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

Commissioning and configuring

7.6 Configuring safety functions integrated in the drive

Settings

Setting

Meaning

Modulo value SP

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

tion.

p9505

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

transfer of the safe position via PROFIsafe when absolute position is enabled.

Enable SCA

Inhibits or enables the SCA function throughout.

Hysteresis

Specifies the hysteresis value.

Inhibits/enable individual Safe Cams of the SCA function.

9503.0 ... 29

Displays the cam identifier. Default setting, "Cam 1" … "Cam 30".

The cam identifiers are defined in the associated TS files depending on the

language, and can be freely defined by copying and adapting the files:

• Template for the TS file: /card/siemens/sinumerik/hmi/template/lng/

oem_scam_names_deu.ts

• Archive path for user-defined TS file: /card/oem/sinumerik/hmi/lng/

oem_scam_names_<Sprachkennung>.ts

Minus cam position

Sets the minus cam position in ° or mm.

p9537[0...29]

Plus cam position

Sets the plus cam position in ° or mm.

p9536[0...29]

7.6.15

SS2E

Precondition

• The Safety Integrated 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

Status information

Status

Meaning

Status control signals:

Status - control and status signals for the safety motion monitoring functions

integrated in the drive on monitoring channel 1.

Select SS2E

r9720.28

Select SOS

r9720.3

Status signals:

SS2E active

r9722.28

SOS active

r9722.3

STOP C active

r9721.13

STOP D active

r9721.14

Settings

Setting

Meaning

Enable SS2E

SS2E enable is activated via the parameter.

p9501.18

Delay time, STOP D -> SOS active

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

p9553

7.6.16

SS2ESR

Precondition

• The Safety Integrated 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

Status information

Status

Meaning

Status control signals:

Status - control and status signals for the safety motion monitoring functions

integrated in the drive on monitoring channel 1.

Select SS2ESR

r9720.29

Select SOS

r9720.3

Status signals:

SS2ESR active

r9722.27

STOP E active

r9721.15

STOP C active

r9721.13

STOP D active

r9721.14

SOS active

r9722.3

Settings

Setting

Meaning

Enable SS2ESR

SS2ESR enable is activated via the parameter.

p9501.04

Delay time SS2ESR/STOP E -> SOS active

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

p9554

7.6.17

Safe referencing

Precondition

• The Safety Integrated commissioning mode (Page 238) is active for the drive to be

configured.

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

• 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 referencing" commissioning screen

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

> Safe referencing

Figure 7-26

Safe referencing

Status information

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: Safely referenced

r9722.23

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7.6 Configuring safety functions integrated in the drive

Settings

Setting

Meaning

Enable referencing via SCC

Sets the enable signals for the safety-related motion monitoring functions.

p9501.27

SI Motion, user agreement, select/deselect

User agreement Safe Position

p9726

(is only displayed if functions with Safe Position evaluation are activated)

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.

7.6.18

Further safety functions

In addition to the described safety functions that are configured using commissioning screens,

the following drive-integrated safety functions can be configured in the expert list, that is, by

directly entering the parameters:

• SS2e - SS2 with external stop (Page 107)

• Homing via SIC/SCC (Page 179)

• Cancellation of the stop transition times

• Automatic SLS (Page 118)/SOS (Page 114) deselection when STO active

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7.7 Finalizing commissioning

7.7

Finalizing commissioning

7.7.1

Confirming settings

After parameterization, the Safety Integrated commissioning mode must be deactivated and the

actual checksums must be transferred into the reference checksums.

Requirements

• The NC and drive-specific settings have been correctly configured for all safety-related drives

and for all F-I/O devices.

• The safety functions integrated in the drive are configured.

• The safety commissioning mode is activated.

Procedure

Proceed as follows to confirm the drive-specific safety settings that have been made:

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

Safety".

2. Using the menu forward key, switch to the 2nd Level of the vertical softkey bar.

3. Press softkey "Copy SI data" and confirm with "OK".

The safety settings are copied from the 1st into the 2nd monitoring channel.

4. Press softkey "Confirm SI data" and confirm with "OK".

5. Press softkey "Save all drive objects" and confirm with "OK".

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7.7 Finalizing commissioning

7.7.2

Assigning a Safety Integrated password

In SINUMERIK Operate, commissioning data is generally stored in various access levels. You

protect the safety-related drive parameterization additionally with the Safety Integrated

password. This password is stored in the drive data so that it can be changed only by authorized

persons who know the password.

Note

SINAMICS Safety password must be used for SINUMERIK Safety

You can assign the SINAMICS safety password via the SINUMERIK Operate screen form (access

level "Manufacturer"). SINUMERIK Operate automatically sets the assigned SINAMICS safety

password for all axes/drives as soon as you select "Safety" in the Commissioning operating area.

The precondition to do this is an active "Service" or "Manufacturer" access level.

Alternatively, assign the password as follows via the expert list as in SINAMICS Safety:

• p0010 = 95 Commissioning mode

• p9761 = enter "Old safety password". Default setting for p9761 = 0.

• p9762 = enter "new password".

• p9763 = confirm "new password"

• p0977 = 1; "Copy from RAM to ROM"

The new and confirmed safety password is valid immediately.

Procedure

To assign the Safety Integrated password for all axes/drives, proceed as follows:

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

2. Select softkey "SI password".

3. Select the check box for the all "axes/drives".

4. Assign a password and confirm by clicking on "OK".

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7.8 Series commissioning

7.8

Series commissioning

A loaded project that has been commissioned can be loaded to another SINUMERIK control

system, while still keeping the safety parameterization. However, observe the following

information:

• Different component checksums as a result of series commissioning with Safety Integrated

functionality (Page 340)

• Safety message for series commissioning with third-party motor (Page 293)

For series commissioning, you must perform an acceptance test (Page 297) for each SINUMERIK

control system.

Safety message for series commissioning with third-party motors under Safety Integrated

Extended Functions

If third-party motors with absolute encoders are being used, a situation may arise where a Safety

message prevents commissioning.

One reason for this may be that a different serial number of the absolute encoder is saved on the

memory card than that in the Control Unit which is to be commissioned. The safety message can

only be acknowledged once the serial number for the absolute encoder has first been manually

corrected. You can then proceed with the commissioning.

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7.9 Interaction with other functions

7.9

Interaction with other functions

7.9.1

Gantry axes

Note

In a gantry group, you must configure Safety Integrated or SINUMERIK Safety Integrated plus in

the leading as well as the following axis.

Otherwise, for a gantry group it is not ensured, that a STOP at the leading axis is automatically

transferred to the following axis, for example. The gantry coupling could be opened. As a

consequence, an axis would have no monitoring.

Note

STOP A, B, C stop responses

If a stop response is only initiated on one axis in the coupled group (STOP A, B, C), then this is

taken into account on all axes of the coupled group, and an n_set=0 is initiated. If this results in

different axis braking responses, then you can use drive function FASTBRK. If this results in an

offset that is not acceptable, then you should configure an SS2E stop response (STOP D).

7.9.2

Leading/following axis

For a leading/following axis group, on both axes you must configure Safety Integrated or

SINUMERIK Safety Integrated plus, assuming that there is no fixed mechanical coupling.

If a fixed mechanical coupling exists, then you must only configure SINUMERIK Safety Integrated

or SINUMERIK Safety Integrated plus in the leading axis.

Based on a risk assessment, the machine manufacturer must evaluate as to whether the fixed

mechanical coupling is sufficiently stable, so that it is adequate that Safety Integrated or

SINUMERIK Safety Integrated plus is only configured in the leading axis.

7.9.3

Brake tests for axis groups

For a gantry or leading/following axis group, the machinery manufacturer (OEM) must decide

on a case-for-case basis whether a defective brake could result in mechanical damage. The brake

test should not be performed if mechanical damage could occur.

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7.9 Interaction with other functions

7.9.4

SERVCOUP special solution

In the SERVO control mode, SERVCOUP allows motors to be operated, which as a result of their

size and/or type of construction, cannot be operated from a single SINAMICS power unit. These

motors are subdivided into several drive objects, each of which can be operated on a Motor

Module, and can be coupled with one another. As a consequence, the individual drive objects

can be considered as partial motors with their own winding and terminals.

• When using the SERVO coupling, similar motors must be mechanically coupled very rigidly

with one another.

• OA applications (generally) have no influence on Safety Integrated or SINUMERIK Safety

Integrated plus.

• For SERVCOUP, for the leading axis, Safety Integrated Extended Functions are used to monitor

the drive. The following axes only have Safety Integrated Basic Functions.

• In the case of a leading axis fault, the following axes are stopped via STO. You must

implement this as part of your application engineering (see Function Manual SERVCOUP

(https://support.industry.siemens.com/cs/ww/en/view/109779937 ), Chapter "Function

Description/SINAMICS Safety Integrated/SINUMERIK Safety Integrated").

• If, for instance, the monitoring speed of the Safely-Limited Speed (SLS) is violated at the

leading drive object, then the parameterized safety STOP response is initiated at the leading

drive object. The complete drive line-up is then shut down.

7.9.5

Closing the internal motor brake using SCC

In conjunction with the safety monitoring functions and with SCC activated, you can control the

internal brake using signal SCC.CW1.CloseBrake (DB3x, ...DBX140.5) "Close internal brake".

Note

BICO interconnection

When upgrading from software release < V6.14, you might have to change the BICO

interconnection of p858 to r10251.13.

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Acceptance test

8.1

Purpose and requirements

The objective of the acceptance test is to check the correct parameterization and mode of

operation of the safety functions and to detect potential configuration errors or to document the

correctness of the configuration.

With the acceptance test, the limit values entered for all activated safety functions must be

exceeded (violated). This allows the correct execution of the function to be checked and verified.

WARNING

Unwanted motion due to incorrect parameter changes

Changes to accepted safety functions may lead to faults or to unwanted motion and thus to

serious injuries or death.

• Perform a new acceptance test as soon as changes have been made to any of the safety

functions.

• Also create an appropriate acceptance report.

Responsibility for the acceptance test

The machine manufacturer is responsible for carrying out and documenting an acceptance test.

