BECKHOFF KL6904 User Manual

Operating instructions for
KL6904
TwinSAFE logic terminal with 4 fail-safe outputs
Version: 2.1.1 Date: 2015-11-03
Table of contents
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 Copyright 3
1.1.5 Delivery conditions 3
1.2 Safety instructions 4
1.2.1 Delivery state 4
1.2.2 Operator's obligation to exercise diligence 4
1.2.3 Description of safety symbols 5
1.2.4 Origin of the document 5
1.2.5 Documentation issue status 6
2 System description 7
2.1 The Beckhoff Bus Terminal system 7
2.1.1 Bus Coupler 8
2.1.2 Bus Terminals 9
2.1.3 K-bus 9
2.1.4 Power contacts 9
2.2 TwinSAFE 10
2.2.1 The I/O construction kit is extended safely 10
2.2.2 Safety concept 10
2.2.3 KL1904, KL2904 – Bus Terminals with 4 fail-safe inputs or outputs 11
2.2.4 KL6904 TwinSAFE logic terminal with 4 fail-safe outputs 11
2.2.5 The fail-safe principle (Fail Stop) 11
3 Product description 12
3.1 General description 12
3.2 Intended use 13
3.3 Technical data 14
3.4 Safety parameters 15
3.5 Dimensions 15
KL6904 1
Table of contents
4 Operation 16
4.1 Installation 16
4.1.1 Safety instructions 16
4.1.2 Transport / storage 16
4.1.3 Mechanical installation 17
4.1.4 Electrical installation 18
4.1.5 Tested devices 22
4.2 Configuration of the KL6904 in the TwinCAT System Manager 23
4.2.1 Configuration requirements 23
4.2.2 Inserting a Beckhoff Bus Coupler 23
4.2.3 Inserting a Beckhoff Bus Terminal 23
4.2.4 Inserting a KL6904 23
4.2.5 Address settings on the TwinSAFE terminals 25
4.2.6 Entering the TwinSAFE addresses in the System Manager 26
4.2.7 Creating a TwinSAFE group 27
4.2.8 Append a function block 30
4.2.9 KL6904 user and version administration 36
4.2.10 Loading the project into the KL6904 37
4.2.11 Communication between TwinCAT controllers 39
4.3 Diagnostics 43
4.3.1 Diagnostic LEDs 43
4.4 Maintenance 46
4.4.1 Cleaning 46
4.5 Service life 46
4.6 Decommissioning 47
4.6.1 Disposal 47
5 Appendix 48
5.1 Beckhoff Support and Service 48
5.1.1 Beckhoff branches and partner companies Beckhoff Support 48
5.1.2 Beckhoff company headquarters 48
5.2 Certificates 49
2
KL6904
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.
KL6904 3
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 (see chapter
Cleaning).
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.
4
KL6904
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.
Caution - 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
These operating instructions were originally written in German. All other languages are derived from the German original.
KL6904 5
Foreword
1.2.5 Documentation issue status
Version Comment
2.1.1
Certificate updated
2.1.0
2.0.1
2.0.0
1.1.4
1.1.3
1.1.2
1.1.1
1.1.0
Company address amended
Document origin added
Version history added
EN954 example removed
Safety parameters extended
Reference to EN 60068-2-29 removed
Description of the configuration in the TwinCAT System Manager added
Certificates added
Note on test pulses of the outputs added
Tested devices extended
Diagrams corrected
Flash codes corrected
Pin assignment corrected
Technical data updated
LED and graphics updated
Technical data extended
Editorial amendments
1.0.3
Description of LEDs and blink codes updated
TwinSAFE description updated
1.0.2
1.0.1
1.0.0
Note relating to qualified software tool amended
LoP list incorporated
First publication
6
KL6904
System description
2 System description
2.1 The Beckhoff Bus Terminal system
The Beckhoff Bus Terminal system is used for decentralized connection of sensors and actuators to a control system. The Beckhoff Bus Terminal system components are mainly used in industrial automation and building management applications. In its minimum configuration, a bus station consists of a Bus Coupler or a Bus Terminal Controller and Bus Terminals connected to it. The Bus Coupler forms the communication interface to the higher-level controller, and the terminals are the interface to sensors and actuators. The whole bus station is clipped onto a 35 mm DIN mounting rail (EN 60715). The mechanical cross connection of the bus station is established via a slot and key system at the Bus Coupler and the Bus Terminals.
The sensors and actuators are connected with terminals via the screwless Cage Clamp© connection system.
Since a wide range of different communication standards are established in industrial automation, Beckhoff offers Bus Couplers for all common bus systems (e.g. BK3120 for PROFIBUS, BK9000 for Ethernet, etc.).
