Safety functions

The following EN 61800-5-2 safety functions are integrated in the drive through the use of ACOPOSmulti SafeMOTION inverter modules and because this component is implemented in the B&R safety system. Additionally, the Safe speed, Safe position and Safe machine options are also provided for the SafeLOGIC. This means that safety functions can be combined in an application as needed.

STO STO1 SOS SS1 SS2 SLS SMS SDI SLI SLA SBC SLP SMP Safe Homing SBT RSP

Safe state

In safety-related systems, potentially dangerous situations are simply not permitted, even if an error occurs. This is ensured by a two-channel hardware and firmware structure as well as by the system architecture.
The failsafe principle is applied here. In the event of an error, torque and power are switched off on the drive.

Safe speed and Safe position

If an EnDat 2.2 safety encoder or a SinCos encoder is installed in a system, then the SafeLOGIC controller can request the current speed and position of the motor encoder over the safe network and use that information as an input signal in the safe application. The signal achieves SIL 2 with an EnDat 2.2 safety encoder and max. SIL 3 with a SinCos encoder (depending on the encoder used) as defined in EN 61508.

Safe machine options

The parameters for the SafeMOTION module are set in SafeDESIGNER and transferred to the SafeLOGIC controller together with the safety application. From there, they are transferred to the SafeMOTION module.

The safe machine options are available so the parameters can be configured without using SafeDESIGNER. This makes it possible to modify the parameters of the SafeMOTION module from the standard application. The safe machine options are transferred from the standard application to the SafeLOGIC controller and stored there permanently.

Encoder

EnDat 2.2 safety encoders or SinCos measuring instruments are used to safely determine and evaluate the position or speed of the motor. Because they determine the position redundantly, they satisfy SIL 3 requirements (depending on the encoder used).

A measuring instrument list with the measuring instruments that have been tested and approved by B&R for ACOPOSmulti SafeMOTION Endat 2.2 / SinCos is also available in the Download section.

Measuring instruments for ACOPOSmulti SafeMOTION EnDat 2.2

This list contains the encoders that have been tested for safe evaluation of ACOPOSmulti SafeMOTION EnDat 2.2 inverter modules and ACOPOS P3 SafeMOTION servo drives from B&R and are therefore approved by B&R for use.

EnDat 2.2 measuring instruments for safe evaluation of ACOPOSmulti SafeMOTION EnDat 2.2 inverter modules and ACOPOS P3 SafeMOTION servo drives.
Manufacturer	Name	Vendor ID Model number	Description	B&R Motor option	Achievable Safety level	Mission time
Heidenhain	ECN 1325 FS EnDat22	678919-12 678919-03 678919-53 1178026-03	EnDat 2.2 single-turn, 2048-line Mounted optical rotary encoder	S0/D0	SIL 2	20 years
Heidenhain	EQN 1337 FS EnDat22	678921-02 677921-03 678921-53 1327453-04	EnDat 2.2 multi-turn, 2048-line, 4096 revolutions Mounted optical rotary encoder	S1/D1	SIL 2	20 years
Heidenhain	ECN 1123 FS EnDat22	640745-01 743586-01 743586-51	EnDat 2.2 single-turn, 512-line Mounted optical rotary encoder	S4/D4	SIL 2	20 years
Heidenhain	EQN 1135 FS EnDat22	640746-01 743587-01 743587-51	EnDat 2.2 multi-turn, 512-line, 4096 revolutions Mounted optical rotary encoder	S5/D5	SIL 2	20 years
Heidenhain	ECI 1319 FS EnDat22	810661-02 810661-04 810661-05	EnDat 2.2 single-turn, 16-line Mounted inductive rotary encoder	SA/DA	SIL 2	20 years
Heidenhain	EQI 1331 FS EnDat22	810662-03 807100-01 810662-04 810662-05	EnDat 2.2 multi-turn, 16-line, 4096 revolutions Mounted inductive rotary encoder	SB/DB	SIL 2	20 years
Heidenhain	ECI 1119 FS EnDat22	826930-01 826930-02 826930-51	EnDat 2.2 single-turn, 16-line Mounted inductive rotary encoder	S8/D8	SIL 2	20 years
Heidenhain	ECI 1119 FS EnDat22	826930-52	EnDat 2.2 single-turn, 16-line Mounted inductive rotary encoder	B8/Z8	SIL 2	20 years
Heidenhain	ECI 4010 FS EnDat22	1101181-01 1130175-02	EnDat 2.2 single-turn, Angular measuring instrument inductive	DC	SIL 2	20 years
Heidenhain	EQI 1131 FS EnDat22	826933-12 826980-01	EnDat 2.2 multi-turn, 16-line, 4096 revolutions Mounted inductive rotary encoder	S9/D9	SIL 2	20 years
Heidenhain	EQI 1131 FS EnDat22	826980-02 826980-52	EnDat 2.2 multi-turn, 16-line, 4096 revolutions Mounted inductive rotary encoder	B9/Z9	SIL 2	20 years
Heidenhain	LC415-570	89674-11	EnDat 2.2 20 µm grating period Encapsulated length measuring systems	-	SIL 2	20 years
Heidenhain	RCN 2310	667789-01	EnDat 2.2 single-turn, Angular measuring instrument Optical	-	SIL 2	20 years
Heidenhain	RCN 8310	667601-01	EnDat 2.2 single-turn, Angular measuring instrument Optical	-	SIL 2	20 years
Heidenhain	RCN 8510	667595-01	EnDat 2.2 single-turn, Angular measuring instrument Optical	-	SIL 2	20 years
AMO	LMKA	1211910 - xx 1211911 - xx 1211918 - xx 1211919 - xx	AMO EnDat 2.2 Absolute length measuring instrument	-	SIL 2	20 years
AMO	WMKA	1211927 - xx 1211929 - xx	AMO EnDat 2.2 Absolute angle measuring instrument	-	SIL 2	20 years

