I purchased TwinSAFE modules (logic and I/O) for our Beckhoff PLC along with the EL6695-1001 bridge which enables FSoE communication between the PLC and our KRC4 (KSS 8.3.21). Is it true that if I want to use the TwinSAFE modules and FSoE to handle safety control for the robot, the TwinSAFE safety configuration has to take over every aspect of safety that the KRC4 safety controller otherwise handles (i.e. for single point of control)? Has anyone been through this process before? Got any tips to share?
Implementing TwinSAFE as safety controller
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deisengard -
November 27, 2016 at 8:53 PM -
Thread is marked as Resolved.
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if using FSoE, KRC4 must be connected to primary side of EL6695. there must be one safety interface so you must ensure that other interfaces are not active or you must remove them. any time one is using network safety you probably want X311 jumper plug installed (otherwise you would have to jumper enabling switch on X11). read SafeOp manual about signal assignment - it is fixed and same for any network. on the robot side you don't need to do any safeIO mapping beyond specifying size of safeIO block (8 byte, though CIP safety allows only 2byte too if using only basic safety).
All safety signals must be ok (including reserved ones) if if you want to allow robot to move. -
Thanks panic mode. I have the KRC4 and EL6695 set up as you described, and I believe I understand how the signal assignment works. Maybe this should be self-evident, but when it comes to setting the state of the safety signals, am I correct in understanding that the TwinSAFE logic must incorporate all the appropriate outputs from the controller as well, e.g. signal ZS (enabling switch) for T1/T2?
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It is up to you as far as robot safety outputs.
Robot expects certain safe inputs to be setup (TRUE) in order to clear safety messages (there is about 5 of those that you have to set)
What do you do with robot responses (OUTPUTS) is completely up to you.However you are correct. For proper safety installation you should take some of the robot signals (local Estop pressed on teach pendant) an "wired it" to your safety logic.
ZS you probably do not need for anything. It depends what you are monitoring as far as safety goes.