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SDU-21A

FSoE slave module for safe speed and Position of up to 2 axes for further evaluation in an FSoE master module

  • 14 Safe digital inputs
  • up to 4 safe digital outputs
  • 4 Encoder interfaces
  • 2 Safe analog inputs (voltage + current inputs)
  • 2 Relay outputs
  • 2 Auxiliary outputs
  • Safety controller up to PL e acc. to EN ISO 13849-1 or SIL3 acc. to IEC 61508
  • Memory card for safety program
  • Characteristics

    • Decentralized safe axle assembly for the EtherCAT environment
    • Safe detection of speed and position from up to two axes
    • Fast response time with integrated Fast Channel Task with guaranteed processing time of 2 ms
    • Complete speed and position-related safety functions for drive monitoring IEC 61800-5-2 integrated into firmware
    • Speed monitoring
    • RPM-monitoring
    • Standstill monitoring
    • Sense of rotation monitoring
    • Safe incremental dimension
    • Emergency Stop monitoring
    • Position monitoring
    • Position range monitoring
    • Trend range monitoring
    • Target position monitoring
    • Pulse outputs for cross-shorting detection of digital input signals
    • External contact monitoring of connected switchgear (EMU)
    • Monitored relay outputs for safety-relevant functions
    • Switchable safe semi-conductor outputs pn-, pp-switching for safety-relevant functions
    • Function plan-oriented parametrization
    • Parameter management for expansion modules in base device
    • Comprehensive diagnostics functions integrated
    • Coded status display via front-side 7 segment display and status LEDs
  • Variants

    • Safety related characteristic data
      Performance Level PL e (EN ISO 13849-1)
      PFH / architecture

      2,0*10-9 / Cat. 4

      Safety Integrity Level SIL 3 (IEC 61508)
      Proof test interval 20 years = max. operating period
    • General data
      Max. no. of expansion modules   -
      Interface for expansion modules   RJ-45 (Ethernet)
      Number of safe digital inputs   14
      Number of safe digital outputs    
        pp-switching * 4
        pn-switching * 2
      Number of safe digital I/O   -
      Number of relay outputs   2
      Number of safe analog inputs   2 ***
      Number of auxiliary outputs   2
      Number of pulse outputs (clock outputs)   2
      Type of connection   Plug-in terminals with spring or screw connection
      Axis monitoring   2
      Encoder interfaces (D-Sub / screw terminals)   2 / 2 **
      Encoder technology (See Encoder specifications)   D-Sub Enc 1.1:
      SSI-Absolut, SinCos, Incremental-TTL
      D-Sub Enc 1.2:
      SSI-Absolut, SinCos, Incremental-TTL

      Terminal X23:
      HTL proximity sensor (10kHz)
      * pn/pp are configurable via SafePLC²
      ** maximum 2 encoder / axis
      *** Analog current, voltage inputs are available as options
       - SDU-21A-U (/2) voltage inputs
       - SDU-21A-I (/2) current inputs
       - SDU-21A voltage and current inputs

       

    • Electrical data
      Supply voltage (tolerance)     24 VDC; 2A (-10%, +20%)
      Fuse   24+ min. 30 VDC; max. 3,15A
          AQ1+ min. 30 VDC; max. 10A
      Max. Power consumption (logic)      
          SDU-21A 4,7 W
      Rated data digital inputs     24 VDC; 20 mA Typ1 nach IEC 61131-2
      Rated data digital outputs      
          pn-switching 24 VDC; 2A
          pp-switching 24 VDC; 2A
          auxiliary outputs 24 VDC; 250mA
          pulse outputs
      (clock outputs)
      24 VDC; 250mA
      Rated data relays      
        Normally open DC 13 24 VDC; 2A
          AC 15 230 VDC; 2A
      Rated data analog inputs      
          SDU-21A -7 ... +10 V
      4 ... 20 mA

       

    • Derating outputs

      » Maximum current load based on temperature
      » The maximum total current is 10A

      Type of module Outputs Temperature 30°C/50°C
      SDU-21A QX 00 - QX 03 2A / 1,8A
    • Environmental data
      Temperature 0°C … +50°C operation
        -25°C … +70°C storage and transport
      Class of protection IP 20
      Climatic category 3K3 acc. to DIN EN 60721-3
      Min-, Maximum relative humidity (no condensation) 5% - 85%
      EMC DIN EN 61000-6-2, DIN EN 61000-6-4, DIN EN 61000-6-7,
      DIN EN 61800-3, DIN EN 61326-3, DIN EN 62061
      Operating altitude 2000m

       

    • Mechanical data
      Dimension (HxDxW [mm])    
        SDU-21A 100x115x90
      Weight [g]    
        SDU-21A 410
      Mounting   to snap on top-hat rail
      Min. terminal cross-section / AWG   0,2 mm2 / 24
      Max. terminal cross-section / AWG   2,5 mm2 / 12

       

    • Device interfaces

      Interface Description of interface
      X11 - X14 /
      X15 - X26
      Voltage supply and I/O interface
      COM Diagnostic- and configuration interface
      X93 - ECAT IN /
      X94 - ECAT OUT
      Fieldbus interfaces
      Enc 1.1 / Enc 1.2 Encoder interfaces
      X23 Encoder interfaces

       

