Functional Safety Parameter Reference

Abbreviations

  • Acc. = Access: RO = Read Only, RW = Read/Write, WO = Write Only
  • N/A = Not Available, Y = Yes, N = No
  • Vel Unit = Velocity User Units, Acc Unit = Acceleration User Units,
    Dec Unit = Deceleration User Units, Pos Unit = Position User Units
  • Parameters are sorted alphanumerically
     
CAN over EtherCAT FSoE
Parameters related to
safety functions 		Acc. Default Parameter
Package		 Axis1
Index 0x....		 Axis2
Index 0x....		 Sub Object
AXIS#.SAFE.ABSOLUTEPOSITION RO N/A N/A 6611 6E11 0 Y
AXIS#.SAFE.ABSOLUTEPOSVALID RO N/A Safety N/A N/A N/A Y
AXIS#.SAFE.ACCELERATION RO N/A N/A N/A N/A N/A N
AXIS#.SAFE.ACTIVE RO N/A N/A 5007 5107 5 N
AXIS#.SAFE.BRAKE#.STATE RO N/A N/A N/A N/A N/A N
AXIS#.SAFE.ERROR.ACTIVE RO N/A N/A N/A N/A N/A N
AXIS#.SAFE.FSOE.APPLPARAMLENGTH RO N/A N/A E901 E911 8 N
AXIS#.SAFE.FSOE.COMMPARAMLENGTH RO N/A N/A E901 E911 7 N
AXIS#.SAFE.FSOE.CONNECTIONID RO N/A N/A E901 E911 3 N
AXIS#.SAFE.FSOE.CONNECTIONTYPE RO N/A N/A E901 E911 6 N
AXIS#.SAFE.FSOE.LASTERROR RO N/A N/A N/A N/A N/A N
AXIS#.SAFE.FSOE.PROTOCOLVERSION RO N/A N/A E901 E911 1 N
AXIS#.SAFE.FSOE.SAFETYADDR RO N/A N/A E901 E911 2 N
AXIS#.SAFE.FSOE.SRACRC RO N/A N/A E901 E911 9 N
AXIS#.SAFE.FSOE.STATE RO N/A N/A N/A N/A N/A N
AXIS#.SAFE.FSOE.WATCHDOGTIME RO N/A N/A E901 E911 4 N
AXIS#.SAFE.FUNCTIONGRAPH RO N/A N/A N/A N/A N/A N
AXIS#.SAFE.FUNCTIONSTATUS RO N/A N/A N/A N/A N/A N
AXIS#.SAFE.POSITION RO N/A N/A N/A N/A N/A N
AXIS#.SAFE.RESTARTACK.REQUESTED RO N/A N/A N/A N/A N/A N
AXIS#.SAFE.SAR_#.ACTIVE RO N/A N/A 66C7 6EC7 Inst1: 1
Inst2: 2
Inst3: 3		 Y
AXIS#.SAFE.SAR_#.INTERNALSTATE RO N/A N/A N/A N/A N/A N
AXIS#.SAFE.SBC.ACTIVE RO N/A N/A 2061 2161 0 Y
AXIS1.SAFE.SBT.ERROR RO N/A N/A 40F1 - 1 N
AXIS2.SAFE.SBT.ERROR RO N/A N/A - 40F1 2 N
AXIS1.SAFE.SBT.MOVE WO N/A N/A 2FC0 - 1 N
AXIS2.SAFE.SBT.MOVE WO N/A N/A - 2FC0 2 N
AXISx.SAFE.SBT.SBA.ACTIVE RO N/A N/A 2060 2161 0 Y
AXIS1.SAFE.SBT.STATE RO N/A N/A 40F0 - 1 N
AXIS2.SAFE.SBT.STATE RO N/A N/A - 40F0 2 N
AXIS#.SAFE.SCA_#.INRANGE RO N/A N/A 66E8 6EE8 Inst1: 1
Inst2: 2
Inst3: 3		 Y
AXIS#.SAFE.SCA_#.INTERNALSTATE RO N/A N/A N/A N/A N/A N
AXIS#.SAFE.SDIn_#.INTERNALSTATE RO N/A N/A N/A N/A N/A N
AXIS#.SAFE.SDIn_#.MOTIONACTIVE RO N/A N/A 66DF 6EDF 1 Y
AXIS#.SAFE.SDIp_#.INTERNALSTATE RO N/A N/A N/A N/A N/A N
AXIS#.SAFE.SDIp_#.MOTIONACTIVE RO N/A N/A 66DE 6EDE 1 Y
AXIS#.SAFE.SLA_#.ACTIVE RO N/A N/A 206F 216F 1 Y
AXIS#.SAFE.SLA_#.INTERNALSTATE RO N/A N/A N/A N/A N/A N
AXIS#.SAFE.SLI_#.ACTIVE RO N/A N/A 66BF 6EBF Inst1: 1
Inst2: 2
Inst3: 3		 Y
AXIS#.SAFE.SLI_#.INTERNALSTATE RO N/A N/A N/A N/A N/A N
