Siemens SINAMICS S120 Function Manual page 159

Special feature in the case of linear motors
The motor encoder (linear scale) of linear motors also acts as load measuring system. Only
one measuring system is required for this reason. The system is connected by means of a
Sensor Module or directly via DRIVE-CLiQ.
Figure 4-22
2-encoder system
The failsafe actual values for a drive are provided by two separate encoders. The actual
values are transferred to the Control Unit via DRIVE-CLiQ.
For motors without a DRIVE-CLiQ interface, the connection is made using additional Sensor
Modules (see encoder types).
Figure 4-23
Safety Integrated
Function Manual, 12/2018, 6SL3097-5AR00-0BP1
Example of a single-encoder system
Example of a 2-encoder system on a linear axis via a ball screw
Description of Safety Integrated functions
4.2 Safety Integrated Extended Functions
157