Beckhoff AX8911 User manual

Operating Manual | EN
AX8911
TwinSAFE drive option card for servo drive AX8xxx-x2xx
2023-07-24 | Version: 2.0.0

Table of contents
AX8911 3Version: 2.0.0
Table of contents
1 Notes on the documentation....................................................................................................................5
1.1 Disclaimer..........................................................................................................................................5
1.1.1 Trademarks........................................................................................................................5
1.1.2 Patents...............................................................................................................................5
1.1.3 Limitation of liability............................................................................................................6
1.1.4 Copyright............................................................................................................................6
1.2 Documentation issue status ..............................................................................................................7
1.3 References........................................................................................................................................7
1.3.1 Document classification in the overall documentation .......................................................9
1.4 Version history ..................................................................................................................................9
1.5 Staff qualification...............................................................................................................................9
1.6 Safety and instruction......................................................................................................................11
1.6.1 Explanation of symbols ....................................................................................................11
1.7 Beckhoff Support and Service.........................................................................................................12
2 For your safety ........................................................................................................................................13
2.1 Due diligence ..................................................................................................................................13
2.2 General safety instructions..............................................................................................................13
2.2.1 Before operation...............................................................................................................13
2.2.2 During operation...............................................................................................................14
2.2.3 After operation..................................................................................................................15
3 System description .................................................................................................................................16
4 Product overview ....................................................................................................................................17
4.1 Product description .........................................................................................................................17
4.2 Type key..........................................................................................................................................18
4.3 Intended use ...................................................................................................................................19
5 Technical data .........................................................................................................................................20
5.1 Product data....................................................................................................................................20
5.2 Safety parameters...........................................................................................................................21
5.2.1 STO + SS1-t.....................................................................................................................21
5.2.2 SBC..................................................................................................................................21
5.2.3 TwinSAFE Safe Motion functions with external encoder .................................................22
5.3 Environmental conditions ................................................................................................................22
5.4 AX8911 project design limits...........................................................................................................23
5.5 Error reaction ..................................................................................................................................24
5.5.1 Global Shutdown..............................................................................................................24
5.5.2 Global Fault......................................................................................................................24
5.5.3 Module Shutdown ............................................................................................................24
5.6 Service life.......................................................................................................................................25
5.6.1 Name plate.......................................................................................................................26
6 Mechanical installation...........................................................................................................................27
6.1 Control cabinet / terminal box .........................................................................................................27
7 Electrical installation ..............................................................................................................................28
7.1 Digital inputs....................................................................................................................................28

Table of contents
AX89114 Version: 2.0.0
7.2 Connection technology....................................................................................................................29
7.3 Address setting ...............................................................................................................................30
8 TwinSAFE Safe Motion functionality.....................................................................................................31
8.1 Encoder application.........................................................................................................................31
9 Factory setting project ...........................................................................................................................32
9.1 Description ......................................................................................................................................32
9.2 Error reaction ..................................................................................................................................32
9.3 Factory state process image in the I/O tree ....................................................................................32
9.4 Factory setting STO in the TwinSAFE drive option card.................................................................33
9.5 Creating a project with the TwinSAFE Motion Wizard ....................................................................35
10 Configuration in TwinCAT......................................................................................................................40
10.1 Safety Device Info ...........................................................................................................................40
10.2 Addition of an axis module ..............................................................................................................41
10.3 Using the AX8911 with the factory setting project...........................................................................41
10.4 Use of the AX8911 with a safety-related user program ..................................................................44
10.5 Manual creation of safety functions.................................................................................................46
10.6 Safety parameters...........................................................................................................................46
10.6.1 Safe Motion......................................................................................................................46
11 Local process image...............................................................................................................................52
11.1 Input ................................................................................................................................................52
11.2 Output .............................................................................................................................................56
12 Motor replacement ..................................................................................................................................61
13 Application examples .............................................................................................................................62
13.1 Using the STO inputs with TwinSAFE outputs................................................................................62
13.2 Using the STO inputs with a third-party safety controller ................................................................63
13.3 Using the STO function via FSoE ...................................................................................................64
14 Appendix..................................................................................................................................................65
14.1 Certificate ........................................................................................................................................65
14.2 Volatility...........................................................................................................................................67
14.3 Focus of certificates ........................................................................................................................68

