TwinSAFE

570

..
Highlights
integrated safety system from

..I/Os to drives

..compact safety PLC

safety engineering integrated
into TwinCAT 3
TwinSAFE
Open and scalable safety technology

u www.beckhoff.com/TwinSAFE

572 Product overview 584 Controller/Logic 592 Digital combi

574 Technologies
574 Open and scalable 584 EtherCAT Box EP1957 592 EtherCAT Terminals
safety solution 585 Compact Controller EK1960 EL1957, EL2911
575 Safety over EtherCAT (FSoE) 586 EtherCAT Terminals EL69xx 592 EtherCAT Plug-in Module
576 Free choice of architecture 587 EtherCAT Plug-in Module EJ1957
578 Safe drive technology EJ6910
580 TwinCAT 3 and Safety 587 Bus Terminal KL6904
582 Workflow support
601 Certifications and 593 Coupler
application manual
2 96 EtherCAT I/Os with 588 Digital input 593 EtherCAT Coupler EK1914
TwinSAFE SC technology
588 EtherCAT Terminals EL19xx
588 EtherCAT Box EP19xx
589 EtherCAT Plug-in Modules 594 Compact Drive Technology
EJ191x
589 Bus Terminal KL1904 594 STO/SS1

590 Digital output ​596 Drive Technology TwinSAFE

590 EtherCAT Terminals EL29xx 596 Safe Motion 571

591 EtherCAT Plug-in Modules 598 STO/SS1
EJ291x 600 Distributed Servo Drives
591 Bus Terminal KL2904
 Product overview TwinSAFE

TwinSAFE

Dedicated controller Integrated controller

EtherCAT EL6900 586 EtherCAT EK1960 585
Terminals TwinSAFE Logic Terminals TwinSAFE Logic, 20 safe inputs,

24 safe outputs

EL6910 586 EL1918 588

TwinSAFE Logic, PROFIsafe master and slave support TwinSAFE Logic, 8 safe inputs

EL1957 592
EL6930 587 TwinSAFE Logic, 8 safe inputs,

TwinSAFE Logic, PROFIsafe slave support 4 safe outputs

EL2911 592
TwinSAFE Logic, 4 safe inputs,

EtherCAT EJ6910 587 1 safe output

Plug-in TwinSAFE Logic EL2912 590

Modules TwinSAFE Logic, 2 safe outputs

Bus Terminals KL6904 587 EtherCAT Box EP1918-0002 589

TwinSAFE Logic, 4 safe outputs TwinSAFE Logic, 8 safe inputs

EP1957-0022 584
TwinSAFE Logic, 8 safe inputs,

4 safe outputs

EtherCAT EJ1914 589

Plug-in TwinSAFE Logic, 4 safe inputs

Modules EJ1918 589

TwinSAFE Logic, 8 safe inputs

EJ1957 592
TwinSAFE Logic, 8 safe inputs,

4 safe outputs

EJ2914 591
TwinSAFE

TwinSAFE Logic, 4 safe outputs

EJ2918 591
TwinSAFE Logic, 8 safe outputs
572

Drive AX81xx-0100, AX82xx-0100 598

Technology TwinSAFE Logic, feedback: OCT,

TwinSAFE: STO/SS1

AX81xx-0200, AX82xx-0200 596

TwinSAFE Logic, feedback: OCT,

TwinSAFE: Safe Motion

We reserve the right to make technical changes.

 I/O Drive Technology
EtherCAT EK1914 593 Option cards AX5801-0200 598
Terminals 4 standard inputs, 4 standard outputs, drive-integrated safety functions: STO, SS1

2 safe inputs, 2 safe outputs AX5805, AX5806 596

EK1960 585 drive-integrated safety functions: STO, SOS, SS1, SS2, SLS,

TwinSAFE Logic, 20 safe inputs, SSM, SSR, SMS, SLP, SCA, SLI, SAR, SMA, SDIp and SDIn

24 safe outputs Axis modules AX81xx-0100, AX82xx-0100 598

EL1904 588 TwinSAFE Logic, feedback: OCT, TwinSAFE: STO/SS1

TwinSAFE, 4 safe inputs AX81xx-0110, AX82xx-0110 598

EL1918 588 TwinSAFE Logic, feedback: OCT, TwinSAFE: STO/SS1 +

TwinSAFE Logic, 8 safe inputs multi-feedback interface

EL1957 592 AX81xx-0200, AX82xx-0200 596

TwinSAFE Logic, 8 safe inputs, 4 safe outputs TwinSAFE Logic, feedback: OCT, TwinSAFE: Safe Motion

EL2904 590 AX81xx-0210, AX82xx-0210 ​355

TwinSAFE, 4 safe outputs TwinSAFE Logic, feedback: OCT, TwinSAFE: Safe Motion +

EL2911 592 multi-feedback interface

TwinSAFE Logic, 4 safe inputs, 1 safe output Combined AX85xx-0100 599

EL2912 590 power supply TwinSAFE Logic, feedback: OCT, TwinSAFE: STO/SS1

TwinSAFE Logic, 2 safe outputs and axis AX85xx-0110 599

EtherCAT Box EP1908-0002 588 modules TwinSAFE Logic, feedback: OCT, TwinSAFE: STO/SS1 +

TwinSAFE, 8 safe inputs multi-feedback interface

EP1918-0002 589 AX85xx-0200 597

TwinSAFE Logic, 8 safe inputs TwinSAFE Logic, feedback: OCT, TwinSAFE: Safe Motion

EP1957-0022 584 AX85xx-0210 597

TwinSAFE Logic, 8 safe inputs, 4 safe outputs TwinSAFE Logic, feedback: OCT, TwinSAFE: Safe Motion +

EtherCAT EJ1914 589 multi-feedback interface

Plug-in TwinSAFE Logic, 4 safe inputs Distributed AMP804x, AMP805x 600

Modules EJ1918 589 servo drives TwinSAFE Logic, TwinSAFE: STO/SS1, standstill torque 2.25…10.75 Nm

TwinSAFE Logic, 8 safe inputs Servomotor EL7201-9014 594

EJ1957 592 terminals Irms = 2.8 A, 50 V DC, OCT, STO TwinSAFE
TwinSAFE Logic, 8 safe inputs, 4 safe outputs EL7211-9014 594
EJ2914 591 Irms = 4.5 A, 50 V DC, OCT, STO
573
TwinSAFE Logic, 4 safe outputs EL7221-9014 594
EJ2918 591 Irms = 7…8 A with ZB8610, 50 V DC, OCT, STO

TwinSAFE Logic, 8 safe outputs Servomotor EP7211-9034 594

Bus Terminals KL1904 589 module Irms = 4.5 A, 50 V DC, OCT, STO

TwinSAFE, 4 safe inputs Servomotor EJ7211-9414 595

KL2904 591 output stage Irms = 4.5 A, 50 V DC, OCT, STO, TwinSAFE SC

TwinSAFE, 4 safe outputs Stepper motor EL7047-9014 595

KL6904 587 terminal Imax = 5.0 A, 50 V DC, incremental encoder, vector control, STO

TwinSAFE Logic, 4 safe outputs Stepper motor EP7047-9032 595

module Irms = 5.0 A, 50 V DC, OCT, STO

DC motor EL7411-9014 595

Irms = 4.5 A, 50 V DC, STO

We reserve the right to make technical changes.

