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SSB-x

FSoE slave module for safe speed and Position of up to 6 axes for further evaluation in an FSoE master module

  • Depending on the encoder type and combination, applications up to PL e or SIL3 can be realized
  • Update time minimal up to 1 ms
  • 1 ms for safe data; 62,5 μs for non-safe encoder values
  • Optional additional safe inputs and outputs
  • Characteristics

     

    • Safe detection of speed and position for up to 6 axes suitable for applications up to SIL3 (IEC 61508) / PL e (EN ISO 13849-1)
    • Parametriable interface for digital and analog digital encoders
    • With an update time of minimal up to 1ms, applications with a high dynamic security requirement can also be implemented
    • Time resolution 1 ms for safe data of speed and position, 62.5 μs for non-safe encoder values
    • Optional: additional safe inputs and outputs (8/8)
    • The mechanical construction of the SSB-x* is dependent on the respective forms of the module
  • Variants

    • Safety related characteristic data
      Performance Level   PL e (EN ISO 13849-1) 
          EnDat 2.2 DSL
      PFH / architecture   1,713*10-8 / Cat. 4 1,795*10-8 / Cat. 4
        MTTFd  43 years 41,7 years
        DCavg  high high 
      Safety Integrity Level   SIL 3 (IEC 61508) 
      Proof test interval   20 years = max. operating period 
    • General Data
      Number of safe digital inputs (optional)   8
      Number of safe digital outputs (optional)   8
      Resolution of safe speed   216
      Resolution safe position   224
      Resolution non-safe position   up to 248
      Cycle time safe data   up to 1 ms
      Cycle time non-safe data   min 62,5 μs
      Number of pulse outputs (clock outputs)   2
      Type of connection   plug connector
        Encoder M8-plug
        EtherCAT fieldbus interface M12-plug
        Voltage supply device M12-plug
        Voltage supply IO M12-plug
      Axis monitoring (axis / encoder interfaces)    
        SSB-3-x 3 / 6
        SSB-6-x 6 / 6
      Encoder technology *   EnDAT 2.2, Hiperface DSL,
      Digital-analogue Encoder technology:
      SINCOS / Resolver (in preparation)
      Encoder voltage supplies (monitoring)   5V, 8V, 10V, 12V, 20V, 24V
      * see "encoder specifications"

       

    • Electrical data
      Supply voltage   19,2 V ... 30 V, Typ SELV / PELV
      Fuse device supply 8A
        brake supply 8A
      Max. power consumption (logic)    
        SSB-x 3 W
      Rated data digital inputs   24 VDC; 20 mA Typ1 acc. to IEC 61131-2
      Rated data digital outputs   4x 0,5A, 5x 1A, 1x 2A
        2x SDO_7-8 0,5 A (leakage current < 1,2 mA)
        5x SDO_1-5 1 A (leakage current < 5 mA)
        1x SDO_6 2 A (leakage current < 5 mA)
        pulse outputs
      (clock outputs)
      2x 0,5 A
      Securing of voltage supply device / outputs   2A / 10A

       

    • 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 55011, DIN EN 61000-6-2, DIN EN 61131-2:2007
    • Mechanical data
      Dimension (HxDxW [mm])    
        SSB-x ca. 64x176x170mm
      Weight [g]    
        SSB-x 720
      Mounting   mounting plate

       