KL6904 7
System description
2.1.1 Bus Coupler
Mechanical data
Mechanical data Bus Coupler
Material polycarbonate, polyamide (PA6.6). Dimensions (W x H x D) 47 mm x 100 mm x 68 mm Installation on 35 mm mounting rail (EN50022) with locking Attachable by double slot and key connection
Connection technology
Connection technology Bus Coupler
Wiring cage Clamp® spring-loaded system Connection cross-section 0.08 mm2 ... 2.5 mm2, stranded wire, solid wire Fieldbus connection depending on fieldbus Power contacts 3 spring contacts Current load 10 A Rated voltage 24 VDC
8
KL6904
System description
2.1.2 Bus Terminals
Mechanical data
Mechanical data Bus Terminal
Material polycarbonate, polyamide (PA6.6). Dimensions (W x H x D) 12 mm x 100 mm x 68 mm or 24 mm x 100 mm x 68 mm Installation on 35 mm mounting rail (EN50022) with locking Attachable by double slot and key connection
Connection technology
Connection technology Bus Terminal
Wiring cage Clamp® spring-loaded system Connection cross-section 0.08 mm2 ... 2.5 mm2, stranded wire, solid wire Fieldbus connection depending on fieldbus Power contacts up to 3 blade/spring contacts Current load 10 A Rated voltage depends on Bus Terminal type
2.1.3 K-bus
The K-Bus is the data path within a terminal strip. The K-Bus is led through from the Bus Coupler through all the terminals via six contacts on the terminals' side walls. The end terminal terminates the K-Bus.
2.1.4 Power contacts
The operating voltage is passed on to following terminals via three power contacts. Terminal strip can be split into galvanically isolated groups by means of potential feed terminals as required. The power feed terminals play no part in the control of the terminals, and can be inserted at any locations within the terminal strip.
KL6904 9
System description
2.2 TwinSAFE
2.2.1 The I/O construction kit is extended safely
With the TwinSAFE Terminals, Beckhoff offers the option of simply expanding the proven Bus Terminal system, and to transfer the complete cabling for the safety circuit into the already existing fieldbus cable. Safe signals can be mixed with standard signals without restriction. This saves design effort, installation and material. Maintenance is simplified significantly through faster diagnosis and simple replacement of only a few components.
The new KLx9xx series Bus Terminals only include three basic functionalities: digital KL19xx inputs, digital KL29xx outputs and a KL6904 link unit. For a large number of applications, all sensors and actuators can be wired on these Bus Terminals. The required logical link of the inputs and the outputs is handled by the KL6904. For small to medium-sized configurations, the tasks of a fail-safe PLC can thus be handled within the Bus Terminal system.
2.2.2 Safety concept
TwinSAFE: Safety and I/O technology in one system
Extension of the familiar Beckhoff I/O system with TwinSAFE terminals
Freely selectable mix of safe and standard signals
Logic link of the I/Os in the KL6904 TwinSAFE logic terminal
Safety-relevant networking of machines via bus systems
TwinSAFE protocol (FSoE)
Transfer of safety-relevant data via any media (“genuine black channel”)
TwinSAFE communication via fieldbus systems such as EtherCAT, Lightbus, PROFIBUS or
Ethernet
IEC 61508:2010 SIL 3 compliant
Configuring instead of wiring: the TwinSAFE configurator
Configuration of the TwinSAFE system via the TwinCAT System Manager
System Manager for editing and displaying all bus parameters
Certified function blocks such as emergency stop, operation mode, etc.
Simple handling
Typical function blocks for machine safety
Freely selectable fieldbus connection with the KL6904 TwinSAFE logic terminal
KL6904 TwinSAFE logic Bus Terminal
Link unit between TwinSAFE input and output terminals
Configuration of a simple, flexible, cost-effective, decentralized safety controller
No safety requirements for higher-level control system
TwinSAFE enables networks with up to 1023 TwinSAFE devices
TwinSAFE logic terminal can establish up to 15 connections (TwinSAFE connections).
Several TwinSAFE logic terminals are cascadable in a network
Safety functions such as emergency stop, protective door, etc. are already included
Safe outputs integrated
Suitable for applications up to SIL 3 according to IEC 61508:2010
10
KL6904
System description
TwinSAFE digital input (KL1904) and output terminal (KL2904)
All current safety sensors can be connected
Operation with a TwinSAFE logic terminal
KL1904 with 4 fail-safe inputs for sensors (24 VDC) with floating contacts
KL2904 with four safe channels for actuators (24 VDC, 0.5 A per channel)
conforming to IEC 61508:2010 SIL 3
2.2.3 KL1904, KL2904 – Bus Terminals with 4 fail-safe inputs or outputs
The KL1904 and KL2904 Bus Terminals enable connection of common safety sensors and actuators. They are operated with the KL6904 TwinSAFE logic terminal. The TwinSAFE logic terminal is the link unit between the TwinSAFE input and output terminals. It enables the configuration of a simple, flexible and cost-effective decentralized safety control system.
