LAUNCHXL-F28379D: Safe Current Sense

Part Number: LAUNCHXL-F28379D

Tool/software:

Hello experts,

In the application note “Optimizing functional safety for industrial robots":

https://www.ti.com/lit/wp/spry347/spry347.pdf?ts=1721730369856&ref_url=http%253A%252F%252Fplagscan.com

what exactly do you mean here by “safe current sense”?

Do you mean,

1. isolated current measurement or
2. currents are measured redundantly or
3. both

Thank you in advance and best regards - Bui