BECKHOFF AX5805 Installation - Manual (Page 64)

Product description
62 AX5805
3.6.5.8 Description of the SDIn safety function
Figure 31: Description of the Safe Direction negative function (SDIn)
The SDIp and SDIn functions are included in the fixed configuration and are separate but related. SDIn
permits the motion of the motor in a negative direction.
- If the SDIn bit in the control word is set (SDIn=1), negative rotation of the motor is allowed. The
status bit SDIn in the status word indicates when the axis is moving in the negative direction
(SDIn status =1).
- If the SDIn bit is cleared (SDIn=0), then the SDIn 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 reverse 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.