    • Voltage supply and I/O interface
      X11
      Pin 1 - 24+ Voltage supply device +24 VDC
      2 - AQ1+ Voltage supply device +24 VDC outputs
      3 - A1-
      4 - A1-
      Voltage supply device 0 VDC
      X12
      Pin 1 - I12
      2 - I13
      Safe digital inputs
      3 - T1
      4 - T2
      Clock outputs
      X21
      Pin 1 - QX00 Safe output pn-/ pp-switching 00
      2 - QX01 Safe output pn-/ pp-switching 01
      3 - QX02 Safe output pn-/ pp-switching 02 
      4 - QX03 Safe output pn-/ pp-switching 03 
      X22
      Pin 1 - QR0L Safe relay input
      2 - QR0 Safe relay output
      3 - QR1L Safe relay input
      4 - QR1 Safe relay output
      X13
      Pin 1 - UE1+
      2 - UE1-
      Voltage supply +24 VDC encoder
      3 - QY00
      4 - QY01
      Auxiliary outputs
      X14
      Pin 1 - I00
      2 - I01
      3 - I02
      4 - I03
      Safe digital inputs
      X23
      Pin 1 - I04
      2 - I05
      3 - I06
      4 - I07
      Safe digital inputs
      X24
      Pin 1 - I08
      2 - I09
      3 - I10
      4 - I11
      Safe digital inputs
      X15
      Pin 1 - UE3+
      2 - UE3-
      Voltage supply +24 VDC encoder
      3 - UR3 Voltage supply 0 V
      4 - NC No function
      X25 (voltage inputs)
      Pin 1 - AIN 1+
      2 - AIN 1-
      Safe analog input
      3 - AIN 2+
      4 - AIN 2-
      Safe analog input
      X26 (current inputs)
      Pin 1 - AIN 3+
      2 - AIN 3-
      Safe analog input
      3 - AIN 4+
      4 - AIN 4-
      Safe analog input

       

    • Diagnostic and configuration interface
      RJ 10, 4-pole
      Pin Description COM
      Front side
      1 GND
      2 RS485-
      3 RS485+
      4 VCCH

      » With existing Ethernet-based fieldbus interface, it can be used as a diagnostic and configuration interface.

    • Fieldbus interfaces

      Pin assignment female connector

      EtherCAT interface (RJ45)
      Pin Name Description Color X93 / X94
      1 TX+ Transmit Data + white-orange
      2 TX- Transmit Data - orange
      3 RX+ Receive Data + white-green
      4 nc Not used blue
      5 nc Not used white-blue
      6 RX- Receive Data - green
      7 nc Not used white-brown
      8 nc Not used brown

       

    • Integrated communication interface

      » The integrated communication interface of the FSoE slave includes a safe EtherCAT interface for decentralized communication with an FSoE-Master unit.

      General data
        Fieldbus interface
        EtherCAT 2x RJ 45 *
        Memory Card (safety program)
          1x Mini SD (front side)
        Status LED's 3

       

    • Encoder interfaces
      Pin assignment Enc 1.1, Enc 1.2 Pin assignment X23
      Pin Enc 1.1 / Enc 1.2
      Inc / Sin/Cos / SSI
      Frontansicht
      SDU
      Pin Z1 - Z1 / Z2 - Z2 Terminal
      1 n.c. 1 A (Ā) / A (Ā)
      2 GND 2 - - / B (B)
      3 n.c. 3 A (Ā) / A (Ā)
      4 B / COS - / Clk - 4 - - / B (B)
      5 A + / SIN + / Data +    
      6 A - / SIN - / Data -    
      7 n.c.    
      8 B + / COS + / Clk +    
      9 VCC +    

       

    • Encoder specifications
      Incremental - TTL
        Physical Layer RS-422 compatible
        Measuring signal A/B Track with 90 degree phase difference
        Type of connection D-SUB 9-pole
        Max. frequency of input cycles (Enc 1.1, Enc 1.2) 200 kHz
      Sin/Cos
        Physical Layer RS-422 compatible
        Measuring signal A/B Track with 90 degree phase difference
        Standard Mode 
        Max. frequency of input clock pulses (Enc 1.1, Enc 1.2) 200 kHz
      SSI-Absolut
        Data interface Serial Synchronous Interface (SSI) with variable data length of 12 – 28 Bit
        Data format Binary, Gray code
        Physical Layer RS-422 compatible
        Type of connection D-SUB 9-pole
        Mode Listener
        SSI-Listener-mode  
        Clock rate (Enc 1.1, Enc 1.2) 100 kHz ... 250 kHz
        Min. clock pause 150 μsec
        Max. clock pause 1 msec
      HTL proximity sensor
        Signal level 24V / 0V
        Max. counting pulse frequency (circuit logic de-bounced) 10 kHz
        Pulse width 50 μsec
        Type of connection (X23) Plug-in terminals with spring or screw connection
      HTL proximity switch - extended monitoring   
        Signal level 24V / 0V 
        Max. counting pulse frequency (circuit logic de-bounced) 4 kHz 
        Physical Layer PUSH / PULL 
        Measuring signal A/B Track with 90 degree phase difference
        Type of connection (X23) Plug-in terminals with spring or screw connection

       

    • FSoE Slaves
      Item Description Item-No.
      SDU-21A Decentralized axis expansion module for 2 axes with Analog option (voltage + current inputs) 2398
      SDU-21A-I Decentralized axis expansion module for 2 axes with Analog option (current inputs) 2399
      SDU-21A-U  Decentralized axis expansion module for 2 axes with Analog option (voltage inputs) 2400

       

    • Accessories
      Item Description Item-No.
      SMX91 Programming adapter 1010
      SXxxxx-x Terminal connector, screw terminals (set), encoded for cabling SDU-21A on request
      SXxxxx-x Terminal connector, spring terminals (set), encoded for cabling SDU-21A on request

       

    • Software
      Item Description Item-No.
      SafePLC2 1st Programming software, 1st License incl. Hardlock 1244
      SafePLC2 2nd Programming software, 2nd License incl. Hardlock 1646
      SafePLC2 3rd Programming software, 3rd License incl. Hardlock 1647