Danfoss OPTBL, OPTBM, OPTBN Operating guide

VACON® NXP Advanced Safety Options

1 Introduction

2 Safety

3 Overview of the System

1.1 Purpose of the Manual

1.2 Additional Resources

1.3 Manual and Software Version

1.4 Approvals and Certificates

1.5 Product Overview

1.6 Terms and Abbreviations

2.1 Safety Symbols

2.2 Danger and Warnings

2.3 Cautions and Notices

2.4 Grounding

3.1 Using the Advanced Safety Options

3.2 The Safe State

3.3 Integration and Interfaces to Other Systems

3.4 Determining the Achieved Safety Level

3.5 Advanced Safety Option Variants

3.5.1 General Information

3.5.2 Input Configuration

3.5.3 Output Configuration

3.5.4 Option Board OPTBL

0 (0)

Operating Guide

OPTBL, OPTBM, OPTBN

drives.danfoss.com

VACON® NXP Advanced Safety Options
Operating Guide	Contents

Contents

1 Introduction		9
1.1	Purpose of the Manual	9
1.2	Additional Resources	9
1.3	Manual and Software Version	10
1.4	Approvals and Certificates	12
1.5	Product Overview	15
1.6	Terms and Abbreviations	16

2 Safety		19
2.1	Safety Symbols	19
2.2	Danger and Warnings	19
2.3	Cautions and Notices	20
2.4	Grounding	22

3 Overview of the System			24
3.1	Using the Advanced Safety Options		24
3.2	The Safe State		24
3.3	Integration and Interfaces to Other Systems		25
3.4	Determining the Achieved Safety Level		25
3.5	Advanced Safety Option Variants		27
	3.5.1	General Information	27
	3.5.2	Input Configuration	27
	3.5.3	Output Configuration	28
	3.5.4	Option Board OPTBL	30
	3.5.5	Option Board OPTBM	31
	3.5.6	Option Board OPTBN	32
	3.5.7 Closed-loop Control with OPTBM		33
	3.5.8 Closed-loop Control with OPTBN		33
3.6	Speed Measurement		33
	3.6.1	Safety Speed Sensors	33
	3.6.2 Standard Speed Sensors and Combinations		33
	3.6.3 Speed Discrepancy with Multiple Speed Sources		35
	3.6.4	Encoders	35
	3.6.5	Proximity sensors	38
	3.6.6	Encoder Signal Verification	39
	3.6.7 Usage of Only One Speed Sensor		39
	3.6.8	Estimated Speed	40

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VACON® NXP Advanced Safety Options
Operating Guide				Contents

		3.6.9	Estimated Speed and Gear Systems	42
		3.6.10	Estimated Speed and External Accelerative Forces	43
	3.7	Storage of Parameters		43
		3.7.1	Storing a Parameter File Backup	44
		3.7.2	Restoring a Parameter File from Backup	44
	3.8	Advanced Safety Options with the NXP Drive		44
		3.8.1	Requirements	44
		3.8.2	Compatibility with Drive Applications	45
		3.8.3	Option Board Menu on the Control Panel	45
		3.8.4	Fault Types	49
4	Installation			51
	4.1	Installation Safety		51
	4.2	Installing the Option Board		51
5	VACON Safe Tool			53
	5.1	Functions of the VACON Safe Tool		53
	5.2	The Parameter File		53
	5.3	User Levels and Password Management		53
	5.4	Setting the Parameters		54
	5.5	Saving a Verified Parameter File to the Option Board		56
	5.6	Online Monitoring		56
		5.6.1	Viewing the State of the Option Board	56
		5.6.2	Activity Log	56
6	Safety Functions			57
	6.1	General Information		57
		6.1.1	The Different Safety Functions	57
		6.1.2	Safety Function States	57
		6.1.3	Activation of a Safety Function	58
		6.1.4	Violation of a Safety Function	58
		6.1.5	Acknowledgment of a Safety Function	59
			6.1.5.1 Acknowledgment of a Safety Function	59
			6.1.5.2 Start-up Acknowledgment	63
		6.1.6	Reset of a Safety Function	63
		6.1.7	Ramps	64
	6.2	Safe Stopping Functions		66
		6.2.1	Introduction to the Safe Stopping Functions	66
		6.2.2	STO - Safe Torque Off and SBC - Safe Brake Control	67

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VACON® NXP Advanced Safety Options
Operating Guide			Contents

	6.2.2.1 Introduction to the STO and SBC Functions		67
	6.2.2.2 The STO Function Used without the SBC Function		68
	6.2.2.3 The STO Function Used with the SBC Function		68
	6.2.2.4 The STO and SBC Signals		69
6.2.3	SS1 - Safe Stop 1		73
	6.2.3.1 Introduction to the SS1 Function		73
	6.2.3.2	Time Monitoring	74
	6.2.3.3	Zero Speed Monitoring	74
	6.2.3.4	Ramp Monitoring	75
	6.2.3.5	The SS1 Signals	75
6.2.4 SS2 - Safe Stop 2 and SOS - Safe Operating Stop			78
	6.2.4.1 Introduction to the SS2 and SOS Functions		78
	6.2.4.2	Time Monitoring	79
	6.2.4.3	Zero Speed Monitoring	79
	6.2.4.4	Ramp Monitoring	80
	6.2.4.5 The SOS Safety Function		80
	6.2.4.6 The SS2 and SOS Signals		80
6.2.5	SQS - Safe Quick Stop		84
	6.2.5.1 Introduction to the SQS Function		84
	6.2.5.2	The SQS Modes	85
	6.2.5.3	The SQS Signals	85
6.3 Safe Monitoring Functions			89
6.3.1 Introduction to the Safe Monitoring Functions			89
6.3.2	SLS - Safe Limited Speed		90
	6.3.2.1 Introduction to the SLS Function		90
	6.3.2.2	Time Monitoring	90
	6.3.2.3	Ramp Monitoring	91
	6.3.2.4 The Speed Limit Selection of the SLS Function		91
	6.3.2.5	The SLS Signals	92
6.3.3 SMS - Safe Maximum Speed			96
	6.3.3.1 Introduction to the SMS Function		96
	6.3.3.2 The Maximum Speed Monitoring		96
	6.3.3.3	The SMS Signals	97
6.3.4	SSR - Safe Speed Range		99
	6.3.4.1 Introduction to the SSR Function		99
	6.3.4.2	Time Monitoring	99
	6.3.4.3	Ramp Monitoring	100
	6.3.4.4	The SSR Signals	101

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VACON® NXP Advanced Safety Options
Operating Guide					Contents