Therefore, there are no safety requirements for the higher-level controller! The typical safety functions required for the automation of machines, such as emergency stop, protective door, two-hand etc., are already permanently programmed in the KL6904. The user configures the KL6904 terminal according to the safety requirements of his application.
2.2.4 KL6904 TwinSAFE logic terminal with 4 fail-safe outputs
The KL6904 TwinSAFE logic terminal is a digital output terminal with four fail-safe outputs with 0.5 A, 24 VDC. The KL6904 meets the requirements of IEC 61508:2010 SIL 3 and DIN EN ISO 13849-1:2006 (Cat 4, PL e).
2.2.5 The fail-safe principle (Fail Stop)
The basic rule for a safety system such as TwinSAFE is that failure of a part, a system component or the overall system must never lead to a dangerous condition. The safe state is always the switched off and wattless state.
KL6904 11
Product description
3 Product description
3.1 General description
KL6904 TwinSAFE logic terminal with four fail-safe outputs
The KL6904 is a safe small controller with digital outputs for connecting actuators (contactors, relays, etc.) with a maximum current 0.5 A (24 VDC). The Bus Terminal has 4 fail-safe outputs.
The EL6930 meets the requirements of IEC 61508:2010 SIL 3, DIN EN ISO 13849-1:2006 (Cat 4, PL e), NRTL, UL508, UL1998 and UL991.
The Bus Terminal has the standard design of a Beckhoff Bus Terminal.
12
KL6904
Product description
3.2 Intended use
Caution - Risk of injury!
WARNING
TwinSAFE terminals may only be used for the purposes described below!
The TwinSAFE terminals expand the application range of Beckhoff Bus Terminal system with functions that enable them to be used for machine safety applications. The TwinSAFE terminals are designed for machine safety functions and directly associated industrial automation tasks. They are therefore only approved for applications with a defined fail-safe state. This safe state is the wattless state. Fail-safety according to the relevant standards is required.
The TwinSAFE terminals enable connection of:
24 VDC sensors (KL1904) such as emergency stop push buttons, pull cord switches, position switches, two-hand switches, safety mats, light curtains, light barriers, laser scanners etc.
24 VDC actuators (KL2904, KL6904) such as contactors, protective door switches with tumbler, signal lamps, servo drives etc.
Test pulses
Note
When selecting actuators please ensure that the KL6904 test pulses do not lead to actuator switching or diagnostic message from the KL6904. The test pulses of the KL6904 terminal outputs are not configurable and cannot be switched off.
The following modules were developed for these tasks:
The KL1904 terminal is an input module with digital inputs.
The KL2904 terminal is an output module with digital outputs.
The KL6904 terminal is a logic module with digital outputs.
These modules are suitable for operation with
Beckhoff BKxxxx series Bus Couplers
Beckhoff BXxxxx series Bus Terminal Controllers (with firmware version 1.20)
(Beckhoff BCxxxx series Bus Terminal Controllers are not supported!)
Beckhoff CXxxxx series Embedded PCs with K-Bus connection
Follow the machinery directive
CAUTION
The TwinSAFE terminals may only be used in machines according to the Machinery Directive.
Ensure traceability
CAUTION
The buyer has to ensure the traceability of the device via the serial number.
KL6904 13
Product description
3.3 Technical data
Product designation KL6904
Number of inputs 0 Number of outputs 4 Status display 4 (one green LED per output) Error reaction time watchdog times Output current per channel max. 500 mA, min. 20 mA Actuators
Cable length between actuator and terminal
(unshielded) max. 100 m
(shielded) max. 100 m Wire cross section min. 0.75 mm2 Input process image 192 byte max. Output process image 192 byte max. KL6904 supply voltage 24 VDC (-15%/+20%) Current consumption from K-bus max. 250 mA Power dissipation of the terminal typically 2 W Electrical isolation (between the channels) no Electrical isolation (between the channels and the
K-Bus) Insulation voltage (between the channels and the
K-Bus, under common operating conditions) Dimensions (W x H x D) 24 mm x 100 mm x 68 mm Weight approx. 100 g Permissible ambient temperature (operation) 0 ℃ to +55 ℃ Permissible ambient temperature
(transport/storage) Permissible air humidity 5 % to 95 %, non-condensing Permissible air pressure
(operation/storage/transport) Climate category according to EN 60721-3-3 3K3 Permissible level of contamination
Impermissible operating conditions
Vibration / shock resistance according to EN 60068-2-6 / EN 60068-2-27 EMC immunity/emission according to EN 61000-6-2 / EN 61000-6-4 Shocks 15 g with pulse duration 11 ms in all three axes Protection class IP20 Permitted operating environment
Permissible installation position horizontal Approvals CE, TÜV SÜD
When selecting actuators please ensure that the output test pulses do not lead to actuator switching.
