Technical Data

Safe Digital Inputs

The drive supports 4 safe digital inputs. The safe inputs are configurable for single channel or dual channel, for axis1 or for axis2 or for both axes.

  • Reference ground is DGND
  • Galvanic isolation for 60 VDC
  • Activation delay about 5 µs
  • Deactivation delay about 500 µs
  • Use 24 VDC ±15% PELV power supply
  • High level > 15 VDC, > 2 mA
  • Low level < 5 VDC, < 1 mA
  • OSSD test pulses required see "OSSD"

Safety Level

Single Safe Input

Dual Safe Inputs

SIL2, PLd Cat. 3

ü

ü

SIL3, PLe Cat. 4

—

ü

Pinout

Conn./Pin

Signal

Description

X21

B3

+24 V

+24 VDC for digital I/O

X21

B4

DGND

Ground for digital I/O

X21

A11

SIN1

Configurable, for example SS1 channel A axes 1&2

X21

B11

SIN2

Configurable, for example SS1 channel B axes 1&2

X22

A12

SIN3

Configurable, for example STO channel A axis 2

X22

B12

SIN4

Configurable, for example STO channel B axis 2

Input parameters (setting see Parameters Editor)

Parameter Name Description

Default

SAFEPARAM.SINDUAL1.EN

Dual safe input 1

Associates safe inputs SIN1 and SIN2 to dual channel input 1 for an axis.
enabled

SAFEPARAM.SINDUAL2.EN

Dual safe input 2

Associates safe inputs SIN3 and SIN4 to dual channel input 2 for an axis.
enabled

SAFE.IOFAILUREACKSOURCE

Failure acknowledgement via I/O

Specifies the safe digital input, which can be associated for the acknowledgment of the IO failures.
off

SAFEPARAM.SIN.DISTINCTPULSE

Digital input distinct test pulse monitoring

Specifies if the safe digital input monitoring for distinct test pulses is enabled

off

For wiring strategy to be able to reach the necessary SIL/PL, refer to Activation By Safe Digital Inputs.

For descriptions of safety parameters, refer to the Functional Safety Parameter Reference Functional Safety Parameter Reference.

If dual channel mode is selected, the drive supervises whether the two inputs are in a different state for longer than 100 ms. If they are different for more than 100 ms, a fault reaction is triggered (see the specific safety function for details).

If you configure the safe inputs to accept non-distinct test pulses then you should make a fault exclusion on the input wiring or provide other justification that input wiring faults cannot be dangerous such as cable segregation or individual shielding.

The Safety Controller used must be compatible with OSSD (Output Switching Signal Device) according to IEC 61496-1. OSSD requirements see "OSSD".

Safe Digital Outputs

The drive has 2 paired or 4 single safe digital outputs in order to signal the safety condition of the drive to an external safety PLC or to activate external devices (for example a (SDB) relay). The safe digital outputs are current sourcing when activated. They are deactivated to indicate a fault condition or activate a safety device.

  • Reference ground is DGND (X21/B4)
  • Galvanic isolation for 24 VDC from PE
  • Use PELV power supply, 24 V ±15%
  • Activation delay depends on safety function

If an inductive load (relay or similar) is used, a freewheeling diode must be added to the load.

Safety Level

Single safe output

Dual safe outputs

SIL2, PLd Cat. 3

ü

ü

SIL3, PLe Cat. 4

—

ü

Pinout

X21

Signal

Description

B7

SOUT1

Configurable, for example STO status of axis 1

B8

SOUT2

Configurable, for example STO status of axis 2

B9

SOUT3

Configurable

B10

SOUT4

Configurable

Output parameters (setting see Parameters Editor)

Parameter Name Description Default

SAFEPARAM.SOUTDUAL#.EN

Dual safe output

Associates two safe outputs to a dual channel output for axis #.

Disabled

SAFEPARAM.SOUTDUAL#.SOURCE

Source selection of safe dual output

Selects the state of a safety function, which is provided for a safe dual output 1/2.

Off

SAFEPARAM.SOUT#.SOURCE

Source selection of safe digital output

Selects the state of a safety function, which is provided for SOUT1 to 4.

Off

For descriptions of safety parameters refer to Functional Safety Parameter Reference see "Functional Safety Parameter Reference".

Factory Defaults without FSoE

NOTICE: After delivery, the drive is ready for operation with a pre-configured STO function.

Item

Parameter

Factory Default

SafeID

SAFE.ID

Rotary switches: "01" (S1 = 0, S2 = 1).

FSoE Address

AXIS#.SAFE.FSOE.CONNECTIONID

Axis 1: 101 (SafeID*100+1)
Axis 2: 102 (SafeID*100+2)

SIN1, 2

AXIS#.SAFEPARAM.STO.SAFEINPUT

Axis 1: STO

SIN3, 4

Axis 2: STO (dual axis drives only)

SOUT1, 2, 4

SAFEPARAM.SOUT#.SOURCE

0xFF (On)

SOUT3

SAFEPARAM.SOUT#.SOURCE

0x00 (Off)

Password

“SafeMotionMonitorxyz” where “xyz” = last three digits of drive serial number

Different default settings apply when using SRA parameters.