		6.3.5	SSM - Safe Speed Monitor		103
			6.3.5.1	Introduction to the SSM Function	103
			6.3.5.2	Speed Monitoring	104
			6.3.5.3	The SSM Safe Output	104
			6.3.5.4	The SSM Signals	105
	6.4 Combinations of Safety Functions				109
7	Safe Fieldbuses				111
	7.1	PROFIsafe			111
		7.1.1	Introduction to PROFIsafe		111
		7.1.2 The Requirements and Restrictions			111
		7.1.3 Overview of the PROFIsafe System			112
		7.1.4	The PROFIsafe Frame		112
		7.1.5	Parameterization for PROFIsafe		113
			7.1.5.1	General Information on Parameterization	113
			7.1.5.2	PROFIsafe Watchdog Time	114
			7.1.5.3	The PROFIsafe Safety Function Response Time (SFRT)	115
		7.1.6	PROFIdrive on PROFIsafe		115
			7.1.6.1	General Information on PROFIdrive on PROFIsafe	115
			7.1.6.2	PROFIsafe over PROFIBUS	116
			7.1.6.3	PROFIsafe over PROFINET	117
			7.1.6.4	Data Mapping for PROFIdrive on PROFIsafe	117
			7.1.6.5	Safety Control Word 1 (S_STW1)	117
			7.1.6.6	Safety Status Word 1 (S_ZSW1)	118
			7.1.6.7	Safety Control Word 2 (S_STW2)	119
			7.1.6.8	Safety Status Word 2 (S_ZSW2)	120
			7.1.6.9	VACON Safety Control Word (VS_CW)	122
			7.1.6.10	VACON Safety Status Word (VS_SW)	123
8	Parameter List				125
	8.1	General Parameters			125
		8.1.1	Parameter File Parameters		125
		8.1.2 Common Safety Function Parameters			125
		8.1.3	Speed Measurement Parameters		125
		8.1.4	Ramp Parameters		126
		8.1.5	Estimated Speed Parameters		127
	8.2	Safe I/O Parameters			127
		8.2.1	Digital Input/Output Parameters		127
	8.3	Safe Fieldbus Parameters			129

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VACON® NXP Advanced Safety Options
Operating Guide			Contents

	8.3.1	PROFIsafe Parameters	129
8.4	STO and SBC Parameters		129
8.5	SS1 Parameters		130
8.6	SS2 and SOS Parameters		130
8.7	SQS Parameters		131
8.8	SLS Parameters		132
8.9	SMS Parameters		132
8.10	SSR Parameters		133
8.11	SSM Parameters		133
8.12	Validation Parameters		134
9 Commissioning and Validation			135
9.1	Preparing for Commissioning		135
	9.1.1	Preparing for Commissioning	135
	9.1.2 Procedures Before the First Start-up of the System with the Option		135
9.2	Doing the First Start-up After the Installation of the Option Board		136
9.3	Validating the Parameter File		137
9.4	Checklist before Taking the System into Use		137
9.5	Bypassing Safety Features		137
10 Operation and Maintenance			139
10.3	Resetting the Password		141
10.4	Factory Reset		141
	10.5.1	Updating the Firmware	142
10.6	Replacing the Option Board		143
10.7	Replacement of Other Components of the Safety System		143
10.8	Disposal		144
11 Technical Data			145
11.1	Safety Data		145
11.2	Safe Input/Output Data		145
11.3	Speed Measurement Data		147
11.4	Safe Fieldbus Data		149
11.5	Environmental Data		149
12 Fault Tracing			150
12.1	Presentation of Faults on the Control Board		150
12.2	Fault Codes		151
12.3	OPTAF STO and ATEX Option Board Fault Information		172

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VACON® NXP Advanced Safety Options
Operating Guide	Contents

13 Configuration Examples		173
13.1	General Information	173
13.2	Emergency Stop Using the STO Function	173
13.3	SS1 Used with STO(+SBC)	174
13.4	SS1 Without a Direct Support of the Drive Application	176
13.5	Light Curtain Control of SLS	177
13.6	SLS without a Direct Support of the Drive Application	180
13.7	Using an Output of the Option Board to Control the Access to an Area	182
13.8	PROFIdrive over PROFIsafe Using the PROFIBUS or PROFINET Option Board	185
13.9	A Proximity Sensor for Speed Measurement	187

AQ319736045637en-000101/DPD01798

VACON® NXP Advanced Safety Options

Operating Guide	Introduction

This manual describes the VACON® Advanced Safety Options (OPTBL, OPTBM, or OPTBN). The VACON® Advanced Safety Options can be used with the VACON® NXP AC drive.

The operating guide is intended for use by qualified personnel, who are familiar with the VACON® drives and functional safety. To use the product safely, read and follow the operating instructions.

Resources Available for the Drive and Optional Equipment

•VACON® NX OPTAF STO Board Manual

•VACON® NX All in One Application Guide - information on working with parameters and many application examples

•VACON® OPTE3/E5 PROFIBUS DP User Guide

•VACON® NX I/O Boards User Manual

•VACON® OPTEA/OPTE9 Ethernet Board User Guide

•VACON® Ethernet Option Boards Installation Guide

•VACON® RS485 and CAN Bus Option Boards Installation Guide

•VACON® NXP Advanced Safety Options Quick Guide

•The Operating Guide of the AC drive provides the necessary information to get the drive up and running.

Supplementary publications and manuals are available from drives.danfoss.com/knowledge-center/technical-documentation/. Standards, specifications, and official recommendations

•EN IEC-62061 – Safety of machinery – Functional safety of safety-related electrical, electronic and programmable electronic control systems, 2005

•IEC 61784-3 – Industrial communication networks – Profiles – Part 3: Functional safety fieldbuses - General rules and profile definitions, 2010

•EN ISO 13849-1 – Safety of machinery – Safety-related parts of control systems – Part 1: General principles for design, 2015

•EN IEC 60204-1 – Safety of machinery – Electrical equipment of machines – Part 1: General requirements, 2006

•EN IEC 61800-5-2 – Adjustable speed electrical power drive systems – Part 5-2: Safety requirements – Functional, 2007

•IEC 61508 – Functional safety of electrical/electronic/programmable electronic safety related systems, 2010

•EN ISO 12100 – Safety of machinery -- General principles for design -- Risk assessment and risk reduction, 2010

•ISO 14121-1 – Safety of machinery -- Risk assessment -- Part 1: Principles, 2007

•Amendment – PROFIdrive on PROFIsafe Interface for functional safety; Technical Specification for PROFIBUS and PROFINET related to PROFIdrive – Profile Drive Technology V4.1, Version 3.00.4, April 2011, Order No.: 3.272

•PROFIsafe – Profile for Safety Technology on PROFIBUS DP and PROFINET IO, Version 2.4, March 2007, Order No: 3.192b

•Recommendation of Use CNB/M/11.050, rev 05; European co-ordination of Notified Bodies for Machinery, 2013

•BGIA Report 2/2008e Functional safety of machine controls – Application of EN ISO 13849 –, 2009

Software and Configurations Files

•The firmware for the Advanced Safety Option, https://www.danfoss.com/en/service-and-support/downloads/dds/fieldbus-firm- ware/.

