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SINUMERIK 840D sl. Service - Safety Integrated. Manual (2020) - page 21

Description of Safety Integrated functions

5.2 Safety Integrated Extended Functions

An override can also be added to SLS limit value 1. In operation, this override can be varied

using a PROFIsafe telegram.

Note

Deviation of the displayed speed limit

The SLS speed limit displayed in r9714[2] can deviate slightly from the specified SLS speed

limit. The reason for this is the internal resolution (r9732) of the speed values.

Note

Response in the event of a communication error

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 suppression when the

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

Note

Setpoint speed limit and SLS

● It makes sense to configure the set velocity limit if SLS is also parameterized. This is done

in a higher-level controller that evaluates the safety information channel, for example, or by

wiring r9733[0/1] to the speed limits of the ramp-function generator (p1051/p1052).

● It does not make sense to use the positive and negative setpoint limiting for SLS in

conjunction with standard telegram 105 and others: With this combination, the velocity

setpoint of the standard telegram is only effective after the setpoint limiting.

Deactivating SLS during an external STOP A

If "Deactivating SOS/SLS during an external STOP A" (p9501.23 = 1) is released and SLS is

selected, SLS is deactivated during a STOP A.

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Signal flow: Deactivation of SLS during external STOP A

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Description of Safety Integrated functions

5.2 Safety Integrated Extended Functions

Changeover of SLS limit values

The changeover is executed binary-coded via 2 F-DIs or 2 PROFIsafe control bits. The speed

selection status can be checked using parameters r9720.9/r9720.10. Parameters r9722.9 and

r9722.10 indicate the actual speed limit, bit r9722.4 must carry a "1" signal.

Table 5-2

Changeover of speed limits:

F-DI for bit 1 (r9720.10)

F-DI for bit 0 (r9720.9)

Speed limit

SLS level

0

0

p9531[0]

1

0

1

p9531[1]

2

1

0

p9531[2]

3

1

1

p9531[3]

4

WARNING

Excessive speed during incorrect control of the Safely-Limited Speed limits via F-DI

For all control options except PROFIsafe, limit SLS1 is activated after 2 unacknowledged

discrepancy errors. This means that, for the 2 F-DIs for selecting the speed levels, the value

0 is the "safe state" (failsafe value).

● Therefore parametrize the SLS limits in ascending order, i.e. with limit SLS1 as the lowest

speed and limit SLS4 as the highest speed.

Responses

Speed limit value exceeded:

● Configured subsequent stop STOP A/B/C/D/E via p9563

● Safety message C01714

System fault:

● STOP F

● Safety messages C01711

Transferring the first limit value via PROFIsafe

SINAMICS offers the option of influencing the first SLS limit value via PROFIsafe:

● The transfer of the first SLS limit value via PROFIsafe is active if the speed level 1 in the

PROFIsafe telegram is selected and the bit "Enable transfer SLS (SG) limit via PROFIsafe"

(p9501.24) is set.

● S_SLS_LIMIT_A has the value range 1 ... 32767; 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) · p9531[0]

● Also in this case, speed levels 2, 3 and 4 can be parameterized and selected.

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Description of Safety Integrated functions

5.2 Safety Integrated Extended Functions

Restart after OFF2/STO

If the drive has been switched off via STO, the following steps need to be carried out before a

restart can be performed:

1st case

●

State after switching on

● SLS selected

● STO selected

● Pulse suppression active

●

Deselect STO

●

The drive enable must be issued within 5 seconds via a positive edge at OFF1, otherwise

STO is reactivated.

2nd

●

Situation

case

● Traversing to standstill with SLS selected

● OFF1 is initiated, pulse cancellation becomes active (internal selection

STO)

●

Select STO

●

Deselect STO

STO activated internally via pulse suppression: This activation must be undone by se-

lection/deselection.

●

The drive enable must be issued within 5 seconds via a positive edge at OFF1, otherwise

STO is reactivated.

3rd case

●

Situation

● Traversing to standstill with SLS selected

● OFF1 is initiated, pulse cancellation becomes active (internal selection

STO)

●

Deselect SLS

STO activated internally via pulse suppression: This activation must be undone by se-

lecting/deselecting SLS.

●

Select SLS

The drive enable must be issued with a positive edge at OFF1 within 5 seconds, otherwise

STO is reactivated.

4th case

●

Situation

● All Safety Integrated functions are deselected.

