Indel GIN-SAC4 Series User manual

GIN-SAC4xX FS
User Manual
Version: 1.4
Date: 22.06.2021
Language: English
Issue: Translation of the original instructions

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Table of contents
1. General...........................................................................................................11
1.1. About This Manual............................................................................................................................11
1.2. About Indel Series GIN-SAC4xX Servo Drives with the FS Option...................................................11
1.3. Distribution and Support.................................................................................................................11
1.3.1. Manufacturer ...................................................................................................................................................11
1.3.2. Support............................................................................................................................................................11
1.4. Disclaimer.........................................................................................................................................11
1.5. Copyright..........................................................................................................................................12
1.6. Documentation Revisions................................................................................................................13
1.7. Definition Used.................................................................................................................................15
1.8. Symbols used ...................................................................................................................................17
1.9. Formats Used ...................................................................................................................................17
1.10. Units Used.........................................................................................................................................18
1.11. Prefixes Used....................................................................................................................................18
2. Safety.............................................................................................................19
2.1. User Inspection Upon Receipt .........................................................................................................19
2.2. Safety Instructions ...........................................................................................................................19
2.2.1. Qualified Personnel.........................................................................................................................................19
2.2.2. Documentation................................................................................................................................................19
2.2.3. Electrostatic Discharge Protection .................................................................................................................19
2.2.4. Protection against contact with electrical parts ............................................................................................20
2.2.5. Switching Off ...................................................................................................................................................20
2.2.6. High Voltage and Insulation Resistance Testing ............................................................................................20
2.2.7. Residual Current Circuit Breaker (RCCB) ........................................................................................................20
2.2.8. Opening the Unit .............................................................................................................................................20
2.2.9. Safe Torque Off................................................................................................................................................21
2.3. Safety Regulations ...........................................................................................................................21
2.3.1. Hazard Analysis ...............................................................................................................................................21
2.3.2. Coasting...........................................................................................................................................................21
2.3.3. Brake Resistor / Ballast Resistor .....................................................................................................................21
2.3.4. Residual Energy in the Intermediate Circuit...................................................................................................22
2.3.5. Hot Surfaces ....................................................................................................................................................22
2.3.6. Guards..............................................................................................................................................................22
2.3.7. Protection Against Dangerous Movements ....................................................................................................23
2.3.8. Suspended Loads ............................................................................................................................................23
2.3.9. Logic Power Supply Failure.............................................................................................................................23

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2.3.10. Mains Power Supply Failure............................................................................................................................23
2.3.11. EMC ..................................................................................................................................................................23
2.3.12. Start-Up ...........................................................................................................................................................24
2.3.13. Service Life.......................................................................................................................................................24
2.3.14. Liability ............................................................................................................................................................24
2.3.15. Defective Drives...............................................................................................................................................24
2.4. Intended Use ....................................................................................................................................25
3. Handling.........................................................................................................26
3.1. Storage .............................................................................................................................................26
3.2. Maintenance.....................................................................................................................................26
3.3. Repair Service...................................................................................................................................26
3.4. Disposal ............................................................................................................................................26
4. Product Identification......................................................................................27
4.1. Contents ...........................................................................................................................................29
4.1.1. GIN-SAC4x4......................................................................................................................................................29
4.1.2. GIN-SAC4x3......................................................................................................................................................29
4.1.3. GIN-SAC4x2......................................................................................................................................................30
4.1.4. GIN-SAC4x1......................................................................................................................................................30
4.2. Optional Accessories........................................................................................................................31
4.3. Rating Plates.....................................................................................................................................32
4.3.1. GIN-SAC4x4 5A/230V/PRO/FS and GIN-SAC4x4 5A/230V/FS ..........................................................................32
4.3.2. GIN-SAC4x4 5A/400V/PRO/FS and GIN-SAC4x4 5A/400V/FS ..........................................................................32
4.3.3. GIN-SAC4x3 5A/230V/PRO/FS and GIN-SAC4x3 5A/230V/FS ..........................................................................33
4.3.4. GIN-SAC4x3 5A/400V/PRO/FS and GIN-SAC4x3 5A/400V/FS ..........................................................................33
4.3.5. GIN-SAC4x2 5A/230V/PRO/FS and GIN-SAC4x2 5A/230V/FS ..........................................................................34
4.3.6. GIN-SAC4x2 5A/400V/PRO/FS and GIN-SAC4x2 5A/400V/FS ..........................................................................34
4.3.7. GIN-SAC4x1 5A/230V/PRO/FS and GIN-SAC4x1 5A/230V/FS ..........................................................................35
4.3.8. GIN-SAC4x1 5A/400V/PRO/FS and GIN-SAC4x1 5A/400V/FS ..........................................................................35
5. Safety Devices.................................................................................................36
5.1. Safe-AxControl and Safe-AxMonitor Safety Modules......................................................................36
5.1.1. Parameters ......................................................................................................................................................36
5.2. Closed Current Principle..................................................................................................................36
5.3. Safe Pulse Inhibition ........................................................................................................................37
5.3.1. Maximum Displacement In Case of Error........................................................................................................37
5.4. Safe Insulated Two-Channel Input: Safe Input 0 (STO) ..................................................................38
5.4.1. Parameters ......................................................................................................................................................38
5.4.2. Connection to an Emergency Stop Circuit......................................................................................................38

