Safety Manual for FS2
Revision History for Safety Manual
|
Edition |
Date |
Remarks |
|---|---|---|
|
S105 |
?? 2026 |
Pulse length paragraph edited in chapter "Safety Properties Overview", Hardware Revision table removed (duplicate) |
|
S104 |
July 2022 |
STO fault reaction table improved, PFH value changed in chapter "Safety Properties Overview" |
|
S103 |
May 2021 |
Display screens updated, "Valid for..." info moved from 10.3 to chapter 10 and extended, F9000 cause text updated, AXIS#.SAFE.STO.REPORTFAULT updated |
|
S102 |
April 2020 |
Default setting: STO active, max. length of unshielded digital I/O lines (3 m), trouble shooting updated, description F9004/9005 updated, SFF = 75%, STO certified |
|
S101 |
December 2019 |
First edition |
|
Edition |
Date |
Remarks |
|---|---|---|
|
S207 |
June 2026 |
edit to chapter "Safety Parameter Download" , Hardware Revision table exchanged by Safety Software Version table. Certified Safety Software Versions updated. |
|
S206 |
February 2025 |
Chapter "versions" removed from SAFEPARAM.ENCODERHDSLTYPE1 parameter, SMM2 content added: default values for parameters changed, parameter range changed, paragraph removed ("AXIS#.SAFEPARAM.SBT.MAXMOTIONBRAKE#"), encoder source removed, t_SDB removd and frozen to 6ms, AXIS#.SAFEPARAM.SDB.DELAYBEFOREDIAGNOSE removed, SAFEPARAM.ENCODERENDATTYPE removed, SAFEPARAM.ENCODERHDSLTYPE1 updated, SAFEPARAM.HDSLCHAN1SINGLETURNRES1 new, SAFEPARAM.ENCODERHDSLTYPE2 updated, SAFEPARAM.HDSLCHAN1SINGLETURNRES2 new, SAFE.ERROR updated, table "Safety Function Response Time Calculation" updated, description for SS2 added, descriptions in Operation States table changed, SDB timing diagram changed |
|
S205 (INTERNAL) |
October 2024 |
Chapter "versions" removed from SAFEPARAM.ENCODERHDSLTYPE1 parameter, SMM2 content added: default values for parameters changed, parameter range changed, paragraph removed ("AXIS#.SAFEPARAM.SBT.MAXMOTIONBRAKE#"), encoder source removed, t_SDB removd and frozen to 6ms, AXIS#.SAFEPARAM.SDB.DELAYBEFOREDIAGNOSE removed, SAFEPARAM.ENCODERENDATTYPE removed, SAFEPARAM.ENCODERHDSLTYPE1 updated, SAFEPARAM.HDSLCHAN1SINGLETURNRES1 new, SAFEPARAM.ENCODERHDSLTYPE2 updated, SAFEPARAM.HDSLCHAN1SINGLETURNRES2 new, SAFE.ERROR updated, table "Safety Function Response Time Calculation" updated, description for SS2 added, descriptions in Operation States table changed, SDB timing diagram changed |
|
S204 |
March 2024 |
Updated Safety Manual version compatibility table. |
|
S203, 03/2023 |
March 2023 |
Hardware Revision table edited, note added under SS1-t and SS1-r timing diagram, limitation table edited, SDB timing diagram changed, add FW 02-10-00-103 |
|
S202 |
July 2022 |
some limitations solved with new SMM FW 1.12, new SDB timing and state machine diagram, new chapter "Update the SMM firmware", chapter commissioning: layout modified, chapter safety properties overview: ISO->IEC, dual channel graphic changed, chapter save digital inputs revised, chapter "factory default settings" -> "factory defaults without FSoE", changes in chapter motor brake requirements and motor feedback requirements, all safety function chapters revised, settings chapter revised, validation and operation chapters revised, chapter safety faults/safety warnings revised |
|
S201 |
May 2021 |
First edition |
|
Edition |
Date |
Remarks |
|---|---|---|
|
S308 |
June 2026 |
Edit to chapter "Safety Parameter Download" , Hardware Revision table exchanged by Safety Software Version table. Certified Safety Software Versions updated. |
|
S307 |
December 2025 |
Edits for SMM R_03-00-004: new keywords added, keywords updated, HIPERFACE DSL chapter updated, new EnDat 2.2 chapter added, linear encoder example added, new chapter "User Units Limitations", failures added to SAFE.ERROR chapter |
|
S306 |
February 2025 |