It is not permissible to use the results of the acceptance test for other purposes!

The measured values obtained when executing the acceptance test (e.g. distance or time) and

the system response identified (e.g. initiation of a specific stop) are used to check the plausibility

of the configured safety functions. The values that are measured are typical and are not worst-

case values. They represent the behavior of the machine at the time of measurement. These

measurements cannot be used to derive real values (e.g. maximum distances for over-travel

distances).

Acceptance test in SINUMERIK Operate

A detailed description of the acceptance test in SINUMERIK Operate is provided in Function

Manual "SINUMERIK Operate Acceptance Test" (download (https://

support.industry.siemens.com/cs/ww/en/view/109761095)).

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Diagnostics

If you are looking for a description of the diagnostic functionality, then in this Chapter you can

find a Diagnostics guide (Page 300) and descriptions relating to the safety diagnostic

functionality with SINUMERIK Operate.

These diagnostic functions are possible in the following software depending on the particular

component:

Table 9-1

Diagnostic functionality depending on the components

Component

SINUMERIK Operate

TIA Portal

F-PLC

Operating area "Diagnostics"

See the help for SIMATIC Safety

F-I/O

Operating area "Diagnostics"

See the help for SIMATIC Safety

Safety program

See the help for SIMATIC Safety

(F-program)

Checksums

Master checksums and SINAM-

Signatures of F-I/O, the safety

ICS checksums in operating

program and checksums of the

area "Diagnostics"

F-PLC.

See the help for SIMATIC Safety

Status of safety-relevant drives

Operating area "Diagnostics"

Telegram diagnostics

Operating area "Diagnostics"

SCA diagnostics

Operating area "Diagnostics"

Status and diagnostic information

Operating area "Startup"

about specific safety functions

(without activating the com-

missioning mode)

You will also find general descriptions and backg16round information about diagnostics using

SINUMERIK Operate in this chapter:

• Display and evaluation of diagnostic information (Page 317)

• Checksums (Page 318)

• Stop responses (Page 321)

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

• Acknowledgment (Page 331)

Information about replacing components (software or hardware components) is provided in a

separate chapter (Page 335).

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Diagnostics

9.1 Diagnostics guide

9.1

Diagnostics guide

Table 9-2

Steps for evaluating diagnostic capabilities

Step

Procedure

Reference

Evaluate LEDs on the hardware (F-CPU, F-I/O):

Equipment Manual SINUMERIK

840D sl NCU 7x0.3

• SF, DP, DP/MPI and PN-LEDs of the F-CPU flash for a communication error at

the PROFIBUS DP/PROFINET IO, per channel;

Manuals for the F-I/O

SF-LED is lit, if OB 85 and OB 121 are programmed, for a programming error

(e.g. instance DB not loaded)

• STOP LED on the F-CPU: illuminates when the F-CPU is in STOP mode

• Fault LEDs on the F-I/O: e.g. SF-LED (group error LED) on if any fault occurs

in the individual F-I/O

Evaluate diagnostic buffer of the modules:

Help on STEP 7 and manuals for

the F-CPU and F-I/O

You read the diagnostic buffer of a module (F-CPU, F-I/O, CP) in its online and

diagnostic view in the "Diagnostic buffer" group under the "Online & Diagnos-

tics" folder.

Evaluate stacks of the F-CPU:

Help on STEP 7

when the F-CPU is in STOP mode, read the following successively:

• Block stack: Check whether STOP mode of the F-CPU was triggered by an

F-block of the safety program

• Interruption stack

• Local data stack

Evaluate diagnostic tag of the F-I/O DB using testing and commissioning

F-I/O access (Page 70) or help relat-

functions, by means of an operator control and monitoring system, or in

ing to SIMATIC Safety

the standard user program:

Evaluate the DIAG tag in the F-I/O DB

Evaluate diagnostic outputs of the instance DBs of instructions using

Operations (Page 58) or help relat-

testing and commissioning functions, using an operator control and mon-

ing to SIMATIC Safety

itoring system, or in the standard user program:

• For MUTING, EV1oo2DI, TWO_H_EN, MUT_P, ESTOP1, FDBBACK, SFDOOR,

evaluate in the assigned instance:

- Output DIAG

• Evaluate the following for SENDDP or RCVDP in the assigned instance DB:

- Output RET_DPRD/RET_DPWR

- Output DIAG

• Evaluate the following for SENDS7 or RCVS7 in the assigned instance DB:

- Output STAT_RCV

- Output STAT_SND

- Output DIAG

Tip on RET_DPRD/RET_DPWR

The diagnostic information of the RET_DPRD/RET_DPWR parameters correspond to the

diagnostic information of the RETVAL parameter of the "DPRD_DAT" and "DPWR_DAT"

instructions. You can find the description in the help on STEP 7 for the "DPRD_DAT" and

"DPWR_DAT" instructions.

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9.2 System alarms and diagnostic screens for F-PLC and F-I/O.

9.2

System alarms and diagnostic screens for F-PLC and F-I/O.

The diagnosis of faults of F-I/O or F-PLC is supported in SINUMERIK Operate via specific system

alarms (number ranges 4300XX and 43100X) as well as own diagnostics screens.

To use this functionality, the configuration must be properly completed and loaded:

• The configured NCU must have firmware version ≥V4.8 and Safety Integrated plus (F-PLC)

must be activated.

• Hardware and software must be consistently compiled and loaded.

With such a correct configuration, SI_DiagDB [DB1009] is automatically generated during the

compilation and transferred to the NCU during loading.

Details on internal processing of the F-PLC / F-I/O system alarms

The system alarms for the diagnostics of the F-PLC and F-I/O are formed based on the status

information of the safety program and collected and processed by the basic PLC program.

Information required for processing is stored in the SI_DiagDB [DB1009] (for example, design of

the safety program and assignment of the F-I/O DBs and F-global DBs). SI_DiagDB [DB1009] is

automatically generated during compilation and transferred to the NCU during loading, if Safety

Integrated plus (F-PLC) is activated and the NCU device version is correctly configured (≥V4.8).

The association between the SI_DiagDB [DB1009] and the safety program is secured by a

checksum (see also Alarm 430000).

Depending on this status information, the corresponding system alarms are triggered and

displayed in SINUMERIK Operate.

Meaning of the "F-PLC/F-I/O system alarms

Note

No simultaneous display of different system alarms with the same alarm number.

If the same error occurs for multiple modules, the respective system alarms are not displayed at

the same time but instead successively. This means that the alarm for the next module is only

displayed if the error has been corrected and/or the first module has been reintegrated.

Table 9-3

General

Meaning

Alarm No.

F-diagnostics: PLC project is inconsistent

430000

The F-diagnostics is not possible because the PLC project is inconsistent (safety program and

SI_DiagDB [DB1009] do not match) or the configured firmware version is not supported. The

configured NCU firmware version (TIA Portal) must be at least V4.8.

Compile and re-load hardware and software consistently.

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9.2 System alarms and diagnostic screens for F-PLC and F-I/O.

Table 9-4

F-PLC system alarms

Meaning

Alarm No.

Safety mode disabled

431001

The safety mode of the F-PLC has been disabled by the user, fault control measures are partly

deactivated.

Safety mode is reactivated at the next startup of the PLC.

Error detected by fail-safe system

431003

A serious problem was detected in safety mode (group signal); STEP 7 is required for exact

analysis.

Carrying out diagnostics on the diagnostics buffer of the CPU using STEP 7.

Table 9-5

F-I/O system alarms

Meaning

Alarm No.

F-module %1: Timeout detected by F-I/O

430001

The F-I/O has detected a timeout in the PROFIsafe communication.

Correct the displayed cause of the error and, if necessary, reintegrate the module.

F-module %1: Channel fault detected by F-I/O

430002

The F-I/O has detected a channel fault.

Correct the displayed cause of the error and, if necessary, reintegrate the module.

F-module %1: CRC error / sequence number error detected by F-I/O

430003

The F-I/O has detected a CRC error / sequence number error.

Correct the displayed cause of the error and, if necessary, reintegrate the module.

F-module %1: Timeout detected by F-system

430005

The F-system has detected a timeout.

Correct the displayed cause of the error and, if necessary, reintegrate the module.

F-module %1: Sequence number error detected by F-system

430006

The F-system has detected a sequence number error.

Correct the displayed cause of the error and, if necessary, reintegrate the module.

F-module %1: CRC error detected by F-system

430007

The F-system has detected a CRC error.

Correct the displayed cause of the error and, if necessary, reintegrate the module.

F-module %1: Reintegration necessary

430010

The F-module is passivated and has to be reintegrated for further use.

Reintegrate the F-module using the ACK_REI signal.

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9.3 Diagnostic functions in SINUMERIK Operate

9.3

Diagnostic functions in SINUMERIK Operate

You can find the SI-diagnostics overview and more specific diagnostic screens under "MENU

SELECT > Diagnostics > Menu forward key > Safety".

Note

A properly completed and loaded configuration is a requirement for diagnostics

functionality.

• The configured NCU must have firmware version ≥V4.8 and Safety Integrated plus (F-PLC)

must be activated.

• Hardware and software must be consistently compiled and loaded.

With such a correct configuration, SI_DiagDB [DB1009] is automatically generated during the

compilation and transferred to the NCU during loading.

9.3.1

Safety Integrated diagnostics overview

The diagnostics overview includes general information about the operating mode used, the

number and type of axes used - as well as status information about the pending alarms and safe

referencing (homing).

Call

MENU SELECT > Diagnostics > Menu forward key > Safety

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9.3 Diagnostic functions in SINUMERIK Operate

Figure 9-1

Safety Integrated diagnostics overview

This screen is simultaneously used as entry to the following diagnostic screens:

• SI drives (Page 305)

• SI telegrams (Page 308)

• SI checksum (Page 310)

• SI alarms (Page 312)

• SI Safe Cams (Page 313) (via menu forward key)

• SI integrated F-PLC (Page 314)

• SI I/O (Page 315)

9.3.2

SI drives status

The configured safety-relevant status and diagnostic information of the selected drive are

displayed in the "SI drive status" diagnostic screen.