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5.4.3. Connection to a Higher-Level Safety Controller.............................................................................................40
5.4.4. Parameters ......................................................................................................................................................40
5.5. Safe Two-Channel Inputs 1-3...........................................................................................................41
5.5.1. Parameters ......................................................................................................................................................41
5.5.2. Connection to Two-Channel Contact based Sensors.....................................................................................42
5.5.3. Connection to a Safe Two-Channel Output....................................................................................................43
5.5.4. Use of Pulse Signals for Multiple Inputs .........................................................................................................44
5.5.5. Error Recognition by the Safety Module.........................................................................................................45
5.5.6. Parameters ......................................................................................................................................................45
5.6. Safe Two-Channel Output................................................................................................................46
5.6.1. Parameters ......................................................................................................................................................46
5.6.2. Connection to an insulated Safe Input ...........................................................................................................47
5.6.3. Connection to an Uninsulated Safe Input ......................................................................................................47
5.6.4. Connection to a Safe Brake Control Unit........................................................................................................47
5.6.5. Error Recognition by the Safety Module.........................................................................................................48
5.6.6. Parameters ......................................................................................................................................................49
5.7. Non-Safe One-Channel Insulated Output .......................................................................................49
5.7.1. Parameters ......................................................................................................................................................49
5.8. Ring Wiring of Multiple GIN-SAC4xX FSs..........................................................................................50
5.8.1. Parameter........................................................................................................................................................51
5.9. Safe Encoder Evaluation and Monitoring........................................................................................52
5.9.1. Integration into the Safety Chain....................................................................................................................52
5.9.2. GIN-SAC4xX FS’s Error Recognition If Resolvers Are Connected....................................................................53
5.9.3. Requirements for the Use of Resolvers...........................................................................................................55
5.9.4. Parameters of the Safe Evaluation of Resolvers.............................................................................................55
5.9.5. GIN-SAC4xX FS’s Error Recognition If Sin/cos Encoders Are Connected .......................................................56
5.9.6. Requirements for the Use of Rotary Sin/cos Encoders ..................................................................................58
5.9.7. Requirements for the Use of Linear Sin/cos Encoders ...................................................................................59
5.9.8. Parameters of the Safe Evaluation of Sin/cos Encoders ................................................................................60
5.9.9. Calculation of the Signal Strength Limit.........................................................................................................62
5.9.10. Scaling of the Measuring System ....................................................................................................................63
5.9.11. Parameters ......................................................................................................................................................64
5.10. Implemented Safety Subfunctions..................................................................................................65
5.10.1. STO: Safe Torque Off .......................................................................................................................................66
5.10.2. SOS: Safe Operating Stop................................................................................................................................67
5.10.3. SS1-t: Safe Stop 1 Type C (Time-Delayed) ......................................................................................................68
5.10.4. SS2-t: Safe stop 2 Type C (Time-Delayed).......................................................................................................69
5.10.5. SLS: Safely Limited Speed...............................................................................................................................70