Notes on the documentation
AX8911 5Version: 2.0.0
1 Notes on the documentation
1.1 Disclaimer
Beckhoff products are subject to continuous further development. We reserve the right to revise the
operating instructions 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 these
operating instructions.
In these operating instructions we define all permissible use cases whose properties and operating
conditions we can guarantee. The use cases we define are fully tested and certified. Use cases beyond this,
which are not described in these operating instructions, require the approval of Beckhoff Automation GmbH
& Co KG.
1.1.1 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.
The use of other brand names or designations by third parties may lead to an infringement of the rights of
the owners of the corresponding designations.
1.1.2 Patents
The EtherCAT technology is protected by patent rights through the following registrations and patents with
corresponding applications and registrations in various other countries:
• EP1590927
• EP1789857
• EP1456722
• EP2137893
• DE102015105702
EtherCAT® is a registered trademark and patented technology,
licensed by Beckhoff Automation GmbH.
Safety over EtherCAT® is a registered trademark and patented
technology, licensed by Beckhoff Automation GmbH.

Notes on the documentation
AX89116 Version: 2.0.0
1.1.3 Limitation of liability
All components in this product as described in the operating instructions are delivered in a specific
configuration of hardware and software, depending on the application regulations. Modifications and
changes to the hardware and/or software configuration that go beyond the documented options are
prohibited and nullify the liability of Beckhoff Automation GmbH & Co. KG.
The following is excluded from the liability:
• Failure to observe these operating instructions
• Improper use
• Use of untrained personnel
• Use of unauthorized spare parts
1.1.4 Copyright
© Beckhoff Automation GmbH & Co. KG, Germany.
The distribution and reproduction of this document as well as the use and communication of its contents
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.

Notes on the documentation
AX8911 7Version: 2.0.0
1.2 Documentation issue status
Version Comment
2.0.0 • Title page updated
• Editorially revised
• Chapter Signal words [}11] revised
• Warning notice added: Certification for third-party motors invalid
• Division of the AX8911 documentation into
◦ AX8911 for AX8xxx-x1xx
◦ AX8911 for AX8xxx-x2xx
◦ TwinSAFE Safe Motion functions
1.2.0 • General revision
1.1.0 • Description of the Safe Motion functions added
• Safety instructions adapted to IEC 82079-1
• Illustration of the safety parameters updated
1.0.0 • Certificate added
• Description of the safe inputs and outputs added
0.4.0 • Safety parameters for the STO and SS1 functions added
0.3.0 • Description of the Safe Motion functions updated
0.2.0 • Preliminary (internal only)
0.1.0 • Preliminary (internal only)
Origin of the document
The original documentation is written in German. All other languages are derived from the German original.
Product features
Only the product properties specified in the current operating instructions are valid. Further information given
on the product pages of the Beckhoff homepage, in emails or in other publications is not authoritative.
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.de/twinsafe. In case of doubt, please
contact Technical Support (see Beckhoff Support and Service [}12]).
1.3 References
No Version Title / description
[1] 1.0 or newer Functional description AX8000 – multi-axis servo system
The function description contains information about the configuration in the
TC3 Drive Manager 2 and the functions included.
[2] 1.0 or newer Original operating instructions AX8000 – Multi-axis servo system
The original operating instructions contain a description of the mechanical
and electrical characteristics, as well as all the information necessary for
using the AX8000 servo drive.
[3] 1.9.0 or newer Operating instructions for EL6910 TwinSAFE Logic module
The document contains a description of the logic functions of the EL6910,
and thus also of the TwinSAFE drive option card, and their programming
[4] 3.1.0 or newer Documentation TwinSAFE-Logic-FB

Notes on the documentation
AX89118 Version: 2.0.0
No Version Title / description
The document describes the safety function blocks that are available in the
EL6910, and thus also in the TwinSAFE drive option card, and form the
safety application.
[5] 1.8.0 or newer TwinSAFE Application Guide
The Application Guide provides the user with examples for the calculation
of safety parameters for safety functions according to the standards DIN EN
ISO 13849-1 and EN 62061 or EN 61508, such as are typically used on
machines.
[6] 2006/42/EC Directive 2006/42/EC of the European Parliament and of the Council of
17 May 2006 on machinery, and amending Directive 95/16-7/EC
(recast) of 29 June 2006
This directive, also known as the Machinery Directive, defines requirements
for the placing on the market of machines and machine-like components,
such as safety components.
[7] 2.0.0 or newer TwinSAFE Safe Motion functions
Description of the TwinSAFE Safe Motion functions.

