Accelerating safety-certified motor control designs (Rev. A)

W H I T E PA P E R Jeff Stafford, TI Motor Solutions Texas Instruments Accelerating motor control design for functional safety Introduction Safety is everywhere in today’s world Designing a differentiated motor drive is a com- Functional safety standards in a variety of applications, such as automotive systems, industrial plex task Often these drives are single proces- automation, household appliances and more, make the world safer for all of us They also sor that combine constraints of real-time em- provide an additional opportunity to differentiate your product from competition The SafeTI bedded designs such as limited memory size design packages for functional safety help designers achieve compliance to international and processing time, with the complications functional safety standards (IEC 61508, IEC 60730 and ISO 26262) and get to market quickly that motors bring – electrical noise and faults In some cases, designers will be able to go beyond meeting the basic requirements of the When you add functional safety and certification requirements – the new design, test and documentation deliver- current industry standards and position their products for longer life cycles, avoiding redesign due to evolving standards Today, systems are more complex and more dependent on the electronic control of motor- ables require a significant amount of ad- ing operations that need to meet strict functional safety standards Whether it is the motor ditional effort The additional functional in control of the power steering assist in a car, controlling the lift and doors of an elevator safety or directly connected to the drum of a front-load washing machine without belts or gears, requirements are often seen as an even bigger constraint and too diffi- functional safety in motor operation is fundamentally important A motor system designed with cult to deliver a differentiated, functional functional safety will have a lower level of risk from improper operation When a failure does safety motor drive on time or on budget occur, whether it is a random or systematic fault, the functionally safe design will detect this Safety certification efforts directly im- fault and respond to minimize impact pact time to market and can often have drastic impact on project costs Recertification for product updates often becomes a reason to delay or a rationale for skipping design updates altogether To help ease the functional safety design process, SafeTI™ design packages from Texas Instruments (TI) for functional safety help solve these issues by easing the design and certification process for designers and allow the engineering and marketing teams’ to focus on delivering successful, differentiated products SafeTI™ design packages speed functional safety designs and certification To help designers more easily achieve industry standards, such as IEC 61508, IEC 60730 and ISO 26262, TI’s new SafeTI design packages can help accelerate design and certification in areas such as industrial, transportation, energy and medical This functional safety platform augments TI’s 20+ years of safety-critical design expertise and includes design packages with analog companion devices and embedded processors – from microcontrollers to digital signal processors – as well as software, supporting documentation and independent third-party evaluation and certification All SafeTI functional safety-enabled embedded processing and analog semiconductor devices include components offered as part of TI’s broad product portfolio and are tested to work Texas Instruments together in a system These SafeTI™ hardware components allow designers of safety systems to more easily meet their safety goals without using multiple channels or vendors of system-level hardware But it doesn’t stop with the hardware SafeTI design packages include five key components for functional safety: Functional safety-enabled semiconductor components developed as safety-standard-compliant items to help enable designers to build safe systems with confidence Safety documents, tools and software to decrease development and certification time SafeTI documents include a Safety Manual, detailing product safety architecture and recommended usage; Safety Analysis Report including details of safety analysis and Safety Report, summarizing compliance to targeted standards Complementary embedded processing and analog components work together to help designers meet safety standards Quality manufacturing process has been