BECKHOFF EL6900-FB User Manual

Documentation

EL6900-FB, KL6904-FB

TwinCAT function blocks for TwinSAFE logic terminals

Version: 2.4.1
Date: 2015-03-11

Table of contents

Table of contents

1 Foreword 5

1.1 Notes on the manual 5

1.1.1 Disclaimer 5

1.1.2 Brands 5

1.1.3 Patents 5

1.1.4 Copyright 5

1.1.5 Delivery conditions 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 safety symbols 7

1.2.4 Origin of the document 7

1.2.5 Documentation issue status 8

2 System description 9

2.1 TwinSAFE logic terminals EL6900/KL6904 9

2.1.1 TwinSAFE group 9

2.1.2 TwinSAFE connection 11

2.1.3 System diagnosis 11

3 Function blocks 17

3.1 The AND function block 17

3.1.1 Functional description 17

3.1.2 Signal description 18

3.1.3 FB AND configuration in the TwinCAT System Manager 20

3.2 The OR function block 21

3.2.1 Functional description 21

3.2.2 Signal description 22

3.2.3 FB OR configuration in the TwinCAT System Manager 24

3.3 The OPMODE function block 25

3.3.1 Functional description 25

3.3.2 Signal description 26

3.3.3 FB OPMODE configuration in the TwinCAT System Manager 29

3.4 The ESTOP function block 30

3.4.1 Functional description 30

3.4.2 Signal description 31

3.4.3 FB ESTOP configuration in the TwinCAT System Manager 33

3.5 The MON function block 35

3.5.1 Functional description 35

Function blocks for TwinSAFE logic terminals 1

Table of contents

3.5.2 Signal description 37

3.5.3 FB MON configuration in the TwinCAT System Manager 39

3.6 The DECOUPLE function block 41

3.6.1 Functional description 41

3.6.2 Signal description 42

3.6.3 FB DECOUPLE configuration in the TwinCAT System Manager 45

3.7 The TWO-HAND function block 46

3.7.1 Functional description 46

3.7.2 Signal description 47

3.7.3 FB TWO-HAND configuration in the TwinCAT System Manager 49

3.7.4 Examples of two-hand control types according to DIN EN 574 : 1996 50

3.8 The MUTING function block 51

3.8.1 Functional description 51

3.8.2 Signal description 52

3.8.3 FB MUTING configuration in the TwinCAT System Manager 55

3.9 The EDM function block 61

3.9.1 Functional description 61

3.9.2 Signal description 62

3.9.3 FB EDM configuration in the TwinCAT System Manager 63

3.10 The RS function block 64

3.10.1 Functional description 64

3.10.2 Signal description 65

3.10.3 FB RS configuration in the TwinCAT System Manager 66

3.11 The SR function block 67

3.11.1 Functional description 67

3.11.2 Signal description 68

3.11.3 FB SR configuration in the TwinCAT System Manager 69

3.12 The TON function block 70

3.12.1 Functional description 70

3.12.2 Signal description 71

3.12.3 FB TON configuration in the TwinCAT System Manager 72

3.13 The TOF function block 73

3.13.1 Functional description 73

3.13.2 Signal description 74

3.13.3 FB TOF configuration in the TwinCAT System Manager 75

3.14 The CONNECTION SHUTDOWN function block 76

3.14.1 Functional description 76

3.14.2 Signal description 78

3.14.3 FB ConnectionShutdown configuration in the TwinCAT System Manager 80

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Function blocks for TwinSAFE logic terminals

Table of contents

4 Appendix 81

4.1 Beckhoff Support and Service 81

4.1.1 Beckhoff branches and partner companies Beckhoff Support 81

4.1.2 Beckhoff company headquarters 81

Function blocks for TwinSAFE logic terminals 3

Foreword

1 Foreword

1.1 Notes on the manual

This description is only intended for the use of trained specialists in control and automation technology
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
safety requirements, including all the relevant laws, regulations, guidelines and standards.

