Beckhoff TwinSAFE logic FB Operator's manual

Documentation
TwinSAFE logic FB
TwinCAT function blocks for TwinSAFE logic components
Version: 3.3.0
Date: 2019-08-29

Table of contents
Function blocks for TwinSAFE logic components 1
Table of contents
1Foreword 7
1.1 Notes on the documentation 7
1.1.1 Target group 7
1.1.2 Origin of the document 7
1.1.3 Currentness 7
1.1.4 Product features 7
1.1.5 Disclaimer 7
1.1.6 Trademarks 7
1.1.7 Patents 7
1.1.8 Copyright 8
1.1.9 Delivery conditions 8
1.2 Safety instructions 8
1.2.1 Delivery state 8
1.2.2 Operator's obligation to exercise diligence 8
1.2.3 Explanation of notes 9
1.2.4 Documentation issue status 10
2System description 11
2.1 TwinSAFE logic terminals EL69x0/KL6904/EJ6910 11
2.1.1 TwinSAFE group 12
2.1.2 TwinSAFE connection 14
2.2 System diagnosis 15
2.2.1 Diagram showing EL6900/KL6904 diagnostics under TwinCAT 2 15
2.2.2 Diagram showing EL69x0 diagnostics under TwinCAT 3 20
2.2.3 Info data connection 21
2.2.4 Function blocks info data 22
2.2.5 Groups info data 23
3Function blocks 25
3.1 The function block AND 25
3.1.1 Functional description 25
3.1.2 Signal description 26
3.1.3 FB AND configuration in the TwinCAT System Manager 28
3.1.4 Display in TwinCAT 3 29
3.2 The function block OR 30
3.2.1 Functional description 30
3.2.2 Signal description 31
3.2.3 FB OR configuration in the TwinCAT System Manager 33
3.2.4 Display in TwinCAT 3 34

Table of contents
2Function blocks for TwinSAFE logic components
3.3 The function block OPMODE 35
3.3.1 Functional description 35
3.3.2 Signal description 36
3.3.3 Configuration of the FB OPMODE in the TwinCAT System Manager 40
3.3.4 Restart behavior 41
3.3.5 Display in TwinCAT 3 43
3.4 The function block ESTOP 44
3.4.1 Functional description 44
3.4.2 Signal description 45
3.4.3 FB ESTOP configuration in the TwinCAT System Manager 49
3.4.4 Restart behavior 50
3.4.5 ESTOP extension 53
3.4.6 Display in TwinCAT 3 54
3.5 The function block MON 55
3.5.1 Functional description 55
3.5.2 Signal description 57
3.5.3 FB MON configuration in the TwinCAT System Manager 61
3.5.4 Restart behavior 62
3.5.5 MON extension 64
3.5.6 Display in TwinCAT 3 65
3.6 The function block DECOUPLE 66
3.6.1 Functional description 66
3.6.2 Signal description 67
3.6.3 FB DECOUPLE configuration in the TwinCAT System Manager 70
3.6.4 Display in TwinCAT 3 71
3.7 The function block TWOHAND 72
3.7.1 Functional description 72
3.7.2 Signal description 73
3.7.3 FB TWOHAND configuration in the TwinCAT System Manager 76
3.7.4 Display in TwinCAT 3 77
3.8 The function block MUTING 78
3.8.1 Functional description 78
3.8.2 Signal description 79
3.8.3 FB MUTING configuration in the TwinCAT System Manager 83
3.8.4 Extensions FB Muting EL/EJ6910 89
3.8.5 Display in TwinCAT 3 91
3.9 The function block EDM 92
3.9.1 Functional description 92
3.9.2 Signal description 93