applied to help assure that SafeTI components meet the component-level requirements concerning ISO 9001 or ISO/TS 16949 (including AEC-Q100 for automotive), helping enable the customer to deliver robust solutions Safety development process that follows ISO 26262, IEC 61508 and IEC 60730 requirements, which is assessed by auditors as prescribed by safety standards Meeting stringent industry safety ­standards International functional safety standards are defined to ensure that functional safety techniques are detailed for a specific industry sector and that these techniques are consistently applied IEC 61508 is a basic safety standard, which is the basis of all IEC and some ISO functional safety standards It is used as a basis for sector-specific standards but where these not yet exist, it is also intended for direct use Some standards that refer to IEC 61508 include: • EN 50128 – railway • IEC 60601 – medical equipment • IEC 61511 – process industry • ISO 13849/ IEC 62061 – industrial machinery • IEC 60880 – nuclear power industry • IEC 50156 – furnaces For these specific industry standards, SafeTI-61508 design packages for functional safety include ­component-level-compliance to IEC 61508:2010, which supports SIL levels from SIL-1 to SIL-3 and system level compliance to SIL-4 The above standards can be daunting, but the SafeTI™ functional safety design Accelerating motor control design for functional safety October 2012 Texas Instruments package provides confidence to tackle stringent safety requirements and ease the design and certification process Automotive designers can use SafeTI-26262 design packages for component-level compliance to ISO 26262 safety requirements to support ASIL-A to ASIL-D for applications such as steering, braking, transmission, electric vehicle battery management and advanced driver-assistance systems (ADAS) TI is a member of U.S and international working groups for ISO 26262 Designers for household appliances can use SafeTI-60730 design packages to meet IEC 60730, or related standards UL 1998 and IEC 60335 SafeTI-60730 design packages for functional safety include software certified to IEC 60730 for household appliances supporting Class A to Class C Development tools and software for SafeTI design packages As part of the SafeTI design packages, several development tools and software pieces are available to further ease the design and certification process: • Safety-enabled hardware supports standards-based, safety integrity levels (SIL) enabling designers to build systems with confidence • Safety documents decrease development and certification time • Compilers for safety: The SafeTI ARM Compiler Qualification Package establishes confidence in development tools The kit will help designers document, analyze, validate and qualify use of the TI ARM compiler to help meet the requirements of the ISO 26262 and IEC 61508 standards • GUI-based peripheral configuration tools: SafeTI HALCoGen graphical user interface works to configure peripherals, interrupts, clocks and other µC parameters and generates peripheral and driver code Developers can use this to accelerate development on new projects and can import this into TI’s Code Composer Studio™ integrated development environment (IDE) v.5 and select third-party IDEs • MCAL and Safe AutoSAR for ISO 26262: Designers can get the Microcontroller Abstraction Layer (MCAL) 4.0 from TI and Safe Automotive Open System Architecture (AutoSAR) from TTTech/Vector ISO 26262 AutoSAR support is available from Vector and Elektrobit • Certifiable RTOS Support for IEC 61508: Real-time operating system support is available from Wittenstein High Integrity System’s SAFERTOS, Micrium’s µC/OS, Express Logic’s ThreadX and SCIOPTA RTOS Integrating safety in motor control systems A typical motor control system block diagram consists of processing feedback from motor rotor sensors, as well as measuring voltages and currents from the inverter (strategically and deterministically), and then processing this data to be used as inputs to regulate compensation of torque, speed and position control loops to finally generate an appropriate pulse-width modulator (PWM) output to the inverter (Figure on the following page) These closed loops are standard and depend on a great number of components, both hardware Accelerating motor control design for functional safety October 2012 Texas Instruments Hercules RM46x MCU Cortex-R4 Angle (SMO) Angle Check & Select Angle SPI Resolver eQEP Encoder eCAP Hall Sensor PWM (x6) Angle PWM Check Speed Ref