1.1.1 Disclaimer

This documentation has been prepared with care. The products described are, however, constantly under
development. For this reason, the documentation may not always have been fully checked for
consistency with the performance data, standards or other characteristics described.
If it should contain technical or editorial errors, we reserve the right to make changes at any time and
without notice.
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.

1.1.2 Brands

Beckhoff®, TwinCAT®, EtherCAT®, Safety over EtherCAT®, TwinSAFE® and XFC® are registered
trademarks of and licensed by Beckhoff Automation GmbH.
The use by third parties of other brand names or trademarks contained in this documentation may lead to
an infringement of the rights of the respective trademark owner.

1.1.3 Patents

The EtherCAT technology is patent protected, in particular by the following applications and patents:
EP1590927, EP1789857, DE102004044764, DE102007017835 with the corresponding applications and
registrations in various other countries.
The TwinCAT technology is patent protected, in particular by the following applications and patents:
EP0851348, US6167425 with the corresponding applications and registrations in various other countries.

1.1.4 Copyright

©

Beckhoff Automation GmbH & Co. KG.
The copying, distribution and utilization of this document as well as the communication of its contents to
others without express authorization is prohibited. Offenders shall be held liable for damages. All rights
conferred by patent grant or registration of a utility model or registered design are reserved.

1.1.5 Delivery conditions

In addition, the general delivery conditions of the company Beckhoff Automation GmbH & Co. KG apply.

Function blocks for TwinSAFE logic terminals 5

Foreword

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 section 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.

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Function blocks for TwinSAFE logic terminals

Foreword

1.2.3 Description of safety symbols

The following safety symbols are used in these operating instructions. They are intended to alert the
reader to the associated safety instructions.

Serious risk of injury!

DANGER

WARNING

CAUTION

Attention

Note

Failure to follow the safety instructions associated with this symbol directly endangers

the life and health of persons.

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

and health of persons.

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

to persons.

Damage to the environment or devices
Failure to follow the instructions associated with this symbol can lead to damage to the

environment or equipment.

Tip or pointer

This symbol indicates information that contributes to better understanding.

1.2.4 Origin of the document

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

Function blocks for TwinSAFE logic terminals 7

Foreword

1.2.5 Documentation issue status

Version Comment

2.4.1

• Markings removed

2.4.0

2.3.0

2.2.0

2.1.0

2.0.0

1.1.1

1.1.0

1.0.0

• Company address changed

• Document origin and versions added

• EDM extended with standard In

• MUTING status information expanded

• Two-hand diagnostic information expanded

• TwinSAFE connection info data expanded

• FB ESTOP info data expanded

• FB OPMODE description expanded

• Service/support information modified

• EL6900 blocks added

• Corrections during the translation into English

• Amendments in the application examples

• First released version

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Function blocks for TwinSAFE logic terminals

System description

2 System description

The TwinSAFE system consists of safe inputs (EL/KL1904), safe outputs (EL/KL2904) and logic modules
(KL6904/EL6900). The TwinSAFE logic terminal (KL6904/EL6900) contains function blocks, which can be
parameterized and connected to each other and form the safety-related logic. Free programming is not
possible. In addition to the non-safety-related logic configuration a fieldbus configuration is required for
mapping the TwinSAFE data packets. These functions are realized via the TwinCAT System Manager.
The safety-related TwinSAFE Verifier, which is available at the moment as a separate installation, deals
with the loading and testing of the TwinSAFE project onto the EL6900/KL6904.

The TwinSAFE logic terminal can communicate, via the fieldbus-independent and certified TwinSAFE­protocol with safe input and output terminals, and also via further logic terminals. The TwinSAFE protocol
is a Safety over EtherCAT (FSoE) protocol with one byte of safe user data. It is openly available via the
EtherCAT Technology Group (www.ethercat.org).

2.1 TwinSAFE logic terminals EL6900/KL6904

The configuration of a TwinSAFE logic terminal consists of function blocks that are consolidated into one
or several TwinSAFE groups. TwinSAFE groups can be started and stopped independently of each other.

The execution sequence of the function blocks corresponds to the TwinCAT System Managers project
structure sequence illustrated. This sequence can be changed in the System Manager by Drag’n Drop.

