User Documentation

5 Detailed descriptions of safe modules | Digital in- and output module UR20-4DI-4DO-PN-FSOE, UR20-4DI-4DO-PN-FSOE-V2
24 1484600000/07/11.2020u-remote IP20 modules for functional safety manual
Digital in- and output module UR20-4DI-4DO-PN-FSOE (Best.-Nr. 1529780000),
UR20-4DI-4DO-PN-FSOE-V2 (Best.-Nr. 2464580000)
The digital input and output module UR20-4DI-4DO-PN-FSOE
or UR20-4DI-4DO-PN-FSOE-V2 is a safe I/O module for
the Fail-Safe-over-EtherCAT (FSoE) protocol. Each module
provides four digital inputs and outputs respectively, it can
detect up to four binary control signals and control up to four
actuators each with a maximum of 0.5A. Two inputs and
outputs respectively can be parameterised P- or N-switching.
Sensors can be connected to connectors 1 and 2 using a
2-wire, 3-wire or 4-wire connection. In the event that the
available supply current of 0.8A per plug will not sufce, the
sensor supply must be realised using the auxiliary outputs
of another module (e.g. potential distribution module) within
the same power segment.
Actuators can be connected to connectors 3 and 4 using a
2-wire connection. A status LED is assigned to each channel.
The module electronics supply the inputs as well as the out-
puts with power from the output current path (I
OUT
).
A test pulse check of the inputs can be parameterised as a
cross-circuit detection between input singal and supply volt-
age, between different input signals or other signals. Thus an
input gets active only when the signal of the dedicated auxil-
iary output is pending. The test pulses must be disabled, if a
safety relay with OSSD outputs generating own test pulses is
connected.
1
2
3
4
2
1
3
4
1
2
3
4
2
4
3
1
2
4
3
1
1
2
3
4
2
1
3
4
1
2
3
4
2
4
3
1
2
4
3
1
DO 0 (PN)
GND
DO 1 (P)
GND
DO 2 (PN)
GND
DO 3 (P)
GND
4DI·4DO
DI 0 (PN)
AUX-O 0
AUX-O 1
AUX-O 0
AUX-O 1
DI 1 (P)
DI 2 (PN)
AUX-O 2
AUX-O 3
DI 3 (P)
DO 0 (PN)
GND
DO 1 (P)
GND
DO 2 (PN)
GND
DO 3 (P)
GND
4DI·4DO
DI 0 (PN)
DI 1 (P)
DI 2 (PN)
AUX-O 2
AUX-O 3
DI 3 (P)
Safety relay
with OSSD
outputs
GND
24 V DC
Connection diagram UR20-4DI-4DO-PN-FSOE, UR20-4DI-4DO-PN-FSOE-V2 (Examples)
With the variant1 module the active output signal always
includes test pulses for the purpose of cross-circuit and error
detection. The test pulse duration can be parameterised.
A safety sensor that is being connected in a dual channel
mode must allocate the PN and the P-input of one connector
(safety architecture of category 4 acc. to DINENISO13849).
The external circuitry of a PN/P output pair is described in
Chapter3.
5.3 Digital in- and output module UR20-4DI-4DO-PN-FSOE, UR20-4DI-4DO-PN-FSOE-V2