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Link TwinSAFE single channel devices

TwinSAFE SC (single channel) is an extension on TwinSAFE that allows Safe Single Channel data to be combined with non-safe modules, where a continuous cross-check of two signals checks the validity of the signals. Considering the price difference between safe terminals and non-safe terminals this can be interesting. Another (even bigger) advantage is that with TwinSAFE SC terminals, TwinSAFE was extended with the possibility to read-in safe analog signals, bringing new capabilities.

Introduction

This chapter gives an example how TwinSAFE Single Channel©® components can integrated in a TwinSAFE projet with help of TwinCAT©®. This is a different, since opposite to standard TwinSAFE components, TwinSAFE SC components do not have DIP-switches/Dials to set the FSoE address and the FSoE address is assigned via TwinCAT, which needs to be uploaded to the device during EtherCAT initialization.

Configuring a TwinSAFE Single Channel device in TwinCAT

Requirements programming computer

Requirements:

• TwinCAT 3 on a computer
• Ethernet port on the computer

Steps:

• Connecting to EtherCAT devices and scan EtherCAT bus in TwinCAT
• Set-up the TwinSAFE SC devices in TwinCAT
• Link the TwinSAFE SC devices within TwinSAFE environment of TwinCAT
• Setup TwinSAFE SC in MotorCortex

Connecting to EtherCAT devices and scan EtherCAT bus in TwinCAT

See create-twinsafe-project.md

Set-up the TwinSAFE SC devices in TwinCAT

Link the TwinSAFE SC devices within TwinSAFE environment of TwinCAT

Check project and upload

Setup TwinSAFE SC in MotorCortex

1. link index as normal
2. add start-up file