Motor feedback requirements

  • Feedback: HIPERFACE DSL
  • Motor model example: AKM2G-41E-AND2GU10
  • Encoder model: EEM37-2KF0A017A (possible safety level: SIL2/PLd)
  • Possible connectors: X1 or X2 or X5 (➜ # 1, Connector pinout)

Encoder and motor housing shall have a positive fit against each other or an adhesive shall be used between both housings. The fitting shall be over dimensioned according to EN IEC 61800-5-3 Annex G to all breakaway torque values. The fatigue strength of the mechanical connection between the encoder shaft and the motor shaft must be shown to have a shaft breakage fault exclusion in accordance with IEC61800-5-2.
For a list of supported motors refer to: Product Notice on AKM2G

HIPERFACE DSL – Initial safety setup

AKD2G SMM can use two safe encoders at the same time (one for each axis). For safety reasons, the safety system must ensure the encoder data are coming from the correct physical encoder. This requires a link between the Axis ID - where you intend to use the safe position - and the physical encoder by writing an encoder index to the encoder memory.

As a result, when the encoder is new or the encoder has been used as a safe feedback with AKD2G but on another Axis ID, you will encounter an I/O failure (“25 - encoder fault: invalid association”) after the setup of the safe encoder in the safety parameters. This is an expected error. Acknowledge the I/O failure in order for the SMM to write the new encoder index in the encoder memory and start operating normally.

Proceed as follows:

  • Use the I/O failure acknowledgement in order to create the link between the axis and the encoder. You can acknowledge I/O failure using FSoE (see FSoE control word) or you can use a safe input. If you use a safe input, it must be configured in the safety parameters:
  • Connect the new HIPERFACE DSL encoder and configure it as a safe feedback in the safety parameter:
  • Define the encoder source for the axis that you intend to use. The goal is to create a link between the axis ID and the encoder:
  • Download and validate the parameters.

If the drive returns I/O Failure 25 continue to step 5:

  • Acknowledge the failure by using FSoE or the configured safe input.

The encoder is now ready to operate as a safe feedback.

For scaling of user units see (➜ # 1, Parameterization of User Units).

After correct setup each encoder is assigned to the configured axis.

Swapping encoders will result in I/O Failure 25. If you swapped the encoders:

  • intentionally, repeat step 5.
  • by mistake, swap them back without repeating step 5.

The field replacement of the drive is not impacted. The drive can be changed and reconfigured with the encoders plugged in the same connectors. Some examples:

  • You swap the safe feedback between axis 1 and axis 2 on the same drive => I/O failure
  • You swap the axis 1 safe feedback on one drive to the axis 2 safe feedback on another drive => I/O failure
  • You swap the axis 2 safe feedback on one drive to the axis 1 safe feedback on another drive => I/O failure
  • You swap axis 1 safe feedback on one drive to the axis 1 safe feedback on another drive => No failure
  • You swap axis 2 safe feedback on one drive to the axis 2 safe feedback on another drive => No failure
  • You change the drive and plug encoders at the same position => No failure