●

After this the drive enable must be given by a positive edge at OFF1.

●

In this case, the motor is not started safely.

5.2.8.3

Safely-Limited Speed without selection

Differences between Safely-Limited Speed with and without selection

● As an alternative to controlling via terminals and/or PROFIsafe, there is also the option to

parameterize the SLS function without selection (see Section "Motion monitoring without

selection (Page 255)").

● The function "SLS without selection" is selected with p9512.4 = 1.

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Description of Safety Integrated functions

5.2 Safety Integrated Extended Functions

● For "SLS without selection", only one SLS limit value can be parameterized (p9531[0]).

● The stop response is parameterized with p9563[0].

● For Safely-Limited Speed without selection there is no delay time. The function is always

active when operated with encoder. The function is always active at switch on when

operated with encoder.

Switching the motor on and off (without encoder)

The time response and diagnostic options are as follows in this SLS version:

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Time response of SLS without selection (example: Switching the motor on and off (without

encoder))

"SLS without selection" behaves as follows when switching off and switching on again:

● After switch-off, the motor behaves in accordance with the removed signal (OFF1, OFF2 or

OFF3).

● The "safe pulse cancellation" becomes active after the standstill limit is undershot. If a brake

has been parameterized, it is also closed.

● After the ON command, the converter cancels the "safe pulse cancellation" state and the

start procedure is initiated.

● If the minimum current has not been reached after 5 s, the converter returns into the "safe

pulse suppression" state and initiates alarm C01711.

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Description of Safety Integrated functions

5.2 Safety Integrated Extended Functions

The function is activated automatically as soon as the Safety Integrated Extended Functions

are enabled with parameter p9501.0 = 1 and p9546 > 0. The SSM function is deactivated with

setting p9546 = 0.

Note

Relationship between SSM and SAM

If you enter "0" for p9568 (SAM shutdown threshold), the speed limit of the SSM function

(p9546) is simultaneously the lower limit for the Safe Acceleration Monitor function (SAM).

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.

Note

Danger due to unwanted behavior of the STOP F on SSM

A STOP F is indicated by safety message C01711. STOP F only results in the subsequent

response STOP B / STOP A if one of the Safety Integrated Functions is active. If only the SSM

function without hysteresis (that is, p9501.16 = 0) is active, a STOP F cross-checking error

does not result in a STOP B / STOP A follow-up response.

● SSM is only valid as an active monitoring function if "Hysteresis and filtering" is

parameterized (p9501.16 = 1).

Note

Parameterization of hysteresis and actual value synchronization

You must carefully observe the following rules when parameterizing hysteresis and actual

value synchronization:

● If "SSM hysteresis" has been enabled (p9501.16 = 1), you must set parameters p9546 and

p9547 according to this rule:

p9547 ≤ 0.75 · p9546

● If "Actual value synchronization" has been enabled (p9501.3 = 1), you must also observe

this rule:

p9549 ≤ p9547

Features

● Safe monitoring of the speed limit specified in p9546

● Parameterizable hysteresis via p9547

● Variable PT1 filter via p9545

● Safe output signal

● No stop response

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Description of Safety Integrated functions

5.2 Safety Integrated Extended Functions

Safe output signal for SSM with hysteresis

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Safe output signal for SSM with hysteresis

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Description of Safety Integrated functions

5.2 Safety Integrated Extended Functions

5.2.9.2

Safe Speed Monitor without encoder

Set p9506 = 1 or p9506 = 3 (factory setting = 0) to activate Safety Integrated Extended

Functions without encoder. You can also make this setting by selecting "Without encoder" on

the Safety screen in Startdrive.

Without an encoder, the "Safe Speed Monitor" essentially functions exactly the same as

described in the previous section under "Safe Speed Monitor with encoder".

Note

Defaults

For commissioning, also pay attention to the description in Chapter "Default settings for

commissioning Safety Integrated functions without encoder (Page 284)."

Note

Setting of the OFF1 or OFF3 ramp-down time

If the OFF1 or OFF3 ramp-down time is too short or the difference between the SSM limit speed

and the shutdown speed is too small, the "speed below limit value" signal may not change to

1, because no actual speed value could be determined below the SSM limit before pulse

suppression occurred. In this case, the OFF1 or OFF3 ramp-down time or the margin between

SSM speed limit and shutdown speed should be increased.