Functions, which are not configured for the selected drive, are not displayed on the screen.

Call

MENU SELECT > Diagnostics > Menu forward key > Safety > SI drives

The diagnostic screen "SI drive status" is available for basic functions and for extended functions.

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9.3 Diagnostic functions in SINUMERIK Operate

Figure 9-4

"SI telegrams overview" diagnostic screen

This screen is simultaneously used as entry to the following diagnostic screens:

• SI telegrams PROFIsafe (Page 308)

• PROFIdrive SI telegrams (Page 309)

Additional information

• You will find general information on safety-relevant telegrams in Chapter Controlling safety

functions integrated in the drive (Page 197).

9.3.4

SI telegrams PROFIsafe

The meanings and statuses of the individual bits in the control word and status word are shown

in the "PROFIsafe SI telegrams" diagnostic screen. You can switch between the following views:

• Status word

• Status word cam (Note: only when the cam function is enabled in SINAMICS)

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9.3 Diagnostic functions in SINUMERIK Operate

Call

MENU SELECT > Diagnostics > Menu forward key > Safety > SI telegrams > PROFIsafe

Figure 9-5

"PROFIsafe SI telegrams" diagnostic screen

The view of all user data of the control word and status word is displayed using the "Details"

softkey.

Additional information

• You can obtain general information about PROFIsafe telegrams in Chapter Controlling via

PROFIsafe (Page 201).

9.3.5

PROFIdrive SI telegrams

The meanings and statuses of the individual bits in the control word and status word are shown

in the "PROFIdrive SI telegrams" diagnostic screen.

Call

MENU SELECT > Diagnostics > Menu forward key > Safety > SI telegrams > SIC/SCC

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9.3 Diagnostic functions in SINUMERIK Operate

Figure 9-6

"SI telegrams PROFIdrive" diagnostic screen

The view of all user data of the control word and status word is displayed using the "Details"

softkey.

Additional information

• You can obtain general information about SIC/SCC telegrams in Chapter Safety Info Channel

and Safety Control Channel (SIC/SCC) (Page 205).

9.3.6

SI checksums

In the "SI checksums overview" diagnostic screen, all of the safety reference and actual

checksums are displayed for the axes and drives. Status symbols are used to flag differences

between reference and actual checksums

Calling checksums

MENU SELECT > Diagnostics > Menu forward key > Safety > SI checksum

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9.3 Diagnostic functions in SINUMERIK Operate

Figure 9-7

"SI checksums overview" diagnostics screen

Higher-level actual checksums that are calculated from the master checksums (Page 318) are

displayed in the "SI checksums global checksums" diagnostic screen. If you call the diagnostics

screen, then the calculation of the global checksums is started - and after completion, these

actual checksums, along with the calculation date, are displayed.

Calling global checksums

MENU SELECT > Diagnostics > Menu forward key > Safety > SI checksum > Global checksums

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9.3 Diagnostic functions in SINUMERIK Operate

Figure 9-8

"SI checksums global checksums" diagnostic screen

If, based on these global checksums, you identify some changes in the safety configuration, then

you can switch from diagnostics screen "Global checksums" to the individual axis/drive

checksums in order to identify specific differences.

9.3.7

SI alarms

Active safety-relevant alarms are displayed in diagnostics screen "SI-alarms".

Call

MENU SELECT > Diagnostics > Menu forward key > Safety > SI alarms

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9.3 Diagnostic functions in SINUMERIK Operate

Figure 9-9

"Safety Integrated alarms" diagnostic screen

9.3.8

SI Safe Cams

In the "SI safe cams" diagnostic screen, the following information about the "Safe Cam (SCA)

safety function" of the selected drive is displayed:

• Status of the function (SCA)

For the selected drive, indicates whether the "Safe Cam" (SCA) safety function has been

selected, is active and is valid. The actual position is also displayed (actual value on the load

side on the CU).

Inactive

Active

Invalid. Safe referencing was not carried out.

• Status of the enabled cams

For each configured and enabled cam, displays the identifier, the minus and plus positions -

as well as the validity of the cam position.

Cam position is reached and the cam is invalid.

Cam position is reached and the cam is valid. Safe referencing was carried out.

Call

MENU SELECT > Diagnostics > Menu forward key > Safety > Menu forward key >SI cams

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9.4 Display and evaluation of diagnostic information

9.4

Display and evaluation of diagnostic information

In the "SINUMERIK Safety Integrated plus" mode, safety-related monitoring functions are

integrated and executed in the drive. Diagnostic information is communicated and evaluated as

follows:

• The status and control information (SIC/SCC) (Page 205) of the drive is communicated

between the integrated subcomponents of the NCU:

- As a consequence, the motion control in the NC is also linked (Page 326) to the safety

functions integrated in the drive, therefore avoiding unnecessary follow-on responses in

the NC.

- Some SIC status information is also saved to NC variables (OPI) (Page 345).

• SINAMICS Integrated messages and alarms can be displayed as follows:

- Safety messages of the drive are displayed in SINUMERIK Operate in the alarm lists.

Note

Information for those switching over from a different system: Evaluating alarms

using the NC

As the "SINUMERIK Safety Integrated plus" mode uses the safety functions integrated in

the drive, the NC does not suppress alarms, prioritize alarms or check alarm numbers of

drive safety messages (contrary to the "SINUMERIK Safety Integrated" mode).

- The standard alarm of a drive can also include safety-related diagnostic information. In

order that these are displayed in SINUMERIK Operate, you must activate the alarm buffer

(Page 329).

- Display and acknowledgment (Page 331) of messages depend on the scope of the Safety

Integrated Functions (Page 24) used - and the use of the safety message buffer

(Page 329).

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9.5 Checksums

9.5

Checksums

Based on Safety Integrated checksums and signatures, you can compare the actual state of the

machine with the original state when delivered, which is documented in the acceptance report.

The checksums are displayed in SINUMERIK Operate in the Diagnostics area (Page 310).

• The individual F-blocks have signatures, and the safety program has an F-collective

signature. These checksums for the safety program are displayed in the TIA Portal as well as

in the safety printout.

• There are SINAMICS parameters with reference checksums (defined when commissioning)

and actual checksums for the CU, MM and motion monitoring functions; these are checked

by SINAMICS Integrated when they power up. SINAMICS alarms F01650/F30650 and/or

F01680/F30680 are output if the checksums differ.

See: SINAMICS checksums (Page 320)

• In SINUMERIK Operate, additional master checksums and global checksums are displayed,

which are calculated from the actual checksums listed above. The NCU does not compare

these higher-level checksums with reference checksums - and it does not save them.

See: Calculating the global checksums/master checksums (Page 318)

The global checksums/master checksums are displayed in the diagnostics area of SINUMERIK

Operate, which means that it is easy to identify differences between the actual and reference

states.

See: SI checksums (Page 310)

9.5.1

Calculating the global checksums/master checksums

In addition to the checksums or signatures of the SINAMICS Integrated and F-PLC

subcomponents, in SINUMERIK Operate, global checksums and master checksums are

displayed, which are calculated from various actual checksums of the F-PLC and SINAMICS

Integrated. The NCU does not compare these higher-level actual checksums with reference

checksums - and it does not save them.

By displaying these higher-level actual checksums, differences between the actual and reference

states can be easily and transparently identified.

The global checksums/master checksums are calculated as follows:

• The global checksum is the sum of the associated master checksums (see table).

• The master checksums comprise the sums of the values/parameters with actual checksums

for the calculation (see table).

If SINAMICS parameters are involved for the values being used as basis, then when making

the calculation, the sum over the following drives is generated:

- Drives, which do not have an assigned NC axis, and where the safety functions are

enabled in p9601: p9601 SI enable functions integrated in the drive (Control Unit) / SI

enable fct CU ! = 0

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9.5 Checksums

Table 9-6

Calculating the global checksum and the associated master checksums

Global checksum

Master checksum

Values/parameters used for the calculation

Global safety engineering

F-CPU master checksum

• Signature of the safety program

checksum

• Hardware checksum of the F-PLC

(sum of all master checksums)

Extended Safety master checksum

• r9728[0] SI Motion actual checksum SI parame-

ters / SI Mtn act CRC

• r9728[1] SI Motion actual checksum SI parame-

ters / SI Mtn act CRC

Extended Safety MM master check-

• r9398[0] SI Motion actual checksum SI parameters

sum

(Motor Module) / SI Mtn act CRC MM

Drive-based master checksum

• r9798 SI actual checksum SI parameters (Control

Unit) / SI act_checksum CU

• r9898 SI actual checksum SI parameters (Motor

Module) / SI act_checksum MM

Table 9-7

Calculation of the master checksum "Safety-relevant hardware checksum"

Master checksum

Parameters used for the calculation

Safety-relevant hardware

• r9728[2] SI Motion actual checksum SI parameters / SI Mtn act CRC

checksum

• r9398[1] SI Motion actual checksum SI parameters (Motor Module) / SI Mtn act CRC MM

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9.5 Checksums

9.5.2

SINAMICS checksums

For each monitoring channel, the safety parameters include 2 parameters for the reference and

actual checksum.

During commissioning, the actual checksum must be transferred to the corresponding

parameter for the reference checksum. This can be done for all checksums of a drive object at the

same time using parameter p9701 - or using the corresponding SINUMERIK Operate

functionality.

Table 9-8

Basic Functions

• r9798

SI actual checksum SI parameters (Control Unit)

• p9799

SI reference checksum SI parameters (Control Unit)

• r9898

SI actual checksum SI parameters (Motor Module)

• p9899

SI reference checksum SI parameters (Motor Module)

Table 9-9

Extended Functions (contain also the following checksum parameters)

• r9398[0...1]

SI Motion actual checksum SI parameters (Motor Module)

• p9399[0...1]

SI Motion reference checksum SI parameters (Motor Module)

• r9728[0...2]

SI Motion actual checksum SI parameters

• p9729[0...2]

SI Motion reference checksum SI parameters

During each ramp-up procedure, the actual checksum is calculated via the Safety parameters

and then compared with the reference checksum.