 Safety input Safety inputs Safety inputs

EtherCAT EtherCAT

EtherCAT Terminals

Safety inputs TwinSAFE Logic with Safety inputs

safety inputs/outputs

Panel PC with push-button extension

EtherCAT Box EtherCAT plug-in modules

TwinSAFE | Open and scalable safety solution

The TwinSAFE integrated safety solution Communication via independent Certified safety function blocks
represents the consistent continuation of safety circuits and customising options facilitate
the open and PC-based control philosophy Communication between distributed configuration
from Beckhoff. Due to their modularity TwinSAFE Logic terminals is very simple The certified safety function blocks of the
and versatility, the TwinSAFE terminals fit to implement with TwinCAT software. TwinSAFE Logic terminals allow the simple,
seamlessly into the Beckhoff control system. This applies not only to terminals in a error-free and inexpensive implementation
The I/O components are available as Bus network, but also to devices connected to of all safety tasks: from the simple monitor-
Terminals, EtherCAT Terminals, EtherCAT different controllers. Safety-relevant data ing of a safety door to complex muting
plug-in modules and EtherCAT Box modules. and signals can also be exchanged as functions based on digital signals and the
With the fieldbus-neutral safety pro- soon as the controllers have established safe control of highly complex process
tocol (TwinSAFE/Safety over EtherCAT), a communication connection via a field- based on analog signals. It’s also possible
TwinSAFE devices can be integrated into bus or via network variables. Of course, to implement connected and daisy-chained
any desired fieldbus system. To this end, the response times and capabilities of the systems in compliance with safety require-
the IP 20 TwinSAFE Bus Terminals are inte- systems employed need to be considered. ments. For this purpose, the so-called
grated into existing stations with K-bus or For this purpose, TwinCAT software customising capability is especially useful:
EtherCAT or used directly in the machine assumes the task of distributing the data. Within a safety application, safety-relevant
as IP 67 modules. These safety I/Os provide This central distribution of the data has subgroups can be formed. Subsequently
the interfaces to safety-relevant sensors two significant advantages: they can be deactivated or passivated
and actuators. – Since all safety-relevant data are fed permanently or temporarily during ongoing
The possibility to transmit safety-relevant via the functional controller, it can be operation. These are essential functions that
TwinSAFE

signals over a standard bus system creates used by the controller for diagnostic are required to reliably operate networked
significant advantages in terms of planning, purposes. The generation of diagnostic safety systems. Without these functions,
574 installation, operation, maintenance, diag- data on the safety controller is not commissioning, maintenance and partial
nostics and costs. necessary. That saves programming operation of linked machines is not possible
The safety-relevant application is con- effort as well as computing perfor- or a highly complex task.
figured or programmed in TwinCAT software. mance and thus costs. With the TwinSAFE Logic terminals,
This application is then transmitted over the – All fieldbus systems that are interoper- all diagnostic and status data of the
bus system to a TwinSAFE Logic terminal. able with TwinCAT software are also function blocks can be merged into the
These logic terminals are at the heart of accessible to the safety equipment. cyclic EtherCAT telegram. In addition,
the TwinSAFE system. Due to the enormous The TwinSAFE/Safety over EtherCAT diagnostic data are stored directly in the
flexibility of the system, however, several protocol is so safe that even heteroge- logic component to enable asynchronous
TwinSAFE Logic terminals can be operated neous fieldbus environments as well as access. Extensive diagnostics is thus easy
simultaneously in one network. All safety the safety-relevant exchange of data to implement without additional applica-
devices in an installation communicate between modules on different fieldbus tion requirements.
with these logic terminals. systems are not a problem.

We reserve the right to make technical changes.

 TwinSAFE Logic TwinSAFE Logic with TwinSAFE Logic Safety outputs Safety inputs/outputs
safety inputs/outputs with safety inputs

Safety Drives with TwinSAFE option card Axis modules with TwinSAFE Logic

EtherCAT Servo Drives Multi-axis servo system Safety light curtain

A backup and restore mechanism The logic components provide a special Logic component and the valid TwinSAFE
facilitates exchange in the event backup and restore mechanism. Therefore, application is loaded automatically into
of a fault no additional exchangeable storage medium the new terminal. The safety-related check
Since all parameters and settings as well is required as in other systems. The user can takes place fully automatically and requires
as the application software are stored on activate this function in TwinCAT software no intervention by the user.
TwinSAFE Logic components, the safety con- or by the application. The maintenance staff only needs
troller can be programmed either in the plant If the original terminal has been to exchange the Bus Terminal, everything
over the bus system or at the workstation exchanged, e.g. due to a defect, the system else is accomplished reliably and securely
and then simply plugged into the system. automatically recognises a new TwinSAFE by the TwinSAFE system.

Safety over EtherCAT – Open safety protocol according to IEC 61784-3

The open Safety over EtherCAT protocol Thus, Safety over EtherCAT is also support- establish and monitor several connections
(FSoE for short: “Failsafe over EtherCAT”) ed by other fieldbus systems and protocols to different slaves.
defines a safety-related communication such as PROFIBUS, CANopen or Ethernet.
layer for EtherCAT. It meets the require- Copper or optical fibre cables, radio links Further information see page 2 75 TwinSAFE
ments of IEC 61508 SIL 3 and enables or transmission technologies such as data
the transmission of secure and standard light barriers can be used as transmission 575
information on the same communication path. The telegram is arranged in such a
system without restrictions regarding way that a minimal container length of
transmission rates and cycle time. 6 bytes is sufficient for the transmission
Thanks to this openness any trans- of all safety information including one byte
mission media and transmission path of safe process data.
can be used with Safety over EtherCAT. Safe data are cyclically exchanged
FSoE is focused on EtherCAT, the high- between a Safety over EtherCAT master
performance Ethernet fieldbus, and the and a Safety over EtherCAT slave.
transmission of safety-related process data This mechanism is called a connection
is based on the Black Channel principle. (TwinSAFE connection). A master can

We reserve the right to make technical changes.

 Stand-alone controller, small controller and classic architecture (from left to right)

TwinSAFE | Free choice of architecture

With the introduction of the new Logic Small controllers
generation in the I/O level (from EL6910), Following the introduction of stand-alone
Beckhoff has triggered a revolution in safety architectures in addition to classic safety
technology. The functionality of the TwinSAFE architectures, Beckhoff is now also closing
Logic is integrated in all new TwinSAFE the gap between these two solutions.
components, which results in a great variety Whereas the stand-alone components can
of possible architectures of TwinSAFE appli- be used integrated in the EtherCAT network Before
cations. as usual, they are often oversized for very
small applications. For this reason Beckhoff
Stand-alone has introduced further small controllers
As the first step after introducing the enabling highly efficient and cost-effective
new Logic generation, the functionality implementation of very small safety appli-
of the EL6910 TwinSAFE Logic was trans- cations.
ferred to the EK1960 Compact Controller. As a small controller, the EL2911
This is a TwinSAFE Logic component with terminal has four safe inputs and one After
safe local inputs and outputs. Unlike pre- safe output rated at 10 A. It allows very
vious TwinSAFE components, the EK1960 simple implementation of safe potential
can also be operated without EtherCAT groups within a terminal segment. Standard Possible small controllers:
connection. terminals can be placed in the safe state – EK1960 Compact Controller
The same applies to the EP1957 with the help of the EL2911. Note, however, – EP1957 digital combi module
TwinSAFE

EtherCAT Box. In addition to the availability that this is only possible for non-reactive – EL1957 digital combi terminal
of safe outputs in an IP 67 environment, components (a corresponding list of possible – EL2911 potential supply terminal
576 Beckhoff provides the possibility of imple- components can be found on the Beckhoff – EJ1957 digital combi plug-in module
menting a complete safety loop in an IP 67 website). The EL2911 allows the cost-
environment through integration of the effective substitution of previous solutions Classic architecture
TwinSAFE Logic in this component. Like for this function. For an existing architecture The classic architecture is based on a safety
the EK1960, the EP1957 can also be oper- as shown in the illustration, the following application with a dedicated safety controller,
ated in stand-alone mode. components can be replaced by the simple which can exchange data with 1 to n safe
Possible components for stand-alone use of an EL2911: communication devices. In this architecture,
architectures: – 1 x EL69x0 all safety-relevant data is transmitted to this
– EK1960 Compact Controller – 1 x EL1904 controller and processed there. As a general
– EP1957 digital combi module – 1 x EL2904 rule, all components with logic functionality
– 2 contactors can be used; however, below please find a
– 1 potential supply terminal list of components that do not have safe
inputs as well as safe outputs.

We reserve the right to make technical changes.