AXIS#.SAFE.SLP_#.ACTIVE RO N/A N/A 66A0 6EA0 Inst1: 1
Inst2: 2
Inst3: 3		 Y
AXIS#.SAFE.SLP_#.INTERNALSTATE RO N/A N/A N/A N/A N/A N
AXIS#.SAFE.SLS_#.ACTIVE RO N/A N/A 669F 6E9F Inst1: 1
Inst2: 2
Inst3: 3		 Y
AXIS#.SAFE.SLS_#.INTERNALSTATE RO N/A N/A N/A N/A N/A N
AXIS#.SAFE.SOS.ACTIVE RO N/A N/A 666F 6E6F 1 Y
AXIS#.SAFE.SOS.INTERNALSTATE RO N/A N/A N/A N/A N/A N
AXIS#.SAFE.SOS_x.ACTIVE RO N/A N/A 666F 6E6F 1 Y
AXIS#.SAFE.SOS_x.INTERNALSTATE RO N/A N/A N/A N/A N/A N
AXIS#.SAFE.SS1_#.ACTIVE RO N/A N/A 665F 6E5F Inst1: 1
Inst2: 2
Inst3: 3		 Y
AXIS#.SAFE.SS1_#.DEC RW div Drive N/A N/A N/A N
AXIS#.SAFE.SS1_#.INTERNALSTATE RO N/A N/A N/A N/A N/A N
AXIS#.SAFE.SS1_#.MODE RW 0 Drive N/A N/A N/A N
AXIS#.SAFE.SS2_#.ACTIVE RO N/A N/A 665F 6E5F Inst1: 1
Inst2: 2		 Y
AXIS#.SAFE.SS2_#.DEC RW div Drive N/A N/A N/A N
AXIS#.SAFE.SS2_#.INTERNALSTATE RO N/A N/A N/A N/A N/A N
AXIS#.SAFE.SS2_#.MODE RW 0 Drive N/A N/A N/A N
AXIS#.SAFE.SSM_#.INRANGE RO N/A N/A 66E0 6EE0 Inst1: 1
Inst2: 2		 Y
AXIS#.SAFE.SSM_#.INTERNALSTATE RO N/A N/A N/A N/A N/A N
AXIS#.SAFE.SSR_#.ACTIVE RO N/A N/A 6680 6E80 Inst1: 1
Inst2: 2
Inst3: 3		 Y
AXIS#.SAFE.SSR_#.INTERNALSTATE RO N/A N/A N/A N/A N/A N
AXIS#.SAFE.STO.A RO N/A N/A 5007 5107 3 N
AXIS#.SAFE.STO.ACTIVE RO N/A N/A 5007 5107 2 Y
AXIS#.SAFE.STO.ACTIVE RO N/A N/A 6640 6E40 0 Y
AXIS#.SAFE.STO.B RO N/A N/A 5007 5107 4 N
AXIS#.SAFE.STO.REPORTFAULT RW 1 Drive 5007 5007 1 N
AXIS#.SAFE.TEMPWARNING.ACTIVE RO N/A N/A N/A N/A N/A N
AXIS#.SAFE.VELOCITY RO N/A N/A 6613 6E13 0 Y
AXIS#.SAFEPARAM.ABSOLUTEPOSEN RW 0 Safety 3150 3250 4 N
AXIS#.SAFEPARAM.ABSOLUTEPOSRANGE RW 0 Safety 3150 3250 6 N
AXIS#.SAFEPARAM.ABSOLUTEPOSRESETSOURCE RW 0 Safety 3150 3250 5 N
AXIS#.SAFEPARAM.ABSOLUTEPOSRESETVALUE RW 0 Safety 3150 3250 7 N
AXIS#.SAFEPARAM.ACCCOMPUTATIONINTERVAL RW 1 Safety 3150 3250 3 N
AXIS1.SAFEPARAM.AXISCFGEN RO 1 Safety 3100 - 2 N
AXIS2.SAFEPARAM.AXISCFGEN RO 1 Safety - 3100 3 N
AXIS#.SAFEPARAM.ENCODERSOURCE RW 0 Safety 3150 3250 1 N
AXIS#.SAFEPARAM.SAR_#.ACCLOWERLIMIT RW 1 Acc user unit Safety Inst1: 3166
Inst2: 3167
Inst3: 3168 		Inst1: 3266
Inst2: 3267
Inst3: 3268 		5 N
AXIS#.SAFEPARAM.SAR_#.ACCUPPERLIMIT RW 1 Acc user unit Safety Inst1: 3166
Inst2: 3167
Inst3: 3168 		Inst1: 3266
Inst2: 3267
Inst3: 3268 		4 N
AXIS#.SAFEPARAM.SAR_#.FAULTREACTION RW 1 Safety Inst1: 3166
Inst2: 3167
Inst3: 3168 		Inst1: 3266
Inst2: 3267
Inst3: 3268 		6 N
AXIS#.SAFEPARAM.SAR_#.FSOE RW 0 Safety Inst1: 3166
Inst2: 3167
Inst3: 3168 		Inst1: 3266
Inst2: 3267
Inst3: 3268 		3 N
AXIS#.SAFEPARAM.SAR_#.FUNCTIONACTIVATION RW 0 Safety Inst1: 3166
Inst2: 3167
Inst3: 3168 		Inst1: 3266
Inst2: 3267
Inst3: 3268 		1 N