Notes on the documentation
AX8911 9Version: 2.0.0
1.3.1 Document classification in the overall documentation
This documentation applies exclusively to AX8000 variants with integrated safety technology, in accordance
with the .
This TwinSAFE drive option card is a permanently installed part of a multi-axis servo system with integrated
safety technology. For this reason, some life phases, such as decommissioning and disposal, apply
exclusively to the servo system as an overall system and are not listed in this documentation.
WARNING
Observe TwinSAFE drive option card documentation as a matter of priority
The values and specifications defined in these operating instructions apply in addition and primarily to the
documents [1] and [2] at References [}7]. Observe these operating instructions as a matter of priority.
Non-observance can endanger safety.
1.4 Version history
This version history lists the output states of the firmware versions with the supported encoder protocols.
You will also find an overview of the available ModuleIdents and which firmware supports which
ModuleIdents. See the following table.
Datum Encoder protocol ModuleIdent AX8911
firmware
version
AX8000 firmware
version
12.05.2020 Safe Motion (OCT) #x00670071 01 (V0109) AX8xxx FW 0103,
AX8xxx FW 0104,
AX8xxx FW 0105,
AX8xxx FW 0106
18.05.2021 Safe Motion (OCT,
ENDAT, motor
replacement)
#x00680071 03 (V0113) AX8xxxFW 0104,
AX8xxx FW 0105,
AX8xxx FW 0106
#x00690071 AX8xxx FW 0105,
AX8xxx FW 0106
11.06.2023 Safe Motion (OCT
(HIPERFACE DSL),
ENDAT2.2, ENDAT 3,
motor replacement)
#x006a0071 04 (V0115) AX8xxx FW 0106
You can use the firmware of the AX8911 TwinSAFE drive option card in a backward-compatible manner in
older AX8xxx firmware versions.
1.5 Staff qualification
These operating instructions are intended exclusively for trained specialists in control technology and
automation with the relevant knowledge.
The trained specialist personnel must ensure that the applications and use of the described product meet all
safety requirements. This includes all applicable and valid laws, regulations, provisions and standards.
Trained specialists
Trained specialists have extensive technical knowledge from studies, apprenticeships or technical training.
Understanding of control technology and automation is available. Trained specialists can:
• Independently identify, avoid and eliminate sources of hazard.
• Apply relevant standards and directives.
• Implement specifications from accident prevention regulations.
• Evaluate, prepare and set up the workplaces.

Notes on the documentation
AX891110 Version: 2.0.0
• Evaluate, optimize and execute work independently.

Notes on the documentation
AX8911 11Version: 2.0.0
1.6 Safety and instruction
Read the contents that refer to the activities you have to perform with the product. Always read the chapter
For your safety in the operating instructions.
Observe the warnings in the chapters so that you can handle and work with the product as intended and
safely.
1.6.1 Explanation of symbols
Various symbols are used for a clear arrangement:
1. The numbering indicates an action that should be taken.
• The bullet point indicates an enumeration.
[…] The square brackets indicate cross-references to other text passages in the document.
[1] The number in square brackets indicates the numbering of a referenced document.
1.6.1.1 Signal words
The signal words used in the documentation are classified below.
Warning of personal injuries
DANGER
Hazard with high risk of death or serious injury.
WARNING
Hazard with medium risk of death or serious injury.
CAUTION
There is a low-risk hazard that could result in medium or minor injury.
Warning of damage to property or environment
NOTICE
Notes
The environment, equipment, or data may be damaged.
Information on handling the product
This information includes, for example:
Recommendations for action, assistance or further information on the product.

Notes on the documentation
AX891112 Version: 2.0.0
1.7 Beckhoff Support and Service
Support
Beckhoff Support offers technical advice on the use of individual Beckhoff products and system planning.
The employees support you in the programming and commissioning of sophisticated automation systems.
Hotline: [phone]
E-mail: [email protected]
Web: www.beckhoff.com/support
Training
Training in Germany takes place in our training center at the Beckhoff headquarters in Verl, at subsidiaries
or, by arrangement, at the customer's premises.
Hotline: [phone]
E-mail: [email protected]
Web: www.beckhoff.com/training
Service
The Beckhoff Service Center supports you with after-sales services such as on-site service, repair service or
spare parts service.
Hotline: [phone]
E-mail: [email protected]
Web: www.beckhoff.com/service
Download area
In the download area you can obtain product information, software updates, the TwinCAT automation
software, documentation and much more.
Web: www.beckhoff.com/download
Headquarters
Beckhoff Automation GmbH & Co. KG
Hülshorstweg 20
33415 Verl
Germany
Phone: [phone]
E-mail: [email protected]
Web: www.beckhoff.com
For the addresses of our worldwide locations, please visit our website at Global Presence.