Table of contents
Function blocks for TwinSAFE logic components 3
3.9.3 FB EDM configuration in the TwinCAT System Manager 95
3.9.4 Display in TwinCAT 3 96
3.10 The function block RS 97
3.10.1 Functional description 97
3.10.2 Signal description 98
3.10.3 FB RS configuration in the TwinCAT System Manager 99
3.10.4 Display in TwinCAT 3 100
3.11 The function block SR 101
3.11.1 Functional description 101
3.11.2 Signal description 102
3.11.3 FB SR configuration in the TwinCAT System Manager 103
3.11.4 Display in TwinCAT 3 104
3.12 The function block TON 105
3.12.1 Functional description 105
3.12.2 Signal description 106
3.12.3 FB TON configuration in the TwinCAT System Manager 107
3.12.4 TON extension 108
3.12.5 Display in TwinCAT 3 108
3.13 The function block TON2 109
3.13.1 Functional description 109
3.13.2 Signal description 111
3.14 The function block TOF 113
3.14.1 Functional description 113
3.14.2 Signal description 114
3.14.3 FB TOF configuration in the TwinCAT System Manager 115
3.14.4 TOF extension 116
3.14.5 Display in TwinCAT 3 116
3.15 The function block CONNECTION SHUTDOWN 117
3.15.1 Functional description 117
3.15.2 Signal description 118
3.15.3 FB ConnectionShutdown configuration in the TwinCAT System Manager 121
3.15.4 Display in TwinCAT 3 122
3.16 The function block ADD 123
3.16.1 Functional description 123
3.16.2 Signal description 123
3.16.3 FB ADD configuration in TwinCAT 3 126
3.17 The function block SUB 127
3.17.1 Functional description 127
3.17.2 Signal description 127

Table of contents
4Function blocks for TwinSAFE logic components
3.17.3 FB SUB configuration in TwinCAT 3 130
3.18 The function block MUL 131
3.18.1 Functional description 131
3.18.2 Signal description 131
3.18.3 FB MUL configuration in TwinCAT 3 134
3.19 The function block DIV 135
3.19.1 Functional description 135
3.19.2 Signal description 136
3.19.3 FB DIV configuration in TwinCAT 3 138
3.20 The function block COMPARE 139
3.20.1 Functional description 139
3.20.2 Signal description 140
3.20.3 FB COMPARE configuration in TwinCAT 3 143
3.21 The function block LIMIT 144
3.21.1 Functional description 144
3.21.2 Signal description 145
3.21.3 FB LIMIT configuration in TwinCAT 3 147
3.22 The function block COUNTER 148
3.22.1 Functional description 148
3.22.2 Signal description 149
3.22.3 FB Counter configuration in TwinCAT 3 151
3.23 The function block SCALE 152
3.23.1 Functional description 152
3.23.2 Signal description 153
3.23.3 FB Scale configuration in TwinCAT 3 155
3.24 The function block SPEED 157
3.24.1 Functional description 157
3.24.2 Signal description 158
3.24.3 FB Speed configuration in TwinCAT 3 160
3.25 The function block LOADSENSING 161
3.25.1 Functional description 161
3.25.2 Signal description 162
3.25.3 FB LOADSENSING configuration in TwinCAT 3 165
3.26 The function block CAMMONITOR 167
3.26.1 Functional description 167
3.26.2 General properties of the FB CAMMONITOR 169
3.26.3 Application excentric mode 171
3.26.4 Application: pendulum mode 176
3.26.5 Application: hardware cams 180

Table of contents
Function blocks for TwinSAFE logic components 5
3.26.6 Description of the process 185
3.26.7 Diagnostics messages excentric mode 186
3.26.8 Diagnostic messages pendulum mode 190
3.26.9 State information 192
3.27 The function block SLI 194
3.27.1 Functional description 194
3.27.2 Signal description 195
3.27.3 FB SLI configuration in TwinCAT 3 197
3.28 The function block Envelope 199
3.28.1 Functional description 199
3.28.2 Signal description 201
3.28.3 FB Envelope configuration in TwinCAT 3 204
3.29 The function block ViolationCounter 206
3.29.1 Functional description 206
3.29.2 Signal description 207
3.29.3 FB ViolationCnt configuration in TwinCAT 3 209
3.30 The function block XOR 210
3.30.1 Functional description 210
3.30.2 Signal description 211
3.30.3 Configuration of the FB XOR in TwinCAT 3 213
4Appendix 215
4.1 Beckhoff Support and Service 215
4.2 Beckhoff headquarters 215

