Beckhoff AX5805 Installation User Manual

Instruction Manual AX5805 TwinSAFE drive option card for the AX5000 servo drive Version: 1.3.1 Date: 2013-12-03

Product description 8 AX5805 3.2 Intended use WARNING Intended use Using the TwinSAFE drive option card for purposes other than intended, as descr

Error and diagnosis 98 AX5805 Error index in 0xFA82 Error name Description Typical error reaction time 0x5F02 FAULT_TMR2_INTERRUPT_C1 MC_Test: Ti

Error and diagnosis AX5805 99 4.2 Reason for shut-down CoE Objects 0xFA10:07 and 0xFA10:08 In order to determine the reason for shut-down, the sub

Error and diagnosis 100 AX5805 4.3 Diagnose CoE Object 0xFA10 The CoE Object 0xFA10 supplies the user with additional diagnostic information. When

Error and diagnosis AX5805 101 4.3.4 0xFA10:01 = 3 Index in 0xFA10 Name Description 0xFA10:02 Error 1 in C2 Refer to Chapter 4.2 0xFA10:03 Er

Error and diagnosis 102 AX5805 4.3.7 0xFA10:01 = 6 Index in 0xFA10 Name Description 0xFA10:02 Diagnostic value 8 in C1 Refer to Chapter 4.2 0xF

Error and diagnosis AX5805 103 4.4 Maintenance The TwinSAFE Drive option cards do not contain serviceable parts. WARNING The specified environme

Appendix 104 AX5805 5 Appendix 5.1 Beckhoff Support and Service Beckhoff and their partners around the world offer comprehensive support and servi

Appendix AX5805 105 5.2 Certificate

Product description AX5805 9 WARNING Providing additional external safety measures for STO When it is activated, STO initiates a coast-to-stop ac

Product description 10 AX5805 WARNING Activating or restarting a project in the TwinCAT System Manager Activating or restarting a project in the T

Product description AX5805 11 CAUTION For use in machinery per the Machinery Directive The TwinSAFE Drive option cards may only be used in machi

Product description 12 AX5805 3.3 Technical data Product name AX5805 Fault response time see tables in chapters 3.3.1 and 3.3.2 Safety input proc

Product description AX5805 13 3.3.1 Reaction times for the AX51xx The reaction time is the amount of time from a safety-related event is received

Product description 14 AX5805 3.4 Installation 3.4.1 Safety instructions Before installing and commissioning the TwinSAFE drive option cards, refe

Product description AX5805 15 3.4.3.2 Setting the TwinSAFE address of the AX5805 Figure 2: DIP switch for setting the TwinSAFE address The TwinS

Product description 16 AX5805 3.4.3.3 Mounting the AX5805 Figure 3: Safety slot in the AX5000 The AX5805 is inserted from above into the card slo

Product description AX5805 17 3.4.4 Permitted motors The AX5805 TwinSAFE Drive option card supports only synchronous Beckhoff servo motors with e

Product description 18 AX5805 3.5 Configuration of the AX5805 in the TwinCAT System Manager 3.5.1 Configuration requirements To configure the AX58

Product description AX5805 19 Since the AX5805’s software supports both single-channel and two-channel servo drives (AX5000), the AX5805 (Safety D

Product description 20 AX5805 Figure 7: Inserting the standard module in the AX5805

Product description AX5805 21 3.5.3 Registering the TwinSAFE address in the TwinCAT System Manager The TwinSAFE address set using the DIP switch

Product description 22 AX5805 3.6 Parameterization of the AX5805 in the TwinCAT System Manager 3.6.1 Units and calculations Relationship of elec

Product description AX5805 23 Speed - calculation in increments/ms:  =  ∗  ∗  ∗  Example speed

Product description 24 AX5805 3.6.2 Configuration of the process image of the AX5805 3.6.2.1 General The safety functions of the AX5805 are activ

