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SINUMERIK 840D sl. Service - Safety Integrated. Manual (2020) - page 15

Commissioning and configuring

7.2 Configuring safety-relevant components

Procedure

To change the Safety Integrated mode, proceed as follows:

1. Click the NCU in the network or device view and select the "Safety Integrated" entry in the

"Properties" inspector window at "General".

Figure 7-1

Inspection window "Properties" - Safety Integrated

2. Click the "Change Safety Integrated mode" button.

The "Change Safety Integrated mode" dialog opens. If you select an option, the effects of the

mode change are performed here.

Figure 7-2

"Change Safety Integrated mode" dialog

3. Select the required Safety Integrated mode and confirm the reconfiguration with "Yes".

Result

The Safety Integrated mode has been changed.

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7.2 Configuring safety-relevant components

3. Make the following settings in dialog "Assign PROFINET device name":

- PG/PC interface type: PN/IE

- PG/PC interface: Network card used, e.g. "Intel(R) 82579V Gigabit Network Connection"

The list of accessible nodes is updated in the dialog.

Figure 7-3

Dialog "Assigning a PROFINET device name"

4. Select the appropriate target device, e.g. based on the device type and IP address, and

confirm with "Name".

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5. Click the "Identification" button.

- If you have selected LED flashing for the identification type, then check whether the status

LEDs of that F-module flash green whose F-destination address you wish to assign.

- If you have selected the serial number for the identification type, compare the displayed

serial number with the serial number of the module.

6. Confirm successfully identified F-modules in the "Confirm" column of the table.

7. Using button "Assign F-destination address" assign the configured F-destination addresses to

the F-modules, and confirm dialog "Acknowledge assignment" (within 60 seconds).

8. Close the dialog.

7.2.8

Checking the PROFIsafe address

To ensure safe communication, unique PROFIsafe addresses are required throughout the CPU

and the network. For this reason, it is also necessary that you check the settings of the PROFIsafe

addresses carefully.

WARNING

Incorrect assignment of the safety functions of an axis

An incorrect assignment of a (valid) F-address results in an incorrect assignment of the safety

functions to the corresponding axis. The system does not identify this incorrect assignment (in

the CPU and in the network). As a consequence, the safety functions can act in a way that was

not intended, which in turn can result in death and serious injury.

• Uniquely address the F-destination address of the F-I/O of PROFIsafe address type 1.

• Ensure that the F-destination address of the F-I/O (the drive units in this case) is unique for

the entire failsafe I/O throughout the network and the CPU (system-wide). When doing this,

also take into account the F-I/O of PROFIsafe address type 2, e.g. modules of the ET 200SP

type.

• Note also the corresponding documentation in the TIA Portal online help in the section

"SIMATIC Safety - Configuration and programming".

During compilation of the safety program, a warning indicates the importance of unique

PROFIsafe addresses:

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7.2 Configuring safety-relevant components

Figure 7-4

Warning when compiling the safety program

Precondition

• F-destination addresses have been configured and assigned.

• Hardware and software have been compiled.

Procedure

Proceed as follows to check PROFIsafe addresses:

1. Right-click on "Safety Administration > Print", select a printer or a PDF application and

confirm with "OK".

The safety printout is generated.

Figure 7-5

F-target addresses of SINAMICS Safety Integrated drive objects in the safety printout

(example)

2. Check the PROFIsafe addresses listed in the safety printout:

- Compare the F-target addresses of the drive objects of SINAMICS Safety Integrated and NX

modules with the values of the p9610 drive parameter

- In the safety printout compare the F-destination addresses of the individual modules with

those of all other modules or participants, and ensure that the addresses are unique.

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7.3 Generating a safety program

7.3

Generating a safety program

7.3.1

Overview

Precondition

• Safety Integrated plus (F-PLC) is active.

• The F-components have been configured and parameterized.

Example of a handling overview

Step

Description

1

Create receive/send data as PLC tags (Page 223)

2

Adapting the settings of the F-runtime group (optional) (Page 225)

3

Setting up access protection (Page 226)

4

Parameterizing EMERGENCY STOP (Page 227)

5

Implementing user acknowledgment for global reintegration (Page 228)

6

Acknowledging messages related to safety functions integrated in the drive (Page 229)

7

Deselecting safety functions integrated in the drive (Page 232)

8

Initiate a forced checking procedure (test stop) (Page 233)

9

Programming the wiring test (Page 233)

7.3.2

Create receive/send data as PLC tags

In order that you can access the required drive data symbolically in the safety program, in the TIA

Portal create PLC tags with the corresponding drive addresses.

You can create all the PLC tags required before you start programming - or you can always add

your PLC tags if you wish to access new drive data. If you address the drive data with absolute

values instead, tag names are automatically assigned that are subsequently difficult to

comprehend.

You can import or export PLC tags in the XLSX, SDF or XML formats. You can copy PLC tag tables

as copy templates in global libraries.

Procedure

Proceed as follows to create PLC tag tables with the required drive data.

1. In the project navigation, double-click below "PLC tags " on "Add new tag table", e.g. "CNC_1

> PLC_1 > PLC tags > Add new tag table".

2. Right-click on the new tag table, select "Rename" and assign a name, e.g. "Safety status data"

or "Safety control data".

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7.3 Generating a safety program

3. Double-click on the new tag table to open it.

4. In the "Name" column, click on "Add" and enter the tag properties:

Property

Meaning

Name

Enter a meaningful name, e.g. <drive name>-<process data>-<where relevant,

bit identifier>.

Example 1: drive1SpValid

Example 2: drive2SlsLimitA

Data type

Specify with which data type the process data is addressed.

• Bool: S_STW1, S_ZSW1, S_STW2, S_ZSW2, S_ZSW_CAM1

• Int: S_SLS_LIMIT_A, S_SLS_LIMIT_A_ACTIVE, S_CYCLE_COUNT, S_XIST16

• DInt: S_XIST32

Example 1: Bool

Example 2: Int

Address

In the "Address" column, click on the drop-down list symbol - and enter the

properties:

Address identifier

Status/input data: I

Control/output data: Q

Address

Enter the I/O address to which the specific process data is transferred.

This is obtained from the telegram start address and the PZD range within the

telegram, where the process data starts.

• You can see the start address for a specific drive telegram in the telegram

configuring of SINAMICS Safety Integrated. The standard start addresses are

also listed in Tables (Page 347).

• Refer to the telegram structure (Page 350) to identify in which PZD range (1

PZD = 1 word = 2 byte) within the telegram the required drive data is con-

tained.

Bit number

For data type "Bool" - or if you address a bit - then in addition, specify the bit

number that you take from the process data description (Page 353).

Example 1: %I1010.6

Example 2: %QW996

Comment

Optionally, you can formulate a user-defined note for each tag that is added - or

take this from the manual.

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7.3 Generating a safety program

Result

The PLC tags were added.

Figure 7-6

Example of a user-defined tag table, with the drive addresses required in the programming

7.3.3

Adapting the settings of the F-runtime group (optional)

An F-runtime group is automatically created when you activate "Safety Integrated plus (F-PLC)"

mode. The associated F-blocks are provided in folder "Program blocks" - or in the Safety

Administration Editor under "F-blocks":

• CYC_INT5[OB35]

• Main_Safety[FB1010]

• Main_Safety_DB[DB1010]

You can adapt the default settings of the F-runtime group and the associated blocks, as

described here.

Optionally, you can also create a second F-runtime group; for example, to organize safety-

related program sections that are executed quickly, in their own dedicated F-runtime group.

Precondition

• Safety Integrated plus (F-PLC) is active.

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7.3 Generating a safety program

Procedure

Proceed as follows to view the settings of an F-runtime group - or to adapt them:

1. In the project navigation, double-click below the PLC involved on "Safety Administration",

e.g. "CNC_1 > PLC_1 > Safety Administration".

2. In the Safety Administration Editor switch to "F-runtime group".

3. If necessary, adapt the following settings.

Setting

Purpose

Calling block

Per default setting, CYC_INT5_RTG1[OB35] is set. This block is a cyclic

interrupt OB, which means that within an execution time, the safety

program is called at fixed intervals in time.

In the drop-down list you can define a block other than the calling block:

• If you select an LAD, FBD or STL block, then the call in the block is

automatically updated.

• If you select a block in another programming language, then you

must adapt the call yourself.

Main safety block

Default setting: Main_Safety_RTG1[FB1010]

In the drop-down list you can select a block other than the previously

created F-block.

The following main safety block numbers are intended for SINUMERIK

Safety Integrated plus: 1010..1019.

