8000 servo drive torque-free according to the safety projectused on it. Any motors that are still moving coast to a halt. With suspended loads the mo-tors may even be accelerated. External safety measures (e.g. mechanical service brakes)are to be provided by the user to avoid unwanted movements.

WARNING

Activation or restart of a project in TwinCATThe activation or restart of a project in TwinCAT can lead to switch-off. The AX8911 canswitch the motors of the AX8000 servo drive torque-free according to the safety projectused on it. Any motors that are still moving coast to a halt. With suspended loads the mo-tors may even be accelerated. External safety measures (e.g. mechanical service brakes)are to be provided by the user to avoid unwanted movements.

WARNING

Downloading the safety project to the TwinSAFE logic or the AX8911 canlead to switch-off!Downloading the safety project to the TwinSAFE logic or the AX8911 can lead to switch-off.The AX8911 switches the motors of the AX8000 servo drive torque-free. Any motors thatare still moving coast to a halt. With suspended or pulling loads the motors may also accel-erate. External safety measures (e.g. mechanical service brakes) are to be provided by theuser to avoid unwanted movements.

Product description


4.3 Technical dataProduct designation AX8911 (AX8xxx-x1xx)Number of inputs 2 digital inputs per channel (X15, X25)Status display "S" display on the AX8000Minimum/maximum cycle time approx. 1 ms / according the project sizeFault response time ≤ watchdog timesWatchdog time min. 2 ms, max. 60000 msSupply voltage (SELV/PELV) 24 VDC (–10% / +10%)

refer also to the AX8000 Startup manual (References[} 8])

Dimensions (W x H x D) integrated in the AX8xxx-x1xxWeight approx. 25 gPermissible ambient temperature (operation) 0 °C to +55 °CPermissible ambient temperature (transport/storage) -25 °C to +70 °CPermissible air humidity 5% to 95%, non-condensingPermissible air pressure (operation/storage/transport) 750 hPa to 1100 hPa

(this corresponds to an altitude of approx. -690 m to2450 m above sea level, assuming an internationalstandard atmosphere)

Climate category according to EN 60721-3-3 3K3(the deviation from 3K3 is possible only with optimalenvironmental conditions and also applies only to thetechnical data which are specified differently in thisdocumentation)

Permissible level of contamination according toEN 60664-1

level of contamination 2

Inadmissible operating conditions TwinSAFE drive option cards may not be used underthe following operating conditions:

• under the influence of ionizing radiation(exceeding the natural background radiation)

• in corrosive environments• in an environment that leads to impermissible

contamination of the option cardCorrect installation position refer also to the AX8000 Startup manual (References

[} 8])Approvals CE, TÜV SÜD

Product description


4.4 Safety parameters

Safety functions STO, SS1

Characteristic numbers AX8911 - STO, SS1 (AX8xxx-x1xx)Lifetime [a] 20Proof test interval [a] not required 1)

PFHD 3.04E-09%SIL3 of PFHD 3% of SIL3PFDavg 9.20E-05%SIL3 of PFDavg 9% of SIL3MTTFD highDC high, 99.5%SFF >99%Performance level PL eCategory 4HFT 1Classification element 2) Type B

1. Special proof tests are not required during the entire service life of the AX8911 TwinSAFE drive optioncard.

2. Classification according to IEC 61508-2:2010 (see chapters 7.4.4.1.2 and 7.4.4.1.3)

The AX8911 TwinSAFE drive option card can be used for safety-related applications within the meaning ofIEC 61508:2010 up to SIL3, EN 62061:2005/A1:2013/A2:2015 up to SILCL3 and EN ISO 13849-1:2015 upto PL e (Cat.4).

Further information on calculating or estimating the MTTFD value from the PFHD value can be found in theTwinSAFE application guide or in EN ISO 13849-1:2015, Table K.1.

In terms of safety-related parameters, the Safety-over-EtherCAT communication is already considered with1% of SIL3 according to the protocol specification.

Safe Motion functions SS2, SOS, SLS, SLP

The safety parameters for the Safe Motion functions are inserted here as soon as the AX8xxx-x2xx deviceswith AX891x safety option card are enabled.

Product description


4.5 Project design limits for AX8911 (AX8xxx-x1xx)

Note

Project design limitsThe maximum project design size of the AX8911 (AX8xxx-x1xx) is limited by the availablememory. This is managed dynamically. The values specified in the following table aretherefore only guide values and may differ from the actual values, depending on the safetyproject.