•VACON® Safe, https://www.danfoss.com/en/service-and-support/downloads/dds/vacon-safe/.

•The GSD/GSDML file, https://www.danfoss.com/en/service-and-support/downloads/dds/fieldbus-configuration-files/.

For US and Canadian markets:

NOTE! Download the English and French product guides with applicable safety, warning and caution information from https:// www.danfoss.com/en/service-and-support/.

REMARQUE Vous pouvez télécharger les versions anglaise et française des guides produit contenant l'ensemble des informations de sécurité, avertissements et mises en garde applicables sur le site https://www.danfoss.com/en/service-and-support/.

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VACON® NXP Advanced Safety Options

Operating Guide	Introduction

This manual is regularly reviewed and updated. All suggestions for improvement are welcome. The original language of this manual is English.

Always make sure that you use the latest or correct revision of the manual when assessing the behavior of the Advanced safety option board.

Table 1: Manual and Software Version

Manual ver-	New features	Firmware ver-	Hardware ver-
sion		sion	sion

DPD01798B	The first published version of this manual.

DPD01798C	• PROFIsafe over PROFINET information added. Chapter Safe fieldbuses

	and throughout the manual.
	• Version history table added.
	• Table linking option board names to option board codes. Chapter 3.5.1
	General Information.
	• Images edited. Chapters VACON Advanced Safety Option variants and
	Configuration examples.
	• Warning added. Chapter 6.1.4 Violation of a Safety Function.
	• Fault settings table added. Chapter 3.8.3 Option Board Menu on the
	Control Panel.
	• Safety bypass procedure updated. Chapter 9.5 Bypassing Safety Fea-
	tures.
	• Fault codes edited. Chapter Fault codes.
	• New configuration example on SLS without drive application support
	added. Chapter 13.6 SLS without a Direct Support of the Drive Applica-
	tion.
	• Configuration examples numbered. Chapter Configuration examples.
	• Other minor updates. Throughout the manual.

DPD01798D	• Safety function acknowledgment and reset descriptions updated to	FW0281V001	70CVB01938 F
		or later	(141X4588) or
	match new behavior. Chapters 6.1.5.1 Acknowledgment of a Safety	or later	(141X4588) or
			later,
	Function and 6.1.6 Reset of a Safety Function.		later,
	Function and 6.1.6 Reset of a Safety Function.		70CVB01957 F
	• Example of system level calculations updated. Chapter 3.4 Determining		70CVB01957 F
			(141X4608) or
	the Achieved Safety Level.		later,
	• Encoder terminals updated. Chapters 3.5.5 Option Board OPTBM and		70CVB01958 E
	3.5.6 Option Board OPTBN.		(141X4610) or
	• Option board installation instructions updated. Chapter 4.2 Installing		later

	the Option Board.
	• Extended slot support and example configuration updated. Chapter 3.1
	Using the Advanced Safety Options.
	• Comment on closed-loop control added. Chapter 3.6.7 Usage of Only
	One Speed Sensor.
	• Old parameters edited and new added. Chapter 3.8.3 Option Board
	Menu on the Control Panel.
	• Watchdog times updated. Chapter 7.1.5.2 PROFIsafe Watchdog Time.
	• Technical details updated. Chapter 11.1 Safety Data.
	• Fault codes updated. Chapter Fault codes.
	• Images edited. Chapters 3.1 Using the Advanced Safety Options, 3.6.8
	Estimated Speed, 6.2.3.5 The SS1 Signals, 6.3.4.2 Time Monitoring,
	6.3.4.3 Ramp Monitoring, 13.3 SS1 Used with STO(+SBC), 13.5 Light Cur-

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VACON® NXP Advanced Safety Options
Operating Guide			Introduction


Manual ver-	New features	Firmware ver-	Hardware ver-
sion		sion	sion

	tain Control of SLS, and 13.6 SLS without a Direct Support of the Drive
	Application.
	• Other minor updates. Throughout the manual.

DPD01798E	• New chapter added, 3.6.3 Speed Discrepancy with Multiple Speed Sour-	FW0281V001	70CVB01938 F
		or later	(141X4588) or
	ces.	or later	(141X4588) or
	ces.		later,
	• Information on internal variables added. Chapter 10.1 Gathering Diag-		later,
			70CVB01957 F
	nostic Data.		(141X4608) or
	• Some fault numbers for fault code 20 Safety system updated. Chapter		later,
	Fault codes.		70CVB01958 E
	• OPTAF option board fault information added. Chapter 12.3 OPTAF STO		(141X4610) or
			later
	and ATEX Option Board Fault Information.		later
	and ATEX Option Board Fault Information.
	• Other minor updates. Throughout the manual.

DPD01798F	• PROFINET IO/PROFIsafe Certificate updated. 1.4 Approvals and Certifi-	FW0281V001	70CVB01938 F
		or later	(141X4588) or
	cates.	or later	(141X4588) or
	cates.		later,
	• Changes in layout and structure.		later,
	• Changes in layout and structure.		70CVB01957 F
			(141X4608) or
			later,
			70CVB01958 E
			(141X4610) or
			later

AQ319736045637en-000101 / DPD01798 | 11

VACON® NXP Advanced Safety Options
Operating Guide	Introduction

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Illustration 1: TÜV Certificate

AQ319736045637en-000101 / DPD01798

VACON® NXP Advanced Safety Options
Operating Guide	Introduction

	<![if ! IE]> <![endif]>e30bi950.10

Certificate

PROFIBUS Nutzerorganisation e.V. grants to

Vacon Ltd

Runsorintie 7, 65380 VAASA, FINLAND

the Certificate No: Z20212 for the PROFIsafe Device:

Model Name:	Vacon OPTEA, OPTBL, OPTBM, OPTBN Advanced Safety Option
Order-Number:	OPTBL, OPTBM, OPTBN
Revision:	SW/FW: V4.0.0; HW: 6

Application CRC: Channel A: 0x84C3

Channel B: 0xCB77

This certificate confi rms that the product has successfully passed the certifi cation tests with the following PROFIsafe scope:

PROFIsafe_V2 functionality on PROFINET IO

Test Report Number:	PS127-2
Authorized Test Laboratory:	SIEMENS AG, Fürth, Germany

The tests were executed in accordance with the following documents:

“PROFIsafe - Test Specification for F-Slaves, F-Devices, and F-Hosts, Version 2.1, March 2007”.