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5.11. Safety Subfunction Parameters.......................................................................................................71
5.11.1. STO and SS1-t Functions.................................................................................................................................71
5.11.2. SS2-t, SOS and SLS Functions.........................................................................................................................71
5.12. Safe Response Time.........................................................................................................................72
5.12.1. Maximum Safe Response Time of the GIN-SAC4xX ........................................................................................72
5.12.2. Requirement of the STO Safety Subfunction .................................................................................................73
5.12.3. Requirement of the SS1-t Safety Subfunction ...............................................................................................73
5.12.4. Requirement of the SS2-t Safety Subfunction ...............................................................................................73
5.12.5. Response When the SOS Safety Subfunction Is Active...................................................................................73
5.12.6. Requirement of the SLS Safety Subfunction ..................................................................................................73
5.12.7. Response When the SLS Safety Subfunction Is Active ...................................................................................73
5.12.8. Response in Case of Encoder Failure (Movement) .........................................................................................73
5.12.9. Response at Ring Wiring..................................................................................................................................73
5.13. Requirements for the Use of Safety Modules..................................................................................74
5.14. Module States...................................................................................................................................74
5.14.1. Startup State ...................................................................................................................................................74
5.14.1.1 Substates .........................................................................................................................................................74
5.14.2. Configuring State.............................................................................................................................................75
5.14.2.1 Substates .........................................................................................................................................................75
5.14.3. Operating State ...............................................................................................................................................75
5.14.3.1 Substates .........................................................................................................................................................75
5.14.4. Error State........................................................................................................................................................76
5.14.4.1 Substates .........................................................................................................................................................76
5.14.5. Fatal State........................................................................................................................................................76
5.14.5.1 Substates .........................................................................................................................................................76
5.15. Fail Safe States .................................................................................................................................77
5.16. Safety Levels.....................................................................................................................................77
5.16.1. Priority Selection.............................................................................................................................................77
5.16.2. Binary Selection...............................................................................................................................................78
5.16.3. Parameters ......................................................................................................................................................78
5.17. Active Safety Subfunction................................................................................................................79
5.17.1. Parameter........................................................................................................................................................79
5.18. Error Codes.......................................................................................................................................80
5.18.1. Error Handling .................................................................................................................................................85
6. Configuration of the Safety Modules .................................................................86
6.1. Definition of the System Topology..................................................................................................86
6.2. Creating and Editing the Safe Configuration File............................................................................89
6.2.1. Prerequisite .....................................................................................................................................................89

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6.2.2. Login ................................................................................................................................................................89
6.2.3. Opening the System Topology File .................................................................................................................90
6.2.4. Parametrisation...............................................................................................................................................91
6.2.5. Additional Information....................................................................................................................................92
6.2.6. Creating the Configuration File.......................................................................................................................92
6.2.7. Archiving Safe Configuration Files ..................................................................................................................93
6.3. Loading and Verifying the Safe Configuration ................................................................................94
6.3.1. Prerequisite .....................................................................................................................................................94
6.3.2. Connecting to INCOServer V ...........................................................................................................................94
6.3.3. Registration .....................................................................................................................................................94
6.3.4. Selecting Commissioning Dashboard.............................................................................................................95
6.3.5. Selecting the System.......................................................................................................................................95
6.3.6. Loading the Configuration for Verification Purposes.....................................................................................95
6.3.7. Verifying the Configuration .............................................................................................................................97
6.3.8. Verifying the Safety Subfunctions...................................................................................................................99
6.3.9. Permanently Loading the Safety Configuration........................................................................................... 101
6.3.10. Unconfiguring Safety Modules......................................................................................................................102
6.3.11. Event Log on INCOServer V ...........................................................................................................................103
6.3.12. Configuration Log on the Safety Module ......................................................................................................103
6.3.13. Replacing the Drive........................................................................................................................................103
6.3.14. Replacing the Fieldbus Master......................................................................................................................103
6.3.15. Changing the Configuration.......................................................................................................................... 104
7. Integration into the Functional System ...........................................................105
7.1. Axis Shutdown with the SS1-t and SS2-t Functions......................................................................105
7.2. Acknowledgement of STO Requirements .....................................................................................105
7.3. Resetting the Safety Modules ........................................................................................................106
8. Technical Description ....................................................................................107
8.1. SAC4xX Option PRO........................................................................................................................107
8.2. Options-Knob .................................................................................................................................107
8.3. Technical Specifications ................................................................................................................108
8.3.1. General...........................................................................................................................................................108
8.3.1.1 Leakage Current ............................................................................................................................................108
8.3.2. Mains Connection and Intermediate Circuit.................................................................................................109
8.3.3. Output Stage Rated Currents........................................................................................................................110
8.3.4. Controller Logic Power Supply .....................................................................................................................112
8.3.5. Motor..............................................................................................................................................................112
8.3.6. Feedbacks......................................................................................................................................................113