I-DB for the main safety

Default setting: Main_Safety_RTG1_DB[DB1010]

block

If the main safety block is an FB, then in the drop-down list you can

adapt the associated I-DB.

The following I-DB block numbers are intended for SINUMERIK Safety

Integrated plus: 1010..1019.

Execution time of the call-

If, as executing block, you use a cyclic interrupt OB 3x, then the para-

ing block

meterized execution time is displayed here.

You can change this execution time in the properties of the PLC under

"Alarms > Cyclic interrupts".

Maximum cycle time of the

The F-CPU monitors the F-cycle time in the F-runtime group.

F-runtime group

For "Maximum cycle time of the F-runtime group", select the maximum

time that may elapse between two calls of this F-runtime group.

DB for F-runtime group

If one F-runtime group is to provide variables for evaluation to another

communication

F-runtime group of the safety program, assign a DB for F-runtime group

communication.

Additional information is provided in the help for SIMATIC Safety under

"Safety-related communication between the F-runtime groups".

7.3.4

Setting up access protection

In productive operation, it is absolutely crucial that an F-system is provided with access

protection.

For test purposes, commissioning etc., initially access protection is not required; this means that

you can execute all offline and online actions without access protection, i.e. without a password

prompt.

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7.3 Generating a safety program

3. Supply the inputs and outputs of the operation.

Parameter

Declaration

Description

E_STOP

Input

EMERGENCY STOP/EMERGENCY OFF

ACK_NEC

1= acknowledgment required

ACK

1=acknowledgment

TIME_DEL

Delay time

Q

Output

1=enable

Q_DELAY

Enabling of the OFF delay for F-I/O

The enabling signal Q_DELAY is reset to 0 after the delay time has

been set at the TIME_DEL input.

Do not use Q_DELAY for drive components; instead use the corre-

sponding setting of the relevant drive-integrated safety function.

ACK_REQ

1= acknowledgment required

DIAG

Non failsafe service information

4. Link the F-DOs for the I/O shutdown or the safety function in the specific drive with the

outputs.

Additional information

You can find more information about the instruction in the online help for the instruction or in

the manual for SIMATIC Safety.

7.3.6

Implementing user acknowledgment for global reintegration

If an F-I/O error is detected by the fail-safe system, the affected F-I/O and/or drive components

are passivated.

With the passivation of a failsafe component, for the components involved, substitute values

are provided or are transferred instead of the active process values or output values.

After resolving the cause of the fault, the component involved must be reintegrated, i.e. a

switchover from substitute values to process values or output values.

Depending on the fault type or the component, in which the fault occurs, you can set passivation

and reintegration differently:

Fault type

Passivation

Reintegration

Communication

All channels of the module

After a communication error, user acknowledg-

ment is always required.

F-I/O

dependent on the F-I/O DB parameter:

or Drive

• ACK_NEC=1:

Channel

Depending on F-parameter "Be-

user acknowledgment required

havior after channel fault" of the

• ACK_NEC=0

module:

automatic reintegration

• Passivation of the channel

• Passivation of the complete

module

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7.3 Generating a safety program

You implement reintegration after user acknowledgment by interconnecting the signal,

generated by the operator action, with one of the following parameters:

• F-I/O DB parameter "ACK_REI": Reintegration of the corresponding module (all channels)

• Operation "ACK_GL" (parameter "ACK_GLOB"): Reintegration of all modules of a F-runtime

group

Procedure

Proceed as follows to implement a user acknowledgment for global reintegration:

1.

Insert operation "ACK_GL" in that F-runtime group, whose F-I/O should be globally

acknowledged by the user acknowledgment.

2.

In operation "ACK_GL", assign input "ACK_GLOB" to the input of the acknowledgment button.

3.

If necessary, carry out the optional steps:

Setting

Procedure

Evaluation of the acknowl-

You can evaluate the F-I/O DB tag "ACK_REQ" in the standard user

edgment request

program or on an operation and monitoring system, to interrogate as

to whether a user acknowledgment is required.

• ACK_REQ = 0: No acknowledgment request

• ACK_REQ = 1: Acknowledgment request for reintegration (this is

set by the F-system after the fault has been resolved)

Controlling a signal light or

In the case of a fault, you can control a signal light and/or output

output of a signal

messages/signals in the standard user program, by evaluating the

following:

• F-I/O DB tags:

- QBAD

- QBAD_I_xx/QBAD_O_xx

- DIAG

• Diagnostics buffer of the F-PLC

Automatic or manual reinte-

You can parameterize the F-I/O DB tag "ACK_NEC" if, after an F-I/O/

gration for F-I/O/channel

channel fault, automatic reintegration should take place without user

faults

acknowledgment.

• ACK_NEC = 1 (start value): User acknowledgment required

• ACK_NEC = 0: Automatic reintegration

A user acknowledgment is always required after a communication

error.

Parameterizing tags ACK_NEC = 0 is only permitted, if, from a safety-relevant perspective

automatic reintegration is permissible for the process involved. (S010)

7.3.7

Acknowledging messages related to safety functions integrated in the drive

You program PROFIsafe acknowledgment in the safety program of the F-PLC by setting the

"Internal Event ACK" signal - separately for each drive object - via the PROFIsafe telegram

(S_STW1/S_STW2 bit 7).

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7.3 Generating a safety program

Safety messages cannot be acknowledged collectively by the F-PLC, but instead have to be

individually acknowledged for each drive object. A falling edge of the "Internal Event ACK" signal

resets the status "Internal Event" in the particular drive, and thus acknowledges the fault.

In the safety program, logically combine all channel reset signals of channels that contain drive

objects with safety functions, with the "Internal Event ACK" signal for each drive object involved.

WARNING

Unexpected restart for safety-related acknowledgment without MCP reset!

If a STOP response is acknowledged in a safety-related fashion by the machine operator, but

without PROFIdrive RESET acknowledgment, then the part program is not canceled and is

continued with the acknowledgment. When the machine restarts unexpectedly, this can put

people in dangerous situations or cause material damage.

• In the safety program logically combine safe acknowledgment (PROFIsafe IEACK) with a

RESET at the machine control panel (PROFIdrive RESET).

Precondition

• PLC variables for the "Internal Event ACK" signal are added for each drive object.

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7.3 Generating a safety program

Procedure

In order to logically combine the reset signal of the machine control panel with the safety-related

acknowledgment in the safety program for a channel, proceed as follows:

1. Open the corresponding F-runtime group, e.g. Main_Safety_RTG1 [FB1010].

2. Insert a new network, in which you logically combine the signals:

1

2

&KDQ

!

'2!B

$B5HVHW

,17(51$/B

(9(17B$&.

'2!B

,17(51$/B

(9(17B$&.

3

3a

No.

Instruction/variable

Purpose/procedure

(1)

---| |---NO contact:

The channel reset must be active, i.e. the in-

"<Channel DB name>".A_Reset

terface signal in the corresponding channel

DB must be 1.

(2)

---( )--- Assignment

Assign the logic operation result to the corre-

sponding PLC variable, that you created for

the "Internal Event ACK" signal of the appro-

<PLC variable>

priate drive.

Example:

"drive1InternalEventAck"

(3)

Branch

If you are using several safety-related drive

objects, for each drive object insert a branch

together with the operation (see 3a).

(3a)

---( )--- Assignment

Assign the logic operation result to the corre-

sponding PLC variable.

<PLC variable>

Example:

"drive2InternalEventAck"

Figure 7-7

Inserting a new network

Result

The channel reset signal of the channel involved was logically combined with the safety-related

acknowledgment of faults in the individual drive objects.

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7.3 Generating a safety program

7.3.8

Deselecting safety functions integrated in the drive

You deselect safety functions integrated in the drive by accessing the corresponding drive

addresses in the safety program and then set/reset the relevant bits.

Precondition

• PLC variables for the signals required have been added.

Procedure

Proceed as follows to select or deselect a safety function integrated in the drive in the safety

program:

1. Open the F-block, e.g. Main_Safety_RTG1 [FB1010].

2. Insert a new network, and in the network, link (logically combine) the signals:

1

2

'HVHOHFWLRQB

'5B 1U !B

6DIHW\

6DIHW\

IXQFWLRQ!

IXQFWLRQ!

'5B 1U !B

6DIHW\

IXQFWLRQ!

3

3a

No.

Instruction/variable

Purpose/procedure

(1)

---| |---NO contact:

Address the PLC variable "Deselection_<safety

"Deselection_<safety function>"

function>" or the drive I/O address, which

transfers the associated bit of the safety con-

Example: "deselectionSs1"

trol word.

or

Drive I/O address with ZSW bit

(2)

---( )--- Assignment:

Assign the logic operation result to the safety

"DR_<drive number>_<safety function>"

function in the drive involved.