This certificate is granted according to the document:

“Framework for testing and certification of PROFIBUS and PROFINET products”.

For all products that are placed in circulation by March 19, 2023 the certificate is valid for life.

Karlsruhe, May 14, 2020	Board of PROFIBUS Nutzerorganisation e. V.
_____________________________
(Official in Charge)	_____________________________
	(Karsten Schneider)
	_____________________________
	(Dr. Jörg Hähniche)

Illustration 2: PROFINET IO/PROFIsafe Certificate

AQ319736045637en-000101 / DPD01798 | 13

VACON® NXP Advanced Safety Options
Operating Guide	Introduction

	<![if ! IE]> <![endif]>e30bi949.10

Illustration 3: EC Declaration of Conformity

AQ319736045637en-000101 / DPD01798

VACON® NXP Advanced Safety Options

Operating Guide	Introduction

The Advanced safety option board is intended to be used for implementing safety functions according to application needs. The option board is intended to be used with the OPTAF STO option board to implement the safety functions and features in VACON® NX drives.

The safety functions available with the Advanced safety option board (according to EN IEC 61800-5-2)

•Safe Torque Off (STO)

•Safe Stop 1 (SS1)

•Safe Stop 2 (SS2)

•Safe Operating Stop (SOS)

•Safe Brake Control (SBC)

•Safe Limited Speed (SLS)

•Safe Speed Range (SSR)

•Safe Speed Monitor (SSM)

The manufacturer-specific safety functions

•Safe Maximum Speed (SMS)

•Safe Quick Stop (SQS)

For more information on the safety functions, see chapter Safety functions.

The safe fieldbuses supported by the option board

•PROFIsafe communication over PROFIBUS

•PROFIsafe communication over PROFINET

Communication over PROFIsafe is implemented according to the PROFIdrive on PROFIsafe amendment.

W A R N I N G

DESIGNING OF SAFETY SYSTEMS

Designing a safety-related system incorrectly could result in death or serious injury.

-The designing of safety-related systems requires special knowledge and skills.

-Only qualified persons are permitted to install and set up the product.

W A R N I N G

RISK ASSESSMENT OF A SAFETY SYSTEM

The use of safety functions provided by the Advanced Safety Option does not in itself ensure safety.

-To make sure that the commissioned system is safe, you must make an overall risk assessment.

-Safety devices like the Advanced safety option board must be correctly incorporated into the entire system.

-The entire system must be designed in compliance with all relevant standards within the field of industry. Standards such as EN 12100 Part 1, Part 2, and ISO 14121-1 provide methods for designing safe machinery and for making a risk assessment.

C A U T I O N

PROTECTION AGAINST CONTAMINATION

For the product to work properly, it must be protected against conductive dust and contaminants.

-For example, install the Advanced Safety Option board in at least an IP54 enclosure.

N O T I C E

This guide provides information on the use of the safety functions that the Advanced Safety Option provides. This information is in compliance with accepted practice and regulations at the time of writing. However, the product/system designer is responsible for making sure that the system is safe and in compliance with relevant regulations.

AQ319736045637en-000101 / DPD01798 | 15

VACON® NXP Advanced Safety Options

Operating Guide Introduction

Table 2: Symbols and Abbreviations

Abbreviation	Definition

Admin	The highest user level for accessing the Advanced safety option board functions. Identified via a pass-
	word.

Acknowledgment	A signal that indicates that a safety function can be deactivated. Valid for safety functions that use man-
	ual acknowledgment.

ASM	An asynchronous motor

Continuous mode	Safety function is active as a part of normal operation.

CRC	Cyclic Redundancy Check

CW	Control word

DAT	Device Acknowledgment Time

Diagnostic Coverage	The coverage of dangerous failures by run-time diagnostics.
(DC)

EMC	Electromagnetic compatibility

Encoder interface	An option board that has an encoder interface.
board

F-Device	A communication peer that can perform the PROFIsafe protocol.

F-Host	A data processing unit that can perform the PROFIsafe protocol and service the "black channel".

FMEA	Failure Mode and Effects Analysis

Critical fault	A fault that causes the option board to enter into a fault state and requires a reboot to be reset.

GSD	Generic Station Description (used with PROFIBUS).

GSDML	General Station Description Markup Language (used with PROFINET).

Hardware Fault Tol-	The number of hardware failures that the safety system can tolerate without the loss of the safety func-
erance (HFT)	tion.

HAT	Host Acknowledgment Time.

High demand mode	Safety functions are performed on demand. The frequency of demand is more than once a year.

HTL	High Threshold Logic. A voltage level definition.

I/O	Input/Output

Low demand mode	Safety functions are performed on demand. The frequency of demand is less than once a year.

MTTF	Mean Time To Failure

OPTAF	An option board that handles the activation of the STO function for the AC drive.

OPTBL, OPTBM,	The variants of the Advanced safety option. OPTBL: no encoder interface. OPTBM: with digital pulse type
OPTBN	encoder interface board. OPTBN: with Sin/Cos type encoder interface board.

OPTE3/5	Option board that handles the PROFIBUS DP interface.

OPTEA	Option board that handles the PROFINET IO interface.


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VACON® NXP Advanced Safety Options

Operating Guide	Introduction


Abbreviation	Definition

Parameter file	A configuration file that contains the parameters for an Advanced safety option board.

Unverified parame-	A parameter file that contains parameters that have not been verified by an Advanced safety option
ter file	board.

Verified parameter	A parameter file that contains parameters that have been verified and can be used in an Advanced safety
file	option board.

Validated parameter	A verified parameter file that contains parameters that have been tested and approved in the system.
file

PFH	Probability of failure per hour. Valid for systems that operate in a high demand mode or continuous
	mode.

PFHd	Probability of dangerous failure per hour.

PFD	Probability of failure on demand. The probability that the safety function does not work when requested.
	Valid for systems that operate in a low demand mode.

PL	Performance Level

PLC	Programmable Logic Controller

PMSM	A permanent magnet synchronous motor

PROFIBUS	Standardized fieldbus protocol for RS-485 communication.