Foreword
Function blocks for TwinSAFE logic components 7
1 Foreword
1.1 Notes on the documentation
1.1.1 Target group
This description is aimed specifically at trained qualified persons with a control and automation
technology background, who are familiar with the current national and international standards and
guidelines.
The following instructions and explanations must be followed during installation and commissioning of the
components.
The qualified personnel must ensure that the application of the described products meets all safety
requirements, including all applicable laws, specifications, regulations and standards.
1.1.2 Origin of the document
This documentation was originally written in German. All other languages are derived from the German
original.
1.1.3 Currentness
Please check whether you are using the current and valid version of this document. The current version
can be downloaded from the Beckhoff homepage at
http://www.beckhoff.com/english/download/twinsafe.htm . If in doubt, please contact the technical support
(see chapter 4.1 Beckhoff Support and Service).
1.1.4 Product features
Only the product features specified in the current user documentation are valid. Further information given
on the product pages of the Beckhoff homepage, in emails or in other publications is not authoritative.
1.1.5 Disclaimer
The documentation has been prepared with care. The products described in this document are subject to
cyclical revision. For that reason the documentation is not in every case checked for consistency with
performance data, standards or other characteristics. We reserve the right to revise and change the
documentation at any time and without prior announcement. 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.
1.1.6 Trademarks
Beckhoff®, TwinCAT®, EtherCAT®, EtherCAT G®, EtherCAT G10®, EtherCAT P®, Safety over EtherCAT®,
TwinSAFE®, XFC®, XTS®and XPlanar®are registered and licensed trademarks of Beckhoff Automation
GmbH.
Other designations used in this publication may be trademarks whose use by third parties for their own
purposes could violate the rights of the owners.
1.1.7 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 corresponding applications or registrations in various other countries.

Foreword
8Function blocks for TwinSAFE logic components
EtherCAT®and Safety over EtherCAT®are registered trademarks and patented technologies, licensed by
Beckhoff Automation GmbH, Germany.
1.1.8 Copyright
© Beckhoff Automation GmbH & Co. KG, Germany.
The reproduction, distribution and utilization of this document as well as the communication of its
contents to others without express authorization are prohibited.
Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a
patent, utility model or design.
1.1.9 Delivery conditions
In addition, the general delivery conditions of the company Beckhoff Automation GmbH & Co. KG apply.
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 chapter 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.

Foreword
Function blocks for TwinSAFE logic components 9
1.2.3 Explanation of notes
The following notes are used in this document. They must be read carefully and
strictly followed!
DANGER
Serious risk of injury!
Failure to observe these safety instructions can result in immediate danger to life and health!
WARNING
Risk of injury!
Failure to observe these safety instructions can result in danger to life and health!
CAUTION
Personal injuries!
Failure to observe these safety instructions can result in personal injury!
NOTE
Damage to environment/equipment or loss of data
Failure to observe this note may result in environmental damage, equipment damage or loss of
data.
Tip or pointer
This symbol indicates information that contributes to better understanding.

Foreword
10 Function blocks for TwinSAFE logic components
1.2.4 Documentation issue status
Version
Comment
3.3.0
•FB TON / FB TON2 - Extension of the time base
3.2.0
•Texts rendered more precisely
•Restart behavior for ESTOP, OPMODE and MON described in detail
•FB XOR added
•FB TON2 added (saving of timer value)
•Document title changed
•Note texts updated according to IEC 82079-1
•FB status descriptions amended
•Note on FB versions (BLG) added
•FB SLI input types changed and PositionDiff data types corrected
3.1.0
•Function block Connection Shutdown extended with RUN state
•Table 2-6 extended with status 106
3.0.0
•Extension with EL6910 / EJ6910 / EK1960 function blocks
•FBs modified: EStop, Mon, Muting, TON and TOF
•FBs added: Add, Sub, Mul, Div, Compare, Limit, Counter, Scale, Speed,
LoadSensing, CamMonitor, SLI, Envelope and ViolationCounter
•Description of info data added under TC3
•Representation in TwinCAT 3 added for all FBs
•TwinSAFE group description extended
2.4.1
•Markings removed
2.4.0
•Company address changed
2.3.0
•Document origin and versions added
•EDM extended with standard In
•MUTING status information expanded
•TwoHand diagnostic information expanded
2.2.0
•TwinSAFE connection info data expanded
•FB ESTOP info data expanded
2.1.0
•FB OPMODE description expanded
•Service/support information modified
2.0.0
•EL6900 function blocks added
1.1.1
•Corrections during the translation into English
1.1.0
•Amendments in the application examples
1.0.0
•First released version