TwinSAFE connections max. 8(up to 12 CRCs in total; 1 CRC is required for a TwinSAFE connectionwith 1 or 2 byte safe data.)

Safe data per TwinSAFEconnection

maximum 24 byte (telegram length 51 byte)

TwinSAFE blocks maximum 512 (ESTOP with complete input and output mapping)TwinSAFE groups max. 128TwinSAFE user 40 max.Standard PLC inputs dynamic (memory-dependent), max. 54 byteStandard PLC outputs dynamic (memory-dependent), max. 62 byte

Operation


5 Operation

5.1 Environmental conditionsPlease ensure that the TwinSAFE components are only transported, stored and operated under the specifiedconditions (see technical data)!

WARNING

Risk of injury!The TwinSAFE components must not be used under the following operating conditions.

• under the influence of ionizing radiation (that exceeds the level of the natural environ-mental radiation)

• in corrosive environments• in an environment that leads to unacceptable soiling of the TwinSAFE component

Attention

Electromagnetic compatibilityThe TwinSAFE components comply with the current standards on electromagnetic compat-ibility with regard to spurious radiation and immunity to interference in particular.However, in cases where devices such as mobile phones, radio equipment, transmitters orhigh-frequency systems that exceed the interference emissions limits specified in the stan-dards are operated near TwinSAFE components, the function of the TwinSAFE compo-nents may be impaired.

5.2 Installation

Note

Installation notePlease also refer to the installation notes on the mechanical and electrical installation of theAX8000 in the AX8000 StartUp manual.

5.2.1 Safety instructionsBefore installing and commissioning the TwinSAFE components please read the safety instructions in theforeword of this documentation.

5.2.2 Transport / storageFor transport and storage of the AX8xxx with the AX8911 TwinSAFE drive option card, use the originalpackaging in which the components were delivered.

CAUTION

Observe the specified environmental conditionsPlease ensure that the digital TwinSAFE components or the AX8000 with AX8911 Twin-SAFE drive option card are only transported and stored under the specified environmentalconditions (see technical data).

5.2.3 Mechanical installationThe AX8911 TwinSAFE drive option is permanently installed in the AX8000 servo drive. Subsequentinstallation or exchange of the option by the user is not possible.

Operation


5.2.3.1 Control cabinet / terminal box

The TwinSAFE components must be installed for operation in a control cabinet or terminal box with at leastIP54 protection according to IEC 60529.

5.2.4 Electrical installation

5.2.4.1 Digital inputs X15, X25

With the AX8911 TwinSAFE drive option installed, the inputs X15 (axis "A") and X25 (axis "B") are used forthe STO inputs of the axis or axes.

Contacts 1 and 2 of the connection X15 are the STO inputs for axis "A". Axis "A" can be moved if bothsignals are logic 1 (24 VDC). STO is triggered for axis "A" if one of the signals is logic 0. Axis "A" is switchedtorque-free.

Contacts 1 and 2 of the connection X25 are the STO inputs for axis "B". Axis "B" can be moved if bothsignals are logic 1 (24 VDC). STO is triggered for axis "B" if one of the signals is logic 0. Axis "B" is switchedtorque-free.

Fig. 1: AX8911: Connection to X15 and X25

A plug connector is required in each case to connect signals to X15 and, in the case of two-channel axismodules, to X25 also.

View Terminalpoint

Connection Strip length Clamping method

1 STO input 1 9 mm push in2 STO input 23 Digital input 3

(Filter time 8 µs)4 Digital input 4

(Filter time 8 µs)

Wire type Wire cross-sectionWire cross-section (solid wire) 0.14 mm² - 1.5 mm²Wire cross-section (fine wire) 0.14 mm² - 1.5 mm²Wire cross-section – fine wire (with ferrule without plastic collar) 0,25 mm² - 1.5 mm²Wire cross-section – fine wire (with ferrule with plastic collar) 0,25 mm² - 1 mm²

Operation


Attention

WiringWires with ferrules with plastic collars must be used when using the STO safety function viathe STO inputs on X15 and X25.

5.2.4.2 Setting the TwinSAFE address

If a TwinSAFE connection is used instead of the digital inputs for the implementation of the safety functionsor selection of the STO function, a safety address must be set on the axis module.