Chapter "versions" removed from SAFEPARAM.ENCODERHDSLTYPE1 parameter, SMM2 content added: default values for parameters changed, parameter range changed, paragraph removed ("AXIS#.SAFEPARAM.SBT.MAXMOTIONBRAKE#"), encoder source removed, t_SDB removd and frozen to 6ms, AXIS#.SAFEPARAM.SDB.DELAYBEFOREDIAGNOSE removed, SAFEPARAM.ENCODERENDATTYPE removed, SAFEPARAM.ENCODERHDSLTYPE1 updated, SAFEPARAM.HDSLCHAN1SINGLETURNRES1 new, SAFEPARAM.ENCODERHDSLTYPE2 updated, SAFEPARAM.HDSLCHAN1SINGLETURNRES2 new, SAFE.ERROR updated, table "Safety Function Response Time Calculation" updated, description for SS2 added, descriptions in Operation States table changed, SAR timing diagram corrected, SOS state diagram changed |
|
S305 (INTERNAL) |
October 2024 |
Chapter "versions" removed from SAFEPARAM.ENCODERHDSLTYPE1 parameter, SMM2 content added: default values for parameters changed, parameter range changed, paragraph removed ("AXIS#.SAFEPARAM.SBT.MAXMOTIONBRAKE#"), encoder source removed, t_SDB removd and frozen to 6ms, AXIS#.SAFEPARAM.SDB.DELAYBEFOREDIAGNOSE removed, SAFEPARAM.ENCODERENDATTYPE removed, SAFEPARAM.ENCODERHDSLTYPE1 updated, SAFEPARAM.HDSLCHAN1SINGLETURNRES1 new, SAFEPARAM.ENCODERHDSLTYPE2 updated, SAFEPARAM.HDSLCHAN1SINGLETURNRES2 new, SAFE.ERROR updated, table "Safety Function Response Time Calculation" updated, description for SS2 added, descriptions in Operation States table changed, SAR timing diagram corrected, SOS state diagram changed |
|
S304 |
March 2024 |
Added a note at the end of 10.4.1.4 Safety Function Response Time Calculation regarding a possible safe encoder internal fault, updated Safety Manual version compatibility table. |
|
S303 |
March 2023 |
Hardware Revision table edited, note added under SS1-t and SS1-r timing diagram, limitation table edited, SDB timing diagram changed, add FW 02-10-00-103 |
|
S302 (withdrawal) |
July 2022 |
Some limitations solved with new SMM FW 1.12, diagrams edited for SS2, SS1-r, SLS and SSR, new SDB timing and state machine diagram, new chapter "Update the SMM firmware", commissioning chapter: no mapping for switching state (bulletpoint removed), chapter recommissioning: layout modified, chapter safety properties overview: ISO->IEC, table "activation by FSoE" modified, table "dual channel activation" and "single channel activation" modified, dual channel graphic changed, t3 added to "encoder position change" table, chapter save digital inputs revised, changes in chapter motor brake requirements and motor feedback requirements, all safety function chapters revised, settings chapter revised, validation and operation chapters revised, chapter safety faults/safety warnings revised |
|
S301 |
May 2021 |
First edition |
The Safety Manual is valid for:
AKD2G with Functional Safety Option 1 (FS1):
AKD2G - xxx - xxxxx - x1xx - xxxx
Safety Functions: STO; SIL2 PLd, activation by digital I/O
AKD2G with Functional Safety Option 2 (FS2):
AKD2G - xxx - xxxxx - x2xx - xxxx
Integrated SafeMotion Monitor (SMM), activation by digital I/O or FSoE
Safety Functions: STO, SS1-t, SBC, SBT, SDB; SIL3 PLe
AKD2G with Functional Safety Option 3 (FS3):
AKD2G - xxx - xxxxx - x3xx - xxxx
Integrated SafeMotion Monitor (SMM), activation by digital I/O or FSoE
Extended Safety Functions: STO, SS1-t, SS1-r, SS2, SOS, SLS, SSM, SSR, SDI, SLA, SAR, SLI, SLP, SCA, SBC, SDB, SBT; SIL3 PLe
Safety Software Version
|
SMM Firmware |
Servo Drive |
WorkBench |
Hardware Revision |
Remarks |
|---|---|---|---|---|
|
SMM 1.04 |
02-10-00-104 |
2.13.0.9674 |
A |
|
|
SMM R_02-07-000 |
02-12-00-105 |
2.15.0.10823 |
A |
|
|
SMM R_03-00-004 |
02-14-02-105 |
2.18.0.11860 |
A |
Hardware Revision (HR)
|
Edition |
Firmware |
WorkBench |
KAS-IDE |
Remarks |
|---|---|---|---|---|
|
A |
from 02-00-00-000 |
from 2.00.0.0000 |
from 3.01 |
First revision |
Note:Previously listed combinations remain valid.
Refer to the list of limited safety features (➜ # 1, Limitations for SMM 1.04)(➜ # 1, Limitations for SMM R_02-07-000) (➜ # 1, Limitations for SMM R_03-00-004)