For your safety
AX8911 13Version: 2.0.0
2 For your safety
2.1 Due diligence
Read and observe the complete documentation of the TwinSAFE drive option card
In addition to this document, the complete documentation for the TwinSAFE drive option card
includes documents [1] to [5], which are listed in chapter References.
Read and observe these documents.
The operator must comply with all the requirements and notes specified in these operating instructions in
order to fulfill his duty of care. This includes in particular that you
• comply with the provisions defined in the chapter Limitation of liability [}6].
• only operate the TwinSAFE drive option card when it is in perfect working order.
• provide the operating instructions in a legible condition and complete at the place of use of the
TwinSAFE drive option card.
• do not remove the safety markings attached to the overall system and maintain their legibility.
2.2 General safety instructions
2.2.1 Before operation
Use in machines according to the Machinery Directive
Only use the overall system in machines in accordance with the Machinery Directive to ensure safe
operation.
Certification for third-party motors invalid
The TÜV SÜD certificate applies to the list of approved motors. Other motors are not covered by the
certificate. When using a third-party motor, you are responsible for the attachment and FMEA.
Non-observance may endanger product safety.
Traceability
Ensure traceability of the TwinSAFE drive option card via the serial number of the overall system.
Use of SELV/PELV power supply unit
To supply the overall system with 24VDC, use a SELV/PELV power supply unit with an output voltage
limitation of Umax = 36VDC in the event of a fault.
Use of permissible engineering tools and procedures
The TÜV SÜD certificate applies to the overall system with integrated TwinSAFE drive option card, the
function blocks available in it, the documentation and the engineering tool. Engineering tools allowed are
TE9000 and the TE9100. Use only the latest versions of the engineering tools. You will find this on the
Beckhoff website.
Procedures or engineering tools that deviate from this are not covered by the certificate. This is especially
true for externally generated xml files for the TwinSAFE import.
Commissioning test
Before commissioning, application errors and wiring faults must be excluded. Before commissioning, carry
out a commissioning test. After a successful commissioning test, you can use the TwinSAFE drive option
card for the intended safety-related task.

For your safety
AX891114 Version: 2.0.0
Control of the parameterization of the TwinSAFE drive option card
The TwinSAFE drive option card determines errors in the parameterization, but no logical testing of the
parameters or the loaded safety program can take place. Ensure by means of an acceptance test that the
parameterization and the safety program are correct for the use case. This test must be performed by the
machine manufacturer.
The combination of AX8000 and AX8911 may be used in production only when this test has produced a
positive result for all safety-relevant functions.
External safety measures
External safety measures are required in the following cases:
• In the event of incorrect parameterization of the servo drive, which can lead to shutdown, for example
because the current controller is too sluggish or oscillates
• For loads that cannot be braked by the AX8000 servo drive because the AX8000 servo drive is under-
dimensioned
• When executing the safety function STO
• The STO error reaction is executed if the TwinSAFE drive option card determines an error
• Line interruptions leading to shutdown
• Faults and interruptions in the EtherCAT communication leading to shutdown
• Activation or restart of a project in TwinCAT, which can lead to shutdown
• Downloading the safety project to the TwinSAFE logic or the AX8911 leading to shutdown
As a result, the motors are not braked, but switched torque-free. This leads to the motors coasting to a halt.
The duration of this coasting depends on how much kinetic energy is present in the system. With suspended
or pulling loads the motors may also accelerate.
To prevent this, observe the following measures:
• Provide appropriate external safety measures, such as mechanical service brakes.
• Avoid incorrect parameterization or dimensioning of the servo drive.
• Avoid line interruptions as well as faults and interruptions in the EtherCAT communication.
Caution: possible motor movements
Even if STO is triggered with interrupted PWM control, a jerky movement (with a maximum of 180° per pole
pair) on the motor can occur, for example due to faults in the power circuit.
Consider this in your risk and hazard analysis.
2.2.2 During operation
Caution - Risk of injury!
Basically, electronic devices are not fail-safe. The machine manufacturer is responsible for ensuring that the
connected motors and the machine are brought into a safe state in the event of a voltage outage in the
overall system.
Impairment due to interference emissions
Do not operate the following devices in the vicinity of the overall system: mobile phones, radio equipment,
transmitters or high-frequency systems.
The overall system with integrated TwinSAFE drive option card complies with the requirements of the
applicable standards for electromagnetic compatibility with regard to interference emission and immunity. If
you exceed the limits for interference emissions specified in the standards, the function of the TwinSAFE
drive option card may be impaired.