If the actual and reference checksums are different, fault F01650/F30650 or F01680/F30680 is

output.

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9.6 Stop responses

9.6

Stop responses

9.6.1

Overview

The stop responses that can be initiated depend on the scope of the Safety Integrated Functions

used:

• Stop responses that can be initiated for faults involving Safety Integrated Basic Functions

(Page 321)

• Stop responses that can be initiated for faults involving Safety Integrated Extended

Functions (Page 323)

Stop responses and safety functions can be dependent on a priority that has been assigned:

• No overall priority is assigned to individual safety functions.

• The various stop responses each have a certain priority (Page 326).

• For stop responses and Safety Integrated Extended Functions, there are some dependencies

regarding the priority (Page 326).

The motion control in the NC is linked (Page 326) to the Safety Integrated Functions integrated

in the drive and the associated stop responses, which means that no unnecessary follow-on

responses are initiated in the NC.

9.6.2

Basic Functions

When faults associated with Safety Integrated Basic Functions occur, the following stop

responses can be initiated:

Table 9-10

Stop responses for Safety Integrated Basic Functions

Stop response

Triggered ...

Action

Effect

STOP A cannot

For all Safety faults with pulse

Trigger safe pulse suppression

The motor coasts to a standstill or is

be acknowl-

suppression that cannot be ac-

via the switch-off signal path for

braked by the holding brake.

edged

knowledged.

the relevant monitoring chan-

nel. During operation with SBC:

STOP A

For all acknowledgeable Safety

Apply motor holding brake.

faults

As a follow-up reaction of STOP F

STOP A corresponds to Stop Category 0 in accordance with EN 60204-1.

With STOP A, the motor is switched directly to zero torque via the "Safe Torque Off (STO)" function.

A motor at standstill cannot be started again accidentally.

A moving motor coasts to standstill. This can be prevented by using external braking mechanisms, e.g.

holding or operating brake.

When STOP A is present, "Safe Torque Off" (STO) is active.

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9.6 Stop responses

Stop response

Triggered ...

Action

Effect

STOP F

If an error occurs in the cross-

Transition to STOP A.

Follow-up response STOP A

wise data comparison.

with adjustable delay (factory setting

without delay) if one of the safety

functions is selected

STOP F is permanently assigned to the crosswise data comparison (CDC). In this way, errors are detected in

the monitoring channels.

After STOP F, STOP A is triggered.

When STOP A is present, "Safe Torque Off" (STO) is active.

WARNING

Uncontrolled axis motion when a STOP A/F is initiated

With a vertical axis or pulling load, there is a risk of uncontrolled axis movements when STOP

A/F is triggered. If present in the hazardous area, this can result in death or severe injury.

• Use the "Safe Brake Control (SBC)" and a holding brake (not a safety-relevant brake!) with

sufficient holding force to prevent these movements.

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9.6 Stop responses

9.6.3

Extended Functions

Faults involving Safety Integrated Extended Functions and violation of limits can trigger the

following stop responses:

Table 9-11

Stop responses for Safety Integrated Extended Functions

Stop response

Triggered ...

Response of the initiating ax-

Response of other axes or NC re-

is or DRV response

sponse

STOP A¹⁾

• For all acknowledgeable

Immediate pulse cancellation

All path axes: IPO rapid stop

(corresponds to

safety faults with pulse

All axes, with the exception of the

STO²⁾)

cancellation

path axes and the initiating axis: Brak-

Effect:

ing along a ramp (acceleration limit)

• Subsequent response of

Drive coasts down

STOP B

• Configurable subsequent

stop p9563 for SLS

• Configurable subsequent

stop p9566 for SDI

• Configurable subsequent

stop p9562 for SLP

• Configurable subsequent

stop p9579 for SLA

STOP B¹⁾

Examples:

Immediate input of speed set-

All path axes: IPO rapid stop

(corresponds to

point = 0 and start of timer t_{B .}

• Standstill tolerance viola-

All axes, with the exception of the

SS1³⁾)

Once t_B or n_act < n_shutdown has ex-

ted in p9530 (SOS)

path axes and the initiating axis: Brak-

pired, STOP A is triggered.

ing along a ramp (acceleration limit)

• Configurable subsequent

stop p9563 for SLS

Effect:

• Configurable subsequent

STOP B with subsequent STOP

stop p9566 for SDI

• Configurable subsequent

The drive decelerates along the

stop p9562 for SLP

OFF3 ramp and then switches

• Subsequent response of

to STOP A.

STOP F

Note:

For "SS1 with external stop"

• Configurable subsequent

(SS1E), braking is not along the

stop p9579 for SLA

OFF3 ramp (see Chapter SS1

(Extended Functions) with ex-

ternal stop (Page 89))

STOP C¹⁾

• Configurable subsequent

Immediate input of speed set-

All path axes: IPO rapid stop

(corresponds to

stop p9563 for SLS

point = 0 and start of timer t_C.

All axes, with the exception of the

SS2⁴⁾)

• Configurable subsequent

Once t_C has elapsed, SOS is se-

path axes and the initiating axis: Brak-

lected.

ing along a ramp (acceleration limit)

stop p9566 for SDI

• Configurable subsequent

stop p9562 for SLP

Effect:

Configurable subsequent

The drive decelerates along the

stop p9579 for SLA

OFF3 ramp; SOS is then selec-

ted.

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9.6 Stop responses

Stop response

Triggered ...

Response of the initiating ax-

Response of other axes or NC re-

is or DRV response

sponse

STOP D^{1), 5)}

• Configurable subsequent

Timer t_D is started.

Braking along the path (interpolatory

stop p9563 for SLS

braking)

No drive-integrated response,

• Configurable subsequent

but an NC response (see right).

stop p9566 for SDI

Once t_D has elapsed, SOS is se-

lected.

• Configurable subsequent

stop p9562 for SLP

An automatic response is only

triggered if the standstill toler-

• Configurable subsequent

ance window is violated in SOS.

stop p9579 for SLA

STOP E^{1), 5)}

• Configurable subsequent

SOS triggered after the expiry

Fast retraction (ESR), which allows

stop p9563 for SLS

of p9554

the controlled axes to be retracted

• Configurable subsequent

stop p9566 for SDI

Effect:

• Configurable subsequent

Controlling the drive-integra-

ted ESR functionality

stop p9562 for SLP

• Configurable subsequent

stop p9579 for SLA

STOP F¹⁾

If an error occurs in the cross-

Timer t_F1 (Basic Functions) or t_F2

NC start/traversing interlock

wise data comparison.

(Extended Functions)

Follow-up response STOP B or

No drive response

STOP A

Effect:

If a safety function (SOS, SLS)

has been selected or if SSM

with hysteresis has been ena-

bled, transition to STOP A after

t_F1 (Basic Functions) has

elapsed or STOP B after t_F2 (Ex-

tended Functions) has elapsed.

See also the following note "delayed pulse cancellation when the bus fails".

The behavior of the drive after STOP A is triggered corresponds (apart from the safety messages) to the behavior after STO

is triggered. Note that the parameterization of STO applies equally for STOP A.

The behavior of the drive after STOP B is triggered corresponds (apart from the safety messages) to the behavior after SS1 is

triggered. Monitoring with the aid of SAM or SBR, for example, works in exactly the same way. Note that the parameterization

of SS1 applies equally for STOP B.

The behavior of the drive after STOP C is triggered corresponds (apart from the safety messages) to the behavior after SS2 is

triggered. Monitoring with the aid of SAM, for example, works in exactly the same way. Note that the parameterization of SS2

applies equally for STOP C.

The behavior of the drive after STOP D (E) is initiated corresponds (apart from the safety messages) to the behavior after SS2E

(SS2ESR) is initiated.

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9.6 Stop responses

Note

Delayed pulse cancellation when the bus fails

For SLS, SDI, SLP and SLA, the stop responses are also available with delayed pulse cancellation

when the bus fails (to prevent the drive from immediately responding with pulse cancellation

when a communication error occurs):

• If p9580 ≠ 0 and SLS is active, in the event of communication failure, the parameterized ESR

reaction is only realized if, as SLS response, a STOP with delayed pulse cancellation when the

bus fails has been parameterized (p9563[0...3] ≥ 10).

• If p9580 ≠ 0 and SDI is active, in the event of a communication failure, the parameterized ESR

reaction only occurs if a STOP with delayed pulse cancellation when the bus fails has been

parameterized as the SDI response (p9566 ≥ 10).

• If p9580 ≠ 0 and SLP is active, the parameterized ESR reaction only takes place for a

communication failure if a STOP with delayed pulse cancellation in the event of bus failure

is parameterized as the SLP response (p9562[0...1] ≥ 10).

• If p9580 ≠ 0 and SLA is active, the parameterized ESR response is only triggered in the event

of a communication failure if a STOP with delayed pulse cancellation when the bus fails has

been parameterized as the SLA response (p9579 ≥ 10).

The delay time (p9580) must not exceed 800 ms.

Note

Delay time between STOP F and STOP B

A delay time between STOP F and STOP B should only be set if an additional response is initiated

during this time when the "Internal Event" (r9722.7) message signal is evaluated.

Further, when using the delay time, a monitoring function should always be selected (e.g. SLS

with a high limit speed) or the hysteresis of SSM should be configured.

When hysteresis is activated for SSM, then this should be considered to be an activated

monitoring function.

On delays at the transition of the stop responses

• t_B: p9556

• t_C: p9552

• t_D: p9553

• t_E: p9554

• t_F1: p9658

• t_F2: p9555

• n_shutdown: p9560

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9.6 Stop responses

9.6.4

Definitions and effects in the NC

The motion control in the NC is linked to the Safety Integrated Functions in the drive via the SIC

status signals. This avoids that subsequent responses are initiated in the NC as a result of safety

stops in the drive.

Example: The motion control in the NC responds to the drive STOP responses by no longer

issuing additional setpoints for the path, for example. As a consequence, alarms to be

acknowledged are avoided, such as "Contour monitoring" or "Positioning monitoring".