AXIS#.SAFEPARAM.SAR_#.SAFEINPUT RW 0 Safety Inst1: 3166
Inst2: 3167
Inst3: 3168 		Inst1: 3266
Inst2: 3267
Inst3: 3268 		2 N
AXIS#.SAFEPARAM.SBC.BRAKETIMEDELAY RW 100ms Safety 3156 3256 3 N
AXIS1.SAFEPARAM.SBC.BRAKE1ATTACHED RW see keyword chapter Safety 3156 - 4 N
AXIS1.SAFEPARAM.SBC.BRAKE2ATTACHED RW see keyword chapter Safety 3156 - 5 N
AXIS2.SAFEPARAM.SBC.BRAKE1ATTACHED RW see keyword chapter Safety - 3256 4 N
AXIS2.SAFEPARAM.SBC.BRAKE2ATTACHED RW see keyword chapter Safety - 3256 5 N
AXIS#.SAFEPARAM.SBC.MUTINGSOURCE RW 0 Safety 3156 3256 4 N
AXIS#.SAFEPARAM.SBT.FUNCTIONACTIVATION RW 1 Safety 3157 3257 1 N
AXIS#.SAFEPARAM.SBT.MAXAPPLOAD RW 1000mA Safety 3157 3257 3 N
AXIS1.SAFEPARAM.SBT.MAXMOTIONBRAKE1 RW 300arcmin Safety 3157 - 4 N
AXIS1.SAFEPARAM.SBT.MAXMOTIONBRAKE2 RW 300arcmin Safety 3157 - 5 N
AXIS2.SAFEPARAM.SBT.MAXMOTIONBRAKE1 RW 300arcmin Safety - 3257 4 N
AXIS2.SAFEPARAM.SBT.MAXMOTIONBRAKE2 RW 300arcmin Safety - 3257 5 N
AXIS#.SAFEPARAM.SBT.MAXTIMEINTERVAL RW 480min Safety 3157 3257 2 N
AXIS#.SAFEPARAM.SBT.TORQUEDURATION RW 500ms Safety 3157 3257 6 N
AXIS#.SAFEPARAM.SCA.FUNCTIONACTIVATION RW 0 Safety Inst1: 316F
Inst2: 3170
Inst3: 3171 		Inst1: 326F
Inst2: 3270
Inst3: 3271 		1 N
AXIS#.SAFEPARAM.SCA.POSLOWERLIMIT RW 0 Pos Unit Safety Inst1: 316F
Inst2: 3170
Inst3: 3171 		Inst1: 326F
Inst2: 3270
Inst3: 3271 		3 N
AXIS#.SAFEPARAM.SCA.POSUPPERLIMIT RW 0 Pos Unit Safety Inst1: 316F
Inst2: 3170
Inst3: 3171 		Inst1: 326F
Inst2: 3270
Inst3: 3271 		2 N
AXIS#.SAFEPARAM.SDB.DELAYBEFOREDIAGNOSE RW 1ms Safety 3158 3258 4 N
AXIS#.SAFEPARAM.SDB.DELAYBEFORESWITCHING RW 1ms Safety 3158 3258 3 N
AXIS#.SAFEPARAM.SDB.FUNCTIONACTIVATION RW 0 Safety 3158 3258 1 N
AXIS#.SAFEPARAM.SDB.READBACKSOURCE RW 0 Safety 3158 3258 3 N
AXIS#.SAFEPARAM.SDI.FAULTREACTION RW 1 Safety 3164 3264 10 N
AXIS#.SAFEPARAM.SDI.FUNCTIONACTIVATION RW 0 Safety 3164 3264 1 N
AXIS#.SAFEPARAM.SDI.POSZEROWINDOW RW 1 Pos Unit Safety 3164 3264 8 N
AXIS#.SAFEPARAM.SDI.VELZEROWINDOW RW 1 Vel Unit Safety 3164 3264 9 N
AXIS#.SAFEPARAM.SDIn.FSOE RW 0 Safety 3164 3264 5 N
AXIS#.SAFEPARAM.SDIn.SAFEINPUT RW 0 Safety 3164 3264 3 N
AXIS#.SAFEPARAM.SDIn.TIMEDELAYMONITORING RW 1ms Safety 3164 3264 7 N
AXIS#.SAFEPARAM.SDIp.FSOE RW 0 Safety 3164 3264 4 N
AXIS#.SAFEPARAM.SDIp.SAFEINPUT RW 0 Safety 3164 3264 2 N
AXIS#.SAFEPARAM.SDIp.TIMEDELAYMONITORING RW 1ms Safety 3164 3264 6 N
AXIS#.SAFEPARAM.SLA_#.ACCLIMIT RW 1 Acc Unit Safety 3165 3265 4 N
AXIS#.SAFEPARAM.SLA_#.FAULTREACTION RW 1 Safety 3165 3265 5 N
AXIS#.SAFEPARAM.SLA_#.FSOE RW 0 Safety 3165 3265 3 N
AXIS#.SAFEPARAM.SLA_#.FUNCTIONACTIVATION RW 0 Safety 3165 3265 1 N