This setting is made with the integrated DIP switch on the AX8000 axis module, which is located under thecover between the X15 and X25 inputs or, in the case of single-axis modules, to the left of X15.

AX81xx-x1xx single-axis module AX82xx-x1xx dual-axis module

DIP switch Address1 2 3 4 5 6 7 8 9 10ON OFF OFF OFF OFF OFF OFF OFF OFF OFF 1OFF ON OFF OFF OFF OFF OFF OFF OFF OFF 2ON ON OFF OFF OFF OFF OFF OFF OFF OFF 3OFF OFF ON OFF OFF OFF OFF OFF OFF OFF 4ON OFF ON OFF OFF OFF OFF OFF OFF OFF 5OFF ON ON OFF OFF OFF OFF OFF OFF OFF 6ON ON ON OFF OFF OFF OFF OFF OFF OFF 7... ... ... ... ... ... ... ... ... ... ...ON ON ON ON ON ON ON ON ON ON 1023

WARNING

TwinSAFE addressEach TwinSAFE address may only be used once within a network / a configuration!The address 0 is not a valid TwinSAFE address!

Operation


5.3 Configuration of the option in TwinCAT

5.3.1 Adding an axis moduleWhen adding an axis module in TwinCAT 3, a distinction is made between a module with TwinSAFE driveoption and a module without TwinSAFE drive option. After adding a supply module, an axis module can beadded under the Drives category.

Fig. 2: Addition of an axis module

In addition to the manual creation of the configuration, it can also be created by scanning the EtherCAT line.

5.3.2 Using the AX8911 with the default projectThe AX8911 TwinSAFE drive option, with which an STO function can be implemented, is installed in theAX8xxx-x1xx devices. Information on this project can be found in Default STO function in the AX8911 [} 33].

To use the AX8911 in a project (e.g. EL6910), add an Alias Device AX891x (Safe Drive Module).

Operation


Fig. 3: Addition of an alias device

Fig. 4: Dialog Add new item AX891x (Safe Drive Module)

The STO signals can be used as safe outputs in the fail-safe user program.

Operation


Fig. 5: Dialog for linking the variables of the AX8911

The variables are displayed with the corresponding designation in Variable Mapping.

Operation


Fig. 6: Projects with outputs to the AX8911

Operation


5.3.3 Use of the AX8911 with a fail-safe user program

Target system

For the use of the user-specific functions in the AX8911, a safety project is created in TwinCAT and theAX8911 or the axis module is selected as the target system.

A safety project is added by right-clicking on the safety node and selecting Add new item...

Fig. 7: Add new item

The target system can be selected by double-clicking on the subentry Target System. The AX891x is

selected here in the drop-down list and linked with the axis module using the button.

Fig. 8: Target system AX8911

In order to be able to use the inputs and outputs of the AX8911, an alias device AX891x (Safe Drive Module)must be added in the safety application and set to local under Linking Mode.

Operation


Fig. 9: AX8911 - Add new item

Fig. 10: AX8911 - Add new item - Alias Device AX891x

Fig. 11: AX8911 - Linking Mode local

After changing the linking mode to local, all alias device settings that are not relevant are shown as disabledfor input.

Operation


Safe inputs and outputs within the safety logic

The local inputs and outputs of the AX8911 and their meaning are listed in the following tables.

Fig. 12: AX8911 – safe inputs of the local alias device

Operation


Input (for each axis A and B) Data type MeaningFSOUT STO Module Fault BOOL STO module faultFSOUT BRAKE Module Fault BOOL currently not used

(Brake module fault)FSOUT BRAKE Active BOOL currently not used

(Activate brake)FSIN Channel1.Input BOOL Digital input 1 to X15 or X25 respectivelyFSIN Channel2.Input BOOL Digital input 2 to X15 or X25 respectivelyFSIN Module Fault BOOL Input module faultFSDRIVE Underrange EncoderVoltage

BOOL The encoder supply voltage is too low

FSDRIVE Overrange EncoderVoltage

BOOL The encoder supply voltage is too high

FSDRIVE Module Fault BOOL Drive module faultFSDRIVE Encoder Enable BOOL currently not used

(Activate encoder)FSDRIVE Run BOOL Run signal from AX8000 – can be used for the group

inputsFSDRIVE ErrAck BOOL Error Acknowledge Signal from AX8000 – can be used for

the group inputs and for the ErrAck outputs to resetmodule faults (executed together with an axis reset).