Distributed controllers

Possible components for classic safety applications to be distributed directly Possible components for distributed
architectures: to the individual and possibly to a certain controllers:
– EtherCAT Terminals degree independent modules. With previous – EtherCAT Terminals
– EL6910 TwinSAFE Logic, components this is possible only by using – EK1960 Compact Controller
PROFIsafe master and additional dedicated safety controllers in – EL6910 TwinSAFE Logic
slave support these modules, which means an additional – EL1918 digital input terminal
– EL1918 8-channel digital cost expense. In future it will be very simple – EL1957 digital combi terminal
input terminal to implement this by providing individual – EL2911 potential supply terminal
– EL6900 TwinSAFE Logic components in these modules with a safety – EL2912 digital output terminal
– EL6930 TwinSAFE Logic, project. For example, a classic architecture – EtherCAT Box
PROFIsafe slave support can be used inside the modules. A module – EP1957 digital combi module
– EtherCAT plug-in modules can thus be individually developed, validated – EP1918-0002 digital input module
– EJ6910 TwinSAFE Logic and verified, whereas any from a safety – EtherCAT plug-in modules
– EJ1914 4-channel digital input aspect central safety controller that exists – EJ6910 TwinSAFE Logic
– EJ1918 8-channel digital input only has to process aggregated data from – EJ1914 4-channel digital input
– EJ2914 4-channel digital output a defined interface to the modules. Through – EJ1918 8-channel digital input
– EJ2918 8-channel digital output customisation, modules can be individually – EJ2914 4-channel digital output
– AX8911 TwinSAFE drive option developed very efficiently and the commis- – EJ2918 8-channel digital output
sioning of the partial or complete system – EJ1957 8-channel digital input,
Distributed controllers is very easy to accomplish. 4-channel digital output
The integration of the TwinSAFE Logic The distribution of the safety controller – AX8911 TwinSAFE drive option TwinSAFE
functionality in all new TwinSAFE is not only very useful for the modularisation
components also provides an additional of the complete system. It may also be used, 577
option to adopt a further method of for example, for a simplified pre-processing
modularisation. Based on the customising of sensor data. Whereas previously the
functionality, fine-granular modularisation specific processing of input data was only
is already possible at software level and possible in the dedicated safety controller,
also flexibly at runtime. This modularity if an input component was not able to
can now also be implemented at the safety provide adequate functions, this can now
project level in TwinCAT 3 and at the hard- be implemented very simply directly inside
ware level. Whereas in a classic architecture the input component. In this way, the actual
all safety-relevant data is processed in safety project becomes less complex and
the form of a large, complex safety project is easier to manage, because any special
by a dedicated safety controller, the intro- treatment is no longer necessary.
duction of the new possibilities allows

We reserve the right to make technical changes.

 TwinSAFE | Safe drive technology
Dynamic movements of the electrical drive components can be exchanged at any time – Direction of rotation functions
technology used in a machine can create con- without software modification. The respec- (SDIp, SDIn)
siderable hazards to people and the environ- tive component receives all the parameters The following TwinSAFE components support
ment. From a normative point of view, drive necessary for operation at the next power- the Safe Motion function package:
technology components must be considered on or boot-up. – stand-alone AX5000 Servo Drive
in a safety-oriented manner by co-ordinating with AX5805-0200 and
and monitoring certain movements and STO/SS1 according to IEC 61800-5-2 AX5806-0020 option cards
motion sequences. The integrated safety The safety functions Safe Torque Off (STO) – AX8000 multi-axis servo system
solution TwinSAFE enables the implemen- and Safe Stop 1 (SS1 | Monitored braking, with TwinSAFE AX81xx and
tation of safe drive technology in three STO after time or standstill) in accordance AX82xx axis modules and with
levels corresponding to the complexity of with IEC 61800-5-2 can be implemented AX85xx-x2xx combined power
the machine. with the following TwinSAFE components: supply and axis modules
The safe drive components are able to – stand-alone AX5000 Servo Drive
switch the motor torque-free or to monitor with AX5801-0200 option card The above-mentioned safety functions can
speed, position and direction of rotation. – AX8000 multi-axis servo system be implemented with AX58xx option cards
No further devices such as contactors or with TwinSAFE AX81xx-x1xx for the AX5000. No special encoder system
circuit breakers are necessary in the supply and AX82xx-x1xx axis modules is necessary in order to implement the safety
lines for this. This enables a very lean instal- and with AX85xx-x1xx combined functions SDI (Safe Direction) or SLS (Safely
lation and helps to lower costs and control power supply and axis modules Limited Speed); many standard motors from
cabinet space requirements. – EL72xx-9014 servo terminal variant Beckhoff support these functions without
TwinSAFE

Even safe position monitoring or position – EP7211-0034 servomotor box variant further expense and without additional
range monitoring is simple to implement with – EP7047-9032 stepper motor box variant encoder system when the AX5000 is used.
578 the aid of the safe drive technology. This does – AMP80xx distributed Servo Drives A detailed list of permissible motors
not require any additional wiring, because can be found under
the EtherCAT communication is used in the Safe Motion according u www.beckhoff.com/Documentation
servo drives, enabling seamless communica- to IEC 61800-5-2
tion between TwinSAFE Logic components More complex safety functions can The SBC function (Safe Brake Control)
and the safe drive technology. be implemented with the aid of the can additionally be implemented with
Like the programming or configuration Safe Motion function package: the AX8000 and the ordering option
of a safety application, the entire param- – Stop functions (STO, SOS, SS1, SS2) AX8xxx-x2xx.
eterisation of the safe drive technology is – Speed functions (SLS, SSM, SSR, SMS)
performed from the TwinCAT software. All with up to 8 speeds Programmable, safe drive technology
system-specific settings are stored together – Position functions (SLP, SCA, SLI) through integrated logic
with the application in the TwinSAFE Logic with reference cams The AX8000 multi-axis servo drive encom-
components. For that reason, the safe drive – Acceleration functions (SAR, SMA) passes new functions of safe drive technol-

We reserve the right to make technical changes.

ogy with TwinSAFE: With the ordering For AX8000 multi-axis Servo Drive system
options -0100 and -0200, the AX8108, see page 350
AX8118 and AX8206 axis modules feature
a programmable TwinSAFE Logic correspond- For AX5000 Digital Compact Servo Drives
ing to an EL6910 and enable the direct imple- see page 360
mentation of safety applications in the servo
drives. The number of TwinSAFE connections For compact Drive Technology
is limited to eight. The user achieves greater see page 438
degrees of freedom in the implementation
of a drive technology safety application and For distributed Servo Drive system
the flexibility of programming allows the see page 372
design of safe drive technology to suit the
specific system requirements.
The STO and SS1 safety functions can
be implemented with TwinSAFE axis modules
selecting the ordering option -0100 (STO/SS1).
These functions can be initiated both via
hard wiring and via FSoE. For TwinSAFE axis
modules with the ordering option -0200
(Safe Motion), various drive-integrated
signals are available for the implementation TwinSAFE
of an application-specific safety function.
As is familiar from the EL6910, internal 579
and external signals can be used inside the
TwinSAFE axis modules -0100 and -0200
in conjunction with the well-known pre-
certified function blocks in order to imple-
ment complex drive functions. Depending
on the application, the safety-oriented
information can be pre-processed directly
in the drive so that the central TwinSAFE
Logic needs only process the aggregated
information.

We reserve the right to make technical changes.

 Safety Engineering
FBD
Safety C

TwinCAT Safety PLC

With a safety development environment and
a safety runtime, the next step in the field of
safety solutions is completed with TwinCAT 3.

