Rockwell Automation Publication 843ES-UM001A-EN-P - February 2020 27
Safety Concept Chapter 2
Safety Connection
The safety controller communicates with the safety instances in the encoder
module over the safety connection. Cyclic data are passed in each direction over
the safety connection that appears in safety Controller tag structures that are
called input and output assemblies. The safety connection cyclic rate is
configured in the Logix Designer application. The Safety Input Assembly tag
structure is data from the encoder module safety instances to the safety controller.
The Safety Output Assembly tag structure is data from the safety controller to
the encoder module safety instances.
Table 9 - Safety Input Assembly Tags
Safety Input Assembly Tag Name
(Input to Safety Controller)
Type/
[bit]
Description
module:SI.RunMode BOOL The encoder is able to accomplish its primary function.
module:SI.ConnectionFaulted BOOL The controller overwrites the zero with a 1 when the connection is not up.
module:SI.DiagnosticActive BOOL One or more diagnostic or prognostics thresholds reached.
module:SI.DiagnosticSequenceCount SINT Increments for each time a distinct diagnostic condition is detected, and also each time a
distinct diagnostic condition transitions from detected to not detected. Set to 0 by product
reset or power cycle.
module:SI.Encoder.Fault BOOL A rollup of any fault designated internal fault by the Safety Position Sensor Object.
module:SI.Encoder.Uncertain BOOL Module is operating outside its designed operating range, or data is under manual or override
control.
A rollup of any fault designated uncertain by the Safety Position Sensor Object.
module:SI.Encoder.Status BOOL Indicates that the safety channel data is valid based on module diagnostics.
module:SI.Encoder.FeedbackValidFlag BOOL Indicates that the Safety Position Sensor Object has been configured for use and has valid data
that is supplied in the safety input assembly.
Always the INVERSE of module:SI.Encoder.Fault
module:SI.Encoder.Position DINT Position in number of counts
module:SI.Encoder.Velocity REAL Current velocity. The velocity units define the format.
module:SI.Encoder.Acceleration REAL Current acceleration. The acceleration units define the format.
Table 10 - Safety Output Assembly Tags
Safety Output Assembly Tag Name
(Output to Safety Controller)
Type/
[bit]
Description
module:SO.Encoder.SetZeroPosition BOOL 0 = OK, 1 = Reset the encoder Position value, by applying the value in Preset of the
configuration assembly
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