In the following, we show to you how to commission Fail Safe over ETherCAT (FSoE) ctrlX DRIVE with EtherCAT control (in here Beckhoff is used).
1 General information
Topology
All the functions and screen shots are based on:
- ctrlX Drive Engineering version 1.13
- TwinCat 3
Used hardware:
- Beckhoff EtherCAT coupler EK1914
- Beckhoff EtherCAT communication interface EL6900
- 2x Beckhoff EtherCAT 4-channel digital inputs
- ctrlX DRIVE XCD2-W2323
- Runtime / firmware version AXS-V0305
2 FSoE settings
Pre-requisite: The TwinCat 3 program has been started.
2.1 TwinCAT 3 drive implementation
Start NC default project and add an EtherCAT Master.
Add your ctrlX DRIVE(s) via Scan or manually.
Set EoE (32Bit EIDN Ethernet over EtherCAT connection) settings and activate configuration.
After activation Master should be in RUN mode and drives should be found via EoE connection at ctrlX DRIVE Engineering.
2.2 Task settings
Add a new task
and add two Variables for ErrAck and Run!
2.3 Safety settings
Add a new Safety project with pre-configured inputs.
Select used modules (can also be deleted later) inside the project. Otherwise compile errors occur.
Set the FSoE addresses (same as ctrlX DRIVE settings).
Set the FSoE address of the used Terms.
Add function block e.g. safe decouple to Network. ErrAck and RunStop are linked automatically.
Create your inputs and assign them (example see below).
Link Run and ErrAck to Variables.
Choose your target system and adjust the Safe Addresses.
After the correct selection "Download" window will open automatically. Input the serial number, the Password must be inserted later on.
If the verification works without error, download the project.
After project download LED4 blinks -> force ErrAck, LED4 should lights up permanent.
Force also Run.
Possibly ErrAck has to be forced again to reach the correct (green) status of the group ports.
2.4 Safety settings of ctrlX DRIVE
Set FSoE slave address and profile type in ctrlX DRIVE Engineering same as in Twin Cat.
After the drive settings are adjusted possibly TwinCat needs to Restart/activate configuration again; iteration of force run/ErrAck might be necessary!
2.5 Test state machine
Finally the correct working of the state machine can be tested.
Opteration mode
SMES
SMST2
SMM(1)