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8.3.6.1 SinCos ............................................................................................................................................................113
8.3.6.2 Resolver .........................................................................................................................................................113
8.3.6.3 Incremental Encoder.....................................................................................................................................114
8.3.6.4 Absolute value Feedback ..............................................................................................................................114
8.3.7. Digital I/Os .....................................................................................................................................................115
8.4. Environmental Conditions.............................................................................................................116
8.5. Notes according US-Market...........................................................................................................116
9. Electrical installation.....................................................................................117
9.1. Notes...............................................................................................................................................117
9.2. SAC4xX Pin Assignment..................................................................................................................118
9.2.1. Overview of the GIN-SAC4x4 .........................................................................................................................118
9.2.2. Overview of the GIN-SAC4x3 .........................................................................................................................119
9.2.3. Overview of the GIN-SAC4x2 .........................................................................................................................120
9.2.4. Overview of the GIN-SAC4x1 .........................................................................................................................121
9.2.5. Logic Power Supply / Digital IOs ...................................................................................................................122
9.2.6. Mains Connection..........................................................................................................................................122
9.2.7. Motor Connections ........................................................................................................................................122
9.2.8. Intermediate Circuit Voltage.........................................................................................................................123
9.2.9. Ballast Resistor ..............................................................................................................................................123
9.2.10. Feedback Interfaces ......................................................................................................................................123
9.2.11. Safety .............................................................................................................................................................124
9.3. Motor Connections.........................................................................................................................125
9.3.1. Three-Phase Motor to an Output Stage........................................................................................................125
9.3.2. Three-Phasen Motor to Two parallel output Stages ....................................................................................125
9.3.3. Three-Phase Motor to three parallel output Stages.....................................................................................126
9.3.4. DC-Motor to an Output Stage........................................................................................................................126
9.4. Mains Connection...........................................................................................................................127
9.5. Intermediate Circuit.......................................................................................................................128
9.6. Logic power supply ........................................................................................................................128
9.7. Standard Digital Inputs and Outputs ............................................................................................129
9.7.1. Inputs.............................................................................................................................................................129
9.7.2. Outputs ..........................................................................................................................................................129
9.8. Safe Digital Inputs and Outputs.....................................................................................................130
9.9. External Brake Resistor, aka Ballast Resistor................................................................................130
9.10. Feedbacks.......................................................................................................................................131
9.10.1. SinCos Feedback ...........................................................................................................................................131
9.10.2. Resolver Feedback ........................................................................................................................................132
9.10.3. Incremental Encoder Feedback....................................................................................................................133