    • Device interfaces
      SSB-6-x

    • Pin assignments SSB-6-x-x
      SSB-6-EnDat-x 1)
      EC_IN
      Pin 1 - TX1_P Transmit Data +
      2 - RX1_P Receive Data +
      3 - TX1_N Transmit Data -
      4 - RX1_N Receive Data -
      EC_OUT
      Pin 1 - TX2_P Transmit Data +
      2 - RX2_P Receive Data +
      3 - TX2_N Transmit Data -
      4 - RX2_N Receive Data -
      ENC 1-6
      Pin 1 - ENC_x_DATA_P Encoder data input +
      2 - ENC_x_DATA_IN Encoder data input -
      3 - ENC_x_CLK_P Encoder Clock +
      4 - ENC_x_CLK_N Encoder Clock -
      5 - UB_ENC_x Voltage supply encoder +24 VDC
      6 - UE- Voltage supply encoder 0 VDC
      7 - SDO_x Safe digital outputs (optional)
      8 - GND Ground
      X2 (optional) 1)
      Pin 1 - SDO_7
      2 - SDO_8
      Safe digital outputs 
      3 - T1
      4 - T2
      Clock outputs
      5 - AQ- Voltage supply
      safe outputs 0 VDC
      6 - AQ+
      7 - AQ+
      Voltage supply
      safe outputs +24 VDC
      8 - AQ+
      9 - AQ+
      Voltage supply
      safe outputs +24 VDC
      10 - AQ-
      11 - AQ-
      12 - AQ-
      Voltage supply
      safe outputs 0 VDC
      X1 1)
      Pin 1 - SDI_1
      2 - SDI_2
      Safe digital inputs (optional)
      3 - SDI_3
      4 - SDI_4
      Safe digital inputs (optional)
      5 - SDI_5
      6 - SDI_6
      Safe digital inputs(optional)
      7 - SDI_7
      8 - SDI_8
      Safe digital inputs (optional)
      9 - GND Voltage supply
      device 0 VDC
      10 - U24+
      11 - U24+
      Voltage supply
      device +24 VDC 
      12 - GND Voltage supply
      device 0 VDC[

       

      x= 1...6
      1) optional available with I/O´s, SSB-6-EnDat-IO

       

      SSB-6-DSL-x 2)
      EC_IN
      Pin 1 - TX1_P Transmit Data +
      2 - RX1_P Receive Data +
      3 - TX1_N Transmit Data -
      4 - RX1_N Receive Data -
      EC_OUT
      Pin 1 - TX2_P Transmit Data +
      2 - RX2_P Receive Data +
      3 - TX2_N Transmit Data -
      4 - RX2_N Receive Data -
      ENC 1-6
      Pin 1 - DSLx_P Encoder data input +
      2 - DSLx_N Encoder data input -
      3 - NC
      4 - NC
      5 - NC
      No function
      6 - GND Ground
      7 - SDO_x  Safe digital output (optional)
      8 - NC No function
      X2 (optional) 2)
      Pin 1 - SDO_7
      2 - SDO_8
      Safe digital outputs 
      3 - T1
      4 - T2
      Clock outputs
      5 - AQ- Voltage supply
      safe outputs 0 VDC
      6 - AQ+
      7 - AQ+
      Voltage supply
      safe outputs +24 VDC
      8 - AQ+
      9 - AQ+
      Voltage supply
      safe outputs +24 VDC
      10 - AQ-
      11 - AQ-
      12 - AQ-
      Voltage supply
      safe outputs 0 VDC
      X1 2)
      Pin 1 - SDI_1
      2 - SDI_2
      Safe digital inputs (optional)
      3 - SDI_3
      4 - SDI_4
      Safe digital inputs (optional)
      5 - SDI_5
      6 - SDI_6
      Safe digital inputs (optional)
      7 - SDI_7
      8 - SDI_8
      Safe digital inputs (optional)
      9 - GND Voltage supply
      device 0 VDC
      10 - U24+
      11 - U24+
      Voltage supply
      device +24 VDC 
      12 - GND Voltage supply
      device 0 VDC[
      x= 1...6
      2) optional available with I/O´s, SSB-6-DSL-IO

       

      SSB-6-A-x 3)
      EC_IN
      Pin 1 - TX1_P Transmit Data +
      2 - RX1_P Receive Data +
      3 - TX1_N Transmit Data -
      4 - RX1_N Receive Data -
      EC_OUT
      Pin 1 - TX2_P Transmit Data +
      2 - RX2_P Receive Data +
      3 - TX2_N Transmit Data -
      4 - RX2_N Receive Data -
      ENC 1-6
      Pin 1 - ENC_SIN+ Encoder SIN +
      2 - ENC_SIN- Encoder SIN -
      3 - ENC_COS+ Encoder COS +
      4 -  ENC_COS- Encoder COS -
      5 - UB_V+ / Ref + Voltage supply encoder / reference + 24 VDC
      6 - UB_V- / Ref - Voltage supply encoder / reference - 0 VDC
      7 - SDO_x  Safe digital output (optional)
      8 - GND Ground
      X2 (optional) 3)
      Pin 1 - SDO_7
      2 - SDO_8
      Safe digital outputs 
      3 - T1
      4 - T2
      Clock outputs
      5 - AQ- Voltage supply
      safe outputs 0 VDC
      6 - AQ+
      7 - AQ+
      Voltage supply
      safe outputs +24 VDC
      8 - AQ+
      9 - AQ+
      Voltage supply
      safe outputs +24 VDC
      10 - AQ-
      11 - AQ-
      12 - AQ-
      Voltage supply
      safe outputs 0 VDC
      X1 3)
      Pin 1 - SDI_1
      2 - SDI_2
      Safe digital inputs (optional)
      3 - SDI_3
      4 - SDI_4
      Safe digital inputs (optional)
      5 - SDI_5
      6 - SDI_6
      Safe digital inputs (optional)
      7 - SDI_7
      8 - SDI_8
      Safe digital inputs (optional)
      9 - GND Voltage supply
      device 0 VDC
      10 - U24+
      11 - U24+
      Voltage supply
      device +24 VDC 
      12 - GND Voltage supply
      device 0 VDC[
      x= 1...6
      3) optional available with I/O´s, SSB-6-DSL-IO

