Panasonic MINAS A6 Multi Series Technical Reference page 227

8.2System configuration
8.2 System configuration
8.2.1 Encoder configuration
The combination of encoders corresponding to each safety function is shown below.
Connection Configuration 1
X9A, X9B Absolute encoder
X10A, X10B -
(Note 1) In the case of semi-closed control, it is not used for control but used only for monitoring.
Encoder configuration corresponding to each safety function
Safety level
(Note 3)
・Safety
Safety
integrity level
function
・Performance
level
・Category
SS2, SOS,
SIL3、PLe、Cat4
SLA, SAR,
(Note 2)
SLI, SDI,
SIL3、PLe、Cat3
SLP, SCA
SS1, SLS, SIL3, PLe, Cat4
SSM, SSR (Note 2)
SIL3, PLe, Cat3
SIL2, PLd, Cat3
STO, SBC SIL3, PLe, Cat4
(Note 4) (Note 2)
SIL3, PLe, Cat3
(Note 2) Cat. 4 requires test pulse for the purpose of safety input diagnose.
(Note 3) To use multiple safety functions, the lower safety level will be provided.
Ex.) When STO and SLS are used and Encoder configuration is Conf. 1, Safety level of Servo amplifier is SIL2, PL d, Cat.3.
(Note 4) Since STO and SBC do not monitor the encoder data, torque control can be used.
(Note 5) Except for STO and SBC, encoder data is monitored, however torque control can be used because the encoder is duplicated.
8-3
Configuration 2
Absolute encoder
Panasonic serial communication scale
or ABZ parallel external scale
Encoder configuration
Conf. 1 Conf. 2
Position Speed Torque Position
control control control control
- - -
- - -
✔ ✔
-
✔ ✔ ✔
Configuration 3
Absolute encoder
SSI serial communication scale or
EnDat2.2 Non Safety scale
or Panasonic serial communication scale
or ABZ parallel external scale
Torque Full
Speed
control closed
control
(Note 5) control
✔ ✔ ✔ ✔
✔ ✔ ✔ ✔
- - -
✔ ✔ ✔ ✔
Conf. 3
Torque
Position Speed
control
control control
(Note 5)
✔ ✔ ✔
✔ ✔ ✔
- - - -
✔ ✔ ✔