System description
Function blocks for TwinSAFE logic components 11
2 System description
The TwinSAFE system consists of safe inputs (EL/KL1904), safe outputs (EL/KL2904) and logic modules
(KL6904/EL6900/EL6910/EJ6910). The TwinSAFE logic terminal (KL6904/EL6900/EL6910/EJ6910)
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 or TwinCAT 3. The safety-relevant TwinSAFE Verifier or TwinCAT 3
handles loading and checking of the TwinSAFE project on the EL69x0/KL6904/EJ6910.
The TwinSAFE logic terminal can communicate, via the fieldbus-independent and certified TwinSAFE-
protocol with safe input and output terminals, and also via further logic terminals. The TwinSAFE protocol
is the Safety-over-EtherCAT (FSoE) protocol, as disclosed in the EtherCAT Technology Group
(www.ethercat.org).
2.1 TwinSAFE logic terminals EL69x0/KL6904/EJ6910
The configuration of a TwinSAFE logic terminal consists of function blocks and connections that are
consolidated into one or several TwinSAFE groups. TwinSAFE groups can be started and stopped
independently of each other.
The order of execution of the function blocks corresponds to the order shown in the project tree of the
TwinCAT 2 System Manager or in the TwinCAT 3 editor. This order can be changed in the System
Manager via drag & drop or in TwinCAT 3 via an FB property.
NOTE
Order of execution in TwinCAT 3
The order of execution of the function blocks in TwinCAT 3 can be changed in the properties of each
function block. It is additionally displayed in the upper right corner of the function block diagram. The order
of execution must have no gaps in the numbering.
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/EL69x0/EJ6910) 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 function 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 (FALSE).
Errors in the TwinSAFE Logic result in it switching off completely.

System description
12 Function blocks for TwinSAFE logic components
2.1.1 TwinSAFE group
The function blocks are assigned to a TwinSAFE group. All outputs of the group adopt a safe state in the
following situations:
−communication error in an assigned TwinSAFE connection,
−error in an assigned function block (e.g. a discrepancy timeout)
−error in the assigned local outputs.
The safe state is always the non-energized state at the output, which corresponds to logical 0. The data
of a TwinSAFE connection (and therefore of a TwinSAFE input or TwinSAFE output terminal) are always
assigned to exactly one TwinSAFE group.
A communication error is indicated by the output (COM ERR) of the TwinSAFE group and acknowledged
via the ERR ACK input. 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 by the same input ERR ACK. The
secure state of the TwinSAFE group outputs is removed once the error is no longer present and has been
acknowledged.
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. For the EL6910 and newer logics the RUN input must always be linked with a standard
signal.
NOTE
Run and ErrACK in the TwinSAFE group
The error acknowledgement is not automatic, i.e. the input ERR ACK must always be linked with a
standard signal.
For the EL6910 and newer logics, the RUN input must also always be linked with a standard signal.
2.1.1.1 Inputs and outputs of the TwinSAFE group EL6900/KL6904
Table 2-1: Inputs of the TwinSAFE group
Name
Permitted type
Description
RUN
FB-Out
Standard-In
TRUE:
The function blocks assigned to the TwinSAFE group are executed
FALSE:
All of the TwinSAFE group assigned function blocks 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
The signal sequence FALSE->TRUE->FALSE acknowledges all
errors in the assigned function blocks and the TwinSAFE
connections.