yes
insulation tested with 500 VDC
-25 ℃ to +70 ℃
750 hPa to 1100 hPa
level of contamination 2 (comply with the chapter Cleaning)
TwinSAFE terminals must not be used under the following operating conditions:
under the influence of ionizing radiation
in corrosive environments
in an environment that leads to
unacceptable soiling of the Bus Terminal
control cabinet or terminal box with minimum protection class IP54 according to IEC 60529
14
KL6904
Product description
3.4 Safety parameters
Key figures KL6904
Lifetime [a] 20 Prooftest Intervall [a] not required 1) PFH 1.73E-09 %SIL3 1.7% PFD 1.42E-04 %SIL3 14.2% MTTFd [a] >100 DC >99% Performance level PL e Category 4 HFT 1 Element classification* Type A *) Classification according to IEC 61508-2:2010 (see chapters 7.4.4.1.2 and 7.4.4.1.3)
The KL6904 Bus Terminal can be used for safety-related applications within the meaning of IEC 61508:2010 up to SIL3 and EN ISO 13849-1 up to PL e (Cat4).
1)
Special proof tests are not required during the entire service life of the KL6904 Bus Terminal.
3.5 Dimensions
Width: 24 mm (side-by-side installation) Height: 100 mm Depth: 68 mm
KL6904 15
Operation
4 Operation
Please ensure that the TwinSAFE terminals are only transported, stored and operated under the specified conditions (see technical data)!
Caution - Risk of injury!
WARNING
The TwinSAFE terminals must not be used under the following operating conditions:
under the influence of ionizing radiation
in corrosive environments
in an environment that leads to unacceptable soiling of the Bus Terminal
4.1 Installation
4.1.1 Safety instructions
Before installing and commissioning the TwinSAFE terminals please read the safety notes in the foreword of this documentation.
4.1.2 Transport / storage
Use the original packaging for transporting or storing the digital TwinSAFE terminals.
Note the specified environmental conditions
CAUTION
Please ensure that the digital TwinSAFE terminals are only transported and stored under the specified environmental conditions (see technical data).
16
KL6904
Operation
4.1.3 Mechanical installation
Serious risk of injury!
DANGER
Bring the bus system into a safe, de-energized state before starting installation, disassembly or wiring of the Bus Terminals!
4.1.3.1 Control cabinet
The TwinSAFE terminals must be installed in a control cabinet or terminal box with IP54 protection class according to IEC 60529 as a minimum.
4.1.3.2 Mounting rail installation
Installation
The Bus Couplers and Bus Terminals are attached to commercially available 35 mm mounting rails (according to EN 60715) by applying slight pressure:
1. First attach the Fieldbus Coupler to the mounting rail.
2. The Bus Terminals are now attached on the right-hand side of the fieldbus Coupler. Join the components with slot and key and push the terminals against the mounting rail, until the lock clicks onto the mounting rail. If the terminals are clipped onto the mounting rail first and then pushed together without slot and key, the connection will not be operational! When correctly assembled, no significant gap should be visible between the housings.
3. During the installation of the Bus Terminals, the locking mechanism of the terminals must not come into conflict with the fixing bolts of the mounting rail.
KL6904 17
Operation
Removal
1. Carefully pull the orange-colored lugs approximately 1 cm out of the disassembled terminal, until they protrude loosely. The lock with the mounting rail is now released for this terminal, and the terminal can be pulled from the mounting rail without excessive force.
2. Grasp the released terminal with thumb and index finger simultaneous at the upper and lower grooved housing surfaces and pull the terminal away from the mounting rail.
4.1.4 Electrical installation
4.1.4.1 Connections within a Bus Terminal block
The electric connections between the Bus Coupler and the Bus Terminals are automatically realized by joining the components:
The six spring contacts of the K-Bus deal with the transfer of the data and the supply of the Bus Terminal electronics.
Note the maximum K-Bus current!
Note
The power contacts deal with the supply for the field electronics and thus represent a supply rail within the Bus Terminal block. The power contacts are supplied via terminals on the Bus Coupler.