       

    • Encoder specifications
      EnDAT 2.2
        Standard specification Mixed / Clk+ Date
        Encoder type EQI1131, ECI1119, ECI1319
        Resolution 12 bit multi turn (only EQI)
          19 bit single turn for non-safe position
          10 bit single turn for safe position
        Clock frequency 10 MHz
        Cable length 20 m
        Sampling cycle Non-safe position: 62,5 μs, safe position. 1 ms
        Transmission of non-safe position (EtherCAT) 62,5 μs / 125 μs / 250 μs (configurable)
      Hiperface DSL
        Standard specification Mixed / Clk+ Date
        Encoder type EKM36-2KF0A018A, EKM36-2KF0A020A, EKS36-2KF0A018A
        Resolution 11 bit / 12 bit multi turn (only EKM)
          18 bit / 20 bit single turn for non-safe position
          9 bit single turn for safe position
        Sampling cycle Non-safe position: 125 μs, safe position. 1 ms
        Transmission of non-safe position (EtherCAT) 125 μs / 250 μs (configurable)
      Sin/Cos / TTL (in preparation)
        Amplitude SinCos 1 VSS + / - 0,3 V
        Phase fault max. 30°
        Type of connection M8-plug
        High Resolution Mode  
        max. frequency of the input clocks 500 kHz
        Physical Layer ± 0.5Vss (without voltage offset)
        Measuring signal A/B Track with 90 degree Phase difference
      SSI-Absolut (in preparation)
        Data interface Serial Synchronous Interface (SSI) with variable data length of 12 - 28 bits
        Data format Binary, gray-code
        Type of connection M8-plug
        Mode Master or Listener
        SSI-Master operation  
        Clock rate 250 - 1500 kHz
        SSI-Listener operation  
        Clock rate 250 - 1500 kHz
        Max. frame length / data length 32 / 28
        Pos. user data adjustable
      Resolver
        Measuring signal A/B SIN/COS-track with 90 degree Phase difference
        Input max. 16 Vss (at 16 kΩ)
        Resolution 9 Bit / Pole
        Support poles 2 - 6
        Type of connection M8-plug
        Mode Master or Listener
        Resolver-Master operation  
        Reference frequency 8 kHz
        Resolver-Listener operation  
        Reference frequency 4 kHz - 16 kHz
        Reference amplitude 8 VSS - 28 VSS
        Reference signal Sinusoidal, triangle
        Transmission ratio 2:1, 3:1, 4:1
        Phase fault max. 8°

       

    • Encoder combinations

    • Slave
      Item Description Item no.
      SSB-6-EnDAT FSoE Slave, Axes enhancement module 6 axes, EnDat2.2, without IO 1656
      SSB-6-EnDAT-IO FSoE Slave, Axes enhancement module 6 axes, EnDat2.2, with IO on request
      SSB-6-DSL FSoE Slave, Axes enhancement module 6 axes, HiperfaceDSL, without IO 1665
      SSB-6-DSL-IO FSoE Slave, Axes enhancement module 6 axes, HiperfaceDSL, with IO on request
      SSB-6-A FSoE Slave, Axes enhancement module 6 axes, Digital/Analog-Encoder, without IO on request
      SSB-6-A-IO FSoE Slave, Axes enhancement module 6 axes, Digital/Analog-Encoder, with IO on request