Corrected from:
i950 Extended Safety (ES): as of V01.06.04.0000
Response of the new version:
The safe actual position of the servo inverter, which is transferred in the Safety PDO, can now be processed applicatively by TwinCAT/Safety.
The ESI files as of firmware V01.06.04.0000, which are available for download on the Lenze homepage, have been adapted.
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What happens?
In Beckhoff TwinCAT/TwinSAFE the safe actual position of the servo inverter ("Actual Position p_safe") cannot be processed applicatively, because it is specified in the TwinSAFE dialog "Safety Process Image" with the wrong "Size" of "2" instead of "4".
When does the behaviour occur?
Using TwinCAT/Safety V3.1 as safety controller and i950ES firmware version < V01.06.04.
The version of the safety firmware is not decisive.
Which products are affected?
i950 Extended Safety (ES) firmware < V01.06.04.
Short-term measures / Evaluation / recommendations:
Update ESI files with those from the appendix of this AKB paper.
