Appending 'TwinSAFE Group'

Appending function block 'Decoupler'

Configuration example

Used are two 'Decoupler' function blocks.

Decoupler (FB1)

• Input DecIn1:
  By means of the 'system ready' message of the functional safety (status word, bit 28 VALID), the safety functions except STO are set to 1 (= inactive)
  status word, bit 28 = 1 → control word, bit 1 - 6, 9 - 16 = 1
  
• Input DecIn2:
  SAFE Input 1 triggers 'Safe torque off (STO)'.
• Input DecIn3:
  SAFE Input 2 sets SAFE Output 2

 

 

Not applicable at TwinCAT PLC and TwinSAFE PLC combination.

 

Decoupler (FB2)
This example shows the preparation for a standard data exchange between TwinSAFE PLC and AMK PLC.

Therefore, the BYTE-type variable by_IN_Date_0 was defined inside the TwinCAT PLC project.

The TwinSAFE PLC will send the status of wState2_Bit12 (VALID Bit) with the variable by_IN_Date_0 to the AMK controller.

If you evaluate the VALID bit with the AMK controller, you can check the working state of the FSoE slave and FSoE master.

 

Enter a TwinSAFE status variable at the Decoupler input DecIn1.

 

 

 

 

You can find the used variables in the device tree. Below the clamp 'EL6900' – 'Module 2 (FSOE). TwinCAT use standard names like 'Standard Out Var 1', 'Standard Out Var 2' … . Rename the standard variable names to a clear name. This variable name will further be also used for the TwinCAT ‘configuration file’. This 'configuration file' will be read from AIPEX PRO to create the EtherCAT configuration file.