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9.10.3.1 Connection to an absolute value Interface ..................................................................................................133
9.10.3.2 Connection to a sin/cos interface .................................................................................................................134
9.10.3.3 Connection to a single-ended incremental encoder....................................................................................135
9.10.4. Absolute Value Feedbacks ............................................................................................................................136
9.10.4.1 Hiperface........................................................................................................................................................136
9.10.4.2 EnDat 2.1........................................................................................................................................................ 137
9.10.4.3 SSI / Biss C / EnDat 2.2...................................................................................................................................138
9.10.5. Temperature Sensors....................................................................................................................................138
9.11. Power Supply .................................................................................................................................139
9.11.1. Logic Power Supply.......................................................................................................................................139
9.11.2. Mains Connection..........................................................................................................................................139
9.12. Wiring..............................................................................................................................................140
9.12.1. GIN-SAC4x4 Wire Cross-Sections ..................................................................................................................140
9.12.2. Routing of Motor Cables................................................................................................................................140
9.12.3. Routing of the Safe Inputs and Outputs Cables ...........................................................................................140
9.12.4. Routing of Sin/Cos, Incremental and Resolver Cables.................................................................................141
9.12.5. Potential Equalisation...................................................................................................................................141
9.12.6. Connection of the Protective Earth Wire ......................................................................................................141
9.13. Motor Overload Protection............................................................................................................141
9.13.1. I2t Motor Protection.......................................................................................................................................141
9.13.2. Brake Resistor aka Ballast Resistor...............................................................................................................142
10. Mechanical Installation..................................................................................143
10.1. Notes...............................................................................................................................................143
10.2. Installation Instructions.................................................................................................................143
10.3. GIN-SAC4x4.....................................................................................................................................144
10.3.1. Installation.....................................................................................................................................................144
10.3.2. Dimensions ....................................................................................................................................................145
10.4. GIN-SAC4x3.....................................................................................................................................146
10.4.1. Installation.....................................................................................................................................................146
10.4.2. Dimensions ....................................................................................................................................................147
10.5. GIN-SAC4x2.....................................................................................................................................148
10.5.1. Installation.....................................................................................................................................................148
10.5.2. Dimensions ....................................................................................................................................................149
10.6. GIN-SAC4x1.....................................................................................................................................150
10.6.1. Installation.....................................................................................................................................................150
10.6.2. Dimensions ....................................................................................................................................................151
11. Error Analysis................................................................................................152

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11.1. Status LED.......................................................................................................................................152
11.2. Error Table......................................................................................................................................153
12. Related Documents .......................................................................................155
12.1. EC Declaration of Conformity for GIN-SAC4xX FS .........................................................................155
12.2. Type Examination for GIN-SAC4xX FS............................................................................................156
12.3. CB Test Certificate..........................................................................................................................157
13. Standards.....................................................................................................159

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1. General
1.1. About This Manual
This user manual describes Indel series GIN-SAC4xX servo drives with the FS (Functional Safety) option.
This document is a translation of the German version of the original user manual.
1.2. About Indel Series GIN-SAC4xX Servo Drives with the FS Option
Indel series GIN-SAC4xX servo drives with the FS (Functional Safety) option are intended for controlled
actuation of up to four servo motors with safe monitoring of resolvers or sin/cos encoders. In addition to
the motor actuation, safety subfunctions STO, SS1-t, SS2-t, SOS and SLS are available.
Indel servo drives are designed for industrial use, which is subject to applicable standards and regula-
tions.
1.3. Distribution and Support
1.3.1. Manufacturer
Indel AG
Tüfiwis 26
CH-8332 Russikon
Switzerland
[email protected]
www.indel.ch
Tel.: [phone]
Fax: [phone]
1.3.2. Support
Indel AG offers you comprehensive technical support:
Hardware and software engineering
Support via Team Viewer all over the world
On-site technical support all over the world
On-site commissioning of control systems and drives
1.4. Disclaimer
The documentation has been compiled to the best of our knowledge and belief. The described products,
however, are subject to continuous development and improvement. Therefore, the documentation
should never be deemed complete. All information contained in the documentation is provided without
any guarantee. We reserve the right to make any changes, at any time and without prior notice. No claims
may be made based on any changes to already delivered products.

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1.5. Copyright
© Indel AG
It is forbidden to disclose and reproduce this document without express permission from Indel.