Note
Observe the maximum current that your Bus Coupler can supply to the K-Bus! Use the KL9400 Power Supply Terminal if the current consumption of your terminals exceeds the maximum current that your Bus Coupler can feed to the K-Bus supply.
Note the pin assignment of the power contacts!
During the design of a Bus Terminal block, the pin assignment of the individual Bus Terminals must be taken account of, since some types (e.g. analog Bus Terminals or digital 4-channel Bus Terminals) do not or not fully loop through the power contacts. Power Feed Terminals (KL91xx, KL92xx) interrupt the power contacts and thus represent the start of a new supply rail.
18
KL6904
Operation
PE power contact
The power contact labelled PE can be used as a protective earth. For safety reasons this contact mates first when plugging together, and can ground short-circuit currents of up to 125 A.
Insulation tests
CAUTION
DANGER
Note that, for reasons of electromagnetic compatibility, the PE contacts are capacitatively coupled to the mounting rail. This may lead to incorrect results during insulation testing or to damage on the terminal (e.g. disruptive discharge to the PE line during insulation testing of a consumer with a nominal voltage of 230 V). For insulation testing, disconnect the PE supply line at the Bus Coupler or the Power Feed Terminal! In order to decouple further feed points for testing, these Power Feed Terminals can be released and pulled at least 10 mm from the group of terminals.
Serious risk of injury!
The PE power contact must not be used for other potentials!
KL6904 19
Operation
4.1.4.2 Wiring
Up to eight connections enable the connection of solid or finely stranded cables to the Bus Terminals. The terminals are implemented in spring force technology. Connect the cables as follows:
1. Open a spring-loaded terminal by slightly pushing with a screwdriver or a rod into the square opening above the terminal.
2. The wire can now be inserted into the round terminal opening without any force.
3. The terminal closes automatically when the pressure is released, holding the wire safely and permanently.
Wire cross section Strip length
0.08... 2.5 mm 8 mm
2
20
KL6904
Operation
KL6904 pin assignment
Terminal
Output Signal
point
1 - not used, no function 2 positive power contact 3 - negative power contact 4 not used, no function 5 - not used, no function 6 positive power contact 7 - negative power contact 8 not used, no function 1’ 1 Output 1+ 2’ Output 1­3’ 3 Output 3+ 4’ Output 3­5’ 2 Output 2+ 6’ Output 2­7’ 4 Output 4+ 8’ Output 4-
Test pulses
Note
When selecting actuators please ensure that the KL2904 test pulses do not lead to actuator switching or diagnostic message from the KL2904. The test pulses of the KL6904 terminal outputs are not configurable and cannot be switched off.
KL6904 21
Operation
4.1.5 Tested devices
The following list contains devices that were tested the together with the KL2904 TwinSAFE terminal. The results only apply for the current device hardware version at the time of testing. The tests were carried out in a laboratory environment. Modifications of these products cannot be considered here. If you are unsure please test the hardware together with the TwinSAFE terminal.
Manufacturer Type Comment
Beckhoff AX5801 TwinSAFE Drive option card: safe restart lock Beckhoff AX2000 Option AS safe restart lock Beckhoff KL2964 Three-channel contact extension with feedback
Siemens
Telemecanique LP1K09 Contactor Dold
The tests were carried out as function tests only. The information provided in the respective manufacturer documentation remains valid.
SIRIUS Serie S00
Contactor
3RT1016-1BB42
LG5929.54/100 Extension module with floating contacts
Recommended protective circuits
Note
We recommend R/C or diode-based protective circuits for these devices. Varistor-based protective circuits should not be used.
22
KL6904
Operation
4.2 Configuration of the KL6904 in the TwinCAT System Manager
Do not change the register values!
CAUTION
Do not change the register values for the TwinSAFE terminals. Changes to the register values (e.g. with the KS2000 configuration software or via register communication) sets the terminal permanently in the Fail-Stop state!
4.2.1 Configuration requirements
Version 2.10 build 1302 or higher of the TwinCAT automation software is required for configuring the KL6904. The current version is available for download from the Beckhoff website at www.beckhoff.de. In addition, the TwinSAFE Verifier must be installed. This is available on the Beckhoff Products & Solutions CD. The current installation can also be obtained from Beckhoff Support, if required.
Once the TwinSAFE Verifier was installed successfully, the TwinSAFE Verifier tab is available in the TwinCAT System Manager (further information can be found in section Loading the project into the KL6904).
4.2.2 Inserting a Beckhoff Bus Coupler
See TwinCAT automation software documentation.
4.2.3 Inserting a Beckhoff Bus Terminal
See TwinCAT automation software documentation.