PROFIdrive	A specification for implementing AC drive related behavior over PROFIBUS/ PROFINET.

PROFINET	Standardized fieldbus protocol for Ethernet communication.

PROFIsafe	A safe fieldbus layer that operates over PROFIBUS/PROFINET.

Reached	A safety function that is reached has stopped the drive (safe stopping functions), or reached a safe area
	for the measured value and monitoring for leaving the area has been activated (safe monitoring func-
	tions).

Resettable fault	An error in that can be reset with a reset signal.

Reset (signal)	A signal used to reset the current violations and faults in the drive and/or the Advanced safety option
	board and to deactivate the STO function after a violation or fault.

SFF	Safe Failure Fraction

Safe monitoring	A safety function that monitors a specific value, usually speed.
function

Safe stopping func-	A safety function intended to stop the motor.
tion

Safe range	A range where the monitored value can be. Exceeding the limits of a safe range will cause a violation of
	the safety function.

Safe state	A state of a device or process that should be maintained to avoid dangerous incidents. For the AC drive
	system, the safe state is defined as activated STO function.

Service	A user level for accessing the Advanced safety option board functions. Identified via a password. In this
	user level, it is not possible to verify a parameter file or change passwords.

SFRT	Safety Function Response Time

SRP/CS	Safety-Related Part of a Control System


Danfoss A/S © 2021.06	AQ319736045637en-000101 / DPD01798 \| 17

VACON® NXP Advanced Safety Options

Operating Guide	Introduction


Abbreviation	Definition

STO	Safe Torque Off. A safety function according to EN IEC 61800-5-2.

SS1	Safe Stop 1. A safety function according to EN IEC 61800-5-2.

SS2	Safe Stop 2. A safety function according to EN IEC 61800-5-2.

SQS	Safe Quick Stop. A manufacturer-specific safety function. Used as a violation response for safe monitoring
	functions. Parameterizable to behave as the STO, SS1 or SS2 function.

SQS-STO, SQS-SS1,	Used to indicate the STO, SS1 or SS2 function as the selected behavior of the SQS function.
SQS-SS2

SLS	Safe Limited Speed. A safety function according to EN IEC 61800-5-2.

SSR	Safe Speed Range. A safety function according to EN IEC 61800-5-2.

SSM	Safe Speed Monitor. A safety function according to EN IEC 61800-5-2.

SMS	Safe Maximum Speed. A manufacturer-specific safety function.

SBC	Safe Brake Control. A safety function according to EN IEC 61800-5-2.

SOS	Safe Operating Stop. A safety function according to EN IEC 61800-5-2.

SIL	Safety Integrity Level

SW	Status word

TTL	Transistor-Transistor Logic. A voltage level definition.

Violation	A fault caused by a safety function detecting a violation of the monitored value(s). The value monitored
	by a safety function has exceeded the set limit for that value.

Violation response	A reaction to a violation. It is the STO function for the safe stopping functions, and the SQS function for
	the safe monitoring functions.

WCDT	Worst Case Delay Time

WDTime	Watchdog Time

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VACON® NXP Advanced Safety Options

Operating Guide	Safety

The following symbols are used in this manual:

D A N G E R

Indicates a hazardous situation which, if not avoided, will result in death or serious injury.

W A R N I N G

Indicates a hazardous situation which, if not avoided, could result in death or serious injury.

C A U T I O N

Indicates a hazardous situation which, if not avoided, could result in minor or moderate injury.

N O T I C E

Indicates information considered important, but not hazard-related (for example, messages relating to property damage).

D A N G E R

SHOCK HAZARD FROM POWER UNIT COMPONENTS

The power unit components are live when the drive is connected to mains. A contact with this voltage can lead to death or serious injury.

-Do not touch the components of the power unit when the drive is connected to mains. Before connecting the drive to mains, make sure that the covers of the drive are closed.

D A N G E R

SHOCK HAZARD FROM TERMINALS

The motor terminals U, V, W, the brake resistor terminals, or the DC terminals are live when the drive is connected to mains, also when the motor does not operate. A contact with this voltage can lead to death or serious injury.

-Do not touch the motor terminals U, V, W, the brake resistor terminals, or the DC terminals when the drive is connected to mains. Before connecting the drive to mains, make sure that the covers of the drive are closed.

D A N G E R

SHOCK HAZARD FROM DC LINK OR EXTERNAL SOURCE

The terminal connections and the components of the drive can be live 5 minutes after the drive is disconnected from the mains and the motor has stopped. Also the load side of the drive can generate voltage. A contact with this voltage can lead to death or serious injury.

-Before doing electrical work on the drive:

Disconnect the drive from the mains and make sure that the motor has stopped. Lock out and tag out the power source to the drive.

Make sure that no external source generates unintended voltage during work. Wait 5 minutes before opening the cabinet door or the cover of the AC drive. Use a measuring device to make sure that there is no voltage.

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VACON® NXP Advanced Safety Options

Operating Guide	Safety

W A R N I N G

SHOCK HAZARD FROM CONTROL TERMINALS

The control terminals can have a dangerous voltage also when the drive is disconnected from mains. A contact with this voltage can lead to injury.

-Make sure that there is no voltage in the control terminals before touching the control terminals.

W A R N I N G

ACCIDENTAL MOTOR START

When there is a power-up, a power break, or a fault reset, the motor starts immediately if the start signal is active, unless the pulse control for Start/Stop logic is selected. If the parameters, the applications or the software change, the I/O functions (including the start inputs) can change. If you activate the auto reset function, the motor starts automatically after an automatic fault reset. See the Application Guide. Failure to ensure that the motor, system, and any attached equipment are ready for start can result in personal injury or equipment damage.

-Disconnect the motor from the drive if an accidental start can be dangerous. Make sure that the equipment is safe to operate under any condition.

W A R N I N G

LEAKAGE CURRENT HAZARD

Leakage currents exceed 3.5 mA. Failure to ground the drive properly can result in death or serious injury.

-Ensure the correct grounding of the equipment by a certified electrical installer.

W A R N I N G

SHOCK HAZARD FROM PE CONDUCTOR

The drive can cause a DC current in the PE conductor. Failure to use a residual current-operated protective (RCD) device Type B or a residual current-operated monitoring (RCM) device can lead to the RCD not providing the intended protection and therefore can result in death or serious injury.

-Use a type B RCD or RCM device on the mains side of the drive.

C A U T I O N

DAMAGE TO THE AC DRIVE FROM INCORRECT MEASUREMENTS

Doing measurements on the AC drive when it is connected to mains can damage the drive.

-Do not do measurements when the AC drive is connected to mains.