System description
Function blocks for TwinSAFE logic components 13
Table 2-2: Outputs of the TwinSAFE group
Name
Permitted type
Description
FB 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
COM ERR
TwinSAFE-Out
FB-In
Standard-Out
Local-Out
TRUE:
At least one TwinSAFE connection of TwinSAFE group has an error
FALSE:
All TwinSAFE connections of the TwinSAFE group have no errors
OUT ERR
TwinSAFE-Out
FB-In
Standard-Out
Local-Out
TRUE:
At least one locally assigned output of the TwinSAFE group has an
error
FALSE:
All of the locally assigned outputs of the TwinSAFE group have no
errors
Only for TwinSAFE components with local outputs.
2.1.1.2 Inputs and outputs of the TwinSAFE group of the EL/EJ6910
The EL6910 offers further inputs and outputs of the TwinSAFE group. This typically also applies to
TwinSAFE components that are based on the EL6910 logic, such as the EK1960.
Table 2-3: Inputs and outputs of the TwinSAFE group EL/EJ6910
Group Port
Direction
Description
Err Ack
IN
Error Acknowledge for errors within the group
- Signal must be linked with a standard variable
Run/Stop
IN
1 - Run; 0 - Stop
- Signal must be linked with a standard variable
Module Fault
IN
Input for an error output of another module that is used, e.g. EK1960
Com Err
OUT
Communication error in one or more connections
FB Err
OUT
Error at one or more of the FBs used
Out Err
OUT
not used
Other Err
OUT
ModuleFault OR AnalogValueFault OR WaitComTimeoutFault
Com Startup
OUT
At least one of the connections of this group is in startup
FB Deactive
OUT
The group was disabled (see EL6910 documentation for customization,
for example)
FB Run
OUT
All FBs are in RUN state
In Run
OUT
TwinSAFE group is in RUN state
The group status and the diagnostics (see 2.2.5 Groups info data ) can be loaded into the cyclic process
image via the group properties. The following tables show the possible values.

System description
14 Function blocks for TwinSAFE logic components
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. In the TwinSAFE connection to another TwinSAFE logic it may be a TwinSAFE slave.
This assignment is automatically specified by the TwinCAT System Manager, although it can also be
defined by the user.
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.
If there are several TwinSAFE logic terminals in the control system, the user must ensure that FSoE
addresses are not assigned more than once. The TwinSAFE verifier/ editor can only check one
TwinSAFE logic terminal.
NOTE
Multiple FSoE addresses must be avoided
The user must ensure that FSoE addresses are unique within a configuration.
For each TwinSAFE connection a watchdog time and the corresponding FSoE address for the
communication devices must be set. TwinCAT 2 offers the option of setting a 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 (Hardware error or diagnostic message) in the TwinSAFE
communication partner can be set to trigger a communication error in the TwinSAFE group.
The EL6910/EJ6910 support activation of a ComErrAck at each connection. If this signal is connected,
the respective connection must be reset after a communication error via the signal ComErrAck, in
addition to the ErrAck of the TwinSAFE group.
Figure 2-1:Connection

System description
Function blocks for TwinSAFE logic components 15
2.2 System diagnosis
The states of TwinSAFE groups, FBs and connections can be checked online in the System Manager /
Solution. The diagnostic information can be copied into the cyclic process image.
TwinSAFE groups have inputs and outputs that can be assigned offline and viewed online, as illustrated
below.
If the checkboxes or the properties '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 EL/EJ6910 additionally reports events in a diag history. It contains events with timestamps. The user
can configure which data are to be stored in the history.
NOTE
KL6904
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.
2.2.1 Diagram showing EL6900/KL6904 diagnostics under TwinCAT 2
2.2.1.1 TwinSAFE group diagnostics
Figure 2-2: TwinSAFE group inputs/outputs (online)

System description
16 Function blocks for TwinSAFE logic components
Table 2-4: State information KL6904/EL6900
Value
State
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
2.2.1.2 TwinSAFE function block list diagnostics
The state of TwinSAFE FBs is displayed on online summary. The current state data are read from the
EL6900/KL6904 via a manual refresh.
Figure 2-3: Function block list online values
If the checkboxes 'Map State' and 'Map Diag’ for the individual TwinSAFE FBs are set, the state 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 state and diagnostic values can be found under the respective FBs.

System description
Function blocks for TwinSAFE logic components 17
NOTE
KL6904
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
2.2.1.3 TwinSAFE connection diagnostics
The TwinSAFE connections state is displayed on the TwinSAFE connection list summary under the
"Connection List" tab. Diagnostics bits are also set in addition to the state.
Figure 2-5: Connection List
If the checkboxes 'Map State' and 'Map Diag' for the individual TwinSAFE connections are set, the state
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.
NOTE
KL6904
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.

System description
18 Function blocks for TwinSAFE logic components
Figure 2-6: Variables tab (connection)
Table 2-5: 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
xx1xxxxx
FSoE slave reports Failsafe Value active
x1xx xxxx
StartUp
1xxx xxxx
FSoE master reports Failsafe Value active