4.2.4 Inserting a KL6904
A KL6904 is inserted in the same way as any other Beckhoff Bus Terminal. In the list open Safety Terminals (KLx9xx) and select the KL6904. The KL6904 can be selected with 7 or 15 TwinSAFE
connections.
KL6904 23
Operation
Size of the process image
Note
The process image should not be unnecessarily large.
If a KL6904 with 15 TwinSAFE connections is inserted, the KL6904 must be configured accordingly, since the KL6904 is delivered with 7 configured connections. The KL6904 can be configured with the KS2000 configuration software from Beckhoff (firmware version 14 or higher).
After the changeover to the new process image the KL6904 must be de-energized and switched on again in order to activate the change.
24
KL6904
Operation
4.2.5 Address settings on the TwinSAFE terminals
The TwinSAFE address of the terminal is set via the 10-way DIP switch on the left-hand side of the TwinSAFE Bus Terminal. TwinSAFE addresses between 1 and 1023 are available.
DIP switch Address 1 2 3 4 5 6 7 8 9 10
OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF 0
ON
OFF
ON ON
OFF OFF
ON
OFF
ON ON ON
OFF OFF OFF OFF OFF OFF OFF OFF OFF 1
ON
OFF OFF OFF OFF OFF OFF OFF OFF 2 OFF OFF OFF OFF OFF OFF OFF OFF 3
ON
OFF
ON
ON ON
OFF OFF OFF OFF OFF OFF OFF 4 OFF OFF OFF OFF OFF OFF OFF 5 OFF OFF OFF OFF OFF OFF OFF 6 OFF OFF OFF OFF OFF OFF OFF 7
... ... ... ... ... ... ... ... ... ... ...
ON ON ON ON ON ON ON ON ON ON
1023
Unique TwinSAFE address
WARNING
Each TwinSAFE address may only be used once within a network!
KL6904 25
Operation
4.2.6 Entering the TwinSAFE addresses in the System Manager
The TwinSAFE address set at the DIP switch must also be entered under the TwinSAFE Logic tab (TwinSAFE address entry).
26
KL6904
Operation
4.2.7 Creating a TwinSAFE group
A TwinSAFE Group is a group of TwinSAFE terminals (inputs and outputs) that are logically linked via a KL6904. Any communication faults in the TwinSAFE connections of this group lead to the whole group being switched off. Other TwinSAFE groups are not affected.
A TwinSAFE Group is added by right-clicking on the associated KL6904 in the tree structure and selecting Append TwinSAFE Group in the dialog box (see diagram).
KL6904 27
Operation
4.2.7.1 TwinSAFE group signals
TwinSAFE group inputs
Name Permitted type Description
RUN FB-Out
TRUE:
Standard-In
FALSE:
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.
The function blocks assigned to the TwinSAFE group are executed. When the input is not linked it is in the TRUE state
All of the TwinSAFE group assigned function blocks are at a STOP state and thus all associated outputs are in a safe state.
28
KL6904
Operation
TwinSAFE group outputs
Name Permitted type Description
FB ERR TwinSAFE-Out
TRUE: At least one assigned function block has an error FB-In Standard-Out
FALSE: All assigned function blocks have no errors
COM ERR TwinSAFE-Out
FB-In Standard-Out
OUT ERR TwinSAFE-Out
FB-In Standard-Out
TRUE:
FALSE:
TRUE:
FALSE:
At least one TwinSAFE connection of TwinSAFE group has an error
All TwinSAFE connections of the TwinSAFE group have no errors
At least one locally assigned output of the TwinSAFE group has an error
All of the locally assigned outputs of the TwinSAFE group have no errors
KL6904 29
Operation
4.2.8 Append a function block
The KL6904 TwinSAFE logic terminal features the following blocks: Emergency Stop, Machine Monitoring, AND, OR, Decoupler, Operation Mode, etc.
A function block is added by right-clicking on the associated TwinSAFE function block list in the tree structure and selecting Append Function Block in the dialog box with the left mouse button (see diagram).
The required function block can then be selected from the following window.
30
KL6904
Operation
Appended Emergency Stop block
KL6904 31
Operation
4.2.8.1 Activating and configuring the block inputs
The following parameters can be set: Deactivated: The input is not used
Single-channel: The inputs are linked independent of each other Two-channel: The inputs are monitored for equality or inequality, depending on the contact type
setting. A Discrepancy Time can be set for monitoring the two inputs for simultaneous
switching. Make Contact: Contact type setting Break Contact Contact type setting
The inputs are now activated.
32
KL6904
Operation
The inputs can now be linked.