For your safety
AX8911 15Version: 2.0.0
2.2.3 After operation
De-energize and switch off the overall system before working on it
Check all safety-relevant equipment for functionality before working on the overall system. Secure the
working environment. Secure the machine or plant against being inadvertently started up.

System description
AX891116 Version: 2.0.0
3 System description
The AX8000 multi-axis servo system allows you to set up multi-channel drive solutions. The AX8911
TwinSAFE drive option card is permanently installed in the servo system and enables you to define the
safety functions by application. The servo drive forms the overall system. The of the servo drive determines
whether it is a servo drive with STO or Safe Motion. In the delivery state, a factory setting project with the
safety function STO according to EN61800-5-2 is integrated as an example. For further information, please
refer to the chapter Factory setting project [}32].
eXtreme Fast Control in the drive
The EtherCAT-based AX8000 multi-axis servo system combines powerful FPGA technology with multi-core
ARM processors. The new multi-channel current control technology makes extremely short sampling and
reaction times possible. The fully hardware-implemented current controller combines the advantages of
analog and digital control technology: setpoint deviations of the current can be reacted to within 1µs, the
speed controller cycle time is 16µs at a switching frequency of 32kHz. The processing of the EtherCAT
process data (actual and setpoint values) can take place without a processor almost without delay in the
hardware, so that the minimum EtherCAT cycle time is only 62.5µs.
One Cable Technology (OCT)
The AX8000 multi-axis servo system supports OCT, the one-cable solution for power and feedback. In
connection with the servomotors from the AM8000 (standard), AM8500 (increased inertia) and AM8800
(stainless steel) series, the wiring is reduced to the obligatory motor cable, via which the feedback signals
are then also directly transmitted. As in sensorless control, the user no longer has to use an additional
feedback line. All the information required for control purposes is transferred reliably and interference-free
via a digital interface.

Product overview
AX8911 17Version: 2.0.0
4 Product overview
4.1 Product description
AX8911 – TwinSAFE card for servo drives of the AX8xxx series
The AX8911 TwinSAFE drive option card is an optional extension of the Beckhoff AX8xxx servo drive series,
in which it is permanently installed. The card enables you to define the safety functions by application. The
type key of the servo drive determines whether it is a servo drive with STO or Safe Motion. In the delivery
state, a factory setting project with the safety function STO according to EN61800-5-2 is integrated as an
example. For further information, please refer to the chapter Factory setting project [}32].
The variant in the AX8xxx-x2xx axis modules provides additional parameters and functionalities to implement
more complex Safe Motion functions, such as SLS (Safe Limited Speed).
You have the option to implement Safe Motion functions with higher requirements regarding the safety level,
for example by using another encoder system or an encoder with a higher safety level.
CAUTION
Higher Performance Level for Safe Motion functions
The machine manufacturer or user is solely responsible for the execution and evaluation of the measures to
attain a higher Performance Level, for example with the aid of an integrated encoder.
WARNING
Digital inputs and FailSafe over EtherCAT
If you use the FSoE connection for accessing the TwinSAFE drive option card and additionally the digital
inputs of the AX8000 on X15 or X25 during the commissioning of the axis, make sure that the wiring to the
digital inputs is removed after the commissioning of the axis.
If you do not remove the commissioning bypass, the safety application will not take effect.
If the STO function integrated in the factory state does not suit your use case, you have the option of
creating application-specific projects and loading them onto the TwinSAFE drive option card. Further
information can be found in chapter Creating a project with the TwinSAFE Motion Wizard [}35].
The entire parameterization of the TwinSAFE drive option card is carried out in the same way as the
programming and configuration of a safety application in the TE9000 - TwinCAT3 Safety Editor. For the
exchange of the TwinSAFE drive option card you have the possibility to use the Backup&Restore function
known from the EL69x0. Further information on this can be found in the EL6910 user documentation. See
document [3] at References [}7].