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1.6. Documentation Revisions
Revision
Date
Author
Comment
Rev 0.1
25.09.2016
Thomas Jericke
Creating the document based on the GIN-SAC4xX
manual.
Rev 0.2
30.09.2016
Thomas Jericke
Corrections after review
Rev 0.3
03.10.2016
Thomas Jericke
Corrections after second review
Rev 0.4
18.11.2016
Thomas Jericke
Subsection Calculation of the Signal Strength
Limit added.
Logic power supply of 24 V -15% +25% corrected
to 24 V -15% +20%
Note on error codes of the safe input added.
Note on the use of test signals for STO in a ring
circuit added.
Subsection on the unconfiguring of modules
added.
Release numbers of the required software added.
Note on the verification of the SS1 and SS2 func-
tions after making changes to the functional sys-
tem (e.g. updates).
Rev 0.5
22.12.2016
Thomas Jericke
Installation Regulations diagram replaced with a
true-to-scale version.
EC declaration of conformity added.
Notes on low SOS limits added.
Rev 0.6
15.02.2017
Thomas Jericke
Introductory description of the unit added.
Safety functions converted to safety subfunc-
tions, SS1-t and SS2-t introduced following the
new version of 61800-5-2 (2016).
Verification screenshot updated.
Warning against hot surfaces added.
Over-voltage category increased from II to III.
Standards updated and supplemented.
Error list updated.
Rev 0.7
28.02.2017
Thomas Jericke
AllSchedTestIncomplete error in error code per
class.
Rev 0.8
22.03.2017
Thomas Jericke
Various spelling errors corrected.
Section 2.3.14 Protection Against Easy Circum-
vention deleted.
Safety instructions on the use of ring circuits
added.
Safety note added that the GIN-SAC4xX’s carrier
signals must be used for resolvers.
Requirements for the use of resolvers or sin/cos
encoders corrected and supplemented.
Diagrams for the STO, SS1-t and SS2-t safety sub-
functions added.
Indication of the PFD value deleted.
Notes on DC motors corrected and supple-
mented.
Rev 0.9
13.04.2017
Thomas Jericke
Requirement added that before the start-up of
encoders the wiring must be checked.
Note on the use of the response times of safety
subfunctions added.
Additional note on the use of gearboxes and drive

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Revision
Date
Author
Comment
belts added.
Note on permanent loading of the safety function
added.
Text and notes on STO acknowledgement added.
New error codes of STO acknowledgement added.
Correct release of INCOServer V provided.
Additional note that GIN-SAC4xX FS may be used
only in control cabinets with ingress protection
IP54.
Rev 1.0
12.05.2017
Thomas Jericke
Signed EC declaration of conformity added.
TÜV Rheinland type approval added.
Notes on acceleration monitoring added.
Document approval: reference to Draft deleted.
Rev 1.1
15.06.2017
Max Bleuler
Old Indel logo replaces with a new one
New URL links in section 2.3.11
Rev 1.2
21.08.2017
Thomas Jericke
Corrected the order of the Inputs on the wiring ex-
amples at Section 5.5.4 and 5.8.
Corrected Star marking at Section 5.10 fromSS1-t
to SLS.
Added Explanation of the helmet symbol of the
Indel Axis Tool at Section 6.3.8.
Added reference to the Indel Online-Documenta-
tion of the Software configuration at sections
6.3.8 and 7.1.
Rev 1.3
07.10.2020
Max Bleuler
Updated EC declaration of conformity at Section
12.1
Rev 1.4
18.11.2020
Simon Bärtschi
Converted Document into MS Word
Added Picture to Frontpage
Section 4: added SAC4x2 Type
Section 4.3: updated Type plates with the new IN-
DEL Logo
Section 9.2: updated Views of the Device Front-
plate
Section 2.2.7: copied Residual Current Circuit
Breaker informations from the STO Device Manual
Section 8.3.5.4: Added feature BissC und EnDat
2.2
Section 5.7: non safe Output Contact. Use States
closed /Open instead High/Low
Section 8.3.7: Normal Digital In/Outputs are usea-
ble as General Purpose IOs
Section 12.3: added CB Certificate
Improved spelling errors
New Section 4.2 Optional Accessories
Section 8.5 Informations according US market
Rev 1.4
13.01.2021
Thomas Jericke
Correction of Spelling Errors and Units with Micro
(u zu µ).
Rev 1.4
22.06.2021
Simon Bärtschi
Release of this English Version of the User Manual

