2-encoder control with SafeMotion

[valerio.manenti]

Hi Community!
I’m back, this time I have new challenge: configure 2-encoder control with SafeMotion.
I have my hw with few components:

Below my configuration for 2-encoder control:

The external encoder is not connected to anything:

I homed my axis in both sides, gray (home direct) and yellow (home direct).
I applied a move velocity and I see the correct error on gray side:

but I don’t know why on the parID 309 I see a movement of the external encoder:

It seems even if I have configured on gray side the 2 encoder control, on safety side the encoder for position control is the encoder mounted on the motor and not my external encoder.
On the gray side I read all ParIDs for 2-encoder control and they look correct:

In particular you see ParID 230 PCTRL_S_ACT_PARID = 423, 423 is

At the end I see the 2-encoder control is working fine on gray side, but not on Safety side.
Any idea where my settings is wrong?

Thanks so much for your help
Ciao
Valerio

[job.franken]

The only solution to have the external encoder read in by the safety system is to swap the encoder interface on the drive. ( The AC150 is not usable on the safety part )

Change it to:

• motor encoder to the AC150 card.
• External encoder on the internal interface.

[valerio.manenti]

Thanks so much Job for your answer!