AXIS#.SAFEPARAM.SLA_#.SAFEINPUT RW 0 Safety 3165 3265 2 N
AXIS#.SAFEPARAM.SLI_#.FAULTREACTION RW 1 Safety Inst1: 3169
Inst2: 316A
Inst3: 316B 		Inst1: 3269
Inst2: 326A
Inst3: 326B 		7 N
AXIS#.SAFEPARAM.SLI_#.FSOE RW 0 Safety Inst1: 3169
Inst2: 316A
Inst3: 316B 		Inst1: 3269
Inst2: 326A
Inst3: 326B 		3 N
AXIS#.SAFEPARAM.SLI_#.FUNCTIONACTIVATION RW 0 Safety Inst1: 3169
Inst2: 316A
Inst3: 316B 		Inst1: 3269
Inst2: 326A
Inst3: 326B 		1 N
AXIS#.SAFEPARAM.SLI_#.POSRELLOWERLIMIT RW 1 Pos Unit Safety Inst1: 3169
Inst2: 316A
Inst3: 316B 		Inst1: 3269
Inst2: 326A
Inst3: 326B 		6 N
AXIS#.SAFEPARAM.SLI_#.POSRELUPPERLIMIT RW 1 Pos Unit Safety Inst1: 3169
Inst2: 316A
Inst3: 316B 		Inst1: 3269
Inst2: 326A
Inst3: 326B 		5 N
AXIS#.SAFEPARAM.SLI_#.SAFEINPUT RW 0 Safety Inst1: 3169
Inst2: 316A
Inst3: 316B 		Inst1: 3269
Inst2: 326A
Inst3: 326B 		2 N
AXIS#.SAFEPARAM.SLI_#.TIMEDELAYMONITOR RW 0ms Safety Inst1: 3169
Inst2: 316A
Inst3: 316B 		Inst1: 3269
Inst2: 326A
Inst3: 326B 		4 N
AXIS#.SAFEPARAM.SLP_#.FAULTREACTION RW 1 Safety Inst1: 316C
Inst2: 316D
Inst3: 316E 		Inst1: 326C
Inst2: 326D
Inst3: 326E 		7 N
AXIS#.SAFEPARAM.SLP_#.FSOE RW 0 Safety Inst1: 316C
Inst2: 316D
Inst3: 316E 		Inst1: 326C
Inst2: 326D
Inst3: 326E 		3 N
AXIS#.SAFEPARAM.SLP_#.FUNCTIONACTIVATION RW 0 Safety Inst1: 316C
Inst2: 316D
Inst3: 316E 		Inst1: 326C
Inst2: 326D
Inst3: 326E 		1 N
AXIS#.SAFEPARAM.SLP_#.POSLOWERLIMIT RW 1 Pos Unit Safety Inst1: 316C
Inst2: 316D
Inst3: 316E 		Inst1: 326C
Inst2: 326D
Inst3: 326E 		5 N
AXIS#.SAFEPARAM.SLP_#.POSUPPERLIMIT RW 1 Pos Unit Safety Inst1: 316C
Inst2: 316D
Inst3: 316E 		Inst1: 326C
Inst2: 326D
Inst3: 326E 		4 N
AXIS#.SAFEPARAM.SLP_#.SAFEINPUT RW 0 Safety Inst1: 316C
Inst2: 316D
Inst3: 316E 		Inst1: 326C
Inst2: 326D
Inst3: 326E 		2 N
AXIS#.SAFEPARAM.SLP_#.TIMEDELAYMONITORING RW 0ms Safety Inst1: 316C
Inst2: 316D
Inst3: 316E 		Inst1: 326C
Inst2: 326D
Inst3: 326E 		6 N
AXIS#.SAFEPARAM.SLS_#.DECLIMIT RW 0 Acc Unit Safety Inst1: 315C
Inst2: 315D
Inst3: 315E 		Inst1: 325C
Inst2: 325D
Inst3: 325E 		9 N
AXIS#.SAFEPARAM.SLS_#.DECMONITOREN RW 0 Safety Inst1: 315C
Inst2: 315D
Inst3: 315E 		Inst1: 325C
Inst2: 325D
Inst3: 325E 		8 N
AXIS#.SAFEPARAM.SLS_#.FAULTREACTION RW 1 Safety Inst1: 315C
Inst2: 315D
Inst3: 315E 		Inst1: 325C
Inst2: 325D
Inst3: 325E 		10 N
AXIS#.SAFEPARAM.SLS_#.FSOE RW 0 Safety Inst1: 315C
Inst2: 315D
Inst3: 315E 		Inst1: 325C
Inst2: 325D
Inst3: 325E 		3 N
AXIS#.SAFEPARAM.SLS_#.FUNCTIONACTIVATION RW 0 Safety Inst1: 315C
Inst2: 315D
Inst3: 315E 		Inst1: 325C
Inst2: 325D
Inst3: 325E 		1 N
AXIS#.SAFEPARAM.SLS_#.SAFEINPUT RW 0 Safety Inst1: 315C
Inst2: 315D
Inst3: 315E 		Inst1: 325C