Product description AX5805 25 3.6.2.2 Control word default mapping for axis 1 (1st byte, fixed feature set) Control word default mapping for axis

Product description 26 AX5805 3.6.2.3 Control word user mapping for axis 1 (2nd byte, configurable feature set) Control word user mapping for axis

Product description AX5805 27 3.6.2.4 Control word default mapping for axis 2 (1st byte, fixed feature set) Control word default mapping for axis

Table of contents AX5805 1 Table of contents 1 Foreword 3 1.1 Notes on the manual 3 1.1.1 Disclaimer 3 1.1.2 Brands 3 1.1.3 Patents 3 1.1.4

Product description 28 AX5805 3.6.2.5 Control word user mapping for axis 2 (2nd byte, configurable feature set) Control word user mapping for axis

Product description AX5805 29 3.6.2.6 Status word default mapping for axis 1 (1st byte, fixed feature set) Status word default mapping for axis 1

Product description 30 AX5805 3.6.2.7 Status word user mapping for axis 1 (2nd byte, configurable feature set) Status word user mapping for axis 1

Product description AX5805 31 3.6.2.8 Status word default mapping for axis 2 (1st byte, fixed feature set) Status word default mapping for axis 2

Product description 32 AX5805 3.6.2.9 Status word user mapping for axis 2 (2nd byte, configurable feature set) Status word user mapping for axis 2

Product description AX5805 33 3.6.3 Setting the mode of operation 3.6.3.1 General The AX5805 has two modes of operation. The standard mode has t

Product description 34 AX5805 When parameterizing the motor string, the value must be entered as ASCII code. Detailed information can be found in

Product description AX5805 35 3.6.3.3 STO-mode When it is operated in STO-mode, the AX5805 does not evaluate any motor data or the parameters of

Product description 36 AX5805 3.6.4 Parameterization and referencing of the safe position The SLP (Safely Limited Position) and SCA (Safe CAM) saf

Product description AX5805 37 3.6.4.2 Parameterization Note Monitoring the reference cam As soon as the parameters for the reference position ha

Table of contents 2 AX5805 3.7 First Steps – AX5805 87 3.7.1 Step 1: parameterize the AX5103 servo drive 87 3.7.2 Step 2: parameterize the AX580

Product description 38 AX5805 Figure 22: Reference position

Product description AX5805 39 3.6.4.3 Initiation of the reference position As long as the referencing input has not been detected, the safe posit

Product description 40 AX5805 3.6.5 Parameterization of the integrated safety functions of the AX5805 3.6.5.1 Description of the Error Acknowledg

Product description AX5805 41 As soon as the safety function STO is activated, all torque is removed from the motor. If the STO_Restart_Acknowledg

Product description 42 AX5805 3.6.5.3 Description of the SS1 safety function Figure 26: Description of the Safe Stop 1 function (SS1) with time m

Product description AX5805 43 Parameters for axis 1 Index Name Description Sub-index Unit Default value 0x6651 t_SS1 :001 Maximum time until

Product description 44 AX5805 Index Name Description Sub-index Unit Default value 0x6651 t_SS1 :001 Maximum time until the activation of the

Product description AX5805 45 Parameters for axis 2: Index Name Description Sub-index Unit Default value 0x6E51 t_SS1 :001 Maximum time until

Product description 46 AX5805 Index Name Description Sub-index Unit Default value 0x6E54 t_L SS1 :007 Minimum time until the activation of the

Product description AX5805 47 3.6.5.4 Description of the SS2 safety function Figure 27: Description of the Safe Stop 2 function (SS2) with time

Foreword AX5805 3 1 Foreword 1.1 Notes on the manual This description is only intended for the use of trained specialists in control and automati

Product description 48 AX5805 Parameters for axis 1: Index Name Description Sub-index Unit Default value 0x6671 t_SS2 :001 Maximum time until