The function blocks have parameters which must be configured by the user.
The inputs and outputs of the function blocks are assigned to the inputs and outputs of the TwinSAFE

terminals, to other function blocks or to the input and output variable of the standard PLC by the user.
A TwinSAFE connection involves unambiguous assignment of a TwinSAFE device (EL/KL1904,

EL/KL2904, EL6900/KL6904) to TwinSAFE group. Only function blocks which belong to this TwinSAFE
group can be linked with the input and outputs of an assigned TwinSAFE connection. The DECOUPLE
block can be used if it is necessary for other groups to access the inputs and outputs (see chapter 3.6).

Errors of the TwinSAFE communication within the TwinSAFE group and errors within a function block
affect the complete TwinSAFE group. The TwinSAFE group then stops all associated function blocks,
which then switch their outputs into a safe state.

Errors in the TwinSAFE Logic result in it switching off completely.

2.1.1 TwinSAFE group

The function blocks are assigned to TwinSAFE groups. These have a characteristic that results in the
return of all group outputs to a safe state (a safe state is always a wattless state at the output,
corresponding to a logical 0) such as, in case of a communication error of an assigned TwinSAFE
connection, in case of an error in assigned function blocks (e.g. excessive discrepancy time) or an error in
the local assigned outputs. I.e. the TwinSAFE connection data and thus TwinSAFE input or output
terminal are always exactly assigned to a TwinSAFE group.

A communication error is displayed on the output (COM ERR) of the TwinSAFE group and acknowledged
on the input (ERR ACK). A function block error is displayed on the output (FB ERR) and acknowledged
on the same input (ERR ACK) as the communication error. An error on the local outputs (only KL6904) is
displayed on the third output (OUT ERR) and once again acknowledged (ERR_ACK) on the same input.
The safe state of the TwinSAFE group outputs is removed once the error is no longer present and has
been acknowledged.

The error acknowledgement is not carried out automatically, i.e. the "ERR ACK" input must always be

Function blocks for TwinSAFE logic terminals 9

System description

linked.
Apart from this the TwinSAFE group has an input (RUN), with which the processing of the assigned

function blocks can be stopped and started. All TwinSAFE group assigned outputs are in a safe state
when stopped.

2.1.1.1 TwinSAFE group inputs and outputs

Table 2-1: TwinSAFE group inputs

Name Permitted type Description

RUN FB-Out

Standard-In

TRUE:
The function blocks assigned to the TwinSAFE group are executed
FALSE:
All assigned function blocks of the TwinSAFE group are at a STOP

state and thus all associated outputs are in a safe state
When the input is not linked it is in the TRUE state

ERR ACK FB-Out

Standard-In

All pending errors in the assigned function blocks and in the
TwinSAFE connections are acknowledged by the FALSE->TRUE­>FALSE signal sequence.

Table 2-2: TwinSAFE group outputs

Name Permitted type Description

FB ERR TwinSAFE-Out

FB-In
Standard-Out
Local-Out

COM ERR TwinSAFE-Out

FB-In
Standard-Out
Local-Out

OUT ERR TwinSAFE-Out

FB-In
Standard-Out
Local-Out

TRUE:
At least one assigned function block has an error
FALSE:
All assigned function blocks have no errors
TRUE:
At least one TwinSAFE connection of TwinSAFE group has an error
FALSE:
All TwinSAFE connections of the TwinSAFE group have no errors
TRUE:
At least one local output assigned to the TwinSAFE group has an

error
FALSE:
All of the local outputs assigned to the TwinSAFE group have no

errors
Always FALSE for EL6900, since the device has no local outputs.

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Function blocks for TwinSAFE logic terminals

System description

2.1.2 TwinSAFE connection

Each safe communication path between the TwinSAFE logic and TwinSAFE inputs, TwinSAFE outputs or
other TwinSAFE logic terminals are referred to as TwinSAFE connection.

A communication partner is thus always the TwinSAFE master, the other the TwinSAFE slave. The
TwinSAFE logic is in a TwinSAFE connection to a TwinSAFE input or TwinSAFE output is always
TwinSAFE master. The TwinSAFE connection to another TwinSAFE logic can be TwinSAFE slave on the
other hand, whereby the TwinCAT System Manager automatically defines this assignment.

