Beckhoff TwinSAFE EL6900 - Fig. 44 Make Known the Connection Created to the Twinsafe Logic Terminal; Fig. 43 Linking with the Twinsafe Logic Terminal; Communication between Twincat Controllers

Operation
EL6900 53Version: 3.1.0
TwinSAFE connection
Only one TwinSAFE connection between two TwinSAFE terminals is possible. Between two
EL6900 logic terminals a connection can be set up that may contain up to 14 bytes safe user data.
5.3.14 Communication between TwinCAT controllers
The MASTER_MESSAGE and SLAVE_MESSAGE data types are used for communication between two or
more TwinCAT controllers via network variables.
Corresponding variables must be created on the communicating controllers under Publisher and Subscriber.
During TwinSAFE communication one side acts as the master, the other one as the slave.
This results in the following data types:
TwinSAFE Master Publisher
TwinSAFE Master Subscriber
TwinSAFE Slave Publisher
TwinSAFE Slave Subscriber
MASTER_MESSAGE
SLAVE_MESSAGE
SLAVE_MESSAGE
MASTER_MESSAGE
Linking to the TwinSAFE Logic terminal is done via the following dialog.
Fig.43: Linking with the TwinSAFE Logic terminal
The connection created must now be made known to the TwinSAFE Logic terminal. This is done by marking
the TwinSAFE Connection List and pressing the right mouse button.
Fig.44: Make known the connection created to the TwinSAFE Logic terminal