Inst2: 325D
Inst3: 325E 		2 N
AXIS#.SAFEPARAM.SLS_#.
TIMEDELAYDECMONITORING 		RW 1ms Safety Inst1: 315C
Inst2: 315D
Inst3: 315E 		Inst1: 325C
Inst2: 325D
Inst3: 325E 		5 N
AXIS#.SAFEPARAM.SLS_#.TIMEFORVELINLIMITS RW 1ms Safety Inst1: 315C
Inst2: 315D
Inst3: 315E 		Inst1: 325C
Inst2: 325D
Inst3: 325E 		6 N
AXIS#.SAFEPARAM.SLS_#.TIMETOVELMONITORING RW 2ms Safety Inst1: 315C
Inst2: 315D
Inst3: 315E 		Inst1: 325C
Inst2: 325D
Inst3: 325E 		4 N
AXIS#.SAFEPARAM.SLS_#.VELLIMIT RW 1 Vel Unit Safety Inst1: 315C
Inst2: 315D
Inst3: 315E 		Inst1: 325C
Inst2: 325D
Inst3: 325E 		7 N
AXIS#.SAFEPARAM.SOS.FSOE RW 0 Safety 315B 325B 3 N
AXIS#.SAFEPARAM.SOS.FUNCTIONACTIVATION RW 0 Safety 315B 325B 1 N
AXIS#.SAFEPARAM.SOS.POSZEROWINDOW RW 1 Pos Unit Safety 315B 325B 7 N
AXIS#.SAFEPARAM.SOS.RESTARTACKBEHAVIOR RW 0 Safety 315B 325B 8 N
AXIS#.SAFEPARAM.SOS.RESTARTACKSOURCE RW 0 Safety 315B 325B 9 N
AXIS#.SAFEPARAM.SOS.SAFEINPUT RW 0 Safety 315B 325B 2 N
AXIS#.SAFEPARAM.SOS.TIMEDELAYMONITORING RW 1ms Safety 315B 325B 4 N
AXIS#.SAFEPARAM.SOS.VELMONITOREN RW 0 Safety 315B 325B 6 N
AXIS#.SAFEPARAM.SOS.VELZEROWINDOW RW 0 Vel Unit Safety 315B 325B 5 N
AXIS#.SAFEPARAM.SOS_x.FSOE RW 0 Safety 315B 325B 3 N
AXIS#.SAFEPARAM.SOS_x.FUNCTIONACTIVATION RW 0 Safety 315B 325B 1 N
AXIS#.SAFEPARAM.SOS_x.POSZEROWINDOW RW 1 Pos Unit Safety 315B 325B 7 N
AXIS#.SAFEPARAM.SOS_x.RESTARTACKBEHAVIOR RW 0 Safety 315B 325B 8 N
AXIS#.SAFEPARAM.SOS_x.RESTARTACKSOURCE RW 0 Safety 315B 325B 9 N
AXIS#.SAFEPARAM.SOS_x.SAFEINPUT RW 0 Safety 315B 325B 2 N
AXIS#.SAFEPARAM.SOS_x.TIMEDELAYMONITORING RW 1ms Safety 315B 325B 4 N
AXIS#.SAFEPARAM.SOS_x.VELMONITOREN RW 0 Safety 315B 325B 6 N
AXIS#.SAFEPARAM.SOS_x.VELZEROWINDOW RW 0 Vel Unit Safety 315B 325B 5 N
AXIS#.SAFEPARAM.SPEEDCOMPUTATIONINTERVAL RW 1ms Safety 3150 3250 2 N
AXIS#.SAFEPARAM.SS1_#.DECLIMIT RW 0 Dec Unit Safety Inst1: 3153
Inst2: 3154
Inst3: 3155		 Inst1: 3253
Inst2: 3254
Inst3: 3255		 9 N
AXIS#.SAFEPARAM.SS1_#.FSOE RW 0 Safety Inst1: 3153
Inst2: 3154
Inst3: 3155		 Inst1: 3253
Inst2: 3254
Inst3: 3255		 3 N
AXIS#.SAFEPARAM.SS1_#.FUNCTIONACTIVATION RW Inst1: 1
Inst2: 0
Inst3: 0		 Safety Inst1: 3153
Inst2: 3154
Inst3: 3155		 Inst1: 3253
Inst2: 3254
Inst3: 3255		 1 N
AXISx.SAFEPARAM.SS1_#.SAFEINPUT RW 0 Safety Inst1: 3153
Inst2: 3154
Inst3: 3155		 Inst1: 3253
Inst2: 3254
Inst3: 3255		 2 N
AXIS#.SAFEPARAM.SS1_#.TIMEDELAYDEC
MONITORING 		RW 1ms Safety Inst1: 3153
Inst2: 3154
Inst3: 3155		 Inst1: 3253
Inst2: 3254
Inst3: 3255		 5 N
AXIS#.SAFEPARAM.SS1_#.TIMEFORVELZERO RW 1ms Safety Inst1: 3153
Inst2: 3154
Inst3: 3155		 Inst1: 3253
Inst2: 3254
Inst3: 3255		 6 N