Speed Torque PID Torque/Flux Ref Torque Flux Angle PWM Safety Flow Error Signal Core & I/O Voltage DRV8301 eTPWM PWM Phase Currents Phase Currents DCBus V SMO Angle Estimation Reset Typical Flow ADC Check MOSFETs High-end Timer FOC Software Control Loop Phase Currents Speed Estimation PWM FDBK PWM Speed FDBK Motor Sensors ADC Temp Monitor Bridge Error Mon Voltage Monitor Current Monitor Diagnose Bridge Driver ADC 3x DCBus V Clock Monitor TPS65381-Q1 Voltage Monitor Temp Diagnose Monitor WD Power Supply Safety Companion Enable Figure Motor control system block diagram with safety checks and software TI’s embedded processors in the SafeTI design package (in this case, microcontrollers) support functional safety throughout these processes When measuring the inverter voltages and currents, designers must know if the analog-to-digital converter (ADC) is both functional and producing correct results A common technique connects a PWM output to an ADC input through a filter The full-scale ADC range can then be tested Some TI microcontrollers even integrate a digital-to-analog converter (DAC) to serve this purpose One method to gain safety coverage is to have multiple ADCs converting the same control signals This allows a comparison to occur on the actual signal used in the control process Because many SafeTI MCUs provide multiple ADCs, the same sensor signal can be converted with two separate ADCs, thus reducing common cause failures Knowing the motor’s exact rotor position is critical to most motor systems For safety-critical systems using a resolver, encoder or hall sensor, TI provides software that estimates the rotor angle to compare to the angle measured by the electro-mechanical sensor Microcontrollers in SafeTI design packages include safety features in the hardware (Figure on the following page) versus software to provide the performance headroom to easily include these “self-sensing” angle-estimation routines This capability, having two separate and diverse channels to obtain the motor’s rotor angle, can enable the designer the option to reduce system costs by replacing a more expensive SIL-3 resolver or encoder with a standard version The next step is processing these signals As the leader of commercial lock-step microcontroller architectures, SafeTI microcontrollers provide cycle-by-cycle diagnostics for the CPU While two CPUs execute the Accelerating motor control design for functional safety October 2012 Texas Instruments Dual-core lockstep – cycle-by-cycle CPU fail-safe detection ECC for Flash / RAM / interconnect evaluated inside the Cortex-R4F Motor control software loop Memory Flash w/ ECC RAM w/ ECC ARM® Cortex™R4F Flash EEPROM w/ ECC On-chip clock and voltage monitoring Program & memory self test to check for latent faults Power, Clock, & Safety OSC PLL PBIST/LBIST POR ESM CRC RTI/DWWD High-end Timers Self-capture PWMs and compare ePWM eQEP eCAP “Virtual encoder” and sensored feedback Safety hardware Dual ADC PORST Enhanced System Bus and Vectored Interrupt Module Dual ADC for feedback check Software techniques Figure Block diagram of TI safety microcontrollers with hardware safety features same code, comparison logic guarantees that each software instruction is executed exactly the same for both CPUs and notifies the system immediately if they not match Also, every local Flash and RAM access by these CPUs is checked by a single-bit error correcting and double-bit error detecting (SECDED) error code correction controller (ECC) To extend coverage further, both the CPU and memory have hardware BIST (builtin self test) to verify functionality at start up Embedded diagnostics also include self-test capability to ensure proper operation before start of safety-critical operation With the processing now complete, the next step is to output appropriate PWMs to the inverter These outputs can be verified by connecting them to input captures SafeTI microcontrollers provide extra input captures for this purpose with eCAP and high-end timer modules To get more system coverage, a designer can connect the motor phases to the input captures, using appropriate signal conditioning, to verify that the transitions are within expectations Industrial, ­medical and energy functional safety motor c­ ontrol SafeTI design packages The latest microcontrollers introduced as new SafeTI-61508 design packages are optimized for motor control in safety-critical designs They include the Hercules™ RM46x and RM42x ARM® Cortex™-R4 safety microcontrollers, designed for motor control in industrial