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According to ATV320 safety manual; there is a scheme on “Multi-drive with Safety Module type preventa XPSAF” If the safety module changes from XPSAF to XPSAC5121, can this configuration satisfy SLS category 3.

The XPSAC5121 safety relay can reach PL e / category 3 according to EN ISO / ISO 13849-1 if the wiring recommendation is respected.
 
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