TwinCAT 3 and Safety | Simplified engineering

TwinCAT 3 as a universal development tool In addition to using pre-specified function simple debugging of the application. Further-
creates further possibilities for safety-relevant blocks, there is also the possibility to create more, the project can be simulated offline in
fields of application. First, TwinCAT 3 offers custom function blocks. These can be cre- order to considerably speed up and simplify
additional functionality for creating and ated by combining existing – pre-certified – commissioning.
managing safety-relevant applications with function blocks or by using Safety C (this can The editor is equipped with an auto-
the safety editor. Second, a standard Indus- only be done for the safety runtime). Safety C matic verification mechanism which auto-
trial PC can be used as a safety controller is an almost unrestricted derivative of stan- matically checks whether the saved project
for the first time. This is possible due to the dard C. This allows well-known control struc- corresponds to the one created in the editor.
new safety runtime. tures such as IF-THEN-ELSE, SWITCH CASE The previously required manual comparison
and the data types usual in C to be used for by uploading the project back to the safety
Safety editor safety applications. controller is no longer necessary.
The safety editor integrated in TwinCAT 3 An important novelty in the program- In addition, the safety editor automati-
allows the implementation of a safety ming of safety-relevant applications in cally generates documentation containing
application in a graphical environment. TwinCAT 3 is the extended user manage- a detailed view of all relevant project data.
The desired logic is programmed according to ment. In the so-called basic mode, the user From the representation of the hardware
a function block diagram (FBD). The applica- can create an application exclusively from terminals with their safety-relevant settings
tion can be represented in the network infra- pre-specified – and thus certified – function through to an exact listing of the function
structures for increased clarity. The functions blocks. These also include function blocks blocks used and their interconnections, this
blocks known from the logic components can that the user has created on the basis of documentation contains all important data
be used as logic elements (digital function pre-certified function blocks. In the expert required to facilitate the wiring of the plant,
TwinSAFE

blocks for KL6904 and EL69xx; additional mode on the other hand, it is possible to debugging and maintenance.
analog function blocks for EL6910, EJ6910, create function blocks in Safety C and thus
580 EK1960, AX8xxx-x1xx, AX8xxx-x2xx etc.). to create custom libraries. Before loading it TwinCAT Safety PLC
The safety editor offers increased flexi- into the safety controller, a check is made as The enormous advances in the field of
bility and portability. This is achieved by to whether the programmed logic consists of Industrial PCs and the associated increase
initially programming independently of the already certified function blocks or whether in reliability and quality allow a standard
actual hardware used. To this end, both the created application requires renewed IPC to be used as a safety controller. This
the target system and all input and output examination. is enabled on a strictly mathematical basis,
devices are made available as so-called alias In addition to programming, improved so that the proof of safety does not only
devices. At this level, all safety-relevant set- tools optimally support the debugging and hold for a specific processor and its environ-
tings can be selected in advance. Before the test phase. Programs can be debugged as ment. The independence from the hardware
project is finally transferred to the execut- usual in the Visual Studio® environment: the component used that this creates, enables
ing hardware, these alias devices must be online values of variables and states of the the use of standard components up to a
assigned to the actually installed physical function blocks are displayed directly in the SIL 3 safety level according to IEC 61508.
devices. graphical environment, enabling fast and

We reserve the right to make technical changes.

 View of the fully graphical
safety editors in TwinCAT 3

For this purpose, mathematical coding is

used that creates diverse data redundancy,
which ensures that the correct execution of
operations within the safety application can
be verified and a safe reaction initiated in the
case of an error. In addition to pre-specified
function blocks, the use of Safety C allows
custom function blocks to be created and
saved in a library for later use.
Configuring the target system
Further information on TwinCAT 3
see page 502 or
u www.beckhoff.com/TwinCAT3

TwinSAFE

581

The automatically gener-

ated documentation con-
tains all of the project’s
relevant data in detail.

We reserve the right to make technical changes.

 Severity of Frequency and/or Possibility of avoiding PL – Required per-
injury exposure of hazard hazard or limiting harm formance level
S1: Slight F1: Seldom short P1: Possible
S2: Serious F2: Frequent long P2: Scarcely possible

Low risk
P1
F1 a
P2
S1
P1 b
F2
P2
Start
c
P1
F1
P2
S2
d
P1
F2

High risk
P2
e

Risk Assessment TwinCAT 3 Safety Editor

Specification CAD Tool XCAD Interface Safety Safety Project

Codesys
Development

TwinSAFE | Workflow support

Application manual XCAD Interface Safety TwinSAFE User
To simplify the design of safety functions, Beckhoff provides the possibility to create The TwinSAFE User tool is used to handle
Beckhoff has made the TwinSAFE appli- a safety application directly in a CAD tool. the user administration of a TwinSAFE Logic
cation manual available for download via With the help of XCAD Interface Safety the component. For example, the user admin-
the website. The user-friendly manual con- application can subsequently be converted istration on a TwinSAFE Logic component
tains a compilation of application samples into a functional safety project in TwinCAT 3. can be configured during series production
for TwinSAFE with a collection of widely without the use of a development environ-
used safety functions. Each sample shows Codesys ment.
the interconnection of the hardware com- The Beckhoff TwinSAFE Logic components
ponents and the corresponding mapping can also be configured with Codesys Safety. Deployment on TwinSAFE Logic
inside the safety application itself, i.e. components
the implementation with the help of pre- TwinSAFE Loader The safety project generated with the help
certified function blocks and the parameteri- The TwinSAFE Loader tool represents of the TwinSAFE workflow can be transferred
sation of the input and output components. a possibility to download the safety project to the TwinSAFE Logic components using
For further support the verification of entirely without the TwinCAT development the tools described above. The TwinSAFE
the respective safety level as confirmed environment. It is a command line tool components listed in the table are available
by the TÜV SÜD authority is executed for that can be integrated into customer-specific as target systems.
each sample, so that the samples can processes. It enables, for example, the
either be adopted 1:1 or adapted very loading of TwinSAFE Logic components
simply to specific application requirements. during series production without the use
TwinSAFE

of a development environment. Furthermore,

TwinCAT 3 and TwinCAT 2 an existing system can be customised
582 In the Beckhoff world the safety application at runtime with the help of the TwinSAFE
is implemented either with TwinCAT 2 or 3. Loader.
Whereas TwinCAT 2 can be used exclusively When using the TwinSAFE Loader in
for the TwinSAFE Logic components EL6900, the context of a customer-specific process,
EL6930 and KL6904, all Logic components the FMEDA given in the user manual must
with the exception of the KL6904 can be always be observed.
configured with TwinCAT 3.

We reserve the right to make technical changes.

 TwinCAT 3 Safety Editor

TwinSAFE Loader/User Safety PLC

Codesys
Deployment

Ordering information Integrated TwinSAFE Logic: modularity and scalability on all levels
I/O Components
EK1960 TwinSAFE Compact Controller, 20 safe inputs, 24 safe outputs (2 A), TwinSAFE Logic 585
EL1918 8-channel digital input terminal, TwinSAFE Logic, 24 V DC 588
EL1957 8-channel digital input, 4-channel digital output, TwinSAFE Logic, 24 V DC, 0.5 A 592​
EL2911 potential supply terminal, TwinSAFE Logic, 24 V DC, 10 A, 4 safe inputs, 1 safe output 592
EL2912 2-channel digital output terminal, TwinSAFE Logic, 24 V DC, 2 A 590
EL6900 TwinSAFE Logic 586
EL6910 TwinSAFE Logic, PROFIsafe master and slave support 586
EL6930 TwinSAFE Logic, PROFIsafe slave support 587
EP1918-0002 digital input module, TwinSAFE Logic, 24 V DC, 8 safe inputs 589
EP1957-0022 digital combi module, TwinSAFE Logic, 24 V DC, 0.5 A, 8 safe inputs, 4 safe outputs 584
EJ1914 4-channel digital input, TwinSAFE Logic, 24 V DC 589
EJ1918 8-channel digital input, TwinSAFE Logic, 24 V DC 589
EJ1957 8 fail-safe inputs, 4 fail-safe outputs, TwinSAFE Logic, 24 V DC 592
EJ2914 4-channel digital output, TwinSAFE Logic, 24 V DC, 0.5 A 591
EJ2918 8-channel digital output, TwinSAFE Logic, 24 V DC, 0.5 A 591
EJ6910 TwinSAFE Logic 587
Drive Technology
AX81xx-0100 single-axis module, 8 A/18 A, feedback: OCT, TwinSAFE: STO/SS1, integrated TwinSAFE Logic 598
AX81xx-0110 single-axis module, 8 A/18 A, feedback: OCT, TwinSAFE: STO/SS1, integrated TwinSAFE Logic, multi-feedback interface 598
AX81xx-0200 single-axis module, 8 A/18 A, feedback: OCT, TwinSAFE: Safe Motion, integrated TwinSAFE Logic 596
AX81xx-0210 single-axis module, 8 A/18 A, feedback: OCT, TwinSAFE: Safe Motion, integrated TwinSAFE Logic, multi-feedback interface 355 TwinSAFE
AX82xx-0100 dual-axis module 2 x 6 A, feedback: OCT, TwinSAFE: STO/SS1, integrated TwinSAFE Logic 599
AX82xx-0110 dual-axis module 2 x 6 A, feedback: OCT, TwinSAFE: STO/SS1, integrated TwinSAFE Logic, multi-feedback interface 599
583
AX82xx-0200 dual-axis module 2 x 6 A, feedback: OCT, TwinSAFE: Safe Motion, integrated TwinSAFE Logic 597
AX82xx-0210 dual-axis module 2 x 6 A, feedback: OCT, TwinSAFE: Safe Motion, integrated TwinSAFE Logic, multi-feedback interface 355
AX85xx-0100 combined power supply and axis module, 80 A DC, for supply voltage 200…480 V AC and axis module 25 A/40 A,
feedback: OCT, TwinSAFE: STO/SS1, integrated TwinSAFE Logic 599
AX85xx-0110 combined power supply and axis module, 80 A DC, for supply voltage 200…480 V AC and axis module 25 A/40 A,
feedback: OCT, TwinSAFE: STO/SS1, integrated TwinSAFE Logic, multi-feedback interface 599
AX85xx-0200 combined power supply and axis module, 80 A DC, for supply voltage 200…480 V AC and axis module 25 A/40 A,
feedback: OCT, TwinSAFE: Safe Motion, integrated TwinSAFE Logic 597
AX85xx-0210 combined power supply and axis module, 80 A DC, for supply voltage 200…480 V AC and axis module 25 A/40 A,
feedback: OCT, TwinSAFE: Safe Motion, integrated TwinSAFE Logic, multi-feedback interface 597
AMP804x distributed servo drive 2.25…5.35 Nm (standstill torque), integrated TwinSAFE Logic 600
AMP805x distributed servo drive 4.55…10.75 Nm (standstill torque), integrated TwinSAFE Logic 600