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1.7. Definition Used
Definition
Meaning
DC
Diagnostic coverage
+DC / -DC
Intermediate circuit for servo drive tapping
EMC
Electromagnetic compatibility
ESD
Electrostatic discharge
Feedback
Position sensor
Feldbus Master
GinLink fieldbus master
FIT
Failure In Time, 1 FIT = 10-9 Errors/h
GinLink
Indel fieldbus, based on 1GBit/s Ethernet
GIN-SAC4xX
Designation for the whole GIN-SAC4 series
GIN-SAC4xX FS
Designation for the whole GIN-SAC4 series with functional safety
GIN-SAC4x4 FS
Designation for a GIN-SAC4 with four output stages and functional safety
GIN-SAC4x3 FS
Designation for a GIN-SAC4 with three output stages and functional safety
GIN-SAC4x2 FS
Designation for a GIN-SAC4 with two output stages and functional safety
GIN-SAC4x1 FS
Designation for a GIN-SAC4 with one output stages and functional safety
Hardware
Electronical or mechanical Hardware Component
IGBT
Insulated Gate Bipolar Transistor
INCOServer V
Indel Connectivity Server of the fifth generation: service program to manage
communication between the PC and an Indel control unit
Indel Cockpit
Program to start up, maintain and operate Indel control units
Indel Safety Config-
urator
Safety configuration Software Application
INOS
Indel Operating System: operating system of Indel functional control units
Interface
Interface
IP-Adresse
Internet Protocol address
LAN
Local Area Network
LED
Light Emitting Diode
Linux
Open-source operating system
MTTFd
Mean Time to Dangerous Failure
OSSD
Output Signal Switching Device
PC
Personal computer
PE-Leiter
PE conductor (PE = Protective Earth)
PELV
Protective Extra Low Voltage
PFH
Probability of Failure per Hour
PFHd
Probability of Dangerous Failure per Hour
PL
Performance Level (as defined in EN ISO 13849-1)
PWM
Pulse Width Modulation
RAM
Random Access Memory (main memory of the microcontroller)
Safe-AxControl
Built-in Safety module for STO and safe inputs and outputs

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Definition
Meaning
Safe-AxMonitor
Built-in Safety module for SOS and SLS axis monitoring
SELV
Safety Extra Low Voltage
SIL
Safety Integrity Level as defined in IEC61508
sin
Sine
SLS
Safely Limited Speed
SS1-t
Safe Stop 1 type C
SS2-t
Safe Stop 2 type C
STO
Safe Torque Off
Muting
No subfunction monitoring
Software
Microcontroller program
SOS
Safe Operation Stop
Target
Communication endpoint in the Indel cockpit
URL
Uniform Resource Locator
Windows
Microsoft® operating system

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1.8. Symbols used
Danger
The symbol stands for information the non-observance of which may result in death or
immediate severe damage.
Danger due to electricity
The symbol stands for information the non-observance of which may result in bodily
injury due to electricity.
Warning
The symbol stands for information the non-observance of which may result in severe
bodily injury or substantial property damage.
Attention
The symbol stands for information the non-observance of which may result in bodily
injury or property damage.
Important user tip
The symbol stands for important user tips, which should all be followed.
Hyperlink
It stands for a hyperlink to a file or information on the Web.
Reference
Reference to an internal section of the documentation.
1.9. Formats Used
The decimal point is used as a decimal separator throughout the entire document. To avoid confusion,
the comma is used as a thousand’s separator (ISO 80000-1):
e.g.: 1,009.700,001
Hexadecimal numbers are indicated by a preceding ‘0x’:
e.g.: 0x1EE3
Dates are presented in dd.mm.yyyy or yyyy-mm-dd format.
e.g.: 01.09.1974 bzw. 1974-09-01
WWW.

