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.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 |
| RW | 0 | Safety | 3103 | 3103 | 2 | 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 |
