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Siemens SINAMICS S120 Function Manual page 132

Safety integrated
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Description of Safety Integrated functions
4.2 Safety Integrated Extended Functions
Enabling the Safe Direction function
The "Safe Direction" function is enabled with p9501.17 = 1.
Figure 4-17
Functional principle SDI with encoder
Safety Integrated
130
Function Manual, 12/2018, 6SL3097-5AR00-0BP1
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