Select the variable type:
KL6904 33
Operation
Clicking on the New button opens the following dialog:
All available channels are displayed as selected. The required channel is selected and highlighted in blue with the mouse. The selection is confirmed via
the OK button.
34
KL6904
Operation
The name of the variables should now be entered in the Link Alias field.
Repeat the process for the other inputs. Inputs that are already in use are identified with an arrow.
KL6904 35
Operation
4.2.9 KL6904 user and version administration
The KL6904 has a user administration function. The administrator can create further users and issue associated passwords.
Clicking on the Version History button will bring up the version history for the KL6904 (which cannot be deleted) that indicates who activated what version of a project on the KL6904, and when.
36
KL6904
Operation
4.2.10 Loading the project into the KL6904
The project is loaded into the KL6904 via the fieldbus.
Use only qualified tools
CAUTION
Click the Download button on the TwinSAFE Verifier tab for loading the project. The user must enter
his user name (default: Administrator),
the terminal serial number (printed on the outside, e.g. 197535), and
his password (default: TwinSAFE).
Note
Only use a qualified tool for loading, verifying and enabling the project on the KL6904!
Case-sensitive
Pay attention to upper/lower case characters for the user name and password. User name and password are case-sensitive!
KL6904 37
Operation
The project is then displayed in text mode, and the user has to confirm consistency between the information displayed and the currently projected application by re-entering the password.
The project is then started on the KL6904.
4.2.10.1 KL6904 project design limits
TwinSAFE connections TwinSAFE blocks TwinSAFE groups Standard PLC inputs Standard PLC outputs
TwinSAFE connection
Note
Only one TwinSAFE connection between two TwinSAFE terminals is possible.
max. 7 or 15 (see Inserting a KL6904) 48 max. 8 max. max. 24 bit max. 24 bit
38
KL6904
Operation
4.2.11 Communication between TwinCAT controllers
The MASTER_MESSAGE and SLAVE_MESSAGE data types are used for communication between two or more TwinCAT controllers via network variables.
Associated variables have to be created under Publisher and Subscriber on the communicating controllers.
During TwinSAFE communication one side acts as the master, the other one as the slave. This results in the following data types: TwinSAFE Master Publisher MASTER_MESSAGE
TwinSAFE Master Subscriber SLAVE_MESSAGE TwinSAFE Slave Publisher SLAVE_MESSAGE TwinSAFE Slave Subscriber MASTER_MESSAGE
The link with the via TwinSAFE logic terminal KL6904 is established with the following dialog:
The connection created must now be made known to the TwinSAFE logic terminal. This is done by marking the TwinSAFE connection list and pressing the right mouse button.
The variables of type MASTER_MESSAGE and SLAVE_MESSAGE are now displayed, and both (In/Out) have to be selected.
The selection is confirmed via the OK button.
KL6904 39
Operation
A new connection will appear in the list of TwinSAFE connections. The connection has to be set on the associated tab. One side must be a TwinSAFE master, the other one a TwinSAFE slave. The F address of the partner device must also be set. Please not the DIP switch on the left-hand side of
the KL6904.
If several connections are to be established, a unique ID must be set for each Publisher variable.
40
KL6904
Operation
This ID must also be set on the partner device, i.e. the Subscriber.
KL6904 41
Operation
The network variables can now be used in the project. The inputs are shown under TwinSAFE Input, the outputs under TwinSAFE Output.
42
KL6904
Operation
4.3 Diagnostics
4.3.1 Diagnostic LEDs
4.3.1.1 Diag 1 (green)
The Diag 1 LED indicates the state of the TwinSAFE interface.
Flashing Code Meaning
LED illuminated continuously normal operation:
TwinSAFE communication OK
rapid flickering, alternating with 1 flash pulse Communication error: at least one connection is
not in Run state. rapid flickering, alternating with 2 flash pulses Error in the function block rapid flickering, alternating with 3 flash pulses Error in the function block and
communication error: at least one connection is
not in Run state.
These errors can be rest through a falling edge at the ERR_ACK input of the TwinSAFE group.
KL6904 43
Operation
4.3.1.2 Diag 2 (red)
The Diag 2 LED indicates the state of the digital outputs.
