# Functional Safety - TÜV

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<figure><img src="/files/pJgflfkuaP0N2Fnj7578" alt="" width="270"><figcaption></figcaption></figure>
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The optional SMU module extends the XENAX® servo controller Xvi 75V8S with TÜV-certified safety functions (SIL 2, PL d, Category 3).

The SMU modules are installed and tested strictly in accordance with TÜV requirements to ensure the proper functioning of all safety features.

[TÜV Functional Safety Certificate](https://www.jennyscience.com/asset/2014/ff3dde6560b9e715539e43ac0ec2ef95?origin=/de/download)
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### **Hardware Requirements**

To use the TÜV-certified safety functions, a XENAX® servo controller equipped with the optional `Safety Motion Unit` (`SMU`) is required.

The SMU module must be ordered from Jenny Science AG under a separate part number.

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The `Safety Motion Unit` (`SMU`) is an optional hardware component and must therefore be ordered at the time of purchase. Retrofitting is only possible at the Jenny Science AG factory.
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SMU modules are supplied only fully assembled within XENAX® servo controllers.
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**Legal notice**

Any modification or attempted modification of the hardware by third parties will void the TÜV certification, and Jenny Science AG assumes no liability for resulting damages or malfunctions.
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### Safety Functions

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The inputs for the safety functions are located on the PLC I/O (26-pin D-Sub) connector of the XENAX® servo controller (inputs 1–8). The individual safety functions can be freely assigned to the respective inputs.&#x20;

Details on the pin assignment can be found here [PLC I/O](broken://pages/0JmTYHSywVylJlNSFenH#plc-i-o).
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#### STO Safet Torque Off

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According to IEC 61800-5-2

Immediate shutdown of the power stage.

Error 90 `Functional Safety active` is generated if the power stage was switched on at the time STO was activated.

| Parameter  |     | Default value |
| ---------- | :-: | ------------: |
| Not needed |  -  |             - |

#### Deceleration ramps **STO**

<table><thead><tr><th width="299.72216796875">Deceleration ramps STO</th><th></th></tr></thead><tbody><tr><td>Profile Position Mode</td><td>none</td></tr><tr><td>Cyclic Synchronized Position Mode</td><td>none</td></tr></tbody></table>
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#### SS1 Safe Stop 1

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<figure><img src="/files/hgpervTFQb0wWn9wbybE" alt="" width="342"><figcaption></figcaption></figure>
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Stopping followed by deactivation of the output stage; the axis is freely movable (Stop Category 1).

Error 90 `Functional Safety active` is generated if the power stage was switched on at the time SS1 was activated.

The deceleration ramp or timeout must be configured so that the axis comes to a safe standstill within the defined timeout period.

If the axis comes to a standstill before the timeout expires, the timeout is not awaited; instead, the drive is switched off immediately at this point.

| Parameter    |                | Default value |
| ------------ | :------------: | ------------: |
| Timeout Stop | Δt<sub>1</sub> |        300 ms |

#### Deceleration ramps **SS1**

<table><thead><tr><th width="299.72216796875">Deceleration ramps SS1</th><th></th></tr></thead><tbody><tr><td>Profile Position Mode</td><td><code>ED</code> (Emergency Deceleration)</td></tr><tr><td>Cyclic Synchronized Position Mode</td><td><code>ED</code> (Emergency Deceleration)</td></tr></tbody></table>
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#### SS2 Safe Stop 2

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<div align="center"><figure><img src="/files/maMUn1kjzsjqdAd1Io7g" alt=""><figcaption></figcaption></figure></div>
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Stop while maintaining the stop position; the axis remains under torque and the drive remains active. The stop position is then monitored; status: SOS `Safe Operating Stop`. If the position window is exceeded, STO is triggered and the drive is shut down (Stop Category 2).

<table><thead><tr><th width="180.22216796875">Parameter</th><th align="center"></th><th align="right">Default value</th></tr></thead><tbody><tr><td>Timeout Stop</td><td align="center">Δt<sub>1</sub></td><td align="right">300 ms</td></tr><tr><td>Position window</td><td align="center">Δs</td><td align="right">± 2 500 Inc</td></tr></tbody></table>

#### Deceleration ramps **SS2**

<table><thead><tr><th width="299.72216796875">Deceleration ramps SS2</th><th></th></tr></thead><tbody><tr><td>Profile Position Mode</td><td><code>ED</code> (Emergency Deceleration)</td></tr><tr><td>Cyclic Synchronized Position Mode</td><td>Specification by higher-level controller</td></tr></tbody></table>
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#### SLS Safely Limited Speed

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<figure><img src="/files/tIU6DGHOyBXHXxZEM8n7" alt=""><figcaption></figcaption></figure>
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Monitoring of a safe speed. If the `Safely Limited Speed` is exceeded, switch to `Safe Stop 2` (SS2) whilst monitoring the position window. If the position window is also exceeded, trigger STO and switch off the output stage.&#x20;

Überwachung einer sicheren Geschwindigkeit. Falls `Safely Limited Speed` überschritten, dann auf `Safe Stop2` (SS2) mit Überwachung des Positionsfensters. Falls Positionsfenster auch überschritten, dann Auslösung von STO, Abschaltung der Endstufe.

Adjustment of speed during the SLS timeout must be performed by the user.

<table><thead><tr><th width="180.22216796875">Parameter</th><th align="center"></th><th align="right">Default value</th></tr></thead><tbody><tr><td>Timeout SLS</td><td align="center">Δt<sub>2</sub></td><td align="right">300 ms</td></tr><tr><td>Safely Limited Speed</td><td align="center">v<sub>max</sub></td><td align="right">± 50 000 Inc/s</td></tr><tr><td>Timeout Stop</td><td align="center">Δt<sub>1</sub></td><td align="right">300 ms</td></tr><tr><td>Position window</td><td align="center">Δs</td><td align="right">± 2 500 Inc</td></tr></tbody></table>
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#### Deceleration ramps **SLS**

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<table><thead><tr><th width="299.72216796875">Deceleration ramps SLS</th><th></th></tr></thead><tbody><tr><td>Profile Position Mode</td><td><code>ED</code> (Emergency Deceleration) after speed hit</td></tr><tr><td>Cyclic Synchronized Position Mode</td><td>Specification by higher-level controller</td></tr></tbody></table>
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### Parameterization

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The assignment of functions to the hardware inputs, as well as their parameterization, is performed exclusively in the password-protected area of WebMotion®, accessible via the menu [functional safety](broken://pages/744hKAIKaBrGwumcSnW0).

If no safety function is assigned to an axis, movements are blocked for safety reasons. In this case, error 91 `Motion blocked by unconfigured SMU` is displayed.

The blocking can be temporarily deactivated—until the next restart—by clicking on the error message in WebMotion® and then pressing the `Deactivate` button.
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#### **Safety-Password**&#x20;

<kbd>SafetyXvi75V8S</kbd>
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