Differences between Safe Speed Monitor with and without encoder

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

determine the current speed. 2 responses can be selected for this operating state with

parameter p9509.0:

- p9509.0 = 1

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

- p9509.0 = 0

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

internally.

● Due to the less precise speed recognition, "Safe Speed Monitor without encoder" requires

a larger hysteresis (p9547) and, where applicable, a filter time (p9545) compared with the

function with encoder.

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Description of Safety Integrated functions

5.2 Safety Integrated Extended Functions

Sequence diagram

The following diagram shows the signal characteristic for the case p9509.0 = 0.

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Safe Speed Monitor without encoder (p9509.0 = 0)

The speed remains below the limits of p9546 throughout the entire monitoring period.

Therefore, the SSM feedback signal remains r9722.15 = 1. After the command for pulse

suppression, the motor speed drops. The internal STO is set when the speed drops below the

zero speed detection level.

In this case, the SSM feedback signal remains HIGH; it is frozen. The drive cannot accelerate

again, due to the internal STO selection.

To restart the motor safely, the STO must be selected manually and deselected once more.

After the STO has been deselected, a 5 second time window is opened. If the pulse enable

takes place within this time window, the motor starts. If the pulse enable does not take place

within this 5 second time window, the internal STO becomes active again.

If p9509.0 = 1, the SSM monitoring is ended after the pulse suppression. The feedback signal

p9722.15 drops to 0. The SSM monitoring is only reactivated after a new pulse enable. In this

case, STO must not be selected and deselected to start the drive.

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Description of Safety Integrated functions

5.2 Safety Integrated Extended Functions

Restart after pulse cancellation for p9509.0 = 0

If the drive pulses have been suppressed using OFF1/OFF2/STO, the following steps must be

carried out for a restart:

1. Case

● State after switching on

● SSM active

● STO selected

● Pulse suppression active

● Deselect STO

● The drive enable must be issued within 5 seconds via a positive edge at OFF1, otherwise

STO is reactivated.

2. Case

● Situation

● SSM active

● Motor turning

● OFF1 triggered, pulses are suppressed

● Select STO

● Deselect STO

STO activated internally via pulse suppression: This activation must be undone by se-

lecting/deselecting STO.

● The drive enable must be issued within 5 seconds via a positive edge at OFF1, otherwise

STO is reactivated.

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Description of Safety Integrated functions

5.2 Safety Integrated Extended Functions

Enabling SDI

The "Safe Direction" function is enabled with p9501.17 = 1.

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Functional principle SDI with encoder

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Description of Safety Integrated functions

5.2 Safety Integrated Extended Functions

5.2.10.2

Safe Direction without encoder

Set p9506 = 1 or p9506 = 3 (factory setting = 0) to activate Safety Integrated Extended

Functions without encoder. You can also make this setting by selecting "Without encoder" on

the Startdrive safety screen.

Note

Defaults

For commissioning, also pay attention to the description in Chapter "Default settings for

commissioning Safety Integrated functions without encoder (Page 284)."

Differences between SDI with encoder and SDI without encoder

● For Safe Direction without encoder, after pulse suppression the drive is unable to determine

the current speed. For this operating state, the behavior is defined in parameter p9509.8:

- p9509.8 = 1

The status signal displays "inactive".

- p9509.8 = 0

The status signal displays "active", and the drive takes on the state STO.

● Due to the less precise position recognition, "Safe Direction without encoder" requires a

larger tolerance (p9564) compared with the function with encoder.

Note

No detection of a change in direction by means of p1820 or p1821

If the direction of rotation is reversed via p1820 or p1821, then safe monitoring is still possible:

However, in this case, the setpoint limitation r9733 is calculated with the wrong direction of

rotation. A reversal of the rotational direction with p1820 or p1821 therefore does not make

sense.

Restart after pulse cancellation for p9509.8 = 0

If the drive has been switched off via OFF1/OFF2/STO etc., the following steps need to be

carried out before a restart can be performed:

1. Case

● State after switching on

● SDI selected

● STO selected

● Pulse suppression active

● Deselect STO

● The drive enable must be issued within 5 seconds via a positive edge at OFF1, otherwise

STO is reactivated.

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Description of Safety Integrated functions

5.2 Safety Integrated Extended Functions

2. Case

● Situation

● Traversing to standstill with SDI selected

● Initiate OFF1

● Pulses are canceled; internal selection STO becomes active

● Select STO

● Deselect STO

STO activated internally via pulse suppression: This activation must be undone by se-

lecting/deselecting STO.