The corresponding status bits from S_ZSW1 (or S_ZSW1B) are used to emulate the safety stop

responses in the NC.

9.6.5

Priorities

Table 9-12

Priorities of the stop responses

Priority classes

Stop response

Highest priority

STOP A

STOP B

STOP C

STOP D

STOP E

Lowest priority

STOP F

Priorities between stop responses and Extended Functions

The following table lists which stop response or safety function is set if a STOP is initiated when

a safety function is active.

Table 9-13

Priorities between stop responses and Extended Functions

Highest

Lowest

priority

Stop response/

Extended Function

STOP A

STOP B

STOP C

STOP D

STOP E

STOP F

Highest

STO

STOP A / STO

STO

priority

SS1

STOP A

STOP B / SS1

SS1

SS2

STOP A

STOP B

STOP C / SS2

SS2

SS2 / STOP B²⁾

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9.6 Stop responses

SOS

STOP A¹⁾

STOP B¹⁾

SOS

STOP E/SOS

STOP B²⁾

Lowest

SLS

STOP A³⁾

STOP B³⁾

STOP C⁴⁾

STOP D⁴⁾

STOP E⁴⁾

STOP B²⁾

priority

The SOS monitoring function remains active, although the fault response in the event of a fault can no longer be triggered

because it is already present.

STOP B is the subsequent stop of STOP F, which is activated after a time that can be parameterized. STOP F alone does not have

any effect; the active safety function is still present.

The SLS monitoring function remains active, although the fault response in the event of a fault can no longer be triggered

because it is already present.

SLS remains active during the braking phase, after which the system switches to SOS.

Explanation of the table

No overall priority is assigned in the individual safety functions. SOS remains active, for example,

even if STO is requested.

• The safety functions that cause the drive to decelerate (SS1, SS2) are specified from top to

bottom in descending order of priority.

• The stop responses arranged here from left to right in descending order of priority (STOP A-

F).

If a field contains two entries, the stop responses and safety functions have the same priority.

• STOP A corresponds to selecting STO

• STOP B corresponds to selecting SS1

• STOP C corresponds to selecting SS2

• STOP D corresponds to selecting SOS

• STOP E corresponds to selecting SOS (for additional activation of the standard "Extended stop

and retract (ESR)" function)

• When the SS2 function is active, STOP F results in subsequent stop STOP B. SS2 remains active.

Examples for illustrating the information in the table:

• Safety function SS1 has just been selected. STOP A remains selected.

• By selecting a STOP with a higher priority, STOPs that are present with a lower priority will be

replaced. This means that when SS1 is selected (≙ STOP B), any STOPs C-F that are present will

be replaced.

• The SLS safety function is selected. This selection does not modify the function of STOP A-D.

A STOP F now triggers a STOP B because a safety function has been activated.

• Stop response, STOP C is selected. If the STO or SS1 safety functions are active, this does not

have any effect. If SS2 is active, this brake ramp is retained. If SOS is active, SOS remains

effective, which is also the end status of STOP C. When SLS is selected, the drive is decelerated

with STOP C.

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9.7 Using the fault buffer, message buffer and alarm buffer

9.7

Using the fault buffer, message buffer and alarm buffer

In addition to the standard fault buffer and the standard alarm buffer, SINAMICS Integrated has

several safety message buffers for safety-relevant messages involving Safety Integrated

Extended Functions:

• Messages for Extended Functions are displayed in the safety message buffer.

• You must enable SIC/SCC for the appropriate axes in MD39750.

• For all messages in the safety message buffer, a specific reference is made in the HMI to

the fact that safety-relevant acknowledgment (Page 331) is required.

- Reference is made to active safety-relevant alarms in SINUMERIK Operate in the

"Safety Integrated diagnostics overview "(in addition to the standard alarm list).

- Reference is made to active alarms that require a safety-relevant acknowledgment

using a safety delete symbol.

• To acknowledge messages in the safety message buffer, safety-relevant acknowledg-

ment is required - and possibly also acknowledgment with PROFIdrive RESET (Page 332).

• Messages for Basic Functions or for external drives without an NC axis assignment, cannot

be saved to the safety message buffer.

• When using external drives without NC axis assignment, then you must deactivate the

safety message buffer (Page 329).

• The response when saving safety-relevant messages relating to Basic Functions corre-

sponds to the response for a deactivated safety message buffer (see below).

• If the safety message buffer is deactivated, then safety-relevant messages are saved in the

standard fault and/or alarm buffer.

• For safety-related messages in the fault and alarm buffer, in SINUMERIK Operate, spe-

cific reference is not made to the safety-relevant acknowledgment required.

Safety-relevant alarms are displayed in SINUMERIK Operate in the standard alarm list

("MENU SELECT > Diagnostics > Alarms"); however, they require safety-relevant ac-

knowledgment.

• The messages require additional acknowledgment: For an entry in the fault buffer, in

addition alarm 25201 ("Drive fault") is output, and the drive message requires a safety-

relevant acknowledgment as well as also the acknowledgment via PROFIdrive

(Page 333).

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9.7 Using the fault buffer, message buffer and alarm buffer

9.7.1

Configuring the standard alarm buffer

The standard alarm buffer is automatically activated when you configure the safety mode.

This alarm buffer is required for safety-related standard warnings (Axxxx).

The display of safety-related standard warnings cannot be activated independently of the

display of other standard warnings.

The activation is entered in the following machine data:

• MD13150 $MN_SINAMICS_ALARM_MASK

- "bit 2: output faults of the drive controls"

- "bit 10: output alarms of the drive controls"

Alarms/warnings have to be evaluated.

Optionally, you can set additional bits in order to output faults or alarms of other DO groups.

9.7.2

Configuring the safety message buffer

The safety message buffer is activated in the factory setting, and is used for safety-related

messages from Extended Functions.

Under certain circumstances it can also make sense to deactivate the safety message buffer for

Extended Functions so that the messages of Basic Functions as well as those of Extended

Functions are saved to the fault and/or alarm buffer (for example, if you are predominantly using

Basic Functions).

The setting to activate/deactivate the safety message buffer is a CU parameter (p3117). It cannot

be set on a drive-specific or axes-specific basis, but is always applicable for all drives and/or axes

of this CU.

The following drive parameter is relevant:

• p3117 change safety message type/ Ch. SI mess type

Setting to re-parameterize all safety messages to faults and alarms.

Precondition

• Settings for drive parameters are protected with access level 2 (service).

Procedure

Proceed as follows to deactivate or activate the safety message buffer:

1. In SINUMERIK Operate, call the drive parameters using "MENU SELECT > Commissioning >

Machine data > Control Unit parameters".

2. Activate the CU commissioning state "Device configuration" with "p0009 = 1".

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9.7 Using the fault buffer, message buffer and alarm buffer

3. Set the required value in drive parameter p3117 Change safety message type / Ch. SI mess

type:

- p3117 = 0: Safety messages of this CU are not reparameterized; this means that messages

associated with Extended Functions are entered in the safety message buffer.

- p3117 = 1: All safety messages of this CU are reparameterized, and entered in the

standard fault or alarm buffer.

4. Deactivate the CU commissioning state "Device configuration" with "p0009 = 0".

5. Confirm the setting with "Save/reset> Menu forward key> Reset (po)".

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9.8 Acknowledgment

9.8

Acknowledgment

9.8.1

Overview

Most safety messages require safety-related acknowledgment.

Safety-related acknowledgment involves deleting safety-related messages of the drive-

integrated monitoring functions via safety-related communication. With the safety-related

acknowledgment, the fault case in the drive is marked as having been resolved (gone).

Safety-related acknowledgment is independent of the scope of the Safety Functions used (Basic

or Extended) - and is required in addition to actually removing the cause of the fault.

Depending on the drive type, different types of acknowledgment and/or safety-related

acknowledgment are possible:

Table 9-14

Permissible acknowledgment types for various drive types

Drive type

Permissible acknowledgment

Integrated drives

• Safety-related acknowledgment using PROFIsafe signal "IEACK"

(CU_I, CU_NX)

(Page 332)

• Acknowledgment by switching-off/switching-on (Page 333)

External NC drives

• Safety-related acknowledgment using PROFIsafe signal "IEACK"

(Page 332)

• Acknowledgment by deselecting STO or SS1 (Page 333)

• Acknowledgment by switching-off/switching-on (Page 333)

External SINAMICS drives with-

The safety message buffer is not supported and must be deactivated

out any assignment to an NC

(Page 329).

axis

The acknowledgment options correspond to those of external NC drives

(see above).

Depending on what has been configured, additional acknowledgments may be necessary:

• If you are using Basic Functions, or the safety message buffer is deactivated (p3117 = 1), then

you must additionally acknowledge (Page 333) all safety messages that are saved in the

standard fault buffer using a PROFIdrive RESET.

• In addition to a safety-related acknowledgment, various fault situations also require

an acknowledgment using a PROFIdrive RESET (Page 332).

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).

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Diagnostics

9.8 Acknowledgment

9.8.2

Acknowledgment via PROFIsafe

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

"Internal Event ACK" separately for each drive object using the PROFIsafe telegram (STW bit 7).

Faults in the drive objects (DOs) cannot be acknowledged by the F-PLC in the line-up, but must

instead be acknowledged separately for each individual 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.

9.8.3

Additional acknowledgment via PROFIdrive RESET

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).

In addition to a safety-relevant acknowledgment, various fault situations also require an

acknowledgment using a PROFIdrive RESET.

This applies to the following STOP responses or safety functions:

• Extended Functions:

- All fault situations - or safety functions and STOP responses

• Basic Functions or inactive safety message buffer:

- Parameterizing SLS with STOP D or STOP E

In the case of a fault, if safety-relevant acknowledgment is realized without a PROFIdrive RESET,

even though the part program remains in the stop state, the spindle starts again.

A configuration such as this is not in conformance with standard IEC 61800-5-2. According to the

standard, a restart inhibit is required for all STOP functions, and it is only permissible that the

spindle restarts after a RESET.