We reserve the right to make technical changes.

 Controller/Logic EP1957

Stand-alone | TwinSAFE Logic without EtherCAT network

The EK1960 TwinSAFE Compact Controller TwinSAFE Logic,
extends the application range of the inte- EtherCAT Box,
grated TwinSAFE safety solution. Based on 8 safe inputs,
its compact design with 20 safe digital inputs 4 safe outputs
and 24 safe digital outputs, it is ideal to cover
the safety requirements of compact machines Technical data EP1957-0022
in particular. The EK1960 can be operated
in stand-alone mode or it can be networked Connection technology M12, screw type
with other controllers via the EtherCAT
connections. Like every EtherCAT Coupler, Specification link unit between safe input and output signals
the EK1960 can be extended by all EL/ES
terminals if operated in an EtherCAT network. Number of inputs 8
It can, however, not be extended by terminals
when operated as a stand-alone device. Number of outputs 4
The TwinSAFE Compact Controller is pro-
grammed via the TwinCAT Safety Editor in Max. output current 0.5 A
the same way as other TwinSAFE components.
A TwinSAFE project is created and loaded ​
over EtherCAT into the EK1960. The EK1960
supports the establishment of 128 TwinSAFE
connections. For flexible adaptation to differ-
ent safety tasks, the TwinSAFE Compact
Controller can be combined with the TwinSAFE
I/O components with IP 20 and IP 67 pro-
tection and the TwinSAFE drive option cards.
The EP1957-0022 TwinSAFE box is a safe
small controller for the IP 67 environment
with eight safe digital inputs, four safe digital
outputs and integrated TwinSAFE Logic for
pre-processing of safety-related information
directly in the field. Apart from use within
an EtherCAT network, it can also be used in ​
stand-alone mode outside the control cabinet
without a connection to an EtherCAT master.
TwinSAFE

EK1960 with M8 bus interface

584
Protocol TwinSAFE/Safety over EtherCAT
Cycle time approx. 1 ms/according to project size
Fault response time ≤ watchdog time (parameterisable)
Current consumption max. 120 mA/max. 60 mA
from US/UP
Installation position variable
Protection class IP 67 (according to EN 60529)
Further information ​www.beckhoff.com/EP1957-0022
Variants
Distinguishing features

We reserve the right to make technical changes.

 EK1960 Controller/Logic

TwinSAFE Compact Controller,

EtherCAT Coupler,
20 safe inputs,
24 safe outputs (4 optional relay outputs)

EK1960-0000

1-wire

20

24 (4 optional relay outputs)

2 A (simultaneity factor 50 % at 2 A)

TwinSAFE

585
TwinSAFE/Safety over EtherCAT
approx. 1 ms/according to project size
≤ watchdog time (parameterisable)
typ. 80 mA/typ. 2 mA

horizontal
IP 20
​www.beckhoff.com/EK1960
EK1960-0008 EK1960-2600 EK1960-2608
without relay outputs, M8 bus interface with relay outputs, RJ45 bus interface with relay outputs, M8 bus interface

We reserve the right to make technical changes.

 Controller/Logic EL6910, EL6900

TwinSAFE | TwinSAFE Logic in the EtherCAT network

With the new generation of safety TwinSAFE Logic, TwinSAFE Logic,
controllers based on the EL6910, Beckhoff PROFIsafe master EtherCAT Terminal
ushers in a new era in safety technology and slave support,
by further expanding the concept of EtherCAT Terminal
modularity within the TwinSAFE system.
Apart from adding functionalities for Technical data EL6910 EL6900
the highly granular and flexible modular-
isation of each safety project in order Connection technology –
to optimally meet the respective safety
requirements, Beckhoff enables all new Specification link unit between safe input and output signals
safe I/O modules to directly execute
customer-specific safety projects, including Number of outputs – –
communication with multiple devices.
Since the intelligence of the entire safety Max. output current – –
application can be distributed over the
involved safety-relevant devices, the user ​
can adapt the TwinSAFE system even
more specifically to the needs of each
machine concept.

For an overview of all products

with integrated TwinSAFE Logic
see page 583

The TwinSAFE Logic can The TwinSAFE Logic can

establish 212 connections establish 128 connections
to other TwinSAFE devices. to other TwinSAFE devices.

Protocol TwinSAFE/ TwinSAFE/

Safety over EtherCAT Safety over EtherCAT
Cycle time approx. 1 ms/according approx. 500 µs/according
to project size to project size
Fault response time ≤ watchdog time ≤ watchdog time
TwinSAFE

(parameterisable) (parameterisable)
Current consumption – –
power contacts
586
Current consumption typ. 160 mA typ. 188 mA
E-bus
Current consumption – –
K-bus
Installation position horizontal horizontal
Protection class IP 20 IP 20
Further information ​www.beckhoff.com/EL6910 ​www.beckhoff.com/EL6900
Special terminals
Distinguishing features

We reserve the right to make technical changes.

 EL/EJ/KL69xx Controller/Logic

TwinSAFE Logic, TwinSAFE Logic, TwinSAFE Logic,

PROFIsafe slave support, EtherCAT plug-in module Bus Terminal,
EtherCAT Terminal 4 safe outputs

EL6930 EJ6910 KL6904

distribution board 2-wire

– – 4

– – 0.5 A/20 mA min. (per channel)

​ ​

The EL6930 logic terminal can establish The TwinSAFE Logic can establish The KL6904 can establish up to
127 connections to other TwinSAFE/Safety 212 connections to other TwinSAFE 15 connections (TwinSAFE connections).
over EtherCAT devices and one PROFIsafe devices.
slave connection to a PROFIsafe master.

TwinSAFE/Safety over EtherCAT, TwinSAFE/Safety over EtherCAT TwinSAFE/Safety over EtherCAT

PROFIsafe
approx. 500 µs/according approx. 1 ms/according 4…100 ms
to project size to project size
≤ watchdog time ≤ watchdog time ≤ watchdog time
(parameterisable) (parameterisable) (parameterisable) TwinSAFE
– – load-dependent

587
typ. 188 mA typ. 222 mA –

– – max. 250 mA

horizontal horizontal horizontal

IP 20 IP 20 IP 20
​www.beckhoff.com/EL6930 ​www.beckhoff.com/EJ6910 ​www.beckhoff.com/KL6904
KL6904-0001
pre-configured ex factory to
15 TwinSAFE connections

We reserve the right to make technical changes.