● The drive enable must be issued within 5 seconds via a positive edge at OFF1, otherwise

STO is reactivated.

3. Case

● Situation

● Traversing to standstill with SDI selected

● Initiate OFF1

● Pulses are canceled; internal selection STO becomes active

● Deselect SDI

STO activated internally via pulse suppression: This activation must be undone by de-

selecting SDI.

● Select SDI

The drive enable must be issued within 5 seconds via a positive edge at OFF1, otherwise

STO is reactivated.

4. Case

● Situation

● All Safety Integrated functions are deselected.

● After this the drive enable must be given by a positive edge at OFF1.

● In this case, the motor is not started safely.

Acknowledgement of SDI with STOP C

When acknowledging SDI with STOP C, you must maintain the following sequence:

1. Correct the incorrect setpoint input.

2. Deselect SDI.

While the safety STOP is active, this ensures that the motor cannot travel in the direction

that has not been enabled while the SDI function is deselected.

3. Select SDI again.

The SDI limits are then set again.

4. Cancel the safety STOP as a result of "safe acknowledgment".

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Description of Safety Integrated functions

5.2 Safety Integrated Extended Functions

5.2.10.3

Safe Direction without selection

Differences between Safe Direction with and without selection

● As an alternative to controlling via terminals and/or PROFIsafe, there is also the option of

parameterizing SDI without selection. In this case, SDI will be permanently active after

POWER ON (with encoder) or will be active after switch-on (without encoder).

● The "SDI without selection" function is activated as follows:

- p9512.12 = 1 (SDI positive (CU) statically selected)

- p9512.13 = 1 (SDI negative (CU) statically selected)

● The stop response is parameterized with p9566[0].

Switching the motor on and off (without encoder)

The time response and diagnostic options are as follows in this SDI version:

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Time response of SDI without selection (example: Switching the motor on and off (without

encoder))

"SDI without selection" behaves as follows when switching off and switching on again:

● After switch-off, the motor behaves in accordance with the canceled signal (OFF1, OFF2 or

OFF3).

● STO (≙ safe pulse cancellation) becomes active after the standstill limit is undershot.

● After the ON command, the converter cancels the "safe pulse suppression" state and the

start procedure is initiated.

● If the minimum current has not been reached after 5 seconds, the converter returns to the

"safe pulse suppression" state and initiates the safety message C01711(1041).

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Description of Safety Integrated functions

5.2 Safety Integrated Extended Functions

Remedy

● In this case, increase the "SLA filter time" (p9576).

Note that SLA reacts with a delay when you increase the filter time.

Stop response

If the SLA subsequently detects violation of the acceleration limit, the drive initiates the stop

response configured using p9579.

5.2.11.1

Principle of operation

Principle of operation

The following diagram shows the principle of operation of SLA:

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Safely-Limited Acceleration (SLA): Principle

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Description of Safety Integrated functions

5.2 Safety Integrated Extended Functions

p10230.3

Signal for selecting the sign of the test torque

(= 0: positive; = 1: negative)

p10230.4

Signal to select the test sequence (= 0: sequence 1; = 1: sequence 2)

p10230.5

Feedback signal for the state of the external brake

(= 0: external brake open; = 1: external brake closed)

You can parameterize 2 test sequences for each brake. Each test sequence is characterized

by the following setting values:

● Brake test sequence 1

p10210[0,1]

Test torque to be generated in % of the brake holding torque

p10211[0,1]

Test duration in ms

p10212[0,1]

Positional deviation to be tolerated in mm/degrees during the test

● Brake test sequence 2

p10220[0,1]

Test torque to be generated in % of the brake holding torque

p10221[0,1]

Test duration in ms

p10222[0,1]

Positional deviation to be tolerated in mm/degrees during the test

● Perform a POWER ON after commissioning

NOTICE

Damage to the motor holding brake as a result of an incorrect setting

Brake wear increases if the motor holding brake is incorrectly set. This can damage the brake.

● Correctly adjust the opening and closing times of the motor holding brake.

● If you use an external brake, you are only permitted to close it when requested by signal

r10234.6 = 1. Following this, you are permitted to set the signal p10230.5 = 1 ("External

brake closed").

● If you use an internal brake, set the switching times in parameters p1216 ("Motor holding

brake opening time") and p1217 ("motor holding brake closing time"). Further information

can be found in the SINAMICS S120 Function Manual Drive Functions.