Therefore, in the safety program logically combine safety-relevant acknowledgment (PROFIsafe

IEACK) with a RESET at the machine control panel (PROFIdrive RESET).

This means that you should configure the machine control panel RESET (MCP reset or channel/

MODE GROUP RESET) so that when actuated, a PROFIdrive RESET as well as a safety-relevant

acknowledgment (e.g. PROFIsafe IEACK) are initiated.

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9.8 Acknowledgment

9.8.4

Acknowledgment using POWER ON

Safety faults can also be acknowledged (as with all other faults) by switching the drive unit off

and then on again (POWER ON).

If this action has not eliminated the fault cause, the fault is displayed again immediately after

power-up.

9.8.5

Extended acknowledgment (deselecting STO/SS1)

For external drives, the extended alarm acknowledgment can be used as alternative to safety-

relevant acknowledgment. To do this, the extended alarm acknowledgment must be activated

in the safety configuration of the drive.

Extended alarm acknowledgment is not supported for integrated drives.

Basic procedure

If STO or SS1 is selected/deselected - and if p9507.0 is set = 1 - then the safety messages are

automatically withdrawn.

• Remove the cause of the fault.

• Deselect "Safe Torque Off" (STO) or "Safe Stop 1" (SS1).

• Acknowledge the fault.

If, in addition to the "Basic Functions via terminals", the "Extended Functions" are also enabled,

then acknowledgment is also possible by selecting/deselecting STO via PROFIsafe.

If the safety commissioning mode is exited when the safety functions are switched off (p0010 ≠

95 when p9601 = 0), then all safety faults can be acknowledged.

Once safety commissioning mode has been selected again (p0010 = 95), all the faults that were

previously present reappear.

9.8.6

Additional acknowledgment when the safety message buffer is inactive

If you are using Basic Functions or the safety message buffer is deactivated (p3117 = 1), then the

safety messages are saved to the standard fault buffer or to the standard alarm buffer. These

messages require a safety-relevant acknowledgment, even when the safety message buffer is

deactivated.

In addition to safety-relevant acknowledgment, safety messages in the standard fault buffer

require acknowledgment using PROFIdrive signal "Acknowledge faults" (PROFIdrive RESET). For

NC axes, a PROFIdrive RESET corresponds to a machine control panel RESET.

The required PROFIdrive RESET is displayed in SINUMERIK Operate with NC alarm 25201.

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Diagnostics

9.8 Acknowledgment

When the safety message buffer is deactivated, the following safety messages are saved in the

fault buffer, and therefore also additionally required a PROFIdrive RESET:

Table 9-15

Saving safety-relevant messages in the the fault buffer (when the safety message buffer is

deactivated)

Alarm number

Alarm text

(SINAMICS)

F01689

SI Motion: Axis re-configured

C01700

SI Motion P1 (CU): STOP A initiated

C01701

SI Motion P1 (CU): STOP B initiated

C01708

SI Motion P1 (CU): STOP C initiated

C01770

SI Motion P1 (CU): Discrepancy error of the failsafe digital inputs/outputs

When the safety message buffer is deactivated, all of the safety messages listed in the table are

saved in the standard alarm buffer.

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WARNING

Unsafe operating state after POWER ON

After a firmware update, the system generally requests a POWER ON. After a POWER ON, an

unsafe operating state can occur - and if persons are in the hazardous area, this can result in

death or severe injury.

• After each POWER ON, perform an acceptance test and create an acceptance report.

• Do not enter the danger zone of the motor until the acceptance test has been successfully

completed.

WARNING

Unwanted motion if components are replaced without a function test

After a component replacement, connections or functions can be defective so that death or

serious injury can result if a person enters the danger zone of the motors.

• Perform a POWER ON before resuming operation.

• After component replacement, always run a simplified function test.

More detailed information can be found in Chapter "Acceptance test (Page 297)".

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Component replacement (software/hardware)

10.1 Software, F-CPU, F-I/O

10.1

Software, F-CPU, F-I/O

Replacement of software components

When replacing software components on your programming device or PC (e.g. with a new

version of STEP 7), you must adhere to the information regarding upward and downward

compatibility in the documentation and readme files for these products.

Replacement of hardware components

Hardware components for SIMATIC Safety (F-CPU, F-I/O, batteries, etc.) are replaced in the same

way as in standard automation systems.

Removing and inserting F-I/O during operation

It is possible to remove and insert F-I/O during operation, as with standard F-I/O. However, be

aware that replacing an F-I/O module during operation can cause a communication error in the

F-CPU.

You must acknowledge communication errors in your safety program at variables ACK_REI of the

F-I/O DB - or alternatively, using instruction "ACK_GL". Without an acknowledgment, the F-I/O

will remain passivated.

CPU firmware update

Check of the CPU operating system for F-approval: When using a new CPU operating system

(firmware update), you must check to see if the CPU operating system you are using is approved

for use in an F-system.

The minimum CPU operating system versions with guaranteed F-capability are specified in the

appendix of the Certificate. This information and any notes on the new CPU operating system

must be taken into account.

Firmware update for interface module

When using a new operating system for an interface module, e.g. IM 151-1 HIGH FEATURE

ET 200S (firmware update), you must observe the following:

If you have selected the "Activate firmware after update" option for the firmware update (see

Help on STEP 7, "Online & Diagnostics"), the IM will be automatically reset following a successful

download operation and will then run on the new operating system. Note that the firmware

update for interface modules during operation generates a communication error in the F-CPU.

You must acknowledge communication errors in your safety program at variables ACK_REI of the

F-I/O DBs - or alternatively, using instruction "ACK_GL". Without an acknowledgment, the F-I/O

will remain passivated.

Preventive maintenance (proof test)

The probability values for the certified F-system components guarantee a proof-test interval of

20 years for ordinary configurations.

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10.1 Software, F-CPU, F-I/O

Proof test for complex electronic components generally means replacement with unused

components.

PFD, PFH values

A complete list of the probability of failure values (PFD, PFH values) for F-CPUs is provided in the

Siemens web page Industry Online Support at the following address (https://

support.industry.siemens.com/cs/ww/en/view/109481784/80883060875):

There you can find a list for the following probability of failure values:

• PFD, PFH values for F-CPUs S7-300/400 - and the proof test intervals for components that can

be used in SIMATIC Safety

• PFD, PFH values for F-CPUs S7-1200/1500 for a usage time of 20 years and for a repair time

of 100 hours. Excerpt:

Operation in low demand mode

Operation in high demand or continuous mode

low demand mode

high demand/continuous mode

According to IEC 61508:2010:

PFD_avg = Average probability of a dangerous

PFH = Average frequency of a dangerous failure

failure on demand

[h^-1]

< 2E-05

< 1E-09

• PFD, PFH values for safety-relevant communication. Excerpt:

Operation in low demand mode

Operation in high demand or continuous mode

low demand mode

high demand/continuous mode

According to IEC 61508:2010:

PFD_avg = Average probability of a dangerous

PFH = Average frequency of a dangerous failure

failure on demand

[h^-1]

< 1E-05

< 1E-09*

* Note on S7-300/400 F-CPUs: The value is valid under the assumption that a maximum of 100 F-I/Os

are involved in a safety function. If more than 100 F-I/Os are used, you need to add 4E-12 for each F-I/

O for this safety function.

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Component replacement (software/hardware)

10.2 SINAMICS components

10.2

SINAMICS components

Note

Note additional safety instructions

Observe the instructions with regard to changing or replacing software components in Section

"Safety instructions (Page 335)"!

Overview

The faulty component was replaced according to safety regulations. The information relevant

from the perspective of Safety Integrated is provided in the following. For information about

component replacement, see "Component replacement" in the SINAMICS S120 Function

Manual Drive Functions.

• Based on the NodeID and the saved CRC of the particular hardware component, the drive

identifies that a component has been replaced. You can take the responses of the drive and

the actions that have to be carried out from the following table:

Replaced

Control type

Drive re-

User action

Diagnostic

component

sponse

parame-

Fault ac-

Acknowledg-

Save³⁾

(fault)

ters

knowledg-

ment is re-

ment re-

quired that the

quired¹⁾

component

has been re-

placed²⁾

Basic

Control Unit

All

F01641.0 = 1

Yes

r9776.2 = 1

Functions Motor Module

All

F01641.1 = 1

Yes

r9776.2 = 1

Power Module

All

F01641.2 = 1

Yes

r9776.2 = 1

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10.2 SINAMICS components

Replaced

Control type

Drive re-

User action

Diagnostic

component

sponse

parame-

Fault ac-

Acknowledg-

Save³⁾

(fault)

ters

knowledg-

ment is re-

ment re-

quired that the

quired¹⁾

component

has been re-

placed²⁾

Extended

Control Unit

All

F01641.0 = 1

Yes

r9776.2 = 1

Functions Motor Module

PROFIsafe, On-

F01641.1 = 1

Yes

r9776.2 = 1

Board F-DI,

without selec-

tion

Power Module

All

F01641.2 = 1

Yes

r9776.2 = 1

Sensor

All

F01641.3 = 1

Yes

r9776.2 = 1

Module

(CPU 1)

Sensor

All

F01640.4 = 1

Yes

r9776.2 = 1

Module

r9776.3 = 1

(CPU 2)

Encoder⁴⁾

All

F01641.5 = 1

Yes

r9776.2 = 1

F01641.6 = 1

The fault must be acknowledged each time a component is replaced using a standard acknowledgment (e.g. using a 0/1

signal at p2103). However, even without acknowledgment the drive can still be operated.

The replacement of the components listed in the table must be acknowledged in order to ensure the new internal device

communications to be established. When replacing other components, acknowledgment is not required, as the new

communications to be established are automatically ensured.

To acknowledge a component replacement, perform the following sequence on all of the drive objects involved:

- Check whether the following preconditions are fulfilled:

- p0010 = 0

- It is not permissible for a firmware update to be active on the drive object.

- Set p9702 = 29 (= 1D hex)

The modified data must be saved after a component has been replaced:

- It is not permissible for a firmware update to be active on the drive object.

- Copy from RAM to ROM.

If the data is not saved, the fault is output again after the next POWER ON.