Product description AX5805 49 Index Name Description Sub-index Unit Default value 0x6679 n_Zero_SS2 32 Bit :006 Speed window for SS2_6 06 In

Product description 50 AX5805 Parameters for axis 2: Index Name Description Sub-index Unit Default value 0x6E71 t_SS2 :001 Maximum time until

Product description AX5805 51 Index Name Description Sub-index Unit Default value 0x6E79 n_Zero_SS2 32 Bit :006 Speed window for SS2_6 06 In

Product description 52 AX5805 3.6.5.5 Description of the SOS safety function Figure 28: Description of the Safe Operating Stop function (SOS) Whe

Product description AX5805 53 Parameters for axis 1: Index Name Description Sub-index Unit Default value 0x666A s_Zero_SOS 32 Bit :001 If the

Product description 54 AX5805 Parameters for axis 2: Index Name Description Sub-index Unit Default value 0x6E6A s_Zero_SOS 32 Bit :001 If the S

Product description AX5805 55 3.6.5.6 Description of the SSR safety function Figure 29: Description of the Safe Speed Range function (SSR) with

Product description 56 AX5805 Parameters for axis 1: Index Name Description Sub-index Unit Default value 0x6681 t_SSR :001 Maximum time until

Product description AX5805 57 Index Name Description Sub-index Unit Default value 0x6686 t_L_SSR :001 Minimum time until the activation of th

Foreword 4 AX5805 1.2 Safety instructions 1.2.1 Delivery state All the components are supplied in particular hardware and software configurations

Product description 58 AX5805 Parameters for axis 2: Index Name Description Sub-index Unit Default value 0x6E81 t_SSR :001 Maximum time until

Product description AX5805 59 Index Name Description Sub-index Unit Default value 0x6E85 n_LL_SSR 32 Bit :006 Lower speed limit when the SSR_

Product description 60 AX5805 3.6.5.7 Description of the SDIp safety function Figure 30: Description of the Safe Direction positive function (SDI

Product description AX5805 61 Parameter for axis 1: Index Name Description Sub-index Unit Default value 0x66D3 s_Zero_SDI 32 Bit Position w

Product description 62 AX5805 3.6.5.8 Description of the SDIn safety function Figure 31: Description of the Safe Direction negative function (SDI

Product description AX5805 63 Parameter for axis 1: Index Name Description Sub-index Unit Default value 0x66D3 s_Zero_SDI 32 Bit Position w

Product description 64 AX5805 3.6.5.9 Description of the SSM safety function Figure 32: Description of the Safe Speed Monitor function (SSM0, SSM

Product description AX5805 65 Parameters for axis 1: Index Name Description Sub-index Unit Default value 0x66E2 n_UL_SSM 32 Bit :001 Upper sp

Product description 66 AX5805 Parameters for axis 2: Index Name Description Sub-index Unit Default value 0x6EE2 n_UL_SSM 32 Bit :001 Upper spe

Product description AX5805 67 3.6.5.10 Description of the SAR safety function Figure 33: Description of the Safe Acceleration Range function (SA

Foreword AX5805 5 1.2.3 Safety symbols used in this manual The following safety symbols are used in this manual to bring specific safety instruct

Product description 68 AX5805 Parameters for axis 1: Index Name Description Sub-index Unit Default value 0x66C2 a_UL_SAR 32 Bit :001 Upper acc

Product description AX5805 69 Parameters for axis 2: Index Name Description Sub-index Unit Default value 0x6EC2 a_UL_SAR 32 Bit :001 Upper ac

Product description 70 AX5805 3.6.5.11 Description of the SCA safety function This function is available only if the safe position has been refere

Product description AX5805 71 Parameters for axis 1: Index Name Description Sub-index Unit Default value 0x66EA s_UL_SCA 32 Bit :001 Upper po

Product description 72 AX5805 Parameters for axis 2: Index Name Description Sub-index Unit Default value 0x6EEA s_UL_SCA 32 Bit :001 Upper pos