FSDRIVE Control 2 - 15 BOOL not used

Operation


Fig. 13: AX8911 – safe outputs of the local alias device

Operation


Output (for each axis A andB)

Data type Meaning

FSOUT STOChannel1.Output

BOOL STO switch-off path A(all four switch-off paths and STO Active must be set to logic 1 inorder to enable the axis and to logic 0 for the STO function)


BOOL STO switch-off path B(all four switch-off paths and STO Active must be set to logic 1 inorder to enable the axis and to logic 0 for the STO function)


BOOL STO switch-off path C(all four switch-off paths and STO Active must be set to logic 1 inorder to enable the axis and to logic 0 for the STO function)


BOOL STO switch-off path D(all four switch-off paths and STO Active must be set to logic 1 inorder to enable the axis and to logic 0 for the STO function)

FSOUT STO ErrAck BOOL Acknowledgment of a module fault in the STO module(In the default project this signal is linked with the FSDRIVEErrAck input)

FSOUT STO STO Active BOOL Information sent to the AX8000 about the state of the STOfunction. Must be set to logic 1 so that the AX8000 will enable theaxis.

FSOUT BRAKE PWM Output BOOL PWM signal for controlling the brakeFSOUT BRAKE Digital Output BOOL Enable signal for the brake controlFSOUT BRAKE ErrAck BOOL Acknowledgment of a module fault in the BRAKE module

(In the default project this signal is linked with the FSDRIVEErrAck input)

FSIN ErrAck BOOL Acknowledgment of a module fault in the FSIN module(In the default project this signal is linked with the FSDRIVEErrAck input)

FSDRIVE ErrAck BOOL Acknowledgment of a module fault in the FSDRIVE module(In the default project this signal is linked with the FSDRIVEErrAck input)

FSDRIVE Group Error BOOL Status information about a group error for the AX8000FSDRIVE Axis STO Error BOOL Status information about an STO error for the AX8000FSDRIVE Axis Digital InputError

BOOL Status information about an input error for the AX8000

FSDRIVE Axis Brake Error BOOL Status information about a brake error for the AX8000FSDRIVE EncoderUndervoltage Error

BOOL Status information about an undervoltage error for the AX8000

FSDRIVE EncoderOvervoltage Error

BOOL Status information about an overvoltage error for the AX8000

FSDRIVE Encoder Enabled BOOL Status information sent to the AX8000 about whether the encoderis active. (not used so far)

FSDRIVE Status 7 - 13 BOOL not usedFSDRIVE FSIN Test pulseChannel 1

BOOL used internally to test input 1 on X15 or X25 respectively. Cannotbe used by the user.

FSDRIVE FSIN Test pulseChannel 2

BOOL used internally to test input 2 on X15 or X25 respectively. Cannotbe used by the user.

Operation


5.3.4 Creation of safety functionsThe creation of a fail-safe user program is explained in the documentation for the EL6910 and the FBdescription. The corresponding documents are listed under References [} 8].

Note

Switching back to the default projectIf the entire project (safe logic, parameters and mapping) is deleted on the AX8911 Twin-SAFE drive option, the default project will be active again after restarting the AX8911.

Use of the STO function


6 Use of the STO function

CAUTION

Restart lockThe restart lock is to be implemented in the higher-level safety controller.Alternatively, this can be adapted by the user or the machine manufacturer by modifyingthe fail-safe program on the AX8911.

CAUTION

OSSD signals on X15 and X25The test pulses must not exceed a length of 3.5 ms. Longer test pulses can lead to trigger-ing of the STO. Alternatively, this can be adapted by the user or the machine manufacturer by modifyingthe fail-safe program on the AX8911.

CAUTION

Cross-circuits / external power supplyThe higher-level safety controller is responsible for checking the wiring between the safetycontroller and the TwinSAFE inputs of the AX8911 (X15, X25). The necessary tests andchecks arise from the risk and hazard analysis carried out by the machine manufacturer.

Note

Testing the X15 and X25 inputsThe functions of the STO inputs 1 and 2 of the connections X15 or X25 are tested internallyby the AX8911 TwinSAFE drive option card. The external test pulses for detecting cross-circuits or an external power supply serve only to check the correct wiring between thesafety controller and the TwinSAFE drive option card.