AXIS#.SAFEPARAM.SS1_#.TIMETOSTO RW 2ms Safety Inst1: 3153
Inst2: 3154
Inst3: 3155		 Inst1: 3253
Inst2: 3254
Inst3: 3255		 4 N
AXIS#.SAFEPARAM.SS1_#.VELDECMONITOREN RW 0 Safety Inst1: 3153
Inst2: 3154
Inst3: 3155		 Inst1: 3253
Inst2: 3254
Inst3: 3255		 7 N
AXIS#.SAFEPARAM.SS1_#.VELZEROWINDOW RW 1 Vel Unit Safety Inst1: 3153
Inst2: 3154
Inst3: 3155		 Inst1: 3253
Inst2: 3254
Inst3: 3255		 8 N
AXIS#.SAFEPARAM.SS2_#.DECLIMIT RW 0 Dec Unit Safety Inst1: 3159 Inst2: 315A Inst1: 3259 Inst2: 325A 8 N
AXIS#.SAFEPARAM.SS2_#.DECMONITOREN RW 0 Safety Inst1: 3159 Inst2: 315A Inst1: 3259 Inst2: 325A 7 N
AXIS#.SAFEPARAM.SS2_#.FAULTREACTION RW 1 Safety Inst1: 3159 Inst2: 315A Inst1: 3259 Inst2: 325A 9 N
AXIS#.SAFEPARAM.SS2_#.FSOE RW 0 Safety Inst1: 3159 Inst2: 315A Inst1: 3259 Inst2: 325A 3 N
AXIS#.SAFEPARAM.SS2_#.FUNCTIONACTIVATION RW 0 Safety Inst1: 3159 Inst2: 315A Inst1: 3259 Inst2: 325A 1 N
AXIS#.SAFEPARAM.SS2_#.SAFEINPUT RW 0 Safety Inst1: 3159 Inst2: 315A Inst1: 3259 Inst2: 325A 2 N
AXIS#.SAFEPARAM.SS2_#.TIMEDELAYDEC
MONITORING 		RW 1ms Safety Inst1: 3159 Inst2: 315A Inst1: 3259 Inst2: 325A 4 N
AXIS#.SAFEPARAM.SS2_#.TIMEFORVELZERO RW 1ms Safety Inst1: 3159 Inst2: 315A Inst1: 3259 Inst2: 325A 6 N
AXIS#.SAFEPARAM.SS2_#.TIMETOSOS RW 2ms Safety Inst1: 3159 Inst2: 315A Inst1: 3259 Inst2: 325A 5 N
AXIS#.SAFEPARAM.SSM_#.FUNCTIONACTIVATION RW 0 Safety Inst1: 315F Inst2: 3160 Inst1: 325F Inst2: 3260 1 N
AXIS#.SAFEPARAM.SSM_#.VELLOWERLIMIT RW 0 Vel Unit Safety Inst1: 315F Inst2: 3160 Inst1: 325F Inst2: 3260 2 N
AXIS#.SAFEPARAM.SSM_#.VELUPPERLIMIT RW 0 Vel Unit Safety Inst1: 315F Inst2: 3160 Inst1: 325F Inst2: 3260 3 N
AXIS#.SAFEPARAM.SSR_#.DECLIMIT RW 0 Dec Unit Safety Inst1: 315F
Inst2: 3160
Inst3: 3163		 Inst1: 325F
Inst2: 3260
Inst3: 3263		 5 N
AXIS#.SAFEPARAM.SSR_#.DECMONITOREN RW 0 Safety Inst1: 315F
Inst2: 3160
Inst3: 3163		 Inst1: 325F
Inst2: 3260
Inst3: 3263		 6 N
AXIS#.SAFEPARAM.SSR_#.FAULTREACTION RW 1 Safety Inst1: 315F
Inst2: 3160
Inst3: 3163		 Inst1: 325F
Inst2: 3260
Inst3: 3263		 11 N
AXIS#.SAFEPARAM.SSR_#.FSOE RW 0 Safety Inst1: 315F
Inst2: 3160
Inst3: 3163		 Inst1: 325F
Inst2: 3260
Inst3: 3263		 3 N
AXIS#.SAFEPARAM.SSR_#.FUNCTIONACTIVATION RW 0 Safety Inst1: 315F
Inst2: 3160
Inst3: 3163		 Inst1: 325F
Inst2: 3260
Inst3: 3263		 1 N
AXIS#.SAFEPARAM.SSR_#.SAFEINPUT RW 0 Safety Inst1: 315F
Inst2: 3160
Inst3: 3163		 Inst1: 325F
Inst2: 3260
Inst3: 3263		 2 N
AXIS#.SAFEPARAM.SSR_#.TIMEDELAYDEC
MONITORING 		RW 1ms Safety Inst1: 315F
Inst2: 3160
Inst3: 3163		 Inst1: 325F
Inst2: 3260
Inst3: 3263		 7 N
AXIS#.SAFEPARAM.SSR_#.TIMEFORVELINLIMITS RW 1ms Safety Inst1: 315F
Inst2: 3160
Inst3: 3163		 Inst1: 325F