Example: "drive1Ss1Disable"

or

Drive I/O address with STW bit

(3)

Branch

If you deselect the safety function involved for

several drives, insert a branch and operation

for each drive (see 3a).

(3a)

---( )--- Assignment:

Assign the logic operation result to the safety

"DR_<drive number>_<safety function>"

function in the drive involved.

Example: "drive2Ss1Disable"

or

Drive I/O address with ZSW bit

Figure 7-8

Inserting a new network

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7.4 Loading the configuration to the control system

3. Click "Start search".

A search is made for the target devices, and they are displayed in the dialog.

Figure 7-9

"Extended download" dialog

4. Select the appropriate target device, e.g. based on the IP address, and confirm with "Load".

5. Check the information in the "Load preview" dialog and confirm with "Load".

6. In the "Results of the load procedure" dialog, select whether the PLC should be restarted, and

then confirm with "Complete".

7.4.2

Transferring the safety mode from the configuration

Precondition

• The configuration has been loaded (Page 234).

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7.4 Loading the configuration to the control system

Procedure

To apply the safety mode in SINUMERIK Operate, proceed as follows:

1. In SINUMERIK Operate, switch to the commissioning area (start-up area) using "MENU

SELECT > Commissioning".

2. Press the "Reset (po)" softkey and confirm with "Yes".

The NCU is restarted, and the "Adaptation of safety operating mode" dialog is then displayed.

3. Confirm the adaption of the safety mode with "OK".

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7.5 Configuring NC and drive-specific safety settings

7.5

Configuring NC and drive-specific safety settings

7.5.1

Overview

Higher-level safety settings are described in this chapter, which you specifically configure for

each drive.

Requirement

• Access rights of access level 2 (service) are available in SINUMERIK Operate.

• The commissioning of the (non-safety-related) default drive functions has been completed.

• The configuration (hardware and software) is loaded in the NCU (Page 234).

• The transfer of the Safety Integrated mode from the configuration has been completed.

(Page 235)

Example handling overview

Step

Description

1

Setting software options (Page 238)

2

Activating the safety commissioning mode (Page 238)

3

Selecting the safety functional scope (Page 240)

4

Parameterizing the setpoint speed limiting (Page 241)

5

Parameterizing reaction of the stop response (Page 243)

6

Parameterizing an encoder (Page 244) or Configuring encoderless operation (Page 248)

7

Configuring telegrams (Page 253)

8

Using the fault buffer, message buffer and alarm buffer (Page 328)

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7.5 Configuring NC and drive-specific safety settings

7.5.2

Setting software options

Procedure

Proceed as follows to set the software options for Safety Integrated plus:

1. In SINUMERIK Operate switch to licensing via "MENU SELECT > Commissioning > Menu

forward key > Licenses".

2. Press softkey "All options".

3. Set the safety software options required for your particular machine configuration:

Software option

Article No.

Purpose

SINUMERIK 840D sl

6FC5800-0AS60-0YB0

Activate the F-PLC in SINUMERIK 840D sl in or-

der to process the failsafe sensors and actuators

Safety Integrated plus

in an F-program.

/SI logic

SINUMERIK 840D sl

6FC5800-0AK00-0YB0

Use the motion control functions of the SINAM-

Safety Integrated plus

ICS Safety Integrated in the SINUMERIK Safety

/ SI axis/spindle

Integrated plus (F-PLC) mode.

License for 1 axis/spindle, multiple licensing in

order to be able to use additional axes/spindles.

SINUMERIK 840D sl

6FC5800-0AS61-0YB0

Use the motion control functions of the SINAM-

Safety Integrated plus

ICS Safety Integrated in the SINUMERIK Safety

/SI multi-axis package

Integrated plus (F-PLC) mode.

License for any number of axes/spindles.

Result

The software options were set.

The individual software options to be licensed for the machine can be displayed using softkey

"Missing licenses/options", which you can then order, e.g. through the Siemens Industry Mall.

See also

Licensing axes/spindles and F-PLC (Page 39)

7.5.3

Activating the safety commissioning mode

Changes to the safety-relevant drive parameterization are only possible if the corresponding

drive is in the Safety Integrated commissioning mode. After parameterization, the Safety

Integrated commissioning mode must be deactivated and the actual checksums must be

transferred into the reference checksums.

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7.5 Configuring NC and drive-specific safety settings

Precondition

• The commissioning of the (non-safety-relevant) standard drive functions must have been

completed.

• The configuration (hardware and software) has been loaded to the NCU (Page 234).

• Transferring the Safety Integrated mode from the configuration has been completed

(Page 235).

Procedure

Proceed as follows to activate the Safety Integrated commissioning mode for all drives:

1. In SINUMERIK Operate, go to "MENU SELECT > Commissioning > Menu forward key > Safety".

Figure 7-10

Activating the Safety Integrated commissioning mode for individual drives

Note

Activating the Safety Integrated commissioning mode for individual drives

To activate the mode for an individual drive only, instead, switch to "MENU SELECT >

Commissioning > Menu forward key > Safety > Settings > Options".

2. Select the softkey "Set SI Commissioning", then "Activate/deactivate drive commissioning"

and confirm with "Yes".

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7.5 Configuring NC and drive-specific safety settings

Procedure

Proceed as follows, to parameterize the evaluation factors of the NC to define the setpoint limits:

1. In SINUMERIK Operate, switch to the safety settings of the drive via "MENU SELECT >

Commissioning > Menu forward key > Safety > Settings > Options".

2. Switch to the corresponding drive, e.g. using softkey "Select a drive".

The parameterization is displayed for the selected drive.

3. Parameterize 4 evaluation factors for defining the setpoint limits

MD36933 $MA_SAFE_DES_VELO_LIMIT includes 4 values (indices 0…3). Using the axis-

specific PLC user interface, in the PLC program you can select which of these values is active

(DBX34.0…DBX34.1 in axis1 [DB31]…axis31[DB61]).

Bit 0

Bit 1

active setpoint limiting factor

= 0

= 0

SAFE_DES_VELO_LIMIT[0]

= 1

= 0

SAFE_DES_VELO_LIMIT[1]

= 1

= 1

SAFE_DES_VELO_LIMIT[2]

= 1

= 1

SAFE_DES_VELO_LIMIT[3]

Select the active setpoint limiting factor using DBX34.0..DBX34.1 in axis1 [DB31]…axis31[DB61]

4. Enter the 4 required evaluation factors.

To optimally set this MD, it is possible that several changes must be made in order to take into

account the dynamic response of the drives.

You can use 80% as recommended value, for example.

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7.5 Configuring NC and drive-specific safety settings

Procedure

Proceed as follows to assign parameters for the reaction of the stop response:

1. In SINUMERIK Operate, go to the safety settings of the drive via "MENU SELECT >

Commissioning > Menu forward key > Safety > Settings > Options".

2. Go to the corresponding drive, for example, using the "Select drive" softkey.

The parameter assignment is displayed for the selected drive.

3. Select one of the following options as desirable reaction to the stop response:

- On all axes in the channel

- Via the triggered safety alarms only on axes that interpolate with the current axis.

The reaction to the stop response is saved in MD36964 $MA_SAFE_IPO_STOP_GROUP.

7.5.7

Parameterizing an encoder

Precondition

• The SI commissioning mode (Page 238) is active for the drive to be configured.

• The drive is configured for operation with an encoder.

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Call the "Encoder parameterization" startup screen form

MENU SELECT > Commissioning > Menu forward key > Safety > Settings > Encoder

parameterization

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Softkey

Purpose

Drive +

The settings are specific to a certain drive. Switch to the corresponding drive

using the appropriate softkey before configuring.

Drive -

Select a drive

Recommended val-

You can automatically assign defaults to the encoder settings of the specific drive

ues

using the "Recommended values" softkey. Check the individual suggested values.

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Making the settings

Table 7-1

Parameterizing an encoder (setting - encoder parameterization)

Setting

Meaning

Axis type

Sets the axis type (linear axis or rotary axis/spindle).

SP modulo value

Sets the modulo value in degrees for rotary axes for the "Safe position"

function.

This modulo value is taken into account for safe referencing and for the

transfer of the safe position via PROFIsafe when absolute position is ena-

bled. The value should be set so that it lies precisely at 2^n revolutions, so

that when the range that can be represented overflows (+/-2048), then the

position actual value does not exhibit a step (jump).

The modulo function is deactivated for a value = 0.