Product description AX5805 73 3.6.5.12 Description of the SLI safety function Figure 35: Description of the Safely Limited Increment function (

Product description 74 AX5805 Parameters for axis 1: Index Name Description Sub-index Unit Default value 0x66BA s_UL_SLI 32 Bit :001 Upper pos

Product description AX5805 75 Parameters for axis 2: Index Name Description Sub-index Unit Default value 0x6EBA s_UL_SLI 32 Bit :001 Upper po

Product description 76 AX5805 3.6.5.13 Description of the SLP safety function This function is available only if the safe position has been refere

Product description AX5805 77 Parameters for axis 1: Index Name Description Sub-index Unit Default value 0x66A2 s_UL_SLP 32 Bit :001 Upper po

System description 6 AX5805 2 System description By integrating safety technology into its drive technology, Beckhoff has extended the TwinSAFE sy

Product description 78 AX5805 Parameters for axis 2: Index Name Description Sub-index Unit Default value 0x6EA2 s_UL_SLP 32 Bit :001 Upper po

Product description AX5805 79 3.6.5.14 Description of the SLS safety function Figure 37: Description of the Safely Limited Speed function (SLS)

Product description 80 AX5805 Parameters for axis 1: Index Name Description Sub-index Unit Default value 0x6691 t_SLS :001 Maximum time until

Product description AX5805 81 Index Name Description Sub-index Unit Default value 0x6694 t_L SLS :006 Minimum time until the activation of the

Product description 82 AX5805 Parameters for axis 2: Index Name Description Sub-index Unit Default value 0x6E91 t_SLS :001 Maximum time until

Product description AX5805 83 Index Name Description Sub-index Unit Default value 0x6E94 t_L SLS :007 Minimum time until the activation of the

Product description 84 AX5805 3.6.5.15 Description of the SMA safety function Figure 38: Description of the Safe Maximum Acceleration function (

Product description AX5805 85 3.6.5.16 Description of the SMS safety function Figure 39: Description of the Safe Maximum Speed function (SMS) T

Product description 86 AX5805 3.6.6 Configuring the error reaction This section describes the AX5805’s two error reactions in greater detail. The

Product description AX5805 87 3.7 First Steps – AX5805 In the following example, the safety function SDIn (axis may only rotate in a positive dire

Product description AX5805 7 3 Product description 3.1 General description AX5805 – TwinSAFE drive option card AX5000 series drive controllers Th

Product description 88 AX5805 Figure 41: Setting the parameters

Product description AX5805 89 3.7.3 Step 3: link Error_Acknowledge in Safe PLC In order to be able to acknowledge errors (e.g. reset an error aft

Product description 90 AX5805 3.7.4 Step 4: Link the SDIn safety function in the Safe PLC This example activates the SDIn safety function by using

Product description AX5805 91 3.7.5 Step 5: Implementation of an EMERGENCY STOP button The emergency stop function could be implemented as follow

Product description 92 AX5805 Figure 47: Linking of the unused AX5805 functions Figure 48: Emergency stop button for STO of the AX5805

Error and diagnosis AX5805 93 4 Error and diagnosis When it is activated, STO initiates a coast-to-stop action. No braking is applied to the conn

Error and diagnosis 94 AX5805 Error index in 0xFA82 Error name Description Typical error reaction time 0x020E FAULT_RESET_MC1 A reset has occurre

Error and diagnosis AX5805 95 Error index in 0xFA82 Error name Description Typical error reaction time 0x0735 FAULT_PDO_MAPPING_SSR_1_K2 PDO map

Error and diagnosis 96 AX5805 Error index in 0xFA82 Error name Description Typical error reaction time 0x1011 FAULT_RAM_C1 An error occurred duri

Error and diagnosis AX5805 97 Error index in 0xFA82 Error name Description Typical error reaction time 0x5108 FAULT_ISR_TEST_FEEDBACK High prior