 Digital input EL19xx, EP1908

TwinSAFE | Digital inputs

TwinSAFE, TwinSAFE Logic, TwinSAFE,
EtherCAT Terminal, EtherCAT Terminal, EtherCAT Box,
4 safe inputs 8 safe inputs 8 safe inputs

Technical data EL1904 EL1918 EP1908-0002

Connection technology 1-/2-wire M12, screw type

Specification recording of input signals link unit between safe input and recording of input signals
output signals
Number of inputs 4 8 8

​ ​

​ ​ ​

Protocol TwinSAFE/Safety over EtherCAT TwinSAFE/Safety over EtherCAT TwinSAFE/Safety over EtherCAT
TwinSAFE

Response time typ. 4 ms (read input/write to E-bus) typ. 4 ms (read input/write to E-bus) typ. 5.5 ms (read input/write to bus)
Fault response time ≤ watchdog time (parameterisable) ≤ watchdog time (parameterisable) ≤ watchdog time (parameterisable)
Current consumption see documentation see documentation –
588
power contacts
Current consumption typ. 200 mA typ. 165 mA –
E-bus
Current consumption – – max. 87 mA/max. 27 mA
from US/UP
Current consumption – – –
K-bus
Installation position horizontal horizontal variable
Protection class IP 20 IP 20 IP 65/66/67 (according to EN 60529)
Further information ​www.beckhoff.com/EL1904 ​www.beckhoff.com/EL1918 ​www.beckhoff.com/EP1908

For availability status see Beckhoff website at: www.beckhoff.com/EP1918-0002

We reserve the right to make technical changes.

 EP/EJ191x, KL1904 Digital input

TwinSAFE Logic, TwinSAFE Logic, TwinSAFE Logic, TwinSAFE,

EtherCAT Box, EtherCAT plug-in module, EtherCAT plug-in module, Bus Terminal,
8 safe inputs 4 safe inputs 8 safe inputs 4 safe inputs

EP1918-0002 EJ1914 EJ1918 KL1904

distribution board 2-wire

link unit between safe input and output signals recording of input signals

8 4 8 4

​ ​ ​

​ ​ ​ ​

TwinSAFE/Safety over EtherCAT TwinSAFE/Safety over EtherCAT TwinSAFE/Safety over EtherCAT TwinSAFE/Safety over EtherCAT
– typ. 4 ms (read input/write to E-bus) typ. 4 ms (read input/write to E-bus) typ. 4 ms (read input/write to K-bus) TwinSAFE
≤ watchdog time (parameterisable) ≤ watchdog time (parameterisable) ≤ watchdog time (parameterisable) ≤ watchdog time (parameterisable)
– – – –
589

– typ. 260 mA typ. 290 mA –

– – – –

– – – 48 mA

variable horizontal horizontal horizontal

IP 67 (according to EN 60529) IP 20 IP 20 IP 20
​www.beckhoff.com/EP1918-0002 ​www.beckhoff.com/EJ1914 ​www.beckhoff.com/EJ1918 ​www.beckhoff.com/KL1904

We reserve the right to make technical changes.

 Digital output EL2904, EL2912

TwinSAFE | Digital outputs

​

​ TwinSAFE, TwinSAFE Logic,

EtherCAT Terminal, EtherCAT Terminal,
4 safe outputs 2 safe outputs

Technical data EL2904 EL2912

Connection technology 1-/2-wire

Specification output of output signals link unit between safe input and output signals

Number of outputs 4 2

Max. output current 0.5 A (per channel), min. 20 mA 2A

(with active current measurement)

​ ​
TwinSAFE

Protocol TwinSAFE/Safety over EtherCAT TwinSAFE/Safety over EtherCAT

590
Fault response time ≤ watchdog time (parameterisable) ≤ watchdog time (parameterisable)
Current consumption load-dependent load-dependent
power contacts
Current consumption typ. 221 mA typ. 200 mA
E-bus
Current consumption – –
K-bus
Installation position horizontal horizontal
Protection class IP 20 IP 20
Further information ​www.beckhoff.com/EL2904 ​www.beckhoff.com/EL2912

We reserve the right to make technical changes.

 EJ291x, KL2904 Digital output

TwinSAFE Logic, TwinSAFE Logic, TwinSAFE,

EtherCAT plug-in module, EtherCAT plug-in module, Bus Terminal,
4 safe outputs 8 safe outputs 4 safe outputs

EJ2914 EJ2918 KL2904

distribution board 2-wire

output of output signals

4 8 4

0.5 A 0.5 A 0.5 A/20 mA min. (per channel)

​ ​

​ ​ ​

TwinSAFE

TwinSAFE/Safety over EtherCAT TwinSAFE/Safety over EtherCAT TwinSAFE/Safety over EtherCAT

591
≤ watchdog time (parameterisable) ≤ watchdog time (parameterisable) ≤ watchdog time (parameterisable)
– – load-dependent

typ. 260 mA typ. 310 mA –

– – 250 mA

horizontal horizontal horizontal

IP 20 IP 20 IP 20
​www.beckhoff.com/EJ2914 ​www.beckhoff.com/EJ2918 ​www.beckhoff.com/KL2904

We reserve the right to make technical changes.

 Digital combi EL/EJ1957, EL2911

TwinSAFE | Digital combi

TwinSAFE Logic, TwinSAFE Logic, TwinSAFE Logic,
EtherCAT Terminal, EtherCAT Terminal, EtherCAT plug-in module,
8 safe inputs, 4 safe outputs, 4 safe inputs, 1 safe output, 8 safe inputs, 4 safe outputs
0.5 A potential power supply terminal

Technical data EL1957 EL2911 EJ1957

Connection technology 1-/2-wire 1-/2-wire and/or via power contacts distribution board

Specification link unit between safe input and output signals

Number of inputs 8 4 8

Number of outputs 4 1 4

Max. output current 0.5 A 10 A 0.5 A

​ ​ ​

​ ​ ​
TwinSAFE

592

Protocol TwinSAFE/Safety over EtherCAT TwinSAFE/Safety over EtherCAT TwinSAFE/Safety over EtherCAT
Fault response time ≤ watchdog time (parameterisable) ≤ watchdog time (parameterisable) ≤ watchdog time (parameterisable)
Current consumption see documentation load-dependent –
power contacts
Current consumption – typ. 180 mA typ. 330 mA
E-bus
Installation position horizontal horizontal horizontal
Protection class IP 20 IP 20 IP 20
Further information ​www.beckhoff.com/EL1957 ​www.beckhoff.com/EL2911 ​www.beckhoff.com/EJ1957

For availability status see Beckhoff website at: www.beckhoff.com/EL1957

We reserve the right to make technical changes.

 EK1914 Coupler

TwinSAFE | E-bus coupler

The EK1914 EtherCAT Coupler combines TwinSAFE,
the functionalities of the EK1100 EtherCAT EtherCAT Coupler,
Coupler with standard and safe digital I/Os. 4 standard inputs, 4 standard outputs,
This results in a compact design that is 2 safe inputs, 2 safe outputs
especially suitable for applications with
a low number of I/Os. Technical data EK1914
Like the EK1100, the EK1914 can be
extended by all EL/ES terminals. The EK1914 Connection technology 1-/2-wire
has four digital inputs and four digital
outputs as well as two fail-safe inputs Specification EtherCAT Coupler with standard and safety I/Os
and two fail-safe outputs.
Number of inputs 6 digital inputs, 2 of which are fail-safe inputs

Number of outputs 6 digital outputs, 2 of which are fail-safe outputs

Max. output current per standard output: 0.5 A,

per safe output: 0.5 A, min. 20 mA

TwinSAFE

593

Protocol EtherCAT
Fault response time ≤ watchdog time
Current consumption –
power contacts
Current consumption –
E-bus
Installation position horizontal
Protection class IP 20
Further information ​www.beckhoff.com/EK1914

We reserve the right to make technical changes.

