INSTRUCTION MANUAL
SWD® Starter Kit
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V-EN_2021_SWD® Starter Kit
These safety functions are implemented in accordance with IEC 61800-5-2 (functional safety requirements for
the development of safety drives) and according to the CiA/DS 402-4 profile for the safety functions of motor
controllers.
Safety features
Possible settings
Safe disconnection of engine
torque
Rearmament:
▪
automatic
▪
by request for acquittal
Braking configuration associated with the STO (Cf. SBC)
Safe braking engagement
Joint activation of the STO:
▪
from internal braking to
SWD®
Core
▪
an external electromechanical brake
▪
of both brakes simultaneously
Safe control of the direction
of rotation
Prohibition of the direction of rotation:
▪
positive or negative
▪
with two tolerance thresholds levels
Safe rotational speed
limitation
Prohibition of speeding:
▪
eight switchable throttling thresholds
▪
an adjustable trigger time
Refer to the Instruction Manual of the SWD Core to get all details on the operation and
configuration of available safety features.
7.2.
Use of safety features in the SWD Starter Kit
Emergency Stops
E-Stops on each side of the kit, stopping the motors (STO safe torque off function)
When one SWD reads the STO signal from an E-Stop button, it sends the STO message to the other
drive through the CANopen Safety
In the default configuration, the SBC function is not used with the engagement of the STO.
Safety fields and Safe Motion
Close obstacle: when the SE2L scanner detects an obstacle in the close range (<1m forward), the
speed limit (SLS safely limited speed function) is engaged on the SWD motors, set at 0.3 m/s
Collision risk: when the SE2L scanner detects an immediate risk of collision (<50cm forward), the
forward direction (SDI safe direction function) is engaged on the SWD motors
STO
SBC
SDI
SLS
STO
SLS
SDI
