| Features |
| Module |
Motion Control module |
| Configuration method |
Via software (Flexi Soft Designer) |
|
| Safety-related parameters |
| For axes with two encoders (any combination of sine-cosine, TTL, HTL 24 V, MTL 12 V, RS-422, SSI) |
|
| Safety integrity level |
SIL 3 (IEC 61508) |
| Category |
Category 4 (EN ISO 13849) |
| Performance level |
PL e (EN ISO 13849) |
| PFHD (mean probability of a dangerous failure per hour) |
5.0 * 10-9 |
| Minimum movement for error detection |
≥ selected tolerance limit for the function block used for the cross check, e.g. speed cross check, At least 1 x within 24 h |
| TM (mission time) |
20 years (EN ISO 13849) |
|
| For axes with one sine-cosine encoder and sin/cos analog voltage monitoring activated |
|
| Safety integrity level |
SIL 2 (IEC 61508) |
| Category |
Category 3 (EN ISO 13849) |
| Performance level |
PL d (EN ISO 13849) |
| PFHD (mean probability of a dangerous failure per hour) |
6.0 * 10-9 |
| Minimum movement for error detection |
≥ 1 Sin/Cos period, At least 1 x within 24 h |
| TM (mission time) |
20 years (EN ISO 13849) |
|
|
| Functions |
| Drive safety functions |
Safe stop 1 (SS1)
Safe stop 2 (SS2)
Safe operating stop (SOS)
Safe speed monitoring (SSM)
Safely-limited speed (SLS)
Safe direction (SDI)
Safe brake control (SBC)
|
|
| Interfaces |
| Encoder interface |
A/B incremental encoder, TTL
A/B incremental encoder, HTL 12 V or 24 V
A/B incremental encoder, RS-422
Sin/cos encoder
SSI encoder (master / listener)
HIPERFACE®
|
| Connection type |
Male connector, Micro D-Sub, 15-pin |
| Data interface |
Internal bus (FLEXBUS+) |
|
| Electrical data |
| Protection class |
III (EN 61140) |
| Voltage supply |
Via FLEXBUS+ |
| Internal power consumption |
≤ 2.5 W |
| A/B incremental encoder, TTL, 2 outputs |
|
| Differential input voltage HIGH |
5 V (2 V … 5.3 V) |
| Differential input voltage LOW |
0 V (–0.3 V … 0.8 V) |
| Input voltage |
–5 V … 10 V |
| Input frequency |
≤ 300 kHz |
| Input resistance |
≥ 35 kΩ |
|
| A/B incremental encoder, TTL, 2 pairs of outputs |
|
| Differential input voltage HIGH |
5 V (1.2 V … 5.6 V) |
| Differential input voltage LOW |
–5 V (–5.6 V … –1.2 V) |
| Input voltage |
–5 V … 10 V |
| Input frequency |
≤ 300 kHz |
| Input resistance |
≥ 35 kΩ |
|
| A/B incremental encoder, HTL 12 V, 2 outputs |
|
| Differential input voltage HIGH |
12 V (6.5 V … 15 V) |
| Differential input voltage LOW |
0 V (–1 V … 2.5 V) |
| Input voltage |
–5 V … 20 V |
| Input frequency |
≤ 300 kHz |
| Input resistance |
≥ 35 kΩ |
|
| A/B incremental encoder, HTL 12 V, 2 pairs of outputs |
|
| Differential input voltage HIGH |
12 V (4 V … 15 V) |
| Differential input voltage LOW |
–12 V (–15 V … –4 V) |
| Input voltage |
–5 V … 20 V |
| Input frequency |
≤ 300 kHz |
| Input resistance |
≥ 35 kΩ |
|
| A/B incremental encoder, HTL 24 V, 2 outputs |
|
| Differential input voltage HIGH |
24 V (13 V … 30 V) |
| Differential input voltage LOW |
0 V (–3 V … 5 V) |
| Input voltage |
–10 V … 40 V |
| Input frequency |
≤ 300 kHz |
| Input resistance |
≥ 35 kΩ |
|
| A/B incremental encoder, HTL 24 V, 2 pairs of outputs |
|
| Differential input voltage HIGH |
24 V (8 V … 30 V) |
| Differential input voltage LOW |
–24 V (–30 V … –8 V) |
| Input voltage |
–10 V … 40 V |
| Input frequency |
≤ 300 kHz |
| Input resistance |
≥ 35 kΩ |
|
| A/B incremental encoder, RS-422 |
|
| Differential input voltage HIGH |
0.2 V … 5 V |
| Differential input voltage LOW |
–5 V … –0.2 V |
| Input voltage |
–7 V … 7 V |
| Input frequency |
≤ 1,000 kHz |
| Input resistance |
≥ 35 kΩ |
| Differential resistance |
120 Ω (100 Ω … 150 Ω) |
|
| Sin/cos encoder |
|
| Differential input voltage |
1 V (0.8 V … 1.2 V) |
| Input voltage |
0 V … 5 V |
| Input frequency |
≤ 120 kHz |
| Input resistance |
1 kΩ (0.9 kΩ … 1.1 kΩ) |
| Voltage monitoring, lower limit for vector length monitoring |
0.5 V |
| Voltage monitoring, upper limit for vector length monitoring |
1.5 V |
|
| SSI encoder (master / listener) |
|
| Differential resistance |
120 Ω (100 Ω … 150 Ω) |
| Clock frequency |
100 kHz … 1,000 kHz |
| Cycle gaps between the data packages (monoflop time) |
≥ 100 µs |
| Position data bits per frame |
16 … 62 |
|
|
| Mechanical data |
| Dimensions (W x H x D) |
22.5 mm x 96.5 mm x 126 mm |
| Weight |
120 g |
|
| Ambient data |
| Enclosure rating |
IP20 (EN 60529) |
| Ambient operating temperature |
–25 °C … +55 °C |
| Storage temperature |
–25 °C … +70 °C |
| Air humidity |
≤ 95 %, Non-condensing |
|
| Classifications |
| ECLASS 5.0 |
27243001 |
| ECLASS 5.1.4 |
27243101 |
| ECLASS 6.0 |
27243101 |
| ECLASS 6.2 |
27243101 |
| ECLASS 7.0 |
27243101 |
| ECLASS 8.0 |
27243101 |
| ECLASS 8.1 |
27243101 |
| ECLASS 9.0 |
27243101 |
| ECLASS 10.0 |
27243101 |
| ECLASS 11.0 |
27243101 |
| ECLASS 12.0 |
27243101 |
| ETIM 5.0 |
EC001449 |
| ETIM 6.0 |
EC001449 |
| ETIM 7.0 |
EC001449 |
| ETIM 8.0 |
EC001449 |
| UNSPSC 16.0901 |
32151705 |
|