 Drive Technology EL/EP72x1-90x4

STO/SS1 | Compact Drive Technology

Servomotor terminal Servomotor terminal Servomotor terminal Servomotor module
with OCT and STO, with OCT and STO, with OCT and STO, 50 V DC, with OCT and STO,
50 V DC, 2.8 A (Irms) 50 V DC, 4.5 A (Irms) 7…8 A (Irms), for operation 50 V DC, 4.5 A (Irms)
with the ZB8610 fan cartridge

Technical data EL7201-9014 EL7211-9014 EL7221-9014 EP7211-9034

Technology compact Drive Technology

Function servo drive in IP 20 for one drive axis servo drive in IP 67

for one drive axis
Number of channels 1 1 1 1

Number of inputs 2 x end position, 2 x end position, 2 x end position, 2 x end position,
1 x feedback, 1 x STO 1 x feedback, 1 x STO 1 x feedback, 1 x STO 1 x feedback, 1 x STO
Number of outputs 1 x servomotor, 1 x servomotor, 1 x servomotor, 1 x servomotor,
1 x motor brake 1 x motor brake 1 x motor brake 1 x motor brake

​ ​ ​ ​ ​

​ ​ ​ ​
TwinSAFE

594

Output current (rms) 2.8 A 4.5 A 7…8 A only with ZB8610 4.5 A
Realisation STO hard-wired via safe output hard-wired via safe output hard-wired via safe output hard-wired via safe output
Safe stop functions Safe Torque Off (STO), Safe Torque Off (STO), Safe Torque Off (STO), Safe Torque Off (STO),
Safe Stop 1 (SS1) Safe Stop 1 (SS1) Safe Stop 1 (SS1) Safe Stop 1 (SS1)
Protocol EtherCAT EtherCAT EtherCAT EtherCAT
Fault response time see documentation see documentation see documentation see documentation
Further information ​www.beckhoff.com/ ​www.beckhoff.com/ ​www.beckhoff.com/ ​www.beckhoff.com/
EL7201-9014 EL7211-9014 EL7221-9014 EP7211-9034

For availability status see Beckhoff website at: www.beckhoff.com/EP7047-9032

We reserve the right to make technical changes.

 EJ/EL/EP7xxx-9xxx Drive Technology

Servomotor module Stepper motor terminal Stepper motor module BLDC motor terminal
with OCT, STO and TwinSAFE SC, with STO, 50 V DC, 5 A, with STO, with incremental encoder and STO,
50 V DC, 4.5 A (Irms) with incremental encoder, 50 V DC, 5 A (Irms) 50 V DC, 4.5 A (Irms)
vector control

EJ7211-9414 EL7047-9014 EP7047-9032 EL7411-9014

servo drive in IP 20 stepper motor output stage in IP 20 stepper motor output stage in IP 67 BLDC motor output stage in IP 20
for one drive axis for one drive axis for one drive axis for one drive axis
1 1 1 1

2 x end position, 2 x end position, 2 x end position, 2 x end position, 1 x encoder, 1 x STO,
1 x feedback, 1 x STO 1 x feedback, 1 x STO 1 x feedback, 1 x STO 1 x fan diag, 3 x Hall effect sensor
1 x servomotor, 1 x stepper motor, 1 x stepper motor, 1 x BLDC motor, 1 x motor brake,
1 x motor brake 1 x motor brake 1 x motor brake 1 x fan supply, 1 x fan mode,
1 x sensor supply, 1 x encoder supply

​ ​ ​ ​

​ ​ ​ ​

TwinSAFE

595

4.5 A – 5.0 A 4.5 A

hard-wired via safe output hard-wired via safe output hard-wired via safe output hard-wired via safe output
Safe Torque Off (STO), Safe Torque Off (STO), Safe Torque Off (STO), Safe Torque Off (STO),
Safe Stop 1 (SS1) Safe Stop 1 (SS1) Safe Stop 1 (SS1) Safe Stop 1 (SS1)
EtherCAT EtherCAT EtherCAT EtherCAT
see documentation see documentation see documentation see documentation
​www.beckhoff.com/EJ7211-9414 ​www.beckhoff.com/EL7047-9014 ​www.beckhoff.com/EP7047-9032 ​www.beckhoff.com/EL7411-9014

We reserve the right to make technical changes.

 Drive Technology AX580x, AX81xx

Safe Motion | Drive Technology

TwinSAFE drive option card TwinSAFE drive option card Single-axis module, 8 A/18 A,
for AX5000 up to 40 A, for AX5000 from 60 A, feedback: OCT,
TwinSAFE: Safe Motion TwinSAFE: Safe Motion TwinSAFE: Safe Motion,
TwinSAFE Logic

Technical data AX5805-0000 AX5806-0000 AX81xx-0200

Technology digital compact servo drives multi-axis servo system

Function safety option card axis module with TwinSAFE Logic

Number of channels 1 1 1
Number of inputs – – 2 x digital inputs per channel (X15, X25)
Output current (rms) servo drives up to 40 A servo drives from 60 A AX8108: 8 A, AX8118: 18 A

​ ​ ​

​ ​ ​

Realisation STO initiated by TwinSAFE Logic via FSoE initiated by TwinSAFE Logic via FSoE by local TwinSAFE Logic, via FSoE
or hard-wired via safe inputs
Safe stop functions Safe Torque Off (STO), Safe Torque Off (STO), Safe Torque Off (STO),
Safe Stop 1 (SS1), Safe Stop 2 (SS2), Safe Stop 1 (SS1), Safe Stop 2 (SS2), Safe Stop 1 (SS1), Safe Stop 2 (SS2),
Safe Operating Stop (SOS) Safe Operating Stop (SOS) Safe Operating Stop (SOS)
Safe position functions Safely Limited Position (SLP), Safely Limited Position (SLP), Safely Limited Position (SLP),
Safe CAM (SCA), Safe CAM (SCA), Safe CAM (SCA),
TwinSAFE

Safely Limited Increment (SLI) Safely Limited Increment (SLI) Safely Limited Increment (SLI)
Safe speed functions Safe Speed Range (SSR), Safe Speed Range (SSR), Safe Speed Range (SSR),
Safely Limited Speed (SLS), Safely Limited Speed (SLS), Safely Limited Speed (SLS),
596
Safe Speed Monitor (SSM) Safe Speed Monitor (SSM) Safe Speed Monitor (SSM)

Safe direction functions Safe Direction positive (SDIp), Safe Direction positive (SDIp), Safe Direction positive (SDIp),
Safe Direction negative (SDIn) Safe Direction negative (SDIn) Safe Direction negative (SDIn)
Safe acceleration Safe Maximum Acceleration (SMA), Safe Maximum Acceleration (SMA), Safe Maximum Acceleration (SMA),
functions Safe Acceleration Range (SAR) Safe Acceleration Range (SAR) Safe Acceleration Range (SAR)
Safe braking functions – – Safe Brake Control (SBC)
Protocol TwinSAFE/Safety over EtherCAT TwinSAFE/Safety over EtherCAT TwinSAFE/Safety over EtherCAT
Fault response time ≤ watchdog time (parameterisable) ≤ watchdog time (parameterisable) ≤ watchdog time (parameterisable)
Further information ​www.beckhoff.com/AX5805 ​www.beckhoff.com/AX5806 ​www.beckhoff.com/AX8108

For availability status see Beckhoff website at: www.beckhoff.com

We reserve the right to make technical changes.

 AX82xx, AX85xx Drive Technology​

Dual-axis module 2 x 6 A, Combined power supply (80 A DC) Combined power supply (80 A DC)
feedback: OCT, and axis module (25 A/40 A), and axis module (25 A/40 A),
TwinSAFE: Safe Motion, feedback: OCT, TwinSAFE: Safe Motion, feedback: OCT, TwinSAFE: Safe Motion,
TwinSAFE Logic TwinSAFE Logic TwinSAFE Logic, multi-feedback interface

AX82xx-0200 AX85xx-0200 AX85xx-0210

combined power supply and combined power supply and axis module with
axis module with TwinSAFE Logic TwinSAFE Logic and multi-feedback interface
2 1 1
2 x digital inputs per channel (X15, X25) 2 x digital inputs per channel (X15, X25) 2 x digital inputs per channel (X15, X25)
2 x 6 A AX8525: 25 A, AX8540: 40 A AX8525: 25 A, AX8540: 40 A