Measuring instruments for ACOPOSmulti SafeMOTION SinCos

The following SinCos measuring instruments have been tested with respect to their safety requirements and their suitability for use with ACOPOSmulti SafeMOTION SinCos inverter modules:

SinCos measuring instruments for safe evaluation of ACOPOSmulti SafeMOTION SinCos inverter modules
Manufacturer	Name	Vendor ID Model number	Description	B&R Motor option	Achievable Safety level	Mission time
Heidenhain	ECN1313 EnDat01	586 640-11 586 640-51	EnDat single-turn, 512-line	E0 8LS starting with Rev. C3 8JS starting with Rev. C0	SIL 2	20 years
Heidenhain	EQN 1325 EnDat01	586 654-05 586 654-55 827039-55	EnDat multi-turn, 512-line, 4096 revolutions	E1 8LS starting with Rev. C3 8JS starting with Rev. C0	SIL 2	20 years
Heidenhain	ECI 1317 EnDat01	623 042-07 623 042-52	EnDat single-turn, (inductive), 32-line	E2	Not suitable	---
Heidenhain	EQI 1329 EnDat01	623 079-14 623 079-61	EnDat single-turn, (inductive), 32-line, 4096 revolutions	E3	Not suitable	---
Heidenhain	ECN 1113 EnDat01	606 684-01 606 684-P1 803427-01	EnDat single-turn, 512-line	E4 8LS starting with Rev. C3 8JS starting with Rev. C0	SIL 2	20 years
Heidenhain	EQN 1125 EnDat01	606 689-13 606 689-16 803427-01	EnDat multi-turn, 512-line, 4096 revolutions	E5 8LS starting with Rev. C3 8JS starting with Rev. C0	SIL 2	20 years
Heidenhain	ECN 1313 EnDat01	586 643-03 768295-03 768295-11	EnDat single-turn, 2048-line	E6 8LS starting with Rev. C3 8JS starting with Rev. C0	SIL 2	20 years
Heidenhain	EQN 1325 EnDat01	586 653-06 586653-09 827039-06	EnDat multi-turn, 2048-line, 4096 revolutions	E7 8LS starting with Rev. C3 8JS starting with Rev. C0	SIL 2	20 years
Heidenhain	ECI 1118 EnDat01	622 503-01 622503-03	EnDat single-turn, (inductive), 16-line	E8	Not suitable	---
Heidenhain	EQI 1130 EnDat01	598 412-03 598412-05	EnDat single-turn, (inductive), 16-line, 4096 revolutions	E9	Not suitable	---
Heidenhain	ECI 1319 EnDat01	623 042-04 623 042-54 811 811-52 811 811-54	EnDat single-turn, (inductive), 32-line	EA	Not suitable	---
Heidenhain	EQI 1331 EnDat01	623 079-08 623 079-58 811 814-52 811 814-59	EnDat single-turn, (inductive), 32-line, 4096 revolutions	EB	Not suitable	---
AMO	LMKA	LMKA-x3100.x0x-x, x-Sxx	Absolute length measuring system SSI + 1 Vss	-	SIL 2	20 years
Pepperl+Fuchs	RVS58S	RVS58S-xxxxxxxxZ	SinCos rotary encoder 1 Vss 1024-/2048-line	-	SIL 3	20 years
Kübler	Sendix 5863 SIL/ 5883 SIL	8.5863SIL.1xxx.xx2x	Multi-turn rotary encoder SSI/BISS + 1 Vss 2048-line	-	SIL 3	20 years