automation, medical monitoring and energy applications The Hercules RM46x/RM42x safety microcontrollers include 15 devices, offer USB and CAN, and operate across the full industrial temperature range Hercules RM46x floating-point safety microcontrollers (Figure on the following page) provide additional memory and performance configurations with ­expanded motor-control capabilities and pin compatibility with production-qualified Hercules RM48x safety Accelerating motor control design for functional safety October 2012 RM46x Block Diagram ® Cortex™-R4F Floating Point Microcontroller 6ARM Texas Instruments Performance / Memory • • • • Up to 220 MHz ARM Cortex-R4F w/ Floating Point Up to 1.25MB Flash and 192KB Data SRAM Dedicated 64KB Data Flash (EEPROM Emulation) 16 Channel DMA Features Targeted Applications  General IEC61508 Safety Applications  Industrial, Medical, Energy ARM® ™- ® ARM Cortex Memory 1.25MB Flash w/ ECC 192KB RAM w/ ECC 64KB Data Flash EEPROM w/ ECC Power, Clock, & Safety OSC PLL POR • Safety PBIST CRC • Dual CPUs in Lockstep Cortex™R4F • CPU Logic Built in Self Test (LBIST) 160MHz LBIST RTI/DWWD R4F • Up to 12 CPU MPU regions Up to 220MHz Memory Interface Calibration • Flash & RAM w/ ECC (w/ bus protection) Fail Safe • Memory Built-in Self Test (PBIST) SDRAM EMIF JTAG Debug Detection • Cyclic redundancy checker module (CRC) • Peripheral RAMs protected by Parity DMA • Communication Networks Enhanced System Bus and Vectored Interrupt Module • 10/100 Ethernet MAC w MII/RMII, MDIO Option* Timers / IO ADC Serial I/F Network I/F • USB 2.0 Full Speed: Host and Device Option * MibSPI1 USB 2.0 * • CAN Interfaces 2x High End Timer MibADC1 128 Buffers; CS Host & Device • SPI (3 Multi-Buffered) (N2HET) 64 Buffers • UART, I2C 160 words 12-bit, 24ch MibSPI3 CAN1 (64mb) (16ch shared) • Enhanced I/O Control 128 Buffers; CS CAN2 (64mb) 2x High End Timer Coprocessor (N2HET) w/DMA eTPWM (14ch) MibSPIP5 CAN3 (64mb) • Up to 40 pins plus monitor channels 128 Buffers; CS eCAP (x6) MibADC2 • All pins can be used as Hi-Res PWM or Input Capture 2x UART (LIN1) 64 Buffers SPI2 (2CS) eQEP (x2) Motor Control Timers I2C 12-bit, 16ch • 7x eTPWM (14 ch), 6x eCAP, 2x eQEP (16ch shared) GIOA/INT(16) SPI4 (1CS) 10/100 EMAC* x12-bit Multi-Buffered ADC • 24 total input channels (8 shared) Packages: LQFP: 144pin -20x20; nfBGA: 337 pin-16x16, 0.8mm; • Calibration and Self Test -40 to 105 C Temperature Range Up to 101 GPIO pins (16 dedicated) Figure Hercules RM46x safety microcontrollers ARM® Cortex™ -R4 Microcontroller RM42x Block Diagram Applications TI Confidential –Targeted NDA Restrictions Performance / Memory • 100 MHz ARM Cortex-R4 • 384KB Flash and 32kB Data SRAM • Dedicated 16kB EEPROM Emulation Flash (4x4k) Features  General IEC61508 Safety Applications  Industrial, Medical, Energy ARM® Memory 384 KB Flash w/ ECC Power, Clock, & Safety ã Safety OSC PLL POR - đ • Dual CPU in Lockstep ARM Cortex 32 KB • CPU Logic Built in Self Test (LBIST) PBIST CRC Cortex™R4F RAM w/ ECC • Up to 12 CPU MPU regions 160MHz R4 16KB emuE2 PROM • Flash & RAM w/ ECC (w/ bus protection) LBIST RTI 100MHz Memory Protection • Memory Built-in Self Test (PBIST) • Cyclic redundancy checker module (CRC); Fail Safe JTAG Debug Detection • Peripheral RAMs protected by Parity • Communication Networks • CAN Interface Enhanced System Bus and Vectored Interrupt Module • SPI (1 Multi-Buffered) Timers ADC / IO Serial I/F Network I/F • UART • Enhanced I/O Control CAN1 (32mbx) MibADC High End Timer MibSPI1 High End Timer Coprocessor (NHET) 64 Buffers 128 words 128 Buffers (4CS) • Up to 19 channels 12-bit, 16ch up to 19ch CAN2 (16mbx) 12-bit Multi-Buffered ADC (3.3V) • 16 total input channels x SPI (1CS) 1x LIN/UART eQEP (x2) GIOA/INTA (8) • Continuous Conversion Mode • Calibration and Self Test Motor Control Timers Package: LQFP: 100pin • 2x eQEP -40 to 105 C Temperature Range Up to 45 GPIO pins (8 dedicated) Figure Hercules RM42x safety microcontrollers TI Confidential – NDA Restrictions Accelerating motor control design for functional safety October 2012 Texas Instruments ­microcontrollers, introduced last year The new Hercules RM42x safety microcontrollers (Figure on the previous page) provide a smaller package, lower cost, entry-line solution with integrated motor control interfaces while also meeting safety standards Automotive and t­ransportation functional safety motor control SafeTI design packages To help speed design and certification for automotive and transportation designs, TI introduced 12 new Hercules TMS570 ARM