Both the TwinSAFE master and the TwinSAFE slave have a FSoE (Safety over EtherCAT) address that
can be set on the respective TwinSAFE terminal via a DIP switch in order to ensure that any mix-up of the
TwinSAFE data packets is always detected. These FSoE addresses are checked within the TwinSAFE
communication and must be unambiguous in the control system. The TwinSAFE Verifier for each
TwinSAFE logic terminal checks that. The TwinSAFE logic control system may contain several TwinSAFE
logic terminals, although the TwinSAFE Verifier can only be active for one TwinSAFE logic terminal at a
time. The user must therefore ensure that multiple allocation of FSoE addresses is avoided.

For each TwinSAFE connection a watchdog time and the corresponding FSoE address for the
communication devices can be set. In addition there is a possibility to adjust the SIL level, however this
setting is not supported at the moment and has no effects on the safety behavior of the system. In
another configuration option a module error in the TwinSAFE communication partner can be set to trigger
a communication error in the TwinSAFE group.

2.1.3 System diagnosis

The states of the TwinSAFE groups, FBs and connections can be checked in the System Manager. The
diagnostic information can be copied into the cyclic process image.
TwinSAFE groups have inputs and outputs of associated Screenshots assigned offline and which can be
considered online.

If the checkboxes ‘Map State’ and ‘Map Diag’ are set, the state and diagnostic data for the group are
copied into the cyclic process image and can be linked directly with PLC variables. The diagnostic data
are currently always 0.

KL6904

Note

With the KL6904 copying of the diagnostic information to the cyclic process image is
only possible to a limited extent. The checkboxes ‘Map State’ and ‘Map Diag’ are not
available.

Function blocks for TwinSAFE logic terminals 11

System description

Figure 2-1: Inputs/Outputs

Table 2-3: Status information

Value Status Description

1 RUN

All function blocks and TwinSAFE connections assigned to the TwinSAFE
group operate properly, and all TwinSAFE connections assigned to the

TwinSAFE group are up and running
2 STOP State after initialization
3 SAFE

All function blocks and TwinSAFE connections assigned to the TwinSAFE

group operate properly, and at least one of the TwinSAFE connections

assigned to the TwinSAFE group is not yet up and running
4 ERROR

At least one assigned function block or one assigned TwinSAFE connection

has reported an error
5 RESET

A positive edge (FALSE->TRUE) for acknowledgement of a function block

or a TwinSAFE connection error was detected on the ERR_ACK input. The

system is waiting for the negative edge of the ERR_ACK input

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Function blocks for TwinSAFE logic terminals

System description

Figure 2-2: Inputs/Outputs

The status of TwinSAFE FBs is displayed on online summary. The current status data are read from the
EL6900/KL6904 via a manual refresh.

Figure 2-3: Function Block List

If the checkboxes ‘Map State’ and ‘Map Diag’ for the individual TwinSAFE FBs are set, the status and
diagnostic data for the FBs are copied into the cyclic process image and can be linked directly with PLC
variables. The description of the status and diagnostic values can be found under the respective FBs.

Function blocks for TwinSAFE logic terminals 13

System description

KL6904

Note

With the KL6904 copying of the diagnostic information to the cyclic process image is
only possible to a limited extent. The checkboxes ‘Map State’ and ‘Map Diag’ are not
available.

Figure 2-4: Emergency Stop

The TwinSAFE connections status is displayed on the TwinSAFE connection list summary under the
"Connection List" tab. Diagnostics bits are also set in addition to the status.

Figure 2-5: Connection List

If the checkboxes ‘Map State’ and ‘Map Diag’ for the individual TwinSAFE connections are set, the status
and diagnostic data for the connections are copied into the cyclic process image and can be linked
directly with PLC variables. In addition, the safe inputs and outputs can be copied into the cyclic process
image and used for diagnostic purposes.