C A U T I O N

DAMAGE TO THE AC DRIVE FROM INCORRECT SPARE PARTS

Using spare parts that are not from the manufacturer can damage the drive.

-Do not use spare parts that are not from the manufacturer.

C A U T I O N

DAMAGE TO THE AC DRIVE FROM INSUFFICIENT GROUNDING

Not using a grounding conductor can damage the drive.

-Make sure that the AC drive is always grounded with a grounding conductor that is connected to the grounding terminal that is identified with the PE symbol.

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VACON® NXP Advanced Safety Options

Operating Guide	Safety

C A U T I O N

CUT HAZARD FROM SHARP EDGES

There can be sharp edges in the AC drive that can cause cuts.

-Wear protective gloves when mounting, cabling, or doing maintenance operations.

C A U T I O N

BURN HAZARD FROM HOT SURFACES

Touching surfaces, which are marked with the 'hot surface' sticker, can result in injury.

-Do not touch surfaces which are marked with the 'hot surface' sticker.

N O T I C E

DAMAGE TO THE AC DRIVE FROM STATIC VOLTAGE

Some of the electronic components inside the AC drive are sensitive to ESD. Static voltage can damage the components.

-Remember to use ESD protection always when working with electronic components of the AC drive. Do not touch the components on the circuit boards without proper ESD protection.

N O T I C E

DAMAGE TO THE AC DRIVE FROM MOVEMENT

Movement after installation can damage the drive.

-Do not move the AC drive during operation. Use a fixed installation to prevent damage to the drive.

N O T I C E

DAMAGE TO THE AC DRIVE FROM INCORRECT EMC LEVEL

The EMC level requirements for the AC drive depend on the installation environment. An incorrect EMC level can damage the drive.

-Before connecting the AC drive to the mains, make sure that the EMC level of the AC drive is correct for the mains.

N O T I C E

RADIO INTERFERENCE

In a residential environment, this product can cause radio interference.

-Take supplementary mitigation measures.

N O T I C E

MAINS DISCONNECTION DEVICE

If the AC drive is used as a part of a machine, the machine manufacturer must supply a mains disconnection device (refer to EN 60204-1).

N O T I C E

MALFUNCTION OF FAULT CURRENT PROTECTIVE SWITCHES

Because there are high capacitive currents in the AC drive, it is possible that the fault current protective switches do not operate correctly.

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VACON® NXP Advanced Safety Options

Operating Guide	Safety

N O T I C E

VOLTAGE WITHSTAND TESTS

Doing voltage withstand tests can damage the drive.

-Do not do voltage withstand tests on the AC drive. The manufacturer has already done the tests.

Ground the AC drive in accordance with applicable standards and directives.

C A U T I O N

DAMAGE TO THE AC DRIVE FROM INSUFFICIENT GROUNDING

Not using a grounding conductor can damage the drive.

-Make sure that the AC drive is always grounded with a grounding conductor that is connected to the grounding terminal that is identified with the PE symbol.

W A R N I N G

LEAKAGE CURRENT HAZARD

Leakage currents exceed 3.5 mA. Failure to ground the drive properly can result in death or serious injury.

-Ensure the correct grounding of the equipment by a certified electrical installer.

The standard EN 61800-5-1 tells that 1 or more of these conditions for the protective circuit must be true.

The connection must be fixed.

•The protective earthing conductor must have a cross-sectional area of minimum 10 mm2 Cu or 16 mm2 Al. OR

•There must be an automatic disconnection of the mains, if the protective earthing conductor breaks. OR

•There must be a terminal for a second protective earthing conductor in the same cross-sectional area as the first protective earthing conductor.

Cross-sectional area of the phase conductors (S) [mm2]		The minimum cross-sectional area of the protective earthing con-
		ductor in question [mm2]
S ≤ 16		S

16	< S ≤ 35	16

35	< S	S/2

The values of the table are valid only if the protective earthing conductor is made of the same metal as the phase conductors. If this is not so, the cross-sectional area of the protective earthing conductor must be determined in a manner that produces a conductance equivalent to that which results from the application of this table.

The cross-sectional area of each protective earthing conductor that is not a part of the mains cable or the cable enclosure, must be a minimum of:

•2.5 mm2 if there is mechanical protection, and

•4 mm2 if there is not mechanical protection. With cord-connected equipment, make sure that the protective earthing conductor in the cord is the last conductor to be interrupted, if the strain-relief mechanism breaks.

Obey the local regulations on the minimum size of the protective earthing conductor.

N O T I C E

MALFUNCTION OF FAULT CURRENT PROTECTIVE SWITCHES

Because there are high capacitive currents in the AC drive, it is possible that the fault current protective switches do not operate correctly.

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VACON® NXP Advanced Safety Options

Operating Guide	Safety

N O T I C E

VOLTAGE WITHSTAND TESTS

Doing voltage withstand tests can damage the drive.

-Do not do voltage withstand tests on the AC drive. The manufacturer has already done the tests.

W A R N I N G

SHOCK HAZARD FROM PE CONDUCTOR

-Use a type B RCD or RCM device on the mains side of the drive.

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VACON® NXP Advanced Safety Options

Operating Guide	Overview of the System

The Advanced safety option board is used to implement safety functions in accordance with the standard EN IEC 61800-5-2. The option board handles the safe I/O and the monitoring of active safety functions. The option board does not handle the control of the AC drive. The AC drive can be controlled, for example, with the drive application, or the external process control system can give the speed reference to the AC drive.

The Advanced safety option board must be used with a subsystem that provides the STO function, it is not possible to use the Advanced safety option board alone. The STO function is provided, for example, by the OPTAF STO option board. To use the safety functions that do speed monitoring, an external speed sensor is necessary. The sensor can be a digital or an analog encoder or a digital proximity sensor. See chapter Speed Measurement.

The Advanced safety option board can be used with the digital I/O and over safe fieldbus. Using a safe fieldbus allows you to control more safety functions than is possible with the limited number of inputs and outputs that the Advanced safety option board has.

When using a safe fieldbus, install an option board that supports the fieldbus. See 7.1.1 Introduction to PROFIsafe.

The Illustration 4 shows the configuration of the AC drive with the Advanced safety option board in slot C. The safe fieldbus and the closed-loop control are optional. The possible configuration and available features can depend on other option boards and their installation slots. For use cases with other encoder board installed in slot C, see 3.6.4 Encoders.