Product overview
AX891118 Version: 2.0.0
4.2 Type key
AX8 x yz – a b c d – e
f g h
Explanation
AX Product area
Servo drive
8 Series
AX8000
x Axis module
1 = 1-channel axis module
2 = 2-channel axis module
Supply and axis module
5
yz, a Variant coding
b Safety function
0 = No safety function
1 = Safety functions STO, SS1
2 = TwinSAFE Safe Motion functions
c-h Variant coding
Depending on the order identifier in the type code, the following safety functions according to EN61800-5-2
can be implemented with the corresponding AX8000 variant.
Order identifier Safety functions
AX8xxx-x2xx Stop functions
STO Safe torque off PLe, Cat4 / SIL3
SOS Safe operating stop The same restrictions
apply here as for the other
safe motion functions
(except STO and SS1)
SS1 Safe stop 1 - t Time controlled PLe, Cat4 / SIL3
- d Deceleration
controlled
• AX8000 in conjunction
with integrated encoder
(SICK EDS / EDM 35)
in Beckhoff motors: up
to PLd, Cat3 / SIL2
• AX8000 in conjunction
with integrated encoder
(EnDat2.2) in Beckhoff
motors: up to PLd,
Cat3 / SIL2
• AX8000 in conjunction
with integrated encoder
(EnDat3) in Beckhoff
motors: up to PLe,
Cat4 / SIL3
- r Ramp monitored
SS2 Safe stop 2
Speed functions
SLS
SSM
SSR
SMS
Safely limited speed
Safe speed monitor
Safe speed range
Safe maximum speed
Position functions
SLP
SCA
SLI
Safely limited position
Safe cam
Safely limited increment
Acceleration functions
SAR
SMA
Safe acceleration range
Safe maximum acceleration
Direction of rotation functions
SDIp
SDIn
Safe direction positive
Safe direction negative

Product overview
AX8911 19Version: 2.0.0
Order identifier Safety functions
Brake functions
SBC Safe brake control PLe, Cat4 / SIL31
SBT Safe brake test SBT has no PL or SIL.
1 The PLe, Cat4 / SIL3 classification for SBC is limited to the TwinSAFE drive option card and ends at the
connection points of the brake.
4.3 Intended use
Operate the TwinSAFE drive option card exclusively for the intended activities defined in this documentation,
taking into account the prescribed values.
The TwinSAFE drive option card is designed for machine safety functions and directly associated industrial
automation tasks. The TwinSAFE drive option cards are used to switch the overall system torque-free in
hazardous situations.
TwinSAFE drive option cards are therefore only approved for applications with a defined fail-safe state. This
safe state is the wattless state.
Observe the intended use of the overall system according to document [2] at References [}7].
WARNING
Improper use
Any use which exceeds the permissible written values from the chapter Technical data [}20] or which
does not observe other specifications from these operating instructions or other documents of the overall
documentation is considered to be not in accordance with the intended use and is therefore prohibited.
This applies in particular to the use cases defined by Beckhoff Automation, which have been fully tested
and certified and whose properties and operating conditions can be guaranteed. Use cases beyond this are
regarded as inappropriate and require the approval of Beckhoff Automation.
Improper use will result in loss of safety and invalidation of certifications and approval.

Technical data
AX891120 Version: 2.0.0
5 Technical data
5.1 Product data
The current certificates of all TwinSAFE products with the underlying standards and directives can be found
at https://www.beckhoff.com/en-en/support/download-finder/certificates-approvals/.
Software data Explanation
Response times
• Internal fault reaction time
in the factory setting
approx. 1ms Via hardware inputs or FSoE
• Cycle time 1ms according to project size
maximum: see fault reaction time
The internal cycle time is the runtime
of the logic task plus the time
difference until it is called again.
• Fault reaction time Adjustable
≤ watchdog time
• Watchdog time 2ms to 60000ms
Process image
• Input 6 to 51bytes
(1 to 24bytes Safe Data)
For more information, see the chapter
Local process image [}52].
• Output 6 to 59bytes
(1 to 28bytes Safe Data)
Other product data Explanation
• Supply voltage 24VDC (+20% / -15%)
• Number of inputs 2 digital inputs per axis
• Number of switch-off chan-
nels
4 channels per axis
• Status display "S" display on the AX8000 See document [2] at References [}7].
• Safety-related accuracy for
OCT Safety (SICK)
0.439° Safety-related accuracy is specified in
the SICK encoder documentation.
Deviating from this, 4 increments are
configured in the TwinSAFE drive
option card.