KL6904

Note

With the KL6904 copying of the diagnostic information to the cyclic process image is
only possible to a limited extent. The checkboxes ‘Map State’, ‘Map Diag’‚ ‘Map Inputs’
and ‘Map Outputs’ are not available. The button “Com Err Ack” is also not available.

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Function blocks for TwinSAFE logic terminals

System description

Figure 2-6: Variables

Table 2-4: Diagnostic information for a connection

Value Description

xxxx 0001 Invalid command
xxxx 0010 Unknown command
xxxx 0011 Invalid connection ID
xxxx 0100 Invalid CRC
xxxx 0101 Watchdog time elapsed
xxxx 0110 Invalid FSoE address
xxxx 0111 Invalid data
xxxx 1000 Invalid communication parameter length
xxxx 1001 Invalid communication parameters
xxxx 1010 Invalid user parameter length
xxxx 1011 Invalid user parameters
xxxx 1100 FSoE master reset
xxxx 1101 Module error detected on slave, with option "Module error is ComError" activated
xxxx 1110 Module error detected on EL290x, with option "Error acknowledge active" activated
xxxx 1111 Slave not yet started, or unexpected error argument
xxx1 xxxx FSoE slave error detected
xx1x xxxx FSoE slave reports Failsafe Value active
x1xx xxxx StartUp

1xxx xxxx FSoE master reports Failsafe Value active

Function blocks for TwinSAFE logic terminals 15

System description

Table 2-5: Status information for a connection

Value Description

100 (0x64) Reset state:

The reset state is used to re-initialize the Safety over EtherCAT connection after
the power-on or a Safety over EtherCAT communication error.

101 (0x65) Session state:

During the transition to or in the session state a session ID is transferred from
the Safety over EtherCAT master to the Safety over EtherCAT slave, which in
turn responds with its own session ID.

102 (0x66) Connection state:

In the connection state a connection ID is transferred from the Safety over
EtherCAT master to the Safety over EtherCAT slave.

103 (0x67) Parameter state:

In the parameter state safe communication- and device-specific application
parameters are transferred.

104 (0x68) Data state:

In the data state Safety over EtherCAT cycles are transferred until either a
communication error occurs or a Safety over EtherCAT node is stopped locally.

105 (0x69) Shutdown state:

In the shutdown state the connection was shut down by one of the
communication partners.

Further information can be found in the Safety over EtherCAT specification.

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Function blocks for TwinSAFE logic terminals

Function blocks

3 Function blocks

The function blocks have a specified functionality that still must be configured via a parameter. The inputs
or outputs of a function block can be inputs or outputs of a local process image, but function block outputs
and inputs can be can be linked.

3.1 The AND function block

3.1.1 Functional description

With the FB AND several input signals can be linked via AND to one output signal. In addition each input
can still be set even if the input signal is a normally closed contact (Break contact) or normally open
contact (Make contact). A normally open contact means that the corresponding input signal is negated,
before it affects the AND.

The AndIn1 input differs from the AndIn2-AndIn8 inputs in such a way that it can also be linked with a
standard input. This makes it possible to switch off a safe output using a standard signal. Outputs cannot
be switched on but only released using a standard signal, since at least two inputs must always be linked
for FB AND (and the second input is a safe one, which prevents switching on).

Figure 3-1: AND function block

Function blocks for TwinSAFE logic terminals 17

Function blocks

3.1.2 Signal description

Table 3-1: FB AND inputs

Name Permitted type Description

AndIn1 TwinSAFE-In

FB-Out
Standard-In

AndIn2 TwinSAFE-In

FB-Out

AndIn3 TwinSAFE-In

FB-Out

AndIn4 TwinSAFE-In

FB-Out

AndIn5 TwinSAFE-In

FB-Out

AndIn6 TwinSAFE-In

FB-Out

AndIn7 TwinSAFE-In

FB-Out

AndIn8 TwinSAFE-In

FB-Out

1st input channel

2nd input channel

3rd input channel

4th input channel

5th input channel

6th input channel

7th input channel

8th input channel

Table 3-2: FB AND outputs

Name Permitted type Description

AndOut TwinSAFE-Out

Output channel
FB-In
Standard-Out
Local-Out

Table 3-3: FB AND input and output types

Type Description

TwinSAFE-In TwinSAFE input at an EL1904/KL1904
Standard-In Standard PLC variable (output in the PLC %Q*)
FB-Out TwinSAFE FB output
TwinSAFE-Out TwinSAFE output at an EL2904/KL2904
Standard-Out Standard PLC variable (input in the PLC %I*)
FB-In TwinSAFE FB input
Local-Out TwinSAFE output at the KL6904 (not available for EL6900)