Using the STO inputs with TwinSAFE outputs

In this application case the STO inputs 1 and 2 of the digital inputs X15 and, if applicable, X25 are wireddirectly to safe outputs, for example of an EL2904. When using the EL2904, the safe outputs areparameterized in such a way that the test pulses are active, but the parameter Current Measurement activeis disabled. If other TwinSAFE outputs are used they must also be parameterized in the same way so thattest pulses are active at the output.

A filter is implemented within the logic of the AX8911 (default 3.5 ms) so that the test pulses of, for example,the EL2904 cannot lead to a switch-off of the STO channels.

Fig. 14: TwinSAFE outputs connected to STO inputs



Using the STO inputs with a third-party safety controller

It must also be ensured that test pulses are generated when using a third-party safety controller or safeoutput. The user must ensure that the test pulse length and frequency do not lead to a switch-off of the STOchannels or the AX8911. A filter with a filter time of 3.5 ms is implemented within the logic of the AX8911.

Attention

Safety assessmentWhen using a third-party safety controller, the safety assessment must be carried out bythe user or the machine manufacturer.

Fig. 15: Safe outputs from a third-party manufacturer connected to STO inputs

If the safety controller is unable to implement test pulses at the outputs, but instead supplies only static24 VDC signals, the user must implement the wiring in such a way that a fault exclusion is permitted for thewiring. Further information about fault exclusions can be found in EN ISO 13849-2.

WARNING

protected wiringIf no test pulses are used on the signals between the outputs of the safety controller andthe STO inputs of the AX8xxx-x1xx, the wiring must be implemented in the form of pro-tected cable laying (see also EN ISO 13849-2).

Fig. 16: Safe outputs from a third-party manufacturer connected to STO inputs without the use of test pulses



Use of the STO function via a TwinSAFE (FSoE) connection

Additional wiring of the STO inputs is unnecessary if the AX8911 is connected to a TwinSAFE logic viaEtherCAT and the Safety-over-EtherCAT protocol. Here, the signals of the connection to, for example, anEL6910 are used in the AX8911 logic in order to switch off the STO channels and the brake controller of theAX8911.

Fig. 17: STO function via TwinSAFE connection

6.1 Default STO function in the AX8911A fail-safe logic program is stored on the AX8911 in the delivery state. There are two different ways toactivate the STO function.

• The hardware inputs on X15 and X25The input signals are filtered (external test pulses up to a length of 3.5 ms are supported) and testedfor discrepancy. A logic TRUE of both signals allows movement of the axis. The discrepancy time for the two input signals is set to 1000 ms. If the two signals are different for alengthy time, an error is signaled and a diagnostic message output.

• A TwinSAFE or Safety-over-EtherCAT connectionThis connection contains the STO signals for axis A and axis B. For the STO signal a logic TRUEsignal is required so that movement of the axis is possible. The safety address for this connection is setwith the DIP switch of the AX8000 axis module.

The outputs of the two groups are logically ORed and then placed on the four STO channels. The groups areimplemented equivalently in the default application i.e. if one group supplies information that the axis may bemoved, then this is sufficient.



Note

Hardware inputs / TwinSAFE signalsHardware inputs and signals via the TwinSAFE connection are equivalent. If one of the twosupplies the enable signal to move the axis, the axis can be moved.If this does not suit the functionality desired by the user, the fail-safe program on theAX8911 can be replaced by the user or the machine manufacturer with a program suitablefor the application case.

Fig. 18: Default TwinSAFE logic program for AX8911

Attention

Brake controlBrake control currently takes place only by the AX8000 in accordance with the parameteri-zation in the TC3 Drive Manager 2. The brake output is generally enabled in the AX8911firmware. The default TwinSAFE logic program shown above is implemented accordinglyon the AX8911; however, the brake outputs 1 and 2 currently have no effect. The Brake(over FSoE) signal does not exist in the TwinSAFE connection.

Note

STO switch-off pathsThere are four STO switch-off paths per axis within the logic (STO output A - D). If thesafety logic on the AX8911 is replaced by a user-specific project, all four switch-off pathsmust be set for each axis.



6.1.1 Process image of the AX8xxx-x1xxThe process image of the AX8xxx-x1xx contains process data for the FSoE connection to the internalAX8911. The telegram length is 7 bytes and thus contains 2 bytes of safe user data. The STO signal for axisA is located in bit 0 in the first byte. The STO signal for axis B is located in bit 0 in the second byte.