Inst2: 3260
Inst3: 3263		 8 N
AXIS#.SAFEPARAM.SSR_#.TIMETOVELMONITORING RW 1ms Safety Inst1: 315F
Inst2: 3160
Inst3: 3163		 Inst1: 325F
Inst2: 3260
Inst3: 3263		 4 N
AXIS#.SAFEPARAM.SSR_#.VELLOWERLIMIT RW 0 Vel Unit Safety Inst1: 315F
Inst2: 3160
Inst3: 3163		 Inst1: 325F
Inst2: 3260
Inst3: 3263		 9 N
AXIS#.SAFEPARAM.SSR_#.VELUPPERLIMIT RW 0 Vel Unit Safety Inst1: 315F
Inst2: 3160
Inst3: 3163		 Inst1: 325F
Inst2: 3260
Inst3: 3263		 10 N
AXIS#.SAFEPARAM.STO.FSOE RW see keyword chapter Safety 3152 3252 3 N
AXIS#.SAFEPARAM.STO.FUNCTIONACTIVATION RW 1 Safety 3152 3252 1 N
AXIS#.SAFEPARAM.STO.RESTARTACKMODE RW 0 Safety 3152 3252 4 N
AXIS#.SAFEPARAM.STO.RESTARTACKSOURCE RW 0 Safety 3152 3252 5 N
AXIS1.SAFEPARAM.STO.SAFEINPUT RW see keyword chapter Safety 3152 - 2 N
AXIS2.SAFEPARAM.STO.SAFEINPUT RW see keyword chapter Safety - 3252 2 N
AXIS#.SAFEPARAM.UNIT.ACCFACTOR RW None Safety 3151 3251 11 N
AXIS#.SAFEPARAM.UNIT.ACCINENC RW 1 Safety 3152 3252 10 N
AXIS#.SAFEPARAM.UNIT.ACCINUSER RW 60 Safety 3152 3252 9 N
AXIS#.SAFEPARAM.UNIT.ACCLABEL RW rpm/s Safety 3152 3252 12 N
AXIS#.SAFEPARAM.UNIT.POSFACTOR RW deci Safety 3152 3252 3 N
AXIS#.SAFEPARAM.UNIT.POSINENC RW 1 Safety 3152 3252 2 N
AXIS#.SAFEPARAM.UNIT.POSINUSER RW 3600 Safety 3152 3252 1 N
AXIS#.SAFEPARAM.UNIT.POSLABEL RW Degree Safety 3152 3252 4 N
AXIS#.SAFEPARAM.UNIT.VELFACTOR RW None Safety 3152 3252 7 N
AXIS#.SAFEPARAM.UNIT.VELINENC RW 1 Safety 3152 3252 6 N
AXIS#.SAFEPARAM.UNIT.VELINUSER RW 60 Safety 3152 3252 5 N
AXIS#.SAFEPARAM.UNIT.VELLABEL RW rpm Safety 3152 3252 8 N
BRAKE1.SAFE.SBT.ELAPSED RO N/A N/A 40F2 40F2 1 N
BRAKE2.SAFE.SBT.ELAPSED RO N/A N/A 40F2 40F2 2 N
BRAKE1.SAFE.SBT.STATE RO N/A N/A 40F3 40F3 1 N
BRAKE2.SAFE.SBT.STATE RO N/A N/A 40F3 40F3 2 N
SAFE.CFGERROR RO N/A N/A N/A N/A N/A N
SAFE.CHANGEPASSWORD WO N/A N/A N/A N/A N/A N
SAFE.CLEARSAFEID WO N/A N/A N/A N/A N/A N
SAFE.CRC RO N/A N/A 37C3 37C3 0 N
SAFE.DEVICECRC RO N/A N/A N/A N/A N/A N
SAFE.ERROR RO N/A N/A 37C4 37C4 0 N
SAFE.ERRORINSTANCE RO N/A N/A N/A N/A N/A N
SAFE.ID RO N/A N/A N/A N/A N/A N
SAFE.IDANDCRC RO N/A N/A N/A N/A N/A N
SAFE.INVALIDATEPARAMS WO N/A N/A N/A N/A N/A N
SAFE.MONITOR#.AXIS RW 0 N/A N/A N/A N/A N
SAFE.MONITOR#.DATA RO N/A N/A N/A N/A N/A N
SAFE.MONITOR#.INSTANCE RW 0 N/A N/A N/A N/A N
SAFE.MONITOR#.SOURCE RW 0 N/A N/A N/A N/A N
SAFE.STATE RO N/A N/A 37C1 37C1 0 N
SAFE.SWITCH RO N/A N/A 37C2 37C2 0 N
SAFE.VALIDATEPARAM WO N/A N/A 37C0 37C0 1,2,3,4 N
SAFE.VALIDATIONLOG RO N/A N/A N/A N/A N/A N
SAFE.VERIFYFW WO N/A N/A N/A N/A N/A N
SAFEPARAM.ENCODERENDATTYPE RW 0 Safety 3103 3103 3 N
SAFEPARAM.ENCODERHDSLTYPE1 RW 0 Safety 3103 3103 1 N