Flashing Code Meaning
rapid flickering, alternating with 1 flash pulse Output 1: Open load or
current below minimum value of 20 mA or current above maximum value of 500 mA
rapid flickering, alternating with 2 flash pulses Output 2: Open load or
current below minimum value of 20 mA or current above maximum value of 500 mA
rapid flickering, alternating with 3 flash pulses Output 3: Open load or
current below minimum value of 20 mA or current above maximum value of 500 mA
rapid flickering, alternating with 4 flash pulses Output 4: Open load or
current below minimum value of 20 mA or
current above maximum value of 500 mA rapid flickering, alternating with 5 flash pulses Field potential too low rapid flickering, alternating with 6 flash pulses Field potential too high rapid flickering, alternating with 7 flash pulses Terminal temperature too low rapid flickering, alternating with 8 flash pulses Terminal temperature too high rapid flickering, alternating with 9 flash pulses Temperature difference error rapid flickering, alternating with 10 flash pulses error in output circuit through Open Load,
external supply or cross-circuit
These errors can only be reset by switching the power supply for the TwinSAFE terminal off and back on again.
44
KL6904
Operation
4.3.1.3 Diag 3 (red) and Diag 4 (red)
The Diag 3 and Diag 4 LEDs indicate internal terminal errors.
Returning the terminal
Note
These errors lead to shutdown of the terminal. The terminal must be checked by Beckhoff Automation GmbH & Co. KG.
Diag 3 LED (red) Diag 4 LED (red) Source of error
lit flashing µC1 lit off µC2
In the event of a fault the Diag 4 LED indicates the type of error through flashing codes. The flashing codes are structured as follows:
Flashing sequence Meaning
Rapid flickering Start of flashing code First slow sequence Error code Second slow sequence Error code argument
Start Error code Error code argument Count the number of flash pulses after the rapid flickering sequence
during the first slow sequence in order to ascertain the error code
during the second slow sequence in order to ascertain the error argument
The flashing code is repeated after the second slow sequence, followed by rapid flickering.
KL6904 45
Operation
4.4 Maintenance
The TwinSAFE terminals are maintenance-free!
Observe the specified environmental conditions!
WARNING
If the terminal is operated outside the permitted temperature range it will switch to Global Fault state.
Please ensure that the TwinSAFE terminals are only stored and operated under the specified conditions (see technical data).
4.4.1 Cleaning
Protect the TwinSAFE terminals from unacceptable soling during operation and storage! If the TwinSAFE terminals was subjected to unacceptable soiling it may no longer be operated!
Have soiled terminals checked!
WARNING
Cleaning of the TwinSAFE terminals by the user is not permitted! Please send soiled terminals to the manufacturer for inspection and cleaning!
4.5 Service life
The TwinSAFE terminals are designed for a service life of 20 years. Due to the high diagnostic coverage within the lifecycle no special proof tests are required. The TwinSAFE terminals bear a date code, which is composed as follows:
Date code: CW YY SW HW
Legend: CW: Calendar week of manufacture YY: Year of manufacture SW: Software version HW: Hardware version
In addition the TwinSAFE terminals bear a unique serial number.
Example: Date code 17 11 05 00 Calendar week: 17 Year: 2011 Software version: 05 Hardware version: 00
46
KL6904
Operation
4.6 Decommissioning
Serious risk of injury!
DANGER
Bring the bus system into a safe, de-energized state before starting disassembly of the Bus Terminals!
4.6.1 Disposal
In order to dispose of the device, it must be removed and fully dismantled.
Housing components (polycarbonate, polyamide (PA6.6)) are suitable for plastic recycling.
Metal parts can be sent for metal recycling.
Electronic parts such as disk drives and circuit boards must be disposed of in accordance with
national electronics scrap regulations.
KL6904 47
Appendix
5 Appendix
5.1 Beckhoff Support and Service
Beckhoff and their partners around the world offer comprehensive support and service, making available fast and competent assistance with all questions related to Beckhoff products and system solutions.
5.1.1 Beckhoff branches and partner companies Beckhoff Support
Please contact your Beckhoff branch office or partner company for local support and service on Beckhoff products! The contact addresses for your country can be found in the list of Beckhoff branches and partner companies: www.beckhoff.com. You will also find further documentation for Beckhoff components there.
5.1.2 Beckhoff company headquarters
Beckhoff Automation GmbH & Co.KG Huelshorstweg 20 33415 Verl Germany
Phone: + 49 (0) 5246/963-0 Fax: + 49 (0) 5246/963-198 E-mail: info@beckhoff.com Web: www.beckhoff.com
Beckhoff Support
Support offers you comprehensive technical assistance, helping you not only with the application of individual Beckhoff products, but also with other, wide-ranging services:
world-wide support
design, programming and commissioning of complex automation systems
and extensive training program for Beckhoff system components
Hotline: + 49 (0) 5246/963-157 Fax: + 49 (0) 5246/963-9157 E-mail: support@beckhoff.com
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) 5246/963-460 Fax: + 49 (0) 5246/963-479 E-mail: service@beckhoff.com
48
KL6904
Appendix
5.2 Certificates
KL6904 49
Appendix
50
KL6904
Loading...