​ ​
​
​
​

by local TwinSAFE Logic, via FSoE by local TwinSAFE Logic, via FSoE by local TwinSAFE Logic, via FSoE
or hard-wired via safe inputs or hard-wired via safe inputs or hard-wired via safe inputs
Safe Torque Off (STO), Safe Torque Off (STO), Safe Torque Off (STO),
Safe Stop 1 (SS1), Safe Stop 2 (SS2), Safe Operating Stop (SOS), Safe Stop 1 (SS1), Safe Operating Stop (SOS), Safe Stop 1 (SS1),
Safe Operating Stop (SOS) Safe Stop 2 (SS2) Safe Stop 2 (SS2)
Safely Limited Position (SLP), Safely Limited Position (SLP), Safely Limited Position (SLP),
Safe CAM (SCA), Safe CAM (SCA), Safe CAM (SCA),
Safely Limited Increment (SLI) Safely Limited Increment (SLI) Safely Limited Increment (SLI) TwinSAFE
Safe Speed Range (SSR), Safely Limited Speed (SLS), Safely Limited Speed (SLS),
Safely Limited Speed (SLS), Safe Speed Range (SSR), Safe Speed Range (SSR),
597
Safe Speed Monitor (SSM) Safe Speed Monitor (SSM), Safe Speed Monitor (SSM),
Safe Maximum Speed (SMS) Safe Maximum Speed (SMS)
Safe Direction positive (SDIp), Safe Direction positive (SDIp), Safe Direction positive (SDIp),
Safe Direction negative (SDIn) Safe Direction negative (SDIn) Safe Direction negative (SDIn)
Safe Maximum Acceleration (SMA), Safe Maximum Acceleration (SMA), Safe Maximum Acceleration (SMA),
Safe Acceleration Range (SAR) Safe Acceleration Range (SAR) Safe Acceleration Range (SAR)
Safe Brake Control (SBC) Safe Brake Control (SBC) Safe Brake Control (SBC)
TwinSAFE/Safety over EtherCAT TwinSAFE/Safety over EtherCAT TwinSAFE/Safety over EtherCAT
≤ watchdog time (parameterisable) ≤ watchdog time (parameterisable) ≤ watchdog time (parameterisable)
​www.beckhoff.com/AX8206 ​www.beckhoff.com/AX8525 ​www.beckhoff.com/AX8525

We reserve the right to make technical changes.

 Drive Technology AX5801, AX81xx

STO/SS1 | Drive Technology

TwinSAFE drive option card Single-axis module, 8 A/18 A, Single-axis module, 8 A/18 A,
for AX5000 up to 40 A, feedback: OCT, feedback: OCT, TwinSAFE: STO/SS1,
TwinSAFE: STO/SS1 TwinSAFE: STO/SS1, TwinSAFE Logic,
TwinSAFE Logic multi-feedback interface

Technical data AX5801-0200 AX81xx-0100 AX81xx-0110

Technology digital compact servo drives multi-axis servo system

Function safety option card axis module with axis module with
TwinSAFE Logic TwinSAFE Logic and
multi-feedback interface
Number of channels 1 1 1

Number of inputs 1 x STO (2 channel), 2 x digital inputs 2 x digital inputs

1 x feedback loop per channel (X15, X25) per channel (X15, X25)
Output current (rms) servo drives up to 40 A AX8108: 8 A, AX8118: 18 A AX8108: 8 A, AX8118: 18 A

​ ​ ​

​ ​ ​
TwinSAFE

Realisation STO hard-wired via safe inputs by local TwinSAFE Logic, by local TwinSAFE Logic,
via FSoE or hard-wired via FSoE or hard-wired
598
via safe inputs via safe inputs
Safe stop functions Safe Torque Off (STO), Safe Torque Off (STO), Safe Torque Off (STO),
Safe Operating Stop (SOS), Safe Stop 1 (SS1) Safe Stop 1 (SS1)
Safe Stop 1 (SS1),
Safe Stop 2 (SS2)
Protocol – TwinSAFE/ TwinSAFE/
Safety over EtherCAT Safety over EtherCAT
Fault response time – ≤ watchdog time ≤ watchdog time
(parameterisable) (parameterisable)
Further information ​www.beckhoff.com/AX5801 ​www.beckhoff.com/AX8108 ​www.beckhoff.com/AX8108

For availability status see Beckhoff website at: www.beckhoff.com

We reserve the right to make technical changes.

 AX82xx, AX85xx Drive Technology

Dual-axis module 2 x 6 A, Dual-axis module 2 x 6 A, Combined power supply (80 A DC) Combined power supply (80 A DC)
feedback: OCT, feedback: OCT, TwinSAFE: and axis module (25 A/40 A), and axis module (25 A/40 A),
TwinSAFE: STO/SS1, STO/SS1, TwinSAFE Logic, feedback: OCT, TwinSAFE: STO/SS1, feedback: OCT, TwinSAFE: STO/SS1,
TwinSAFE Logic multi-feedback interface TwinSAFE Logic TwinSAFE Logic, multi-feedback interface

AX82xx-0100 AX82xx-0110 AX85xx-0100 AX85xx-0110

axis module with axis module with combined power supply and combined power supply and
TwinSAFE Logic TwinSAFE Logic and axis module with TwinSAFE Logic axis module with TwinSAFE Logic
multi-feedback interface and multi-feedback interface
2 2 1 1

2 x digital inputs 2 x digital inputs 2 x digital inputs 2 x digital inputs

per channel (X15, X25) per channel (X15, X25) per channel (X15, X25) per channel (X15, X25)
2 x 6 A 2 x 6 A AX8525: 25 A, AX8540: 40 A AX8525: 25 A, AX8540: 40 A

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TwinSAFE
by local TwinSAFE Logic, by local TwinSAFE Logic, by local TwinSAFE Logic, by local TwinSAFE Logic,
via FSoE or hard-wired via FSoE or hard-wired via FSoE or hard-wired via FSoE or hard-wired
599
via safe inputs via safe inputs via safe inputs via safe inputs
Safe Torque Off (STO), Safe Torque Off (STO), Safe Torque Off (STO), Safe Torque Off (STO),
Safe Stop 1 (SS1) Safe Stop 1 (SS1) Safe Stop 1 (SS1) Safe Stop 1 (SS1)

TwinSAFE/ TwinSAFE/ TwinSAFE/ TwinSAFE/

Safety over EtherCAT Safety over EtherCAT Safety over EtherCAT Safety over EtherCAT
≤ watchdog time ≤ watchdog time ≤ watchdog time ≤ watchdog time
(parameterisable) (parameterisable) (parameterisable) (parameterisable)
​www.beckhoff.com/AX8206 ​www.beckhoff.com/AX8206 ​www.beckhoff.com/AX8525 ​www.beckhoff.com/AX8525

We reserve the right to make technical changes.

 Drive Technology AMP80xx

STO/SS1 | Distributed servo drives

Distributed servo drives Distributed servo drives
2.25…5.35 Nm (standstill torque), 4.55…10.75 Nm (standstill torque),
flange code F4, motor length 1-3, flange code F4, motor length 1-3,
TwinSAFE: STO/SS1 TwinSAFE: STO/SS1

Technical data AMP804x AMP805x

Technology distributed servo drives

Function servomotor

Standstill torque 2.25…5.35 Nm 4.55…10.75 Nm

Rated speed 2500…6000 min-1 2000…5000 min-1

Rated power 0.69…1.44 kW 1.14…2.17 kW

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TwinSAFE

600

Realisation STO by local TwinSAFE Logic or by FSoE by local TwinSAFE Logic or by FSoE
Safe stop functions Safe Torque Off (STO), Safe Torque Off (STO),
Safe Stop 1 (SS1) Safe Stop 1 (SS1)
Protocol TwinSAFE/Safety over EtherCAT TwinSAFE/Safety over EtherCAT
Fault response time ≤ watchdog time (parameterisable) ≤ watchdog time (parameterisable)
Further information ​www.beckhoff.com/AMP804x ​www.beckhoff.com/AMP805x

For availability status see Beckhoff website at: www.beckhoff.com/AMP8000

We reserve the right to make technical changes.

Overview of TwinSAFE certifications
All certifications and confirmations of the TwinSAFE products are provided in
a PDF document available for download at:
u www.beckhoff.com/TwinSAFE-certifications

Application manual
Comprehensive support in conceptual design and implementation:
– continuously expanded collection of relevant application examples
– best-possible support to enable correct implementation of safety applications
– simple adaptation to modified applications through detailed documentation
of the safety acceptance

The complete application manual as a PDF document is available for download at:
u www.beckhoff.com/applicationmanual

TwinSAFE

601

Collection of Block formation and Calculation of Identification of

safety functions output parameters safety parameters safety category

We reserve the right to make technical changes.