Encoder selection 2nd

Selects a configured encoder as the encoder that is used by the second

monitoring channel

channel (control, Motor Module) for safe motion monitoring.

Table 7-2

Encoder-monitoring channel (settings - encoder parameterization)

Setting

Meaning

Encoder type

Sets the motor encoder as either rotary or linear encoder.

Invert position actual value

Activates/deactivates the inversion of the position actual value (sign

change).

Encoder pulses

Displays the number of encoder pulses per revolution for rotary encoders.

Fine resolution X_IST2

Displays the fine resolution for G1_XIST1 in bits.

Leadscrew pitch

Sets the ratio between the encoder and load in mm/revolutions for a linear

axis with rotary encoder.

Table 7-3

Actual value synchronization (settings - encoder parameterization)

Setting

Meaning

Enable

Enables/inhibits actual value synchronization.

It is not permissible to enable actual value synchronization and SLP/SP for

the same drive.

Actual value tolerance

Sets the tolerance for the crosswise comparison of the actual position be-

tween the two monitoring channels.

Additional actual value tol-

Displays the maximum additional difference between the load-side actual

erance

position value on the Control Unit and the load-side actual position value on

the second channel, which can occur due to the delay of the actual value

acquisition in the EnDat 2.2 converter.

Maximum actual value tol-

Displays the maximum difference between the load-side position actual

erance

value on the Control Unit and the load-side position actual value on the

second channel.

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Table 7-4

Mechanical configuration (settings - encoder parameterization)

Setting

Gearbox stage switchover

Enables/inhibits safety-relevant gearbox stage switchover.

When enabled, you can parameterize up to 8 ratios, and switchover the

active gearbox stage via PROFIsafe.

Position tolerance

Sets the factor to increase the tolerance for the crosswise data comparison

of the actual position between the two monitoring channels while the

gearbox stage is being switched over.

This factor is active when actual value synchronization is both activated as

well as also deactivated.

It is obtained, depending on the following tolerance:

• Actual value synchronization activated: p9549 * position tolerance

• Actual value synchronization deactivated: Actual value tolerance * po-

sition tolerance

Active position tolerance

Displays the active position tolerance. (product from the position tolerance

and actual value tolerance or velocity tolerance)

Number of load revolutions

Sets the denominator for the gearbox between the encoder and load.

Number of encoder revolu-

Sets the numerator for the gearbox between the encoder and load.

tions

Direction reversal

Activates/deactivates the direction of reversal for the gearbox.

7.5.8

Configuring encoderless operation

Precondition

• The SI commissioning mode (Page 238) is active for the drive to be configured.

• The drive is configured for operation without an encoder.

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Call the startup screen form "Configuration mechanical/actual value sensing"

MENU SELECT > Commissioning > Menu forward key > Safety > Settings > Mechanical /actual

value sensing

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Softkey

Purpose

Drive +

The settings are specific to a certain drive. Switch to the corresponding drive

using the appropriate softkey before configuring.

Drive -

Select a drive

Recommended val-

Using softkey "Recommended values", you can automatically preassign the val-

ues

ues of the particular startup screen form. Check the individual suggested values.

Adapting settings

Table 7-5

(Settings - mechanical configuration/actual value sensing)

Setting

Meaning

Leadscrew pitch

Sets the ratio between the encoder and load in mm/revolutions for a linear

axis with rotary encoder.

Actual value tolerance

Sets the tolerance for the crosswise comparison of the actual position be-

tween the two monitoring channels.

The tolerance must be set higher (e.g. 12 degrees rotary and 1 mm linear)

for encoderless motion monitoring functions.

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Table 7-6

Gearbox stages switchover (Settings - mechanical configuration/actual value sensing)

Setting

Meaning

Gearbox stage switchover

Enables/inhibits safety-relevant gearbox stage switchover.

When enabled, you can parameterize up to 8 ratios, and switchover the

active gearbox stage via PROFIsafe.

Number of load revolutions

Sets the denominator for the gearbox between the motor and load. The

active gearbox stage can be switched over via PROFIsafe.

Number of encoder revolu-

Sets the denominator for the gearbox between the motor and load. The

tions

active gearbox stage can be switched over via PROFIsafe.

For encoderless monitoring functions, the numerator of the gear ratio must

be multiplied by the number of pole pairs (see below).

Example:

Gearbox ratio 1:4, number of pole pairs = 2

Number of load revolutions = 1, number of encoder revolutions = 8 (4 x 2)

Direction reversal

Activates/deactivates the direction of reversal for the gearbox.

Motor pole pair number

Displays the number of motor pole pairs.

Table 7-7

Actual value sensing (Settings - mechanical configuration/actual value sensing)

Setting

Meaning

Delay time actual value

Sets the delay time for evaluating the encoderless actual value sensing after

sensing

the pulses have been enabled.

The value should be greater than or equal to the magnetization time of the

motor (p0346).

The set time is internally rounded off to an integer multiple of the moni-

toring clock cycle.

Caution: The safety functions are not fully effective until this time has

elapsed.

Notice: Reducing this value can have a negative impact on the actual value

acquisition and plausibility check - and result in safety message C01711

with message value 1041 or 1042.

Dependencies: C01711

Filter time actual value

Sets the filter time for the actual value smoothing for actual value acquisi-

sensing

tion without encoder.

Notice: A higher filter time results in a longer response time.

The smoothing is realized using a 1st order lowpass filter.

For a minimum value, the filter is deactivated.

The set time is internally rounded off to an integer multiple of the moni-

toring clock cycle.

Pulse enable

Display: Enable power

Actual value sensing sup-

Display: Actual value sensing supplies valid actual value

plies valid actual value

Actual speed value

Displays actual speed values for motion monitoring on the Control Unit.

Index [0] = load side actual speed value on the Control Unit

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Setting

Meaning

Fault tolerance

Setting of the plausibility monitoring tolerance for the current and the volt-

age angle.

A higher value makes the drive more stable when it is reversing at low

speeds - or when the load changes abruptly in the field-weakening range.

An increase brings advantages when the current or voltage at the motor

becomes small.

Increasing the value results in a longer evaluation delay - and to a higher

speed tolerance (see below).

Notice: Reducing this value can have a negative impact on the actual value

acquisition and the plausibility check.

For synchronous motors, the value must be set to 4.

For value = -1:

- for synchronous motors, the calculation automatically uses a value of 4

- for induction motors, the calculation automatically uses a value of 0 (if the

code number of the power unit p0201[0] is < 14000, otherwise a value of

2 is used).

Dependencies: F01681, C01711

Speed tolerance

Displays the actual speed deviation for encoderless actual value acquisition.

This value is calculated when setting the error tolerance (see above).

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Setting

Meaning

Minimum actual current

Sets the minimum current for encoderless actual value acquisition referred

evaluation

to 1 A (i.e. 1 % = 10 mA).

• The value must be increased if C01711 is output with message value

1042.

• The value must be decreased if C01711 is output with message value

1041.

For synchronous motors, the following condition must be satisfied:

|p0305 x p9783| >= minimum current actual value acquisition x 1.2

Recommendation: If necessary, to determine the correct value, the mini-

mum motor current must be measured.

Notice: An excessive reduction of this percentage value can result in a safety

message and in an inaccurate actual value.

Dependencies: r9785, C01711

Acceleration voltage toler-

Sets the acceleration limit to filter discontinuities in the speed/velocity. The

ance

filter is deactivated when setting the maximum value.

An increase in this percentage value means that velocity peaks can occur

when accelerating, which do not reflect the real velocity characteristic.

A decrease in this value dampens velocity peaks when accelerating.

• The value must be increased if message C01711 is output with the value

1043.

• The value must be decreased if acceleration has resulted in an excessive

safety actual velocity.

Recommendation: This parameter setting depends on the motor and

closed-loop control, and must be redetermined for each configuration.

To do this, a measurement must be made while the actual value is changing

(step function/jump), and the limit should be set so low in r9785[0] via

p9589 that it is not exceeded more than four times per second by the value

set in r9785[1]. At this point in time, the actual value correction filter in-

tervenes. The step is no longer so drastic.

Dependencies: r9784, C01711

See also

Selecting the safety functional scope (Page 240)

7.5.9

Configuring telegrams

Precondition

• The SI commissioning mode (Page 238) is active for the drive to be configured.

• Extended Functions or Basic Functions via PROFIsafe are set (Page 240) for the drive to be

configured.