SAFEPARAM.ENCODERHDSLTYPE2

(SMM1 only)

 RW 0 Safety 3103 3103 2 N

SAFEPARAM.ENCODERHDSLTYPE2

(SMM2 only)

 RW 0 Safety 3103 3103 3 N

SAFEPARAM.HDSLCHAN1SINGLETURNRES1

(SMM2 only)

 RW 0 Safety 3103 3103 2 N

SAFEPARAM.HDSLCHAN1SINGLETURNRES2

(SMM2 only)

 RW 0 Safety 3103 3103 4 N
SAFEPARAM.IOFAILUREACKSOURCE RW 0 Safety 3100 3100 1 N
SAFEPARAM.SAFEFIELDBUS.ACTIVATION RW see keyword chapter Safety N/A N/A N/A N
SAFEPARAM.SIN.DISTINCTPULSE RW 0 Safety 3101 3101 1 N
SAFEPARAM.SINDUAL#.EN RW see keyword chapter Safety 3101 3101 Inst1: 2
Inst2: 3		 N
SAFEPARAM.SOUTDUAL#.EN RW 0 Safety 3102 3102 Inst1: 1
Inst2: 2		 N
SAFEPARAM.SOUTDUAL#.SOURCE RW 0 Safety 3102 3102 Inst1: 3
Inst2: 4		 N
SAFEPARAM.SOUT#.SOURCE RW see keyword chapter Safety 3102 3102 Inst1: 5
Inst2: 6
Inst3: 7
Inst4: 8		 N
SINDUAL#.STATE RO N/A N/A N/A N/A N/A N
SIN#.STATE RO N/A N/A N/A N/A N/A N
SOUTDUAL#.STATE RO N/A N/A N/A N/A N/A N
SOUT#.STATE RO N/A N/A N/A N/A N/A N