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Supplementary data
9.1.5
Safety-related characteristic data for operation with non-safety-related
encoder with diagnostics via the drive controller
The detection of sensor errors (diagnostics for the sensor subsystem via the evaluation
device) can be supplemented with a drive controller.
9.1.5.1
Permitted sensor types and output signals
Permitted sensor types:
}
Rotary non-safety-related encoders
}
Linear non-safety-related encoders
Permitted output signals:
}
Square output signals TTL, single ended
}
Square output signals TTL, differential
}
Square output signals HTL, single ended
}
Square output signals HTL, differential
}
Sin/Cos output signals 1Vss, reference voltage
}
Sin/Cos output signals 1Vss, differential
9.1.5.2
Requirements of the drive controller
}
Parameters for the control loops and motor control must be set in such a way as to
guarantee stable operation.
Drag error detection (see below) must be capable of operating in accordance with the
requirements of the safety function.
}
The motor must be operated with a current impressing control procedure, based on the
rotor position (field-oriented control). If the analogue track signals are idle, field-oriented
control will brake and/or stop the rotor.
}
The drive controller must be in position control operating mode.
}
If a maximum error variable is exceeded (set/true comparison) the drive controller must
switch to a fault condition and stop the drive (drag error detection). The error reaction to
drag error detection should be a controlled motor stop.
}
Fault detection via the error variable with subsequent shutdown must meet the require-
ments of the safety function, with regard to reaction times for example.
}
The drive controller must evaluate the same incremental/SinCos signals from the en-
coder for control as are processed by the safe evaluation device (important on en-
coders with combined analogue/digital interface).
Operating Manual PSSu K F EI CV(-T)
1004290-EN-04
66
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