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Function blocks for TwinSAFE logic terminals

Function blocks

3.1.2.1 Diagnostic and status information for FB AND

Table 3-4: Diagnostic information (16-bit value)

Index Description

0-15 always 0

Table 3-5: Status information (8-bit value)

Index Description

0 undefined
1 RUN
2 STOP
3 SAFE

KL6904

Note

The checkboxes ‘Map State’ and ‘Map Diag’ are not available for the KL6904.

Function blocks for TwinSAFE logic terminals 19

Function blocks

3.1.3 FB AND configuration in the TwinCAT System Manager

Figure 3-2: FB AND configuration

Their characteristics are configured with the setting buttons on the right near the two AndIn inputs,
whereby the inputs are always single-channel ones. A discrepancy monitoring cannot be used for the
AND.

The 'AndIn(x)' buttons can only be selected when the corresponding input has been activated. All inputs
are deactivated in the default setting.

The FB AND input variables are linked using the 'AndIn(x)' buttons.
The output variable of the FB AND are linked using the 'AndOut' button.
The ‘MapState’ and ‘MapDiag’ checkboxes are used to specify which FB diagnostic functions are mapped

to the cyclic process image.
The FB AND does not supply any error information and therefore the error button is basically deactivated.

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Function blocks for TwinSAFE logic terminals

Function blocks

3.2 The OR function block

3.2.1 Functional description

With the FB OR several input signals can be linked via OR to one output signal. In addition each input
can still be set even if the input signal is a normally closed contact (Break contact) or normally open
contact (Make contact). A normally open contact means that the corresponding input signal is negated,
before it affects the OR.

Figure 3-3: OR function block

Function blocks for TwinSAFE logic terminals 21

Function blocks

3.2.2 Signal description

Table 3-6: FB OR inputs

Name Permitted type Description

OrIn1 TwinSAFE-In

FB-Out

OrIn2 TwinSAFE-In

FB-Out

OrIn3 TwinSAFE-In

FB-Out

OrIn4 TwinSAFE-In

FB-Out

OrIn5 TwinSAFE-In

FB-Out

OrIn6 TwinSAFE-In

FB-Out

OrIn7 TwinSAFE-In

FB-Out

OrIn8 TwinSAFE-In

FB-Out

1st input channel

2nd input channel

3rd input channel

4th input channel

5th input channel

6th input channel

7th input channel

8th input channel

Table 3-7: FB OR outputs

Name Permitted type Description

OrOut TwinSAFE-Out

Output channel
FB-In
Standard-Out
Local-Out

Table 3-8: FB OR input and output types

Type Description

TwinSAFE-In TwinSAFE input at an EL1904/KL1904
Standard-In Standard PLC variable (output in the PLC %Q*)
FB-Out TwinSAFE FB output
TwinSAFE-Out TwinSAFE output at an EL2904/KL2904
Standard-Out Standard PLC variable (input in the PLC %I*)
FB-In TwinSAFE FB input
Local-Out TwinSAFE output at the KL6904 (not available for EL6900)

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Function blocks for TwinSAFE logic terminals

Function blocks

3.2.2.1 Diagnostic and status information for FB OR

Table 3-9: Diagnostic information (16-bit value)

Index Description

0-15 always 0

Table 3-10: Status information (8-bit value)

Index Description

0 undefined
1 RUN
2 STOP
3 SAFE

KL6904

Note

The checkboxes ‘Map State’ and ‘Map Diag’ are not available for the KL6904.

Function blocks for TwinSAFE logic terminals 23