Cortex-R4 safety microcontrollers as part of the SafeTI-26262 and SafeTI-61508 design packages These new devices and add FlexRay™ (a safety-centric protocol used primarily in automotive), are AEC-Q100 compliant and operate from –40°C to +125°C for transportation motor applications, such as rail propulsion control, aviation anti-skid control, electric power steering, air-bag deployment, hybrid and electric vehicles, pumps and compressors and more The newest Hercules TMS570 safety microcontrollers expand the product line to include 36 configurations from which customers can choose to meet application-specific needs The new Hercules TMS570LS12x/11x floating-point safety microcontrollers provide additional memory and performance configurations with expanded motor control capabilities (see Figure 5) while the Hercules TMS570LS04x/03x safety microcontrollers provide a smaller package, lower cost, entry-line solution with integrated motor control interfaces (see Figure on the following page) ARM® ™- ® ARM Cortex Cortex™R4F 160MHz R4F Memory 1.25MB Flash w/ ECC 192KB RAM w/ ECC 64KB Data Flash EEPROM w/ ECC Power, Clock, & Safety Calibration Memory Interface JTAG Debug SDRAM EMIF Up to 180MHz Fail Safe Detection OSC PLL POR PBIST CRC LBIST RTI/DWWD DMA Enhanced System Bus and Vectored Interrupt Module Serial I/F Network I/F MibSPI1 128 Buffers; CS ch FlexRay 8K Message RAM MibSPI3 128 Buffers; CS MibSPIP5 128 Buffers; CS SPI2 (2CS) SPI4 (1CS) CAN1 (64mb) CAN2 (64mb) CAN3 (64mb) 2x UART (LIN1) I2C 10/100 EMAC* ADC MibADC1 64 Buffers 12-bit, 24ch (16ch shared) Timers / IO 2x High End Timer (N2HET) 160 words eTPWM (14ch) MibADC2 64 Buffers 12-bit, 16ch (16ch shared) eCAP (x6) eQEP (x2) GIOA/INT(16) Packages: LQFP: 144pin -20x20; nfBGA: 337 pin-16x16, 0.8mm; -40 to 125 C Temperature Range Figure Hercules TMS570LS12x / LS11x safety microcontrollers Accelerating motor control design for functional safety October 2012 Texas Instruments ARM® ™- ® ARM Cortex Cortex™R4F 160MHz R4 80MHz Fail Safe Detection Memory 384 KB Flash w/ ECC Power, Clock, & Safety 32 KB RAM w/ ECC 16KB emuE2 PROM Memory Protection OSC PLL POR PBIST CRC LBIST RTI JTAG Debug Enhanced System Bus and Vectored Interrupt Module Serial I/F Network I/F ADC / IO Timers MibSPI1 128 Buffers (4CS) CAN1 (32mbx) CAN2 (16mbx) MibADC 64 Buffers 12-bit, 16ch High End Timer 128 words up to 19ch 1x LIN/UART GIOA/INTA (8) eQEP (x2) x SPI (1CS) Package: LQFP: 100pin -40 to 125 C Temperature Range Figure TMS570LS04x / LS03x safety microcontrollers TI makes it easier for customers to get started today with the Hercules RM4x safety microcontrollers included in SafeTI-61508 and SafeTI-26262 design packages: • Safety documentation including a safety manual and safety analysis reports, details how to implement Hercules microcontrollers in safety-critical applications, as well as failure modes, effects and diagnostic analysis (FMEDA) that provides the failure rate information needed to meet safety standards • Hercules Development Kits – Get up and running quickly with a low-cost USB stick for Hercules RM4x microcontrollers (TMDXRM48USB) or Hercules TMS570 microcontrollers (TMDXLS31USB) Full-featured kits for Hercules RM4x microcontrollers (TMDXRM42HDK or TMDXRM46HDK) and Hercules TMS570 microcontrollers (TMDXLS04HDK or TMDXLS12HDK) include a development board, TI’s Code Composer Studio™ integrated development environment (IDE), the HALCoGen peripheral configuration tool and a safety demo that showcases BIST execution and error-forcing modes • Hercules Motor Control Kit – Spin motors more safely in minutes with the Hercules RM46x Motor Control Kit (DRV8301-RM46-KIT) or the Hercules TMS570 Motor Control Kit (DRV8301-LS12-KIT) Included in the kit is an RM46x controlCARD (TMDXRM46CNCD) or TMS570 controlCARD (TMDXLS12CNCD), also available standalone, with the TPS65381-Q1 power supply, a DRV8301 EVM and a Teknic servo motor Also included in the kit is TI’s MotorWare™ software, which includes field-oriented-control (FOC) algorithms that support “self-sensing” feedback as a redundant/safe channel to a rotor position sensor and example projects that leverage the ARM® CMSIS DSP library and the HALCoGen peripheral library with built-in safety support Accelerating motor control design for functional safety October 2012 Texas Instruments ã SafeTI ARMđ Compiler Qualification Kit – Establish confidence in your development tools with TI’s new Compiler Qualification Kit The kit will help you document, analyze, validate and qualify your use of the TI ARM compiler to