NCDrive

VACON® Loader

VACON® Safe

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					Drive
		Control Board
Power
Unit
	SLOT A	SLOT B	SLOT C	SLOT D	SLOT E
	Basic I/O	STO	Advanced		Fieldbus
	Basic I/O	STO	safety		Fieldbus
		option	option		board
		board	board
		STO	Digital		Safe
		Encoder	I/O		fieldbus
Motor	Encoder	Encoder
Motor	Encoder	signals
		signals
			Safety PLC or other safety systems

Illustration 4: An example configuration of the VACON® NXP drive with the Advanced safety option board. The subsystems that handle safety actions are marked in gray.

The parameterization of the option board is done by selecting and editing the safety functions and features with the VACON® Safe tool. See 5.4 Setting the Parameters and chapter Parameter List.

There must be a safe state to which the system can be set when necessary. Usually the safe state is reached when the AC drive does not generate torque to the motor shaft. In the Advanced safety option board, this is realized by the Safe Torque Off (STO) safety function.

In some systems, the active STO function in the AC drive does not create a safe state. It means that external forces can generate torque to the motor shaft and cause it to rotate. To achieve the safe state in these systems, additional means are necessary. For example, it is possible to use the STO function and a mechanical brake. The brake can be used with the Safe Brake Control (SBC) safety function of the Advanced option board, or with another safe control system for the brake.

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VACON® NXP Advanced Safety Options

Operating Guide	Overview of the System

The Advanced safety option board forces the AC drive to the safe state, for example, if there is an error detected in the safety system. Other situations when the safe state is enforced are, for example, the parameterization phase and during the start-up of the drive.

When the Advanced safety option board is integrated to a safety system, the system designer and/or the operator is responsible for these things:

•Making an initial system-level risk assessment and reassessing the system any time a change is made.

•The setup and suitability of parameters, sensors, and actuators used in the system.

•Validation of the system to the correct safety level.

•Maintenance and periodic testing.

•Controlling the access to the system, including password handling.

External systems can collect information from the Advanced safety option board in a few different ways.

The option board related fault and violation information is available in the fault log of the AC drive like other faults. This data must be interpreted differently to the fault data of the AC drive. See chapter Fault tracing.

The option board has configurable outputs where desired information can be set to be sent to external systems. The status data can be received over a safe fieldbus.

W A R N I N G

SAFETY AWARENESS IN DESIGN

This chapter is an example and contains simplifications. Using only this data in designing the system can damage the equipment.

Do not use this chapter as a template for designing your system. Perform the design work carefully.

The achieved safety level depends on the whole safety chain. The AC drive with integrated safety functions is only one component in the safety chain.

The things related to the AC drive that affect the achieved safety level:

•The used speed measurement combination.

•The implementation of the violation response and of the fault response. In most cases it is realized via the STO option board (the OPTAF option board for the VACON® NX products).

The components of the safety chain that affect the achieved safety level:

•The controllers (for example, the safety PLC) that control the safety functions

•The stop switches

•The wiring

EXAMPLE

Implementation of the STO safety function, consisting of these subsystems.

•Emergency stop switch: Pilz PIT es Set/1-family using two N/C contacts. B10d = 104 000 (EN ISO 13849-1) and λd/ λ = 0.20 (EN IEC 62061) for one channel.

•The OPTAF option board, version VB00328H (141L7786). A two-channel STO option board for the NX family.

•The Advanced safety option board OPTBL.

N O T I C E

Check the corresponding product guides for the safety values and usage instructions.

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VACON® NXP Advanced Safety Options

Operating Guide	Overview of the System

	(SIL3,	Cat 4)	(SIL3, PLe,	<![if ! IE]> <![endif]>e30bi368.10
	Emergency	OPTBL	OPTAF &
	stop switch	(SIL3, PLe,	AC drive
	PLe)		Cat 3)
Channel 1	Stop (STO) request		STO
Channel 2	Stop (STO) request		STO
Illustration 5: A Logical Presentation of the STO Safety Function

In this example case, the STO function has one activation per day, and a lifetime of 20 years. For the emergency stop switch, β = 10% is used as the susceptibility to common cause failure between the channels. No proof test is executed during the lifetime. The example system is limited to Category 3 because the Category 3 element OPTAF option board is used as a single final element.

Table 3: An Example of System Level Calculations for the STO Safety Function

Subsystem	SIL, PL	PFHd	PFDavg	DCavg [%]	MTTFd [a]
Emergency stop switch	SIL3, PLe	4.2 x 10-9(1)	3.7 x 10-4(2)	90(3)	2849.3 (4)(4)
OPTBL	SIL3, PLe	6.45 x 10-11	5.61 x 10-6	99	373

OPTAF	SIL3, PLe	2.7 x 10-9	1.3 x 10-4	60(5)	1918
Overall safety system (for STO)	SIL3, PLe	6.94 x 10-9(6)	5.06 x 10-4(7)	74(8)	281(9)

1This value is calculated directly from the values provided by the manufacturer. The diagnostic capabilities of OPTBL have not been taken into account. The calculation formula: PFHd = (1- β)2 x λch1 x λch2 x T1 + β x (λch1 + λch2)/2, where λch = (0.1 x cycles per hour) / B10d).

2The calculation formula: PFDavg = (PFHd x TM)/2.

3The OPTBL executes "Cross monitoring of inputs without dynamic test", DC: 0%...99%, depending on how often a signal change is done by the application. A DC of 90% is assumed with the once a day activation.

4The calculation formula: MTTFd = B10d / (0.1 x cycles per year).

5OPTAF manual: DCavg = low, using the lower end of the possible range (60%...90%)

6Sum of the individual PFHd values.

7Sum of the individual PFHavg values.

8The calculation formula:

	DCSwitch	+	DCOPTBL	+	DCOPTAF
DCavg STO =	MTTFd Switch		MTTFd OPTBL		MTTFd OPTAF
	1	+	1	+	1

	MTTFd Switch		MTTFd OPTBL		MTTFd OPTAF

9 According to EN ISO 13849-1, the MTTFd must be limited to a maximum limit of 100 years per channel. The calculation formula:

N O T I C E

When designing systems according to IEC-61508, the requirement for the value of the Safe Failure Fraction (SFF) is considered on subsystem level, not on system level.

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VACON® NXP Advanced Safety Options

Operating Guide	Overview of the System

Newer versions of the Advanced Safety Option have extended slot compatibility. The table Table 4 describes the supported slots for different revisions of the option board. The compatibility is determined by the revision of the board 70CVB01938 (141X4588). See Illustration 6 for the location of the revision information.