Only for encoders with serial number (e.g. EnDat)

Replacing motors for safety without encoder

When using safety functions without encoder, the motor pole pair number plays a decisive role.

If a motor is replaced, then the behavior depends on the pole pair number: If a motor with a

higher pole pair number is used (other than that configured), the mechanical speed is less than

that calculated by Safety Integrated. If a motor with a lower pole pair number is used (e.g. when

a motor is replaced), the mechanical speed is higher than that calculated by Safety Integrated.

• After a replacement such as this, perform a test by comparing the safe actual speed (r9714)

with the normal speed (r0063 or the output frequency), and if required, correct the

configured pole pair number.

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Component replacement (software/hardware)

10.3 Messages when components are replaced after Safety Integrated has been commissioned

10.3

Messages when components are replaced after Safety Integrated

has been commissioned

WARNING

Unsafe states after a component has been replaced

Non-safe states are possible after a component has been replaced. If persons are in the danger

zone, accidents causing death or severe injury can occur.

• Before re-entering the danger zone - and before resuming operation - perform a simplified

function test for the drive affected by the component replacement (see Chapter

"Acceptance test (Page 297)").

Safety-related components are assigned a CRC checksum, which can be used to identify if the

hardware was changed:

• Replacing certain drive components after Safety Integrated has been commissioned.

• Different checksums as a result of series commissioning with Safety Integrated functionality

The appropriate messages are displayed, depending on the components involved and the

control type:

Control type

Alarm

Extended Functions via PROFIsafe

F01650 SI P1 (CU): Acceptance test required

Fault value 2005

Indicates that the Control Unit has been replaced.

A01695 SI Motion: Sensor Module has been replaced

Indicates that the Sensor Module has been replaced.

C30711 SI Motion P2: Defect in a monitoring channel

Fault value 1031

Stop response STOP F

As a consequence of A01695, a defect is signaled in a moni-

toring channel.

Procedure

Use the following function in SINUMERIK Operate to acknowledge a CRC checksum that differs

for one of the reasons listed above:

• Commissioning > Safety Integrated > Overview > Confirm SI hardware

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10.4 Important parameters

10.4

Important parameters

Overview of important parameters (see SINAMICS S120/S150 List Manual)

• p9670

SI module identifier Control Unit

• p9671[0...n]

SI module identifier, Motor Module

• p9672

SI module identifier, Power Module

• p9673

SI module identifier, Sensor Module channel 1

• p9674

SI module identifier, Sensor Module channel 2

• p9675

SI module identification sensor channel 1

• p9676

SI module identification sensor channel 2

• p9702

Acknowledge SI component replacement

• r9776

BO: SI diagnostics

• r9793[0...9]

SI diagnostics component replacement

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Data descriptions

11.1

Machine data

Overview

Table 11-1

Machine data with settings for the Safety Integrated plus mode

Number

Symbolic name

Purpose

MD13370

$MN_SAFE_MODE

Different safety operating modes

MD36933

$MA_SAFE_DES_VELO_LIMIT

Evaluation factors to define the setpoint limits

MD36964

$MA_SAFE_IPO_STOP_GROUP

Channel-wide IPO response distribution

MD36968.2

$MA_SAFE_BRAKETEST_CONTROL, bit 2

Positioning behavior after completion of SBT

MD37950

$MA_SAFE_INFO_ENABLE

SIC/SCC and PROFIsafe enable

MD37952

$MA_PROFISAFE_MODULE_NR

Number to select a logical basis address from

MD13372

MD37954

$MA_SAFE_INFO_MODULE_NR

Number to select a logical basis address from

MD13374

Table 11-2

Machine data with I/O addresses of safety-relevant telegrams

Number

Symbolic name

Purpose

MD13372

$MN_PS_DRIVE_LOGIC_ ADDR[0..30]

I/O start address of SIEMENS telegrams 903 and 902

(PROFIsafe) of the corresponding drive object

MD13374

$MN_SAFE_INFO_DRIVE_LOGIC_ ADDR[0..30]

I/O start address of SIEMENS telegrams 701 (SIC/SCC)

of the corresponding drive object

MD13376

$MN_SAFE_INFO_TELEGRAM_ TYPE[0..30]

Telegram type that is used for SIC/SCC communica-

tion. The default value (701) corresponds to the de-

fault in the TIA Portal configuration

MD37950

$MA_SAFE_INFO_ENABLE

Activation / deactivation of safety-related telegrams

MD37952

$MA_PROFISAFE_MODULE_NR

Number to select a logical basis address from

MD13372 $MN_SAFE_PS_DRIVE_LOGIC_ADDR.

MD37954

$MA_SAFE_INFO_MODULE_NR

Number to select a logical basis address from

MD13374

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Data descriptions

11.1 Machine data

Table 11-3

Machine data with safety-relevant settings for alarms/messages

Number

Symbolic name

Purpose

MD13140

$MN_PROFIBUS_ALARM_ACCESS

Alarm response of the PROFIBUS/PROFINET drives

during run-up

MD13150

$MN_SINAMICS_ALARM_MASK

Activation/deactivation of interference and alarm

buffer output of specific DO groups (for not NC-con-

trolled axes)

Additional information

• More detailed information on parameterizing, searching and filtering machine data in

SINUMERIK Operate can be found in documents SINUMERIK 840D sl Basic Software and

Operating Software, Commissioning Manual SINUMERIK Operate (IM9), Chapter Machine

and setting data.

• General information on all of the machine data is provided in the List Manual "SINUMERIK

840D sl, SINAMICS S120 Machine Data and Parameters" - or in the online help for SINUMERIK

Operate

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Data descriptions

11.2 NC variables

11.2

NC variables

Note

Information for those switching over from a different system: Different use of NC variables

(OPI)

Only variables "vaStopSi", "aStopesi" and "safeDesVeloLimit" are used in the two Safety

Integrated operating modes. All other safety-related NC variables are specific to an operating

mode - and are not supplied in the two operating modes.

Safety-related NC variables (OPI) are available in the Safety Integrated plus operating mode; to

a large extent, these are mapped using SIC signals.

Table 11-4

Safety-related NC variables available

Block

index

Name

Meaning

183

aStopesi

Actual Safety Integrated Stop E for any axis.

SEMA

214

vaStopSi

Safety Integrated stop.

SEMA

119

safeDesVeloLimit

Effective speed setpoint limit in the NC.

This is obtained from a speed setpoint limit in the drive

and a (possibly) active speed setpoint limit in the NC.

SEMA

277

safeAxisType

Type of axis-specific safety monitoring functions (safe-

ty axis operating mode).

SEMA

306

diagSlopeTime

Expected braking time of the axis/spindle that has

been determined

358

safeMode

Configured Safety Integrated operating mode.

More information

You can find additional information about SINUMERIK NC variables in the:

(840D sl) List Manual NC Variables (https://support.industry.siemens.com/cs/ww/en/view/

109769139)

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Data descriptions

11.3 System variables

11.3

System variables

Note

Information for those switching over from a different system: System variables available

in the "Safety Integrated plus (F-PLC)" mode

Only variables "$VA_STOPSI" and "$A_STOPESI" listed here are used in both Safety Integrated

operating modes. All of the other system variables known from the "SINUMERIK Safety

Integrated mode (SPL)" are not supplied in the "SINUMERIK Safety Integrated plus (F-PLC)" mode.

Safety-related system variables are available in the "Safety Integrated" mode, which are mapped

using SIC signals (interface, NC/PLC-DRIVE):

• $VA_STOPSI

• $A_STOPESI

• $VA_SAFE_TYPE

$VA_STOPSI - actual STOP

Axis-specific system variable that includes the present stop. For a value of 4, a STOP E is active

for this axis.

$V_STOPESI - actual STOP E

Global system variable that with a value not equal to 0 indicates that a STOP E is active for one

particular axis.

$VA_SAFE_TYPE - axial Safety Integrated operating mode

Global system variable. It indicates whether Safety Integrated motion monitoring is active for the

active axis; if yes, whether it involves motion monitoring integrated in the NC or drive-based

motion monitoring.

Additional information

Additional information about SINUMERIK system variables is available in the:

(840D sl) List Manual System Variables (https://support.industry.siemens.com/cs/ww/en/view/

109769180)

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Data descriptions

11.4 Standard telegram start addresses

11.4

Standard telegram start addresses

11.4.1

PROFIsafe/PROFIdrive telegrams for Safety Integrated plus (F-PLC)

Table 11-5

SINAMICS Integrated: I/O addresses of PROFIsafe/PROFIdrive telegrams

Drive

Telegram type

I/O start address

Machine data

Standard addressing

Optimized address-

schematic

ing schematic

DriveAxis01

SIEMENS telegram 701

5800

15756

13374[0]

SIEMENS telegram 903

1008

13372[0]

DriveAxis02

SIEMENS telegram 701

5816

15676

13374[1]

SIEMENS telegram 903

992

13372[1]

DriveAxis03

SIEMENS telegram 701

5832

15596

13374[2]

SIEMENS telegram 903

976

13372[2]

DriveAxis04

SIEMENS telegram 701

5848

15516

13374[3]

SIEMENS telegram 903

960

13372[3]

DriveAxis05

SIEMENS telegram 701

5864

15436

13374[4]

SIEMENS telegram 903

944

13372[4]

DriveAxis06

SIEMENS telegram 701

5880

15356

13374[5]

SIEMENS telegram 903

928

13372[5]

Table 11-6

NX on DRIVE-CLiQ socket X105; DP address 15: I/O addresses of PROFIsafe/PROFIdrive telegrams

Drive

Telegram type

I/O start address

Machine data

Standard addressing

Optimized address-

schematic

ing schematic

DriveAxis01

SIEMENS telegram 701

5896

15206

13374[6]

SIEMENS telegram 903

912

13372[6]

DriveAxis02

SIEMENS telegram 701

5912

15126

13374[7]

SIEMENS telegram 903

896

13372[7]

DriveAxis03

SIEMENS telegram 701

5928

15046

13374[8]

SIEMENS telegram 903

880

13372[8]

