BECKHOFF AX5805 Installation - Manual (Page 62)

Product description
60 AX5805
3.6.5.7 Description of the SDIp safety function
Figure 30: Description of the Safe Direction positive function (SDIp)
The SDIp and SDIn functions are included in the fixed configuration and are separate but related. SDIp
permits motion of the motor in a positive direction.
- If the SDIp bit in the control word is set (SDIp=1), positive rotation of the motor is allowed. The status
bit SDIp in the status word indicates when the axis is moving in the positive direction
(SDIp status=1).
- If the SDIp bit is cleared (SDIp=0), then the SDIp function is activated, the position is captured, and a
window is defined (s_cp + s_Zero_SDI). If the axis exceeds this range in the forward direction, the
STO function is activated and torque is removed from the motor.
If both SDIp and SDIn are cleared, the motor remains enabled but is not permitted to exceed the position
window in either direction.