Siemens SINAMICS G130 Manual page 115

Figure 6-11
Two-encoder system
For a two-encoder system the safe actual values for a drive are provided by two separate
encoders. The actual values are transferred to the Control Unit by means of fail-safe
communication via DRIVE-CLiQ.
For motors without a DRIVE-CLiQ interface, the connection is established by means of
additional Sensor Modules (SMC or SME).
Each measuring system requires a separate connection or a separate Sensor Module.
Figure 6-12
Safety Integrated
Function Manual, 05/2010, A5E03264275A
6.13 Reliable actual value acquisition with the encoder system
Example for a single-encoder system
Example for a two-encoder system
Safety Integrated Extended Functions
115