- Note that you must set the times p1216 and p1217 exactly according to the physical

behavior of the brake.

- In DRIVE-CLiQ motors, the values are preassigned automatically. Do not change these

default values.

Note

Closing the brake

p1216 ("Motor holding brake opening time") and p1217 ("Motor holding brake closing time") act

only if you are testing an internal brake. When testing an external brake, specify via SCC that

the brake is closed.

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Description of Safety Integrated functions

5.2 Safety Integrated Extended Functions

Note

SBT and EPOS

If EPOS is activated, you must activate "follow-up mode" (r2683.0) before you perform the

brake test so that the position monitoring does not react during the brake test.

Note

SBT and DSC

If you use SBT with SIMOTION, evaluate parameter r10234 (S_ZSW3B) and activate Safety

Control Channel control word 3B (S_STW3B). In SIMOTION, r10234.1 specifies that no

position monitoring or traversing may be active during the brake test.

Note

SBT and HLA

The "Safe Brake Test" (SBT) function is not available for SINAMICS HLA.

Starting SBT

1.

Selection

You have the following options for the selection of the Safe Brake Test:

- Selection via BICO using a 0/1 signal edge at DI for p10230[0]

- Selected via fieldbus (SCC):

Select the brake test sequence with a 0/1 edge in S_STW3B bit 0

- Selected using forced checking procedure (test stop) of the Extended Functions:

Selection by signal at the intended DI

After the 0/1 edge at the digital input for p9705 or in S_STW1B bit 8, the drive initially

executes SBT automatically. Forced checking procedure (test stop) is then performed.

Note

When selected via DI (BICO) and selected via fieldbus (SCC, S_STW3B bit 0), then the

sequence of the subsequently described steps 2 to 5 must be carefully observed.

Note

Only brake 1 when selecting via forced checking procedure (test stop)

When selecting using forced checking procedure (test stop), only the internal motor holding

brake parameterized as brake 1 is tested with test sequence 1 in the direction

parameterized in p10218.

It is not possible to use the brake test together with the "Automatic test stop when powering

up" function.

The pulses must be enabled when SBT is selected. When selected, the speed actual value

must not exceed 1 % of the maximum speed (p1082) - and over the complete course of the

SBT, it must not exceed a value of 10 % of the maximum speed.

The brake(s) must be open.

2.

Wait for feedback signal, r10231[0] = 1

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5.2 Safety Integrated Extended Functions

Sequence

SBT has the following basic sequence:

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SBT: Time sequence

● After you have selected the brake test (0/1 edge in r10231.0), the drive determines the static

suspended load. This is the reason that all brakes must be open and the pulses enabled

when the brake test is selected.

- When testing a motor holding brake, which is directly controlled from the drive, the dive

automatically opens when the pulses are enabled and p1215 = 1.

- When testing an external brake, via p10234.6 or for SIC/SCC, via S_ZSW3B.6, a value

of 0 indicates that the external brake must be opened. Open the brake within 11 s,

otherwise the drive aborts the test and outputs a fault.

● Then select the brake, the test sequence and the test direction.

● Start the brake test/test sequence (0/1 edge in r10231.1):

- This activates the brake test.

- The drive closes the motor holding brake or requests closing of the external brake. The

request to close the brake is again indicated via p10234.6 = 1 or S_ZSW3B.6 = 1. Also

in this case, only a maximum of 11 seconds must elapse, otherwise the drive outputs a

fault.

● The test torque is specified during the SBT. When n = 0 is entered, the controller builds up

an appropriate test torque against the closed brake. The test torque is built up along a ramp.

The ramp is defined by the time of p10208.

● At the end of the test sequence, the brake is opened or there is a prompt to open the brake.

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5.2 Safety Integrated Extended Functions

5.2.12.1

Communication via SIC/SCC

Test of a motor holding brake

The following figure shows the communication via SIC and SCC during the test of a motor

holding brake:

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Description of Safety Integrated functions

5.2 Safety Integrated Extended Functions

Test of an external brake

The following figure shows the communication via SIC and SCC during the test of an external

brake:

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153

Description of Safety Integrated functions

5.2 Safety Integrated Extended Functions

5.2.14.2

Time response

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Description of Safety Integrated functions

5.2 Safety Integrated Extended Functions

Even if the drive is operating in the closed-loop torque controlled mode, motion monitoring

functions may be selected as long as it is guaranteed that the encoder signals can be evaluated.

