New design, sensors selection

Hello everyone,

I'm new to the IQAN ecosystem but I want to start using it.

My first project will be a scissors lift platform mounted on a vehicle on top of a mobile workshop.

Since this platform require EN280 safety compliance, I plan to use MC43FS and XC43 units together with MD5-5 display and G12 module.

All safety relevant sensors and controls need to be redundant.

I need to understand which type of sensors to use with respect to the ease of implementation vs. performance.

Most of the sensors are now CANopen devices, with a lot of advantages (safety, resolution/precision, ease of hardware connection...) but not easy to implement in IQAN Design (at least for me now). (but I have PCAN + PCAN Explorer6, CAN analyser from GEMAC, CANTouch)

On the other hand, voltage output sensors are easy to implement in IQAN. (0.5-4.5V ratiometric, redundant or two separate sensors)

Most systems use 4-20mA sensors but the IQAN modules don't have so many inputs ( 2 or 4 ).

In my design, the cable length between the IQAN module and a sensor will be maximum 6m.

Which sensors type to choose? (always redundant sensor, or two sensors with two signals for safety relevant signals)

a. voltage sensors - more influenced by external interference.

b. 4-20mA sensors with 250ohm(0.1%) pull down resistors ???

c. CAN J1939, easyer to implemet than CANopen.?

d. CANopen, dificult to implement.