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7.5 Configuring NC and drive-specific safety settings

Call up "Telegram configuration" commissioning screen

MENU SELECT > Commissioning > Menu forward key > Safety > Settings > Telegram

configuration

Softkey

Purpose

Drive +

The settings are specific to a certain drive. Switch to the corresponding drive using the appropriate

softkey before configuring.

Drive -

Select a drive

Recommended values

Using softkey "Recommended values", you can automatically preassign the values of the particular

startup screen form.

For example, in the startup screen form "Telegram configuration", the telegram types from the

configuration belong to the settings that can be assigned as default.

Check the individual suggested values.

Making the settings

Table 7-8

SIC/SCC telegram settings (Settings - telegram configuration)

Setting

Meaning

Enable SIC/SCC

Enables/inhibits the evaluation of the Safety Info Channel / Safety Control

Channel (SCC/SIC).

SIC/SCC module number

Sets the SIC/SCC module number.

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Setting

Meaning

Telegram configuration

Sets the telegram type for the Safety Info Channel (SIC)/Safety Control

Channel (SCC)

Takes into account the stop

Activates the adaptation of the braking ramp for stop D/SS2E

D/SS2E transition time in

the braking response

Table 7-9

PROFIsafe telegram settings (Settings - telegram configuration)

Setting

Meaning

Enable PROFIsafe

Enables/inhibits PROFIsafe communication between F-PLC and drive

PROFIsafe address

Sets the PROFIsafe address for the Control Unit.

PROFIsafe module number

Sets the PROFIsafe module number.

Telegram configuration

Sets the PROFIsafe telegram type.

Safety parameter assign-

Sets the PROFIsafe telegram type for the Control Unit.

ment

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7.6 Configuring safety functions integrated in the drive

7.6

Configuring safety functions integrated in the drive

7.6.1

Overview

SINUMERIK Operate screen forms and settings to commission the various safety functions are

described in this chapter.

Basic procedure

Call the appropriate startup screen forms in SINUMERIK Operate and configure the safety

functions for the individual drives.

Table 7-10

Startup screen forms and function descriptions

Startup screen form

Detailed function description

STO/SS1 Basic (Page 257)

Safe Torque Off (Page 91) / Safe Stop 1 (Page 80)

STO Extended (Page 258)

Safe Torque Off (Page 91)

SBC (Page 260)

Safe Brake Control (Page 97)

SS1 Extended (Page 261)

Safe Stop 1 (Page 84)

SS2/SOS (Page 263)

Safe Stop 2 (Page 104) / Safe Operating Stop (Page 114)

SLS (Page 269)

Safely-Limited Speed (Page 118)

SSM (Page 272)

Safe Speed Monitor (Page 131)

SAM (Page 265)

Safe Acceleration Monitor (Page 137)

SBR (Page 268)

Safe Brake Ramp (Page 139)

SDI (Page 275)

Safe Direction (Page 143)

SLP/SP (Page 276)

Safely-Limited Position (Page 151) / Safe Position (Page 156)

SBT (Page 279)

Safe Brake Test (Page 160)

SCA (Page 282)

Safe Cam (Page 172)

Can only be parameterized via

Safely-Limited Acceleration (Page 175)

the parameter list

SS2E (Page 284)

Safe Stop 2 with external stop (Page 107)

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7.6 Configuring safety functions integrated in the drive

Startup screen form

Detailed function description

SS2ESR (Page 286)

Safe Stop 2 extended stop and retract (Page 111)

Safe referencing (Page 288)

Safe referencing (Page 179)

You can find additional information on the function sequence of parameterization in the

Function Description.

In many cases, using the "Recommended values" softkey, you can automatically preassign the

values of the particular startup screen form.

Alternative to the commissioning screen forms, you can switch to "Parameter list", where all of

the parameters are listed in tabular form that are relevant for the particular safety function.

7.6.2

STO/SS1 Basic

Precondition

• The SI commissioning mode (Page 238) is active for the drive to be configured.

• One of the basis functions (Page 240) is is selected.

Displaying the "Safe torque off - STO/SS1 Basic" commissioning screen

MENU SELECT > Commissioning > Menu forward key > Safety > Functions > STO/SS1 Basic

Figure 7-11

Safe Torque Off - Safe Stop 1 - STO/SS1 Basic

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7.6 Configuring safety functions integrated in the drive

Status information

For the following parameters, the status symbols indicate the actual state (blue = active; gray =

inactive):

Status

Meaning

STO selected (r9772.0)

"STO selected in the drive" setting

No text (brake reaction) (r9773.2)

Setting "SS1 Delay time active in the drive"

Pulse inhibit channel 1 active (r9772.1)

Setting "STO or safe pulse cancellation active on the CU"

Pulse inhibit channel 2 active (r9872.1)

Setting "STO on Motor Module active"

STO active (r9773.1)

Setting "STO active in the drive"

Switch-off signal paths must be tested

Setting "Switch-off signal paths must be tested"

(r9773.31)

Settings

Setting

Meaning

Control Unit terminal (p9620[0])

Sets the signal source for the STO, SBC and SS1 functions of the Control Unit.

This is only relevant if a basic function via terminal is set in the options.

Otherwise, the input field is deactivated.

SS1 delay time (p9652)

Sets the delay time of the pulse cancellation in seconds for the function "Safe

Stop 1" (SS1) on the Control Unit to brake along the OFF3 down ramp

(p1135).

Braking response for SS1 (p9653)

Select a predefined braking response below the input field "SS1 delay time".

Parameter p9653 is preassigned depending on the selected braking re-

sponse.

F-DI input filter (p9651)

Setting the debounce time in ms for the failsafe digital inputs to control STO/

SBC/SS1.

Simultaneity monitoring (p9650)

Sets the discrepancy time in ms for the switchover of the safety-relevant

inputs (SGE) on the Control Unit.

Delay time STOP F -> STOP A (p9658)

Sets the transition time from STOP F to STOP A in ms on the Control Unit.

Forced checking procedure of the switch-off

Sets the time interval in hours for carrying out the forced checking procedure

signal paths (p9659)

and testing the switch-off signal paths.

Switch-off signal paths must be tested

To evaluate whether the switch-off signal paths must be tested, the status of

(r9773.31)

r9773.31 “Switch-off signal path must be tested" can be interconnected with

a parameter via the BICO editor.

7.6.3

STO Extended

Precondition

• The SI commissioning mode (Page 238) is active for the drive to be configured.

• The drive is configured for operation with an encoder and Extended Functions.

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Display commissioning screen "Safe torque off - STO Extended"

MENU SELECT > Commissioning > Menu forward key > Safety > Functions > STO Extended

Figure 7-12

Safe Torque Off - STO Extended

Status information

Status

Meaning

STO active

Safety Integrated status of the drive (Control Unit and MM).

r9773.1

Test stop required

r9773.31

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7.6 Configuring safety functions integrated in the drive

Settings

Setting

Meaning

Forced checking procedure of the switch-off

Sets the time interval for performing the forced checking procedure and test-

signal paths

ing the safety switch-off signal paths. Within the parameterized time, STO

must have been deselected at least once. The monitoring time is reset at

p9659

every STO deselection.

7.6.4

SBC

Precondition

• The SI commissioning mode (Page 238) is active for the drive to be configured.

• At least one safety monitoring function is enabled for the drive.

• A motor holding brake has been configured for the drive.

Display "Safe brake control - SBC" commissioning screen

MENU SELECT > Commissioning > Menu forward key > Safety > Functions > SBC

Figure 7-13

Safe Brake Control - SBC

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Status information

Status

Meaning

STO selected

Display and BICO output for the status of Safety Integrated on the drive (Con-

trol Unit + Motor Module):

r9773.0

STO selected in the drive

Switching element

See "Safe brake control" setting

Safe brake close active

Display and BICO output for the status of Safety Integrated on the drive (Con-

trol Unit + Motor Module):

r9773.4

SBC requested

Close brake selected

Display and BICO output for the status word of the sequence control:

r0899.13

Command, close holding brake

Settings

Setting

Meaning

Safe brake control

Sets the enable signal for the "Safe brake control" (SBC) function on the Con-

trol Unit.

p9602

•

[0] Inhibit SBC

•

[1] Enable SBC

7.6.5

SS1 Extended

Precondition

• The SI commissioning mode (Page 238) is active for the drive to be configured.

• The drive is configured for operation with an encoder and Extended Functions.

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7.6 Configuring safety functions integrated in the drive

Display "Safe Stop 1 - SS1 Extended" commissioning screen

MENU SELECT > Commissioning > Menu forward key > Safety > Functions > SS1 Extended

Figure 7-14

Safe Stop 1 - SS1 Extended

Status information

Status

Meaning

SS1 active

Status signals for the safety motion monitoring functions integrated in the

drive on monitoring channel 1.

r9722.1

STO active

r9722.0

Velocity resolution

Displays the safe velocity resolution (load side). Velocity limits that are speci-

fied - or parameter changes for velocities below this threshold - have no effect.

