Panasonic MINAS A6 Series, Technical Reference

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8.2System configuration
8-3
8.2 System configuration
8.2.1 Encoder configuration
The combination of encoders corresponding to each safety function is shown below.
Connection Configuration 1 Configuration 2 Configuration 3
X9A, X9B Absolute encoder Absolute encoder Absolute encoder
X10A, X10B -
Panasonic serial communication scale
or ABZ parallel external scale
SSI serial communication scale or
EnDat2.2 Non Safety scale
or Panasonic serial communication scale
or ABZ parallel external scale
(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
function
Safety level
(Note 3)
・
Safety
integrity level
・
Performance
level
・
Category
Encoder configuration
Conf. 1 Conf. 2 Conf. 3
Position
control Speed
control Torque
control Position
control Speed
control
Torque
control
(Note 5) Full
closed
control
Position
control Speed
control
Torque
control
(Note 5)
SS2, SOS,
SLA, SAR,
SLI, SDI,
SLP, SCA
SIL3
、
PLe
、
Cat4
(Note 2)
SIL3
、
PLe
、
Cat3
- - -
✔ ✔ ✔ ✔ ✔ ✔ ✔
SS1, SLS,
SSM, SSR SIL3, PLe, Cat4
(Note 2)
SIL3, PLe, Cat3
- - -
✔ ✔ ✔ ✔ ✔ ✔ ✔
SIL2, PLd, Cat3
✔ ✔
- - - - - - - -
STO, SBC
(Note 4) SIL3, PLe, Cat4
(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.