more easily meet the requirements of the ISO 26262 and IEC 61508 standards An early adopter release was released in October 2012, with a full-featured release following in 1Q 2013 ã AutoSARđ software for ISO 26262 Hercules TMS570 microcontroller designers can get the Safe Automotive Open System Architecture (AutoSAR) with protection mechanisms to ASIL D from TTTech/Vector ISO 26262 AutoSAR support is available from Vector and Elektrobit Household appliance motor control SafeTI design packages The SafeTI-60730 design package includes a safety manual and supervisory software functions and library for added safety Targeted for cost-effective C2000™ Piccolo™ microcontrollers, this package allows the designer to more easily meet IEC 60730 requirements without losing critical real-time motor control performance Complementary analog As part of SafeTI-61508 and SafeTI-26262 design packages, a complementary multi-rail power supply, the TPS65381-Q1 power management integrated circuit (PMIC) combines multiple power supplies and safety features such as voltage monitoring in a single device to reduce design time and board space (Figure 7) Functional safety architecture in the PMIC integrates features such as question-answer watchdog, MCU errorsignal monitor, clock monitoring on internal oscillators, self-check on clock monitor, CRC on non-volatile memory and a reset circuit for the microcontroller In addition, a BIST allows for monitoring the device functionality TPS65381-Q1: PMIC for microcontrollers in safetycritical applications VIN (6 – 36V) Charge Pump SAFETY / DIAGNOSTICS BIST BUCK Converter LDO Functional safety architecture features 6V @ 1.5A (Pre-regulator) 5V @ 300mA (CAN or ADC supply) Q&A Watchdog MUX Wake-Up SPI Interface Diagnostic State Additional sensor supply built-in LDO uC Error Monitoring Oscillator Monitoring Voltage Monitoring Loss of lock Monitoring Temp Monitoring Includes multiple power supply rails in a single device LDO Controller Sensor LDO 3.3/5V @ 300mA (uC I/O supply) Diagnostic interfaces 0.8-3.3V (uC core supply) 3.3 – 9.5V @ 100mA (sensor supply) Figure The TPS65381-Q1 multi-rail safety PMIC Accelerating motor control design for functional safety October 2012 10 Texas Instruments DRV3201-Q1 motor driver for microcontrollers in safety-critical applications Boost Regulator Vcc, VDD Safety/ Diagnostics Functional safety architecture features Three-phase Pre-FET Drives Motor driver components Power Supply Short Monitoring Phase Monitoring Dead-time control Shoot-through protection Oscillator monitoring Device Configuration Supply monitoring Programmable gate current Temperature monitoring Programmable Gain Loss of lock monitoring Sleep Mode Control Reference Voltage Current Time Current Sense Amps Figure DRV3201-Q1 safety motor driver at start-up and a dedicated diagnostic state allows the microcontroller to check the PMIC safety functions These embedded safety features can help remove the need for an additional monitoring microcontroller and reduces cost, board space and software development time Also available for functional safety automotive and transportation motor control designs is the DRV3201-Q1 safety motor driver (see Figure 8) First on the market to support start/stop functionality, the motor driver integrates functional safety architecture, such as VDS monitoring, phase comparators, shoot-through protection, dead-time control, temperature warning and protection and battery voltage detection for under- and over-voltage protection The motor driver also contains a bridge driver dedicated to an automotive threephase brushless DC motor, providing six dedicated drivers for normal level N-Channel MOSFET transistors up to 250nC charge Conclusion While the world of safety is ever evolving and industry standards become more strict, designs become more complex and certification becomes increasingly complicated But you can be one click away from easier functional safety designs with the SafeTI design packages that can be found on www.ti.com/safeti On this website, you can search by application or industry standard to find everything for your motor control functional safety designs And of course, augmented by the 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diagnostics for the CPU While two CPUs execute the Accelerating motor control design for functional... functional safety motor c­ ontrol SafeTI design packages The latest microcontrollers introduced as new SafeTI-61508 design packages are optimized for motor control in safety-critical designs They