Load side

r9732[0]

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7.6 Configuring safety functions integrated in the drive

Settings

Setting

Meaning

Delay time STOP F -> STOP B

Sets the transition time from STOP F to STOP B

p9555

The set time is internally rounded off to an integer multiple of the monitoring

clock cycle.

SS1 monitoring

Selects the stop response, which is initiated when selecting function SS1 or

activating a STOP B.

p9507.3=0

• SS1 with OFF3

SS1 with OFF3 braking response integrated in the drive

• SS1E external stop

Stop to be externally initiated. Braking monitoring (SBR, SAM) is deacti-

vated.

Delay time, SS1/STOP B -> STO active

Sets the delay time for STOP A to STOP B.

p9556

The set time is internally rounded off to an integer multiple of the monitoring

clock cycle.

Shutdown speed SS1

Sets the shutdown velocity for activating STO. "Standstill" is assumed below

this velocity, and for STOP B / SS1, an STO is selected.

p9560

In the case of encoderless motion monitoring functions, this parameter must

be > 0 (10 is recommended).

(only for SS1 with OFF3)

Note: The shutdown velocity has no effect for a value = 0.

7.6.6

SS2/SOS

Precondition

• The SI commissioning mode (Page 238) is active for the drive to be configured.

• The drive is configured for operation with an encoder and Extended Functions.

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7.6 Configuring safety functions integrated in the drive

Display "Safe Stop 2 - Safe Operating Stop - SS2/SOS" commissioning screen

MENU SELECT > Commissioning > Menu forward key > Safety > Functions > SS2/SOS

Figure 7-15

Safe Stop 2 - Safe Operating Stop - SS2/SOS

Status information

Status

Meaning

SS2 active

Status signals for the safety motion monitoring functions integrated in the

drive on monitoring channel 1.

r9722.2

SOS active

r9722.3

Settings

Setting

Meaning

Delay time for SS2/STOP C -> SOS active

Sets the transition time from STOP C to "Safe Operating Stop" (SOS).

p9552

Delay time, SLS/SOS - SLS/SOS active

Sets the delay time for the SLS changeover and for the activation of SOS for

the functions "Safely-Limited Speed" (SLS) and "Safe Operating Stop" (SOS).

p9551

When transitioning from a higher to a lower Safely-Limited Speed stage and

when activating a Safe Operating Stop (SOS), the "old" speed stage remains

active for this delay time. A delay is also occurred when activating SLS from

the "SOS and SLS inactive" state - and when activating SOS from the "SOS

inactive" state.

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Setting

Meaning

Delay time, STOP D -> SOS active

Sets the transition time from STOP D to "Safe Operating Stop" (SOS)

p9553

Delay time, STOP E -> SOS active

Sets the transition time from STOP E to "Safe Operating Stop" (SOS)

p9554

Switchover speed to SOS/SLS

Sets the switchover speed to SOS/SLS in mm/min.

p9567

Transition time to SOS after standstill

Sets the transition time to SOS after standstill in ms.

p9569

Enable deactivation of SOS/SLS during an ex-

Using the checkbox, "Enable deactivation SOS/SLS during an external STOP A"

ternal STOP A

can be activated.

p9501.23

Standstill tolerance SOS

Sets the tolerance for the "Safe operating stop" function (SOS).

p9530

7.6.7

SAM

Precondition

• The SI commissioning mode (Page 238) is active for the drive to be configured.

• The drive is configured for operation with an encoder and Extended Functions.

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Display "Safe Acceleration Monitoring - SAM" commissioning screen

MENU SELECT > Commissioning > Menu forward key > Safety > Functions > SAM/SBR

Figure 7-16

Safe Acceleration Monitoring - SAM

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7.6 Configuring safety functions integrated in the drive

Settings

Setting

Meaning

Velocity tolerance

p9548

During the down ramp, the converter continually adds the speed tolerance to

the actual speed. The converter reduces the monitoring threshold until the

"Shutdown speed" has been reached.

• If the speed temporarily increases, the monitoring threshold remains at

the last value.

• If the drive accelerates by the velocity tolerance, then SAM identifies this,

and a STOP A is initiated.

Calculation

• The following applies when parameterizing the SAM tolerance:

- The maximum speed increase after SS1 or SS2 is triggered results from

the effective acceleration (a) and the duration of the acceleration

phase.

- The duration of the acceleration phase is equivalent to one monitor-

ing clock cycle (delay from detecting an SS1/SS2 until n_set = 0):

• Calculating the velocity tolerance:

Actual speed for SAM = acceleration × acceleration duration

The following setting rule is obtained:

- For linear axes:

SAM tolerance [mm/min] = a [m/s²] x MC [s] x 1000 [mm/m] x 60 [s/

min]

- For rotary axes:

SAM tolerance [rpm] = a [rev/s²] x MC [s] x 60 [s/min]

• Recommendation

The SAM tolerance value entered should be approx. 20 % higher than the

calculated value.

• With the tolerance, the "overshoot", which is automatically obtained

when reaching standstill when braking along the OFF3 ramp, must be

tolerated. However, it cannot be calculated as to just how high this is.

Shutdown speed acceleration monitoring

Sets the speed limit for the "SAM" and "SBR" functions.

p9568

SAM is deactivated once the set velocity limit has been fallen below. SBR is

deactivated if the safe braking ramp falls below the set speed limit.

Ramp-down time (OFF3)

Sets the ramp down time from the maximum velocity or maximum speed to

standstill for the OFF3 command.

p1135[0]

This time can be exceeded if the maximum the DC link voltage is reached.

Maximum velocity or maximum speed

Sets the highest possible velocity or speed.

(linear axis or rotary axis/spindle)

p1082[0]

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7.6 Configuring safety functions integrated in the drive

7.6.8

SBR

Precondition

• The SI commissioning mode (Page 238) is active for the drive to be configured.

• Safety function SS1 with stop response OFF3 is configured for the drive.

Displaying the "Safe brake ramp - SBR" startup screen form

MENU SELECT > Commissioning > Menu forward key > Safety > Functions > SAM/SBR

Figure 7-17

Safe Brake Ramp - SBR

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7.6 Configuring safety functions integrated in the drive

Settings

Setting

Meaning

Delay time

Set the delay time for monitoring the braking ramp.

p9582

Time that lapses after initiating SS1, selecting SLS or SLS level changeover

and the start of brake ramp monitoring.

The delay time has a minimum value of 2 safety monitoring clock cycles. (if

the parameterized delay time is less than 2 safety monitoring clock cycles,

then internally, a delay time of 2x monitoring clock cycles is used.)

Monitoring time

Sets the monitoring time to determine the braking ramp.

p9583

The gradient of the braking ramp depends on the reference velocity (refer-

ence value) and the monitoring time.

Reference velocity

Sets the reference value to determine the braking ramp.

p9581

The gradient of the braking ramp depends on the reference velocity (refer-

ence value) and the monitoring time.

Ramp-down time (OFF3)

Sets the ramp down time from the maximum velocity or maximum speed to

standstill for the OFF3 command.

p1135[0]

This time can be exceeded if the maximum the DC link voltage is reached.

Maximum velocity or maximum speed

Sets the highest possible velocity or speed.

(linear axis or rotary axis/spindle)

p1082[0]

7.6.9

SLS

Precondition

• The SI commissioning mode (Page 238) is active for the drive to be configured.

• The drive is configured for operation with an encoder and Extended Functions.

Note

Transferring process data for SLS in PROFIsafe telegrams

PROFIsafe telegram 901, 902 or 903 can be used to transfer process data. The default setting is

telegram 903.

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Display "Safely Limited Speed - SLS" commissioning screen

MENU SELECT > Commissioning > Menu forward key > Safety > Functions > SLS

Figure 7-18

Safely-Limited Speed - SLS

Status information

Status

Meaning

Velocity level selected

Indicates which parameterized velocity level is currently selected.

Level 1: r9720.9=0 and r9720.10=0

Level 2: r9720.9=1 and r9720.10=0

Level 3: r9720.9=0 and r9720.10=1

Level 4: r9720.9=1 and r9720.10=1

Velocity level active

If one of the velocity levels is currently active, then this is displayed in the

corresponding column.