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1.10. Units Used
The following abbreviations are used with units.
Abbreviation
Meaning
°
Degree (degree measures)
A
Ampere
ARMS
Ampere root mean square (effective Current)
anno
Year
°C
Centigrade
F
Farad
g
Gravitational acceleration (9.8 m/s2)
h
Hour
H
Henry
Hz
Hertz
kg
Kilogram
m
Metre
min
Minute
müM
Metre above sea level
Ω
Ohm
s
Second
V
Volt
VAC
AC voltage
VDC
DC voltage
W
Watt
1.11. Prefixes Used
The following prefixes are used with units.
Abkürzung
Name
Faktor
M
Mega
1,000,000
k
Kilo
1,000
m
Milli
0.001
µ
Micro
0.000,001

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2. Safety
2.1. User Inspection Upon Receipt
Upon receipt of the shipment and before every start-up the GIN-SAC4x4 should be checked for its integ-
rity and completeness. In particular the following properties need to be verified:
‣Completeness and correctness of the shipment contents (see section 4.1)
‣Correct type identification on the drive (see section 4.3)
‣Integrity of the housing, plugs and socket jacks
‣No loose parts or detached screws
Under no circumstances may damaged or incorrect drives be used. This might result in
severe bodily injury and property damage.
2.2. Safety Instructions
No claim is made that these safety instructions are complete. In case of any questions, ambiguities or
problems, please do not hesitate and contact us.
2.2.1. Qualified Personnel
All transport, installation, start-up and maintenance works may only be carried out by qualified profes-
sionals. Qualified professionals include persons who are familiar with the transport, assembly, installa-
tion, start-up and operation of the product and possess the relevant qualifications. National and interna-
tional accident prevention regulations and standards should be followed. The safety instructions, con-
nection data (rating plate and documentation) and limits set in the technical specifications should be
read through and absolutely complied with before the installation and start-up.
2.2.2. Documentation
Before the installation and start-up, carefully read this documentation and that referred to herein. Im-
proper handling may result in bodily injury or property damage. The technical specifications, connection
data and environmental conditions must absolutely be complied with.
2.2.3. Electrostatic Discharge Protection
Servo amplifiers have electrostatically sensitive components, which may be damaged if improperly used.
Discharge your body before you touch a servo amplifier.
Avoid contact with highly insulating materials (synthetic fibre, plastic film, etc.). Once a servo amplifier is
deenergised, place it on a conductive surface. Do not touch the drive’s connector contacts, connected
cables and strip conductor tabs.

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2.2.4. Protection against contact with electrical parts
The operation of servo amplifiers requires that some parts carry more than 50 VAC, i.e. low voltages.
Touching such parts can result in life-threatening electric shocks. There is a risk of death or severe bodily
injury.
Before switching on the drive, always make sure that it is properly connected to the PE conductor. Earth
should always be connected, even if the drive is only activated for a short time.
Before energising live parts carrying more than 50 VAC take appropriate measures to protect them against
direct contact.
If the motor does not rotate, the terminals can also carry hazardous voltages. It is therefore forbidden to
touch the terminals when they are energised.
Before starting any work on the drive, disconnect it from the mains and protect it against inadvertent ac-
tuation.
Touching any live parts (e.g. terminals) may result in death or severe injury or property damage.
Never cut the electrical connections of the modules when they are energised. Under unfavourable cir-
cumstances, light arcs may occur, injuring people and damaging materials such as contacts.
2.2.5. Switching Off
After the mains power supply is switched off, residual voltage may still exist for some minutes. Measure
the intermediate circuit voltage and wait until it drops below 50V.
2.2.6. High Voltageand Insulation Resistance Testing
At the mains and the motor terminals of the drive no high voltage or insulation resistance test may be
conducted, otherwise the drive is destroyed.
2.2.7. Residual Current Circuit Breaker (RCCB)
When this product is supplied by a 3 phase mains supply, a defect can cause a DC Current at the protec-
tive earth conductor (PE). If an RCCB is installed in the grid connection system, only “RCCB Type B” are
allowed.
Only type B universal current-sensitive Residual Current Circuit Breakers may be used.
2.2.8. Opening the Unit
Under no circumstances may the GIN-SAC4xX FS be opened. Touching live parts of the GIN-SAC4x4 may
result in death, severe bodily injury or property damage. Once opened, the GIN-SAC4xX must not be used
any more even if it is reassembled.