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⚠️ The user is responsible for uploading the correct safety program and testing its functionality. NOT proper Testing may lead to sever injuries or even death. ⚠️
Upload TwinSAFE project with TwinSAFEloader
Introduction
It is possible to upload an TwinSAFE project to the TwinSAFE logic module without the help of TwinCAT. Beckhoff provides for this purpose TwinSAFEloader software. This can run from your own computer or from the Motion Controller.
Requirements programming computer
- TwinSAFE project (bin-file) with the project CRC
Additional when own computer is used for uploading:
- TwinSAFE_loader from Beckhoff.
Prepare motion controller
- Log in via SSH on the motion controller with password:
vectioneer
ssh admin@192.168.2.100
- Prepare communication path between EtherCAT master and TwinSAFE_Loader
Switch the EtherCAT mailbox on:
ethercat_mbg &
- If the Motion Contoller is used for uploading, a link to the Twinsafe_loader is required.
Link is established by means of:
sudo ln -sf /lib /lib64
Check TwinSAFE logic devices
- Navigate to the folder where TwinSAFE loader and the TwinSAFE project file are located.
Uploading can be either via your local computer or from the Motion Controller. In the latter case, make sure both TwinSAFEloader.bin as your Safety Project bin-file are on the Motion Controller and navigate to that remote folder.
- Find all TwinSAFE logic devices:
./TwinSAFE_Loader.bin --gw 192.168.2.100 --list FSoE_Logic_devices.txt
| subcommand | Description |
|---|---|
| –gw | address of the motion controller. Per default is this “192.168.2.100”. |
| –list | returns information of all TwinSAFE logic devices in a text file. This file must be named, otherwise the command does not work. |
If TwinSAFE_loader is ran from the Motion Controller directly, it is also possible to use “localhost” instead.
- See which devices are available.
Display the content of the text file:
cat FSoE_Logic_devices.txt
This will result for the GCC (Generic Control Cabinet) default configuration as the following:
EtherCAT address;FSoE address;type;project crc;name
1001;1;EL6910;0x535b;EL6910, TwinSAFE PLC
Here we see the EtherCAT address that we need to send the new TwinSAFE logic to. NOTE: sometimes there are multiple devices that can run the twinSAFE logic. Make sure you choose the correct one. For the GCC Safety application this is the EL6910 on position 1001.
Upload the new Safety Program
./TwinSAFE_Loader.bin --gw 192.168.2.100 --user Administrator --pass TwinSAFE --slave 1001 --proj ./GCC_Safety_V120.bin
| subcommand | Description |
|---|---|
| –slave | EtherCAT address of the TwinSAFE logic module where the TwinSAFE program shall be uploaded to. In the GCC application this is 1001 per default. |
| –user | user that uploads the TwinSAFE program. Per default this is “Administrator”. |
| –pass | password used for uploading the TwinSAFE program. Per default this is “TwinSAFE”. |
| subcommand | Description |
|---|---|
| –slave | EtherCAT address of the TwinSAFE logic module where the TwinSAFE program shall be uploaded to. In the GCC application this is 1001 per default. |
| –user | user that uploads the TwinSAFE program. Per default this is “Administrator”. |
| –pass | password used for uploading the TwinSAFE program. Per default this is “TwinSAFE”. |
| –proj | This is binary of the TwinSAFE Project that needs to be uploaded. |
You will get the response like below:
2020-09-01T14:17:04+0000 Info: TwinSAFE Loader - v7
2020-09-01T14:17:04+0000 Info: 'Administrator' is downloading 'GCC_Safety_V120' to EL6910 @1
2020-09-01T14:17:06+0000 Info: Download of 'GCC_Safety_V120' (0xcca4) to EL6910 @1 completed
Activate the TwinSAFE project
The project will only be active after it is activated. This is done by sending the project CRC is send. The project CRC can be found back on the title page of the documentation.
⚠️ The user is responsible for uploading the correct safety program and testing its functionality. NOT proper Testing may lead to sever injuries or even death. ⚠️
⚠️ By activating the TwinSAFE project you accept that the responsibility of the project on the system and that the system is tested.⚠️
./TwinSAFE_Loader.bin --gw 192.168.2.100 --user Administrator --pass TwinSAFE --slave 1001 --proj ./GCC_Safety_V110.bin --crc 0xcca4
| subcommand | Description |
|---|---|
| –crc | This is project CRC as in the documentation. This CRC address should also be returned by TwinSAFE_loader in the last step. |
You will get the response like below:
2020-09-01T14:21:04+0000 Info: TwinSAFE Loader - v7
2020-09-01T14:21:05+0000 Info: Project activation successful
Switch off the EtherCAT mailbox and reboot
On Motion Controller:
pkill ethercat_mbg
sudo reboot
Check the functionality of the Safety Project
TBW:
For Vectioneers GCC application the following needs to be tested: For all other applications individual test protocols need to be made and executed.
Triggers:
- press emergency stop
- change watchdog timer
- trigger no-estop Responses:
- STO channel 1: 1>0
- STO channel 2: 1>0