Level 1: r9722.9=0 and r9722.10=0

Level 2: r9722.9=1 and r9722.10=0

Level 3: r9722.9=0 and r9722.10=1

Level 4: r9722.9=1 and r9722.10=1

Active SLS limit value

Displays the load-side velocity actual value of the CU.

r9714.0

The display is updated in the safety monitoring cycle clock.

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7.6 Configuring safety functions integrated in the drive

Settings

Setting

Meaning

Delay time when selecting SLS -> SLS active

Sets the delay time for SLS switchover.

p9551

This delay time is active in the following cases:

• Selecting SLS:

Monitoring only becomes active after the configurable delay time has

elapsed. Within this time, the actual speed must be below the (selected)

limit.

• This delay time is also incurred when activating SLS from the "SOS and SLS

in active" state.

• Reducing the 1st limit value via PROFIsafe - or switching over to a lower

maximum velocity level:

The actual velocity of the drive must have dropped below the new limit

within the delay time. The existing limit remains active during the delay

time. The lower limit value becomes active after the delay time expires.

The delay time is not active in the following cases:

• Deselecting SLS

• Switching over to a higher limit value:

The higher limit value immediately becomes active.

In operation, the parameterized delay time cannot be changed. If you require

various delay times in your application, then you must realize this using a

time-delayed transfer of the SLS limit value using the F-PLC.

Maximum velocity (V_max) level 1

Up to 4 parameterizable SLS velocity limit values must be specified based on

the results of the risk analysis. Also when SLS is activated, these limit values

p9531[0]

can be toggled between.

Maximum velocity (V_max) level 2

Depending on the particular situation, when switching over the "Delay time,

p9531[1]

selecting SLS -> SLS active" is active (see above).

Maximum velocity (V_max) level 3

Switchover between these 4 values

p9531[2]

The value of a selected maximum velocity level 1 is transferred via PROFIsafe

Maximum velocity (V_max) level 4

if check box "SLS limit via PROFIsafe for SLS level 1" is active.

p9531[3]

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Setting

Meaning

Stop response level 1

Sets the specific stop response for the appropriate maximum velocity level:

p9563[0]

• STOP A

Stop response level 2

• STOP B

p9563[1]

• STOP C

Stop response level 3

• STOP D

p9563[2]

• STOP E

Stop response level 4

• STOP A with delayed STO when the bus fails

p9563[3]

• STOP B with delayed STO when the bus fails

• STOP C with delayed STO when the bus fails

• STOP D with delayed STO when the bus fails

• STOP E with delayed STO when the bus fails

Using the settings without delayed STO, when the bus fails, protection for

persons can be implemented - with delayed STO, when the bus fails, protec-

tion for machinery can be implemented.

Here, in a wider sense, bus failure should be understood as a communication

error relating to the signals that are used to control the safety functions (e.g.

via PROFIsafe).

SLS limit value via PROFIsafe for SLS level 1

Setting to transfer the maximum velocity level 1 via PROFIsafe.

The transfer of maximum velocity level 1 via PROFIsafe can also be used to

parameterize (fixed) maximum velocity levels 2, 3 and 4.

When activated, the value is transferred using PROFIsafe in control word

S_SLS_LIMIT_A, assuming that level 1 is currently selected. S_SLS_LIMIT_A

has the value range 1 ... 32767; where the following applies:

•

32767 ≙ 100 % of the 1st SLS level

• The actually monitored limit value is calculated as follows:

SLS limit value = (S_SLS_LIMIT_A/32767) × "maximum velocity level 1"

If an incorrect SLS limit value is transferred, then the converter responds with

the parameterized "Stop response level 1".

7.6.10

SSM

Precondition

• The SI commissioning mode (Page 238) is active for the drive to be configured.

• The drive is configured for operation with Extended Functions.

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7.6 Configuring safety functions integrated in the drive

Display "Safe Speed Monitoring - SSM" commissioning screen

MENU SELECT > Commissioning > Menu forward key > Safety > Functions > SSM

Figure 7-19

Safe Speed Monitor - SSM

Status information

Status

Meaning

Switching element (SSM with hysteresis)

Indicates whether the "Hysteresis" and "Filter time" functions are active.

p9501.16

Speed below SSM limit value

Indicates whether the current velocity is below the parameterized velocity

limit.

r9722.15

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Settings

Setting

Meaning

SSM with hysteresis

Activates the "Hysteresis" and "Filter time" functions for SSM.

p9501.16

If the "SSM with hysteresis" function is enabled, the SSM function is evaluated

as an active monitoring function, and after a STOP F, also results in a subse-

quent STOP B / STOP A response.

Filter time

Sets a filter time (PT1 filter) to smooth the output signal for SSM.

p9545

As filtering characteristic, for output signal SSM, a time-delayed SSM feedback

signal occurs for the axes.

Hysteresis

Parameterizing hysteresis for SSM

p9547

In this way, a more stable SSM signal characteristic can be achieved at veloc-

ities close to the "Velocity limit" (monitoring threshold).

The velocity (or speed) determined by both channels may differ as a maxi-

mum by the difference between "Velocity/speed limit" and "Hysteresis". Oth-

erwise, it would be theoretically possible that for SSM one channel returns a

HIGH signal and the other a LOW signal.

Take into account the following rule when parameterizing:

• Hysteresis p9547 ≤ 0.75 · velocity limit p9546

If actual value synchronization is enabled (Settings - encoder parameteriza-

tion (Page 244)), then you must also comply with the following rule:

• "SI Motion slip velocity tolerance" (p9549) ≤ hysteresis

Velocity limit

Sets the velocity limit for the SSM feedback signal to detect standstill (n < nx).

p9546

If the velocity limit is fallen below, then the signal "Safe Speed Monitor feed-

back signal active" (SGA n < n_x) is set.

The abbreviation SGA n < nx stands for the safety function required for de-

termining an output signal when a parameterizable velocity limit has been

undershot.

This value is also active for safety function SAM as "Shutdown velocity accel-

eration monitoring" - assuming that this shutdown velocity is parameterized

with "0". In this case, the effects of Safe Acceleration Monitoring are therefore

restricted if a relatively high SSM velocity limit is set when using the SS1 and

SS2 stop functions.

Feedback signal SSM active for pulse inhibit

Sets the response during pulse cancellation in encoderless operation.

(only in encoderless operation)

For Safe Speed Monitor without encoder, after pulse suppression the drive is

unable to determine the current velocity. 2 responses can be selected for this

p9509.0

operating state:

• The status signal (SSM feedback signal) indicates "0" (factory setting).

• The status signal (SSM feedback signal) is frozen. "Safe Torque Off" (STO)

is selected internally.

See also: Signal characteristic for setting "Feedback signal SSM for pulse in-

hibit " (Page 134)

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7.6 Configuring safety functions integrated in the drive

7.6.11

SDI

Precondition

• The SI commissioning mode (Page 238) is active for the drive to be configured.

• The drive is configured for operation with Extended Functions.

Display "Safe Direction - SDI" commissioning screen

MENU SELECT > Commissioning > Menu forward key > Safety > Functions > Menu forward key

> SDI

Figure 7-20

Safe Direction - SDI

Status information

Status

Meaning

for positive direction

Status signals for the safety motion monitoring functions integrated in the

drive on monitoring channel 1.

r9722.12

for negative direction

r9722.13

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7.6 Configuring safety functions integrated in the drive

Settings

Setting

Meaning

SDI

Activating/deactivating (enable) SDI.

p9501.17

Delay time, selection SDI -> SDI active

Sets the delay time.

p9565

After selecting function SDI, motion in the monitored direction is permissible,

as a maximum for this time. Therefore, this time can be used to brake active

motion.

Tolerance

Sets the tolerance.

p9564

This motion is still permissible in the monitored direction before safety mes-

sage C01716 is initiated.

Stop response

Sets the stop response. This setting applies to both directions of motion.

p9566

•

[0] STOP A

•

[1] STOP B

•

[2] STOP C

•

[3] STOP D

•

[4] STOP E

•

[10] STOP A with delayed stop response when the bus fails

•

[11] STOP B with delayed stop response when the bus fails

•

[12] STOP C with delayed stop response when the bus fails

•

[13] STOP D with delayed stop response when the bus fails

•

[14] STOP E with delayed stop response when the bus fails

In encoderless operation, only settings "[0] STOP A" and "[1] STOP B" can be

selected.

Feedback signal SDI active for pulse inhibit

Activates/deactivates SDI during pulse cancellation in encoderless operation.

p9509.8

(only in encoderless operation)

7.6.12

SLP/SP

Precondition

• The SI commissioning mode (Page 238) is active for the drive to be configured.

• The drive is configured for operation with an encoder and Extended Functions.

