Data Exchange And Control Of The Motor Controller - Festo CAMC-G-S3 Manual

2 Product description of safety module CAMC-G-S3
Please note
In applications with only one shaft encoder / position encoder, it must have the SIL
classification required in accordance with the risk analysis. In most cases, the classifica­
tion requires additional requirements or fault exclusions in the mechanical system.
Please check carefully that these requirements are fulfilled in your application and that
the appropriate fault exclusions can be performed. In this regard, always observe the
implementation information and the required fault exclusions, required by the manufac­
turer of the position encoder.
Please note
In applications with only one shaft encoder / position encoder with analogue signal
interface (Resolver, SIN-/COS, Hiperface, etc.), the restrictions regarding diagnostic
cover and possible accuracy of rest and speed monitoring must be taken into account
è Appendix A.3.5 and A.3.6.
Please note
When using two functional encoders without SIL classification, the suitability of the
encoder combination for use in safe systems up to SIL3 must be proven separately (for
example, the following are required: Diversity of the encoder systems with regard to
CCF, MTTFd, etc., suitability of the encoders for the operating and ambient conditions,
EMC, etc.).
Recommendation: If necessary, use sample solutions created by the manufacturer with
defined combinations of axles, motors and encoders.
2.2.6

Data exchange and control of the motor controller

The safety module can manipulate the power output stage of the motor controller using digital control
signals. The motor controller uses further digital control signals to indicate its operating status. In addi­
tion, it is connected to the microcontroller in the basic unit via an internal communication interface
(è Section 2.2.1, Fig. 2.2 Functional principle of safety module).
The safety module can control the motor controller ("Master control"). It controls:
– switching off the power output stage,
– manipulation of the brake control,
– the setpoint values for the controller,
– error acknowledgment.
The digital control signals are used as follows:
a) Switching off the driver supply in the motor controller:
The power output stage of the motor controller can be switched off using two independent channels.
One channel controls power connected to the top switch and the other the power connected to the
bottom switch. The channels are controlled diversely by the safety module and are continuously
Festo – GDCP-CAMC-G-S3-EN – 1406NH – English 33