Note

No monitoring of the braking ramp with SAM or SBR in the case of encoder error in the 1-

encoder system

With p9516.4 = 1 ("No STOP A after encoder error with 1-encoder safety"), set the following

response:

● After an encoder error in the 1-encoder system, the drive triggers a STOP F, but not an

immediate STOP A.

● If safety functions are selected, the STOP F is followed in this case by a time-controlled

subsequent stop STOP B¹⁾; i.e. a stop response without monitoring with SBR or SAM.

You can use this behavior if, after an encoder error, coasting down would be harmful and you

want instead to use the switchover to encoderless operation with encoderless braking.

¹⁾ If you have selected one of the Basic Functions contained in the Extended Functions, the

subsequent stop is STOP A.

Special feature in the case of linear motors

The motor encoder (linear scale) of linear motors also acts as load measuring system. Only one

measuring system is required for this reason. The system is connected by means of a Sensor

Module or directly via DRIVE-CLiQ.

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5.2.15.2

2-encoder system

The failsafe actual values for a drive are provided by two separate encoders. The actual values

are transferred to the Control Unit via DRIVE-CLiQ.

For motors without a DRIVE-CLiQ interface, the connection is made using additional Sensor

Modules (see encoder types).

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Description of Safety Integrated functions

5.2 Safety Integrated Extended Functions

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Example of a 2-encoder system on a rotary axis

When parameterizing a 2-encoder system with Safety Integrated, you must align parameters

p9315 to p9329 with parameters r0401 to r0474.

Note

Assignment of the encoder parameters

Parameters p95xx are assigned to the 1st encoder; parameters p93xx to the 2nd encoder.

Note

Transfer of the values from the encoder commissioning

To accept the values from the parameters filled during the encoder commissioning to the safety

parameterization, set parameter p9700 = 46 (2E hex). This copy function is only possible if you

are connected online with the drive unit.

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5.2 Safety Integrated Extended Functions

Table 5-3

Encoder parameters and corresponding safety parameters for 2-encoder systems

Safety parameters

Designation

Encoder parameters

p9315/p9515 SI Motion coarse position value configuration

p9315.0/p9515.0

Up-counter

r0474[x].0

p9315.1/p9515.1

Encoder CRC, least significant byte first

r0474[x].1

p9315.2/p9515.2

Redundant coarse position value, most significant bit left-jus-

r0474[x].2

tified

p9315.16/p9515.16

DRIVE-CLiQ encoder

p0404[x].10

p9316/p9516 SI Motion encoder configuration, safety functions

p9316.0/p9516.0

Motor encoder, rotary/linear

p0404[x].0

p9316.1/p9516.1

Actual position value, sign change

p0410[x]

p9317/p9517

SI Motion linear scale grid division

p0407

p9318/p9518

SI Motion encoder pulses per revolution

p0408

p9319/p9519

SI Motion fine resolution G1_XIST1

p0418

p9320/p9520

SI Motion leadscrew pitch

Startdrive encoder parameteriza-

tion dialog

p9321/p9521

SI Motion gearbox encoder

Startdrive encoder parameteriza-

tion dialog

p9322/p9522

SI Motion gearbox encoder

Startdrive encoder parameteriza-

tion dialog

p9323/p9523

SI Motion redundant coarse position value valid bits

r0470

p9324/p9524

SI Motion redundant coarse position value fine resolution bits

r0471

p9325/p9525

SI Motion redundant coarse position value relevant bits

r0472

p9326/p9526

SI Motion encoder assignment

Startdrive encoder parameteriza-

tion dialog

p9328/p9528

SI Motion Sensor Module node identifier

-

p9329/p9529

SI Motion Gx_XIST1 coarse position safety most significant

For DRIVE-CLiQ encoders:

bit

p0415 = r0470 - r0471

For SMx modules: p0415 = 14

5.2.15.3

Encoder types for single and 2-encoder systems

Incremental encoders or absolute encoders can be used for safe acquisition of the position

values on a drive.

The absolute position values can be transferred via the serial EnDat interface or an SSI

interface to the controller. However, these are not evaluated by the safety functions.

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163

Description of Safety Integrated functions

5.2 Safety Integrated Extended Functions

5.2.15.4

Actual value synchronization

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This deviation cannot be larger than the position difference that