Part Change Notification

This page describes the relevant product specifications changes between the different manufactured revisions.

Product revisions

Revision	Date	Notes
D	2022-12-30	Initial version
E	2023-08-01	Brake capability removed. Removed 3.3 Feedback voltage
F	2023-11-28	STO specification update STO cannot be bypassed through the 5V output of the drive
G	2024-03-12	Brake capability added.

Safety Function Specification

STO cannot be bypassed through the 5V output of the drive

The next table highlights the specifications that change between the different product revisions:

Safety Function Specification	Value older revisions < F (without certification)	Value new revisions > F (certified)
Safety relevant parameters according to IEC 61508:2010	-	Safety integrity level: SIL3
Safety relevant parameters according to IEC 61508:2010	PFH: ≤ 1.53 x 10^-91/h	PFH: ≤ 1.12 x 10^-91/h
Safety relevant parameters according to EN ISO 13849-1:2015	-	Performance level: Ple
	-	Category: 3
Fault Reaction Time	≤ 33 ms System maximum Reaction Time in case of a Detected Fault or safety function activation.	≤ 13.5 ms System maximum Reaction Time in case of a Detected Fault or safety function activation.

Integration Requirements

The next table highlights the integration specifications that change between the different product revisions:

Integration Requirement	Parameter	Value older revisions < F (without certification)	Value new revisions > F (certified)
STO Inputs Interface electrical characteristics	Input pins (naming)	STO1, STO2 and STO_RET	\STO_A, \STO_B and STO_RET
	Maximum input LOW level (VIL)	1.1 V or open (below this value the STO is ACTIVE, no torque can be applied to the motor)	5 V (below this value the \STO is ACTIVE).
	Minimum Input HIGH level (VIH)	3.6 V (above this value the STO input is inactive, torque can be applied to the motor)	15 V (above this value the \STO is INACTIVE).
	Maximum absolute ratings	24 V SELV (maximum OVP 26.4V (110%); maximum failure voltage 60 V)	V_{max_nom} (maximum nominal voltage)= 32 V SELV V_{max_fault} (maximum voltage in the event of an external failure) = 60 V
	Input current	5 mA typ / 10 mA max	≤ 8 mA @ 32 V input ≤ 15 mA in case of internal failure.
STO interface Timing Characteristics	STO activation time (Safety function Reaction Time	t < 10.7 ms	t_SF ≤ 13.5 ms The Safety Function Reaction time is measured as the time since one of the STO inputs (\STO_A or \STO_B) goes below VIL and the STO function actuates (power transistors deactivated).
	STO deactivation time	t < 2 ms	t_{STO_DEACT}≤ 10.5 ms The STO Deactivation time is measured as the time needed for deactivating the HW STO from a VIL= 5 V when activated with with VIH ≥ 15 V.
	Max. activation pulse filtering (OSSD)	t_pulse ≤ 400 µs	t_pulse ≤ 1 ms
	Abnormal STO diagnostic time	≤ 6.8 ms (Activation STO)	t_ABN≤ 13.5 ms Minimum STO signals discrepancy time that causes an Abnormal Fault and activates the Safety Function.
	Max. abnormal STO latching time	t_{ABN_LATCH_MAX} ≤ 3.4 s Minimum STO signals discrepancy time that guarantees a latching Abnormal STO Fault.	t_{ABN_LATCH_MAX} ≤ 2.5 s Minimum STO signals discrepancy time that guarantees a latching Abnormal STO Fault.
	Min. abnormal STO latching time	t_{ABN_LATCH_MIN} ≥ 1.4 s Maximum STO signals discrepancy time that guarantees that Abnormal STO Fault is not latched.	t_{ABN_LATCH_MIN} ≥ 0.6 s Maximum STO signals discrepancy time that guarantees that Abnormal STO Fault is not latched.