• Telegram 902 (using SLP/SP) or telegram 903 (using only SLP) is set

• Actual value synchronization is not enabled (p9501.3 != 0).

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7.6 Configuring safety functions integrated in the drive

Display "Safe Limit Positions - Safe Position - SLP/SP" commissioning screen

MENU SELECT > Commissioning > Menu forward key > Safety > Functions > Menu forward key

> SLP/SP

Figure 7-21

Example of the "SLP" commissioning screen, that is, with telegram 903 being set

Status information

Status

Meaning

Positioning range selected

Displays whether positioning range 1 or 2 is currently selected.

Range 1: r9720.19=0 & r9720.6=0

Range 2: r9720.19=1 & r9720.6=0

Positioning range active

Displays whether positioning range 1 or 2 is currently active.

Range 1: r9722.19=0 & r9722.6=1

Range 2: r9722.19=1 & r9722.6=1

Actual position value

Displays the actual load-side actual value via PROFIsafe.

r9708[4]

(only PROFIsafe)

Safety-relevant position valid

Status signals for the safety motion monitoring functions integrated in the

drive on monitoring channel 1.

r9722.22

SP valid

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7.6 Configuring safety functions integrated in the drive

Status

Meaning

Safety reference position confirmed

Displays the internal status of the user agreement

r9727

Drive reference.

Display: Position referenced

r9723.17

Safely ref.

Display: SP valid

r9722.23

Settings

Setting

Meaning

SLP

Enable/inhibit SLP.

p9501.1

P min [mm]

Sets the lower and upper limit values for position range 1 or 2 of the SLP

function.

Range 1: p9535[0]

For the setting, these limit values apply:

Range 2: p9535[1]

• P max > P min

P min [mm]

Range 1: p9534[0]

• The limit values must lie in the valid traversing range (-737280 …

737280).

Range 2: p9534[1]

See also: C01715

Stop response

Sets the stop response for position range 1 or 2 of the SLP function.

Range 1: p9562[0]

•

[0] STOP A

Range 2: p9562[1]

•

[1] STOP B

•

[2] STOP C

•

[3] STOP D

•

[4] STOP E

•

[10] STOP A with delayed stop response when the bus fails

•

[11] STOP B with delayed stop response when the bus fails

•

[12] STOP C with delayed stop response when the bus fails

•

[13] STOP D with delayed stop response when the bus fails

•

[14] STOP E with delayed stop response when the bus fails

Safe position

Enables/inhibits the transfer of the safe position via PROFIsafe

p9501.25

(only for telegram 902)

(only for PROFIsafe)

Safe absolute position

Enables/inhibits the safe absolute position.

p9501.27

(only for telegram 902)

(only for PROFIsafe)

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7.6 Configuring safety functions integrated in the drive

Setting

Meaning

SP scaling

Sets the scaling factor to transfer the safe position via PROFIsafe in the 16-bit

format. The parameter is only active when PROFIsafe telegram 901 is selec-

p9574

ted, see S_XIST16: Current actual position value (16 bits) (Page 366).

(only for telegram 902)

Scaling is realized by dividing the 32-bit position actual value r9713[0] with

(only for PROFIsafe)

this scaling factor. If, during operation, a position actual value is determined

that cannot be scaled, then this results in message C0711 with value 7001 -

as well as STOP F.

Tolerance of the position actual values (refer-

Sets the tolerance for checking the actual values.

encing)

For an incremental encoder, the actual values are checked after referencing,

p9544

for an absolute encoder, when switching on.

(only for telegram 902)

7.6.13

SBT

Precondition

• The SI commissioning mode (Page 238) is active for the drive to be configured.

• The drive is configured for operation with Extended Functions.

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7.6 Configuring safety functions integrated in the drive

Display "Safe Brake Test - SBT" commissioning screen

MENU SELECT > Commissioning > Menu forward key > Safety > Functions > Menu forward key

> SBT

Figure 7-22

Safe Brake Test - SBT

Note

Additional commissioning support

The following SINUMERIK Operate screen forms are available to commission SBT:

• "Graphic" softkey: Displays a torque-time diagram or a force-time diagram

• "Trace" softkey: Starts a drive trace session with various options.

Status information

Status

Meaning

Actual holding torque or force

Displays the torque actual value or force actual value (unsmoothed).

r0080

SBT state

Displays the current status of the Safe Brake Test.

r10242

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7.6 Configuring safety functions integrated in the drive

Status

Meaning

SBT load torque or force

Displays the load torque or the load force for the Safe Brake Test. This load

torque or this load force is available at the drive when initializing the brake

r10241

test. The displayed value is kept until the brake test is deselected.

SBT test torque or force

Displays the maximum test force or the maximum test torque available on the

motor side. The displayed value remains until the start of the next test se-

r10240

quence.

Settings

Setting

Meaning

SBT enable

Enables/inhibits SBT.

p10201.0

SBT motor type

Selects the motor type for the Safe Brake Test.

p10204

•

0: Rotary

•

1: Linear

SBT selection

Selects the control type

p10203

•

0: SBT via SCC (p10235)

•

1: SBT via BICO (p10230)

•

2: SBT for test stop selection (p9705/p10250.8)

For integrated drives (CU_I, CU_NX), only "SBT via SCC" is permissible.

Brake test

Selects the brakes to be tested.

Brake 1: p10202[0]

•

0: Inhibit

Brake 2: p10202[1]

•

1: Test motor holding brake

•

2: Test external brake

It is not possible to test two motor holding brakes.

Actual holding torque or force

Sets the effective holding torque or holding force of the brakes to be tested on

the motor side.

Brake 1: p10209[0]

Brake 2: p10209[1]

Establish the test torque or test force

Sets the time during which the test torque or the test force is ramped up

against the closed brake. After the Safe Brake Test, the test torque or the test

Brake 1: p10208[0]

force is ramped-down again.

Brake 2: p10208[1]

Test torque factor or test force factor

Sets the factor for the test torque or the test force of test sequence 1 or 2 for

the Safe Brake Test. The factor is referred to the brake holding torque or the

Test sequence 1, brake 1: p10210[0]

brake holding force (see above, p10209).

Test sequence 1, brake 2: p10210[1]

Test sequence 2, brake 1: p10220[0]

Test sequence 2, brake 2: p10220[1]

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7.6 Configuring safety functions integrated in the drive

Setting

Meaning

Position tolerance

Sets the tolerated position deviation for test sequence 1 or 2 for the Safe Brake

Test.

Test sequence 1, brake 1: p10212[0]

Test sequence 1, brake 2: p10212[1]

Test sequence 2, brake 1: p10222[0]

Test sequence 2, brake 2: p10222[1]

Test duration

Sets the test duration for test sequence 1 or 2 for the Safe Brake Test. The test

torque or the test force is applied to the closed brake for this time.

Test sequence 1, brake 1: p10211[0]

Test sequence 1, brake 2: p10211[1]

Test sequence 2, brake 1: p10221[0]

Test sequence 2, brake 2: p10221[1]

Note

Using MD36968.2 to select the parameter assignment behavior at the end of SBT

You can parameterize the positioning behavior after the brake test via the expert list using

MD36968.2 $MA_SAFE_BRAKETEST_CONTROL, bit 2:

•

0: Positioning at the actual axis position

To conclude the brake test, the actual axis position for the next path motion is used.

(MD36968 $MA_SAFE_BRAKETEST_CONTROL bit 2 = 0). This results in motion to the last

programmed axis position on the path.

•

1: Positioning to the last programmed axis position

Acceptance of the actual axis position is not carried out. After the axis has been pressed

against the brake, the closed-loop position controller withdraws the axis to the last

programmed position.

Vertical axes can thus be prevented from sagging as a result of a repeated brake test. It is also

possible to briefly exceed the software limit switch while pressing against the brake without

initiating an alarm.

7.6.14

SCA

Precondition

• The SI commissioning mode (Page 238) is active for the drive to be configured.

• The drive is configured for operation with an encoder and Extended Functions.

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7.6 Configuring safety functions integrated in the drive

Display "SI Safe Cams" commissioning screen

MENU SELECT > Commissioning > Menu forward key > Safety > Functions > SCA

Figure 7-23

Safe Brake Test - SBT

Status information

Status

Meaning

SCA selected

SI Motion control signals integrated in the drive: Deselect SCA

r9720.23

SCA active

SI Motion SCA status signal (Control Unit)

r9703.30

SCA valid

SI Motion SCA status signal (Control Unit)

r9703.31

Position at cam

SI Motion SCA status signal (Control Unit)

r9703.0

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