DriveAxis04

SIEMENS telegram 701

5944

14966

13374[9]

SIEMENS telegram 903

864

13372[9]

DriveAxis05

SIEMENS telegram 701

5960

14886

13374[10]

SIEMENS telegram 903

848

13372[10]

DriveAxis06

SIEMENS telegram 701

5976

14806

13374[11]

SIEMENS telegram 903

832

13372[11]

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Data descriptions

11.4 Standard telegram start addresses

Table 11-7

NX on DRIVE-CLiQ socket X104; DP address 14: I/O addresses of PROFIsafe/PROFIdrive telegrams

Drive

Telegram type

I/O start address

Machine data

Standard addressing

Optimized address-

schematic

ing schematic

DriveAxis01

SIEMENS telegram 701

5992

14656

13374[12]

SIEMENS telegram 903

816

13372[12]

DriveAxis02

SIEMENS telegram 701

6008

14576

13374[13]

SIEMENS telegram 903

800

13372[13]

DriveAxis03

SIEMENS telegram 701

6024

14496

13374[14]

SIEMENS telegram 903

784

13372[14]

DriveAxis04

SIEMENS telegram 701

6040

14416

13374[15]

SIEMENS telegram 903

768

13372[15]

DriveAxis05

SIEMENS telegram 701

6056

14336

13374[16]

SIEMENS telegram 903

752

13372[16]

DriveAxis06

SIEMENS telegram 701

6072

14256

13374[17]

SIEMENS telegram 903

736

13372[17]

Table 11-8

NX on DRIVE-CLiQ socket X103; DP address 13: I/O addresses of PROFIsafe/PROFIdrive telegrams

Drive

Telegram type

I/O start address

Machine data

Standard addressing

Optimized address-

schematic

ing schematic

DriveAxis01

SIEMENS telegram 701

6088

14106

13374[18]

SIEMENS telegram 903

720

13372[18]

DriveAxis02

SIEMENS telegram 701

6104

14026

13374[19]

SIEMENS telegram 903

704

13372[19]

DriveAxis03

SIEMENS telegram 701

6120

13946

13374[20]

SIEMENS telegram 903

688

13372[20]

DriveAxis04

SIEMENS telegram 701

6136

13866

13374[21]

SIEMENS telegram 903

672

13372[21]

DriveAxis05

SIEMENS telegram 701

6152

13786

13374[22]

SIEMENS telegram 903

656

13372[22]

DriveAxis06

SIEMENS telegram 701

6168

13706

13374[23]

SIEMENS telegram 903

640

13372[23]

Table 11-9

NX on DRIVE-CLiQ socket X102; DP address 12: I/O addresses of PROFIsafe/PROFIdrive telegrams

Drive

Telegram type

I/O start address

Machine data

Standard addressing

Optimized address-

schematic

ing schematic

DriveAxis01

SIEMENS telegram 701

6184

13556

13374[24]

SIEMENS telegram 903

624

13372[24]

DriveAxis02

SIEMENS telegram 701

6200

13476

13374[25]

SIEMENS telegram 903

608

13372[25]

DriveAxis03

SIEMENS telegram 701

6216

13396

13374[26]

SIEMENS telegram 903

592

13372[26]

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Data descriptions

11.4 Standard telegram start addresses

Drive

Telegram type

I/O start address

Machine data

Standard addressing

Optimized address-

schematic

ing schematic

DriveAxis04

SIEMENS telegram 701

6232

13316

13374[27]

SIEMENS telegram 903

576

13372[27]

DriveAxis05

SIEMENS telegram 701

6248

13236

13374[28]

SIEMENS telegram 903

560

13372[28]

DriveAxis06

SIEMENS telegram 701

6264

13156

13374[29]

SIEMENS telegram 903

544

13372[29]

Table 11-10 NX on DRIVE-CLiQ socket X101; DP address 11: I/O addresses of PROFIsafe/PROFIdrive telegrams

Drive

Telegram type

I/O start address

Machine data

Standard addressing

Optimized address-

schematic

ing schematic

DriveAxis01

SIEMENS telegram 701

6280

13006

13374[30]

SIEMENS telegram 903

528

13372[30]

DriveAxis02

SIEMENS telegram 701

6296

12926

13374[31]

SIEMENS telegram 903

512

13372[31]

DriveAxis03

SIEMENS telegram 701

6312

12846

13374[32]

SIEMENS telegram 903

496

13372[32]

DriveAxis04

SIEMENS telegram 701

6328

12766

13374[33]

SIEMENS telegram 903

480

13372[33]

DriveAxis05

SIEMENS telegram 701

6344

12686

13374[34]

SIEMENS telegram 903

464

13372[34]

DriveAxis06

SIEMENS telegram 701

6360

12606

13374[35]

SIEMENS telegram 903

448

13372[35]

Table 11-11 NX on DRIVE-CLiQ socket X100; DP address 10: I/O addresses of PROFIsafe/PROFIdrive telegrams

Drive

Telegram type

I/O start address

Machine data

Standard addressing

Optimized address-

schematic

ing schematic

DriveAxis01

SIEMENS telegram 701

6376

12456

13374[36]

SIEMENS telegram 903

432

13372[36]

DriveAxis02

SIEMENS telegram 701

6392

12376

13374[37]

SIEMENS telegram 903

416

13372[37]

DriveAxis03

SIEMENS telegram 701

6408

12296

13374[38]

SIEMENS telegram 903

400

13372[38]

DriveAxis04

SIEMENS telegram 701

6424

12216

13374[39]

SIEMENS telegram 903

384

13372[39]

DriveAxis05

SIEMENS telegram 701

6440

12136

13374[40]

SIEMENS telegram 903

368

13372[40]

DriveAxis06

SIEMENS telegram 701

6456

12056

13374[41]

SIEMENS telegram 903

352

13372[41]

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Data descriptions

11.5 Telegram structure and data

11.5

Telegram structure and data

11.5.1

PROFIsafe telegram 30

Telegram 30 transfers as user data safety control word 1 (S_STW1) and safety status word 1

(S_ZSW1).

Table 11-12 PROFIsafe telegram 30 (telegram structure)

Output data

Input data

PZD1

S_STW1

S_ZSW1

Detailed information about the process data of these telegrams is provided in Chapter

"PROFIsafe process data (Page 354)".

11.5.2

PROFIsafe telegram 31

Telegram 31 transfers safety control word 2 (S_STW2) and safety status word 2 (S_ZSW2) as user

data. It is structured as follows:

Table 11-13 PROFIsafe telegram 31 (telegram structure)

Output data

Input data

PZD1

S_STW2

S_ZSW2

PZD2

Detailed information about the process data of these telegrams is provided in Chapter

"PROFIsafe process data (Page 354)".

11.5.3

SIEMENS telegram 701

The predefined PROFIdrive telegram 701 is available for transferring SIC and SCC:

Table 11-14 SIEMENS telegram 701 (telegram structure)

Receive data

Parameter

Send data

Parameter

PZD1

S_STW1B

p10250

S_ZSW1B

r9734

PZD2

S_STW3B

p10235

S_ZSW2B

r9743

PZD3

S_V_LIMIT_B

r9733[2]

PZD4

PZD5

S_ZSW3B

r10234

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Data descriptions

11.5 Telegram structure and data

Detailed information about the process data of telegram 701 is provided in Chapter "SIC/SCC

(PROFIdrive) process data (Page 369)".

Note

Update of the send data

The send data S_ZSW1B, S_ZSW2B, S_ZSW3B and S_V_LIMIT_B is only updated if the Safety

Integrated Extended Functions are enabled.

Additional information

Additional information regarding communication via PROFIdrive is available in "Communication

according to PROFIdrive" in the

SINAMICS S120 Communication Function Manual

11.5.4

SIEMENS telegram 901

Telegram 901 transfers the S_STW2, the variable SLS limit (S_SLS_LIMIT_A), the S_ZSW2, the

active SLS value of level 1 (S_SLS_LIMIT_A_ACTIVE), a counter value (S_CYCLE_COUNT) and the

safe position value in 16-bit format (S_XIST16) as user data.

Table 11-15 SIEMENS telegram 901 (telegram structure)

Output data

Input data

PZD1

S_STW2

S_ZSW2

PZD2

PZD3

S_SLS_LIMIT_A

S_SLS_LIMIT_A_ACTIVE

PZD4

S_CYCLE_COUNT

PZD5

S_XIST16

Detailed information about the process data of these telegrams is provided in Chapter

"PROFIsafe process data (Page 354)".

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Data descriptions

11.5 Telegram structure and data

11.5.5

SIEMENS telegram 902

Telegram 902 transfers as user data S_STW2, the variable SLS limit (S_SLS_LIMIT_A), the

S_ZSW2, the active SLS value of level 1 (S_SLS_LIMIT_A_ACTIVE), a counter value

(S_CYCLE_COUNT) and the safe position value in 32-bit format (S_XIST32).

Table 11-16 SIEMENS telegram 902 (telegram structure)

Output data

Input data

PZD1

S_STW2

S_ZSW2

PZD2

PZD3

S_SLS_LIMIT_A

S_SLS_LIMIT_A_ACTIVE

PZD4

S_CYCLE_COUNT

PZD5

S_XIST32

PZD6

Detailed information about the process data of these telegrams is provided in Chapter

"PROFIsafe process data (Page 354)".

11.5.6

SIEMENS telegram 903

Telegram 903 transfers the following user data: S_STW2, S_SLS_LIMIT_A, S_ZSW2,

S_ZSW_CAM1 and S_SLS_LIMIT_A_ACTIVE.

Table 11-17 SIEMENS telegram 903 (telegram structure)

Output data

Input data

PZD1

S_STW2

S_ZSW2

PZD2

PZD3

S_SLS_LIMIT_A

S_ZSW_CAM1

PZD4

PZD5

S_SLS_LIMIT_A_ACTIVE

Detailed information about the process data of these telegrams is provided in Chapter

"PROFIsafe process data (Page 354)".

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SINUMERIK 840D sl. Service - Safety Integrated. Manual (2020) - page 16