Table 4: Supported Slots of the Revisions of the Option Board

Option board revision (70CVB01938, 141X4588)		Slot C	Slot D	Slot E

C, E		-	Yes	-

F		Yes	Yes	Yes

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Illustration 6: The Board Identification Sticker on the Advanced Safety Option Board

The Advanced safety option board contains a safe digital I/O for the control and status word signals.

The available connectors of the Advanced safety option board

•4 two-terminal digital inputs

•2 two-terminal digital outputs

•2 STO outputs

•+24 V supply

•GND

It is possible to use the digital inputs for selecting ramps and for activating, acknowledging, and resetting safety functions. The twoterminal digital outputs can be used as output signals of the SBC or the SSM function, or configured by combining various signals of the option board.

If a connected device is powered by an external power supply, make sure that there is common ground between the device and the Advanced safety option board.

N O T I C E

The digital outputs use internal diagnostic test pulses to make sure that the output logic operates correctly. These test pulses are visible to external systems. See 11.2 Safe Input/Output Data.

The 4 two-terminal digital inputs operate in a two-terminal equivalent mode: the state of both terminals must match each other within a discrepancy time (see 11.2 Safe Input/Output Data).

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VACON® NXP Advanced Safety Options

Operating Guide		Overview of the System

Table 5: The Input States

Input terminal A	Input terminal B	State

Active	Active	The assigned safety function is not requested.

Active	Inactive	The assigned safety state is requested. If longer than 500 ms: the option board detects a
		fault.

Inactive	Active	The assigned safety state is requested. If longer than 500 ms: the option board detects a
		fault.

Inactive	Inactive	The assigned safety function is requested.

It is possible to assign these tasks to each of the digital inputs:

•the request of a safety function

•the acknowledgment signal

•the reset signal

•the proximity sensor

It is possible to assign 1 task per digital input. The exceptions are the acknowledgment signal and the reset signal which can be assigned to the same input.

N O T I C E

If proximity sensors are used, it is not possible to assign safety function features to the corresponding inputs. See 3.6.5 Proximity sensors.

The 2 two-terminal digital outputs operate in a two-terminal equivalent mode: the state of both terminals must match each other within a discrepancy time (see 11.2 Safe Input/Output Data). The external system or systems should make sure that the two terminals are in the same state.

The tasks that can be assigned to each of the digital outputs:

•the SSM function output

•the SBC function output

•simple custom logic

For more information on the SSM and the SBC function outputs, see 6.2.2.3 The STO Function Used with the SBC Function and 6.3.5.3 The SSM Safe Output.

To configure the simple custom logic for an output, select a logical function and desired signals from a configuration group. The option board uses the selected signals and applies the selected logical function to determine the state of the output.

1.Select the group that contains the desired signal or signals.

2.Select the logical function to combine the selected signals.

3.Select the signal or signals.

If only 1 signal is selected: AND or OR (regardless of which): output = signal. NAND or NOR (regardless of which): output = negative signal.

See the examples below for signal and output correspondence.

The available logical functions:

•AND

•OR

•NAND

•NOR

Only 1 logical function per output can be selected.

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VACON® NXP Advanced Safety Options
Operating Guide			Overview of the System

Table 6: The Available Signals in Configuration Groups

Group 1 and Group 5	Group 2 and Group 6	Group 3 and Group 7	Group 4 and Group 8

STO Reached	SLS 1 Reached	STO Active	Warning in any safety function
SS1 Reached	SLS 2 Reached	SS1 Active	Limit violation fault in any safety function
SS2 Reached	SLS 3 Reached	SS2 Active
SQS Reached	SSR Reached	SQS Active
SOS Reached	SMS Reached	SLS 1 Active
SBC Reached	SSM Reached	SLS 2 Active
STO and SBC Reached	SSM Above Max Limit	SLS 3 Active
	SSM Below Min Limit	SSR Active
		SMS Active
		SSM Active

During operation, the option board uses the selected signals and applies the selected logical function to determine the state of the output. If the result of the logical function on the actual state of the selected signals is "true", the output is active. If the result is "false", the output is inactive.

EXAMPLE 1 (USING GROUP 2):

Selected signals: SLS 1 Reached, SSM Below Min Limit Logical function: OR

Table 7: Example 1

State of the signals		Result of the logical function		State of the output

SLS 1 Reached = 0		0 OR 0 -> false		Inactive
SSM Below Min Limit = 0

SLS 1 Reached = 0		0 OR 1 -> true		Active
SSM Below Min Limit = 1
or
SLS 1 Reached = 1
SSM Below Min Limit = 0

SLS 1 Reached = 1		1 OR 1 -> true		Active
SSM Below Min Limit = 1

EXAMPLE 2 (USING GROUP 2):
Selected signals: SLS 1 Reached
Logical function: NOR
Table 8: Example 2

State of the signals	Result of the logical function		State of the output

SLS 1 Reached = 0	0 NOR 0 -> true		Active

–	–		–

SLS 1 Reached = 1	1 NOR 1 -> false		Inactive

EXAMPLE 3 (USING GROUP 2):

Selected signals: SLS 1 Reached, SSM Below Min Limit

Logical function: AND

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VACON® NXP Advanced Safety Options
Operating Guide		Overview of the System

Table 9: Example 3

State of the signals	Result of the logical function	State of the output

SLS 1 Reached = 0	0 AND 0 -> false	Inactive
SSM Below Min Limit = 0

SLS 1 Reached = 0	0 AND 1 -> false	Inactive
SSM Below Min Limit = 1
or
SLS 1 Reached = 1
SSM Below Min Limit = 0

SLS 1 Reached = 1	1 AND 1 -> true	Active
SSM Below Min Limit = 1

EXAMPLE 4 (USING GROUP 2):
Selected signals: SLS 1 Reached, SSM Below Min Limit
Logical function: NAND
Table 10: Example 4

State of the signals	Result of the logical function	State of the output

SLS 1 Reached = 0	0 NAND 0 -> true	Active
SSM Below Min Limit = 0

SLS 1 Reached = 0	0 NAND 1 -> true	Active
SSM Below Min Limit = 1
or
SLS 1 Reached = 1
SSM Below Min Limit = 0

SLS 1 Reached = 1	1 NAND 1 -> false	Inactive
SSM Below Min Limit = 1

MTTFd STO =

MTTFd Switch

MTTFd OPTBL

MTTFd OPTAF

Use the Advanced safety option board OPTBL when no encoder is used to measure the speed of the motor shaft.

Dout1 Dout2

Din1 Din2 Din3 Din4

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1	3	5	7		9
	2	4	6	8	10

Illustration 7: The Terminals X3 and X4 of the OPTBL Option Board

11	13	15	17
12	14	16	18

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