Fig. 19: Process image of the AX8206-0100-0101

6.1.2 Error reaction• Errors in the FSoE slave connection are automatically acknowledged on the slave side (AX8911), since

acknowledgment by the user takes place on the FSoE master side (TwinSAFE logic).• The rule for all other errors is:

error messages and associated acknowledgments are implemented on the AX8911 TwinSAFE driveoption via the status and control word of the AX8000.The ErrAck for errors on the AX8911 is implemented via the DS402 control word (bit 7) together withthe reset of the axis via TwinCAT. If an error occurs on the AX8911, a diag message is generated andthe error bit in the DS402 status word (bit 3) is set.

Implementation of Safe Motion functions


7 Implementation of Safe Motion functions

7.1 Safe inputs and outputsAt present only the four switch-off channels for STO are usable within the logic. The two outputs for brakecontrol are not currently used.

7.2 Safety function STORefer here to Use of the STO function [} 31].

7.3 Safety function SS1This function is supported by the AX8911 TwinSAFE drive option. In order to use it a user-specific safetyprogram must be loaded into the AX8911, or the delay of the STO signal must be implemented in the higher-level safety controller.

7.4 Safety function SS2This function is not currently supported by the AX8911 TwinSAFE drive option.

7.5 Safety function SOSThis function is not currently supported by the AX8911 TwinSAFE drive option.

7.6 Safety functions SLS, SSM, SSRThese functions are not currently supported by the AX8911 TwinSAFE drive option.

7.7 Safety function SARThis function is not currently supported by the AX8911 TwinSAFE drive option.

7.8 Safety functions SDIp, SDInThese functions are not currently supported by the AX8911 TwinSAFE drive option.

7.9 Safety function SLIThis function is not currently supported by the AX8911 TwinSAFE drive option.

7.10 Safety functions SLP, SCAThese functions are not currently supported by the AX8911 TwinSAFE drive option.

Diagnostics


8 Diagnostics

8.1 Diagnostic display of the AX8xxx axis moduleEach axis module has an LED display that indicates the present status of each channel. In the case of axismodules with integrated AX8911 safety option, the present status is displayed with an "S".

A SA S E

TC

Fig. 20: AX8xxx axis module display

The following table describes the information provided by the LED "S".

S symbol MeaningS - off no AX8911 installedS – steadily lit green Axis enabledS – flashing green -S – steadily lit red STO function active or errorS – flashing red -

8.2 AX8xxx Diag history tabErrors in the AX8xxx axis module and the AX8911 TwinSAFE drive option installed in it are stored in the diaghistory. The diag history can be viewed by selecting the AX8xxx axis module in the I/O tree structure andselecting the Diag History tab. The current data can be fetched from the axis module and the TwinSAFEdrive option by actuating the Update History button. All errors that occur are saved with a correspondingtimestamp.

Fig. 21: Diag history

Use the Advanced… button to open the advanced settings. Here, the user can customize the behavior of thediag history.

Diagnostics


Fig. 22: Diag history – advanced settings

Advanced Settings

Setting DescriptionMessage Types • disable Info

Messages with status Info are not stored in the diag history• disable Warnings

Messages with status Warning are not stored in the diag history• disable Errors

Messages with status Error are not stored in the diag historyEmergency In addition to saving the message in the diag history, an emergency object

is also sent and displayed in the TwinCAT logger window.Overwrite / Acknowledge Mode This setting is currently not supported.

8.3 Diagnosis HistoryThe diagnostic history of the TwinSAFE devices that support this function is implemented in accordance withthe ETG guideline ETG.1020 Chapter 13 "Diagnosis Handling". The diagnostic messages are saved by theTwinSAFE device in a dedicated CoE object under 0x10F3 and can be read out by the application or byTwinCAT.

Both the control entries and the history itself can be found in the CoE object 0x10F3. The entry NewestMessage (0x10F3:02) contains the subindex of 0x10F3, which contains the latest diagnostic message, e.g.0x06 for diagnostic message 1.

http://www.ethercat.org/

Diagnostics


Index 10F3hex Diagnosis History

Index (hex) Name Meaning Data type Flags Default10F3:0 Diagnosis

History10F3:01 Maximum

MessagesMaximum number of stored messages. Amaximum of 64 messages can be stored.After that the respective oldest messagesare overwritten.

UINT8 RO 0x40 (64dec)

10F3:02 NewestMessage

Subindex of the latest message UINT8 RO 0x00 (0dec)

10F3:03 NewestAcknowledgedMessage

Subindex of the last confirmed message UINT8 RW 0x00 (0dec)

10F3:04 NewMessagesAvailable

Indicates that a new message is available BOOLEAN RO 0x00 (0dec)

10F3:05 Flags Set via the startup list. If set to 0x0001, thediagnostic messages are additionally sentby emergency to the EtherCAT master

UINT16 RW 0x0000 (0dec)

10F3:06 DiagnosisMessage 001

Diagnostic message 1 BYTE[32] RO {0}

... ... ... ... ... ...10F3:45 Diagnosis

Message 064Diagnostic message 64 BYTE[32] RO {0}

Structure of the diagnostic messages• DiagCode (4 bytes) – in this case always 0x 0000 E000• Flags (2 bytes) - diagnosis type (info, warning or error), timestamp and number of parameters

contained (see the following table)• Text ID (2 bytes) – ID of the diagnostic message as a reference to the message text from the ESI/XML• Timestamp (8 bytes) – local slave time in ns since switching on the TwinSAFE device• dynamic parameters (16 bytes) – parameters that can be inserted in the message text (see following

table)

Flags in diagnostic messages

Data type Offset DescriptionUINT16 Bits 0 to 3 DiagType (value)

0 Info message1 Warning message2 Error message3…15 reserved

Bit 4 If the bit = 1, the timestamp contained in the message is the local timestamp of theTwinSAFE device. The age of the diagnostic message can be deduced bycalculation with the current timestamp from the CoE object 0x10F8.

Bits 5 to 7 reservedBits 8 to 15 Number of parameters in this diagnostic message

Diagnostics


Dynamic parameters in the diagnostic messages

Type Data type DescriptionFlags parameter 1 UINT16 Describes the type of parameter 1

Bits 12 to 15 =0

Bits 0 to 11 = data type of parameter 10x0001 - BOOLEAN0x0002 - INT80x0003 - INT160x0004 - INT320x0005 - UINT80x0006 - UINT160x0007 - UINT320x0008 - REAL320x0011 - REAL640x0015 - INT640x001B - UINT64Text parameters and formats arespecified in ETG.2000.

Parameter 1 Data type in accordance withflags

Value of parameter 1

Flags parameter 2 UINT16 see Flags parameter 1Parameter 2 Data type in accordance with

flagsValue of parameter 2

...

The diagnostic messages are saved in text form in the ESI/XML file belonging to the TwinSAFE device. Onthe basis of the Text ID contained in the diagnostic message, the corresponding plain text message can befound in the respective languages. The parameters can be inserted in the appropriate positions. In thefollowing example, %x is used for a hexadecimal representation of the parameters.

Fig. 23: ESI/XML message text

Via the entry New Messages Available the user receives information that new messages are available. Themessages can be read out via CompleteAccess (a CoE read command for the complete CoE object0x10F3). The New Messages Available bit is reset after reading the messages.

The sending of emergency messages to the EtherCAT master is activated by adding the CoE object0x10F3:05 to the startup list (Transition IP, value 0x0001). If new diagnostic messages arrive, they areentered in object 0x10F3 and additionally sent by emergency to the EtherCAT master.

Fig. 24: Startup list

Maintenance


9 MaintenanceMaintenance

The TwinSAFE components are maintenance-free!

Environmental conditions

WARNING

Observe the specified environmental conditions!Please ensure that the TwinSAFE components are only stored and operated under thespecified conditions (see technical data).

If the TwinSAFE component is operated outside the permitted temperature range it will switch to GlobalShutdown state.

Cleaning

Protect the TwinSAFE component from unacceptable soling during operation and storage!

If the TwinSAFE component was subjected to unacceptable soiling it may no longer be operated!

WARNING

Have soiled terminals checked!Cleaning of the TwinSAFE component by the user is not permitted!Please send soiled terminals to the manufacturer for inspection and cleaning!

Service life


10 Service lifeThe TwinSAFE drive option has a service life of 20 years.

Due to the high diagnostic coverage within the lifecycle no special proof tests are required.

The internal TwinSAFE drive option has a unique serial number that can be read out over CoE.

The date of manufacture and the serial number of the complete device can be read from the type plate onthe AX8000 axis module. Refer here to the AX8000 startup documentation under References [} 8].

Type plate

No. Position No. Position No. Position1 Order number 6 Rated output current 11 cULus certification2 Serial number 7 Output frequency range 12 EAC approval3 Rated input voltage 8 Date of manufacture 13 CE conformity4 Max. ambient temperature 9 QR code 14 Serial number sticker5 Rated output voltage 10 EtherCAT conformity 15 Attachment of the type plate

Decommissioning


11 Decommissioning

DANGER

Serious risk of injury!Bring the AX8xxx into a safe, de-energized state before commencing with the disassemblyof the devices!

Disposal

Note

National regulationsObserve the relevant national disposal regulations.

Supplementary information on disposal can be obtained from our Service Dept. (see Support and Service[} 44])

• The device should be disposed of by a certified disposal company. Addresses can be obtained fromour service department.

• Metal parts can be sent for metal recycling.

In accordance with the Directive 2012/19/EU on WEEE we take old devices and accessories back forprofessional disposal, provided the transport costs are taken over by the sender. Send the devices with thenote ‘For disposal’ to the Beckhoff headquarters. You can find the address under Support and Service[} 44].

Appendix


12 Appendix

12.1 Support and ServiceBeckhoff and their partners around the world offer comprehensive support and service, making available fastand competent assistance with all questions related to Beckhoff products and system solutions.

Beckhoff's branch offices and representatives

Please contact your Beckhoff branch office or representative for local support and service on Beckhoffproducts!

The addresses of Beckhoff's branch offices and representatives round the world can be found on her internetpages:http://www.beckhoff.com

You will also find further documentation for Beckhoff components there.

Beckhoff Headquarters

Beckhoff Automation GmbH & Co. KG

Huelshorstweg 2033415 VerlGermany

Phone: +49(0)5246/963-0Fax: +49(0)5246/963-198e-mail: [email protected]

Beckhoff Support

Support offers you comprehensive technical assistance, helping you not only with the application ofindividual Beckhoff products, but also with other, wide-ranging services:

• support• design, programming and commissioning of complex automation systems• and extensive training program for Beckhoff system components

Hotline: +49(0)5246/963-157Fax: +49(0)5246/963-9157e-mail: [email protected]

Beckhoff Service

The Beckhoff Service Center supports you in all matters of after-sales service:

• on-site service• repair service• spare parts service• hotline service

Hotline: +49(0)5246/963-460Fax: +49(0)5246/963-479e-mail: [email protected]

http://www.beckhoff.de/english/support/default.htm

http://www.beckhoff.com

http://www.beckhoff.com/english/download/default.htm

Appendix


12.2 Certificates

Appendix


List of figures


List of figuresFig. 1 AX8911: Connection to X15 and X25 .......................................................................................... 18Fig. 2 Addition of an axis module........................................................................................................... 20Fig. 3 Addition of an alias device ........................................................................................................... 21Fig. 4 Dialog Add new item AX891x (Safe Drive Module) ..................................................................... 21Fig. 5 Dialog for linking the variables of the AX8911 ............................................................................. 22Fig. 6 Projects with outputs to the AX8911............................................................................................ 23Fig. 7 Add new item ............................................................................................................................... 24Fig. 8 Target system AX8911 ................................................................................................................ 24Fig. 9 AX8911 - Add new item .............................................................................................................. 25Fig. 10 AX8911 - Add new item - Alias Device AX891x .......................................................................... 25Fig. 11 AX8911 - Linking Mode local ....................................................................................................... 25Fig. 12 AX8911 – safe inputs of the local alias device ............................................................................ 26Fig. 13 AX8911 – safe outputs of the local alias device .......................................................................... 28Fig. 14 TwinSAFE outputs connected to STO inputs .............................................................................. 31Fig. 15 Safe outputs from a third-party manufacturer connected to STO inputs ..................................... 32Fig. 16 Safe outputs from a third-party manufacturer connected to STO inputs without the use of test

pulses .......................................................................................................................................... 32Fig. 17 STO function via TwinSAFE connection...................................................................................... 33Fig. 18 Default TwinSAFE logic program for AX8911.............................................................................. 34Fig. 19 Process image of the AX8206-0100-0101................................................................................... 35Fig. 20 AX8xxx axis module display ........................................................................................................ 37Fig. 21 Diag history.................................................................................................................................. 37Fig. 22 Diag history – advanced settings................................................................................................. 38Fig. 23 ESI/XML message text ................................................................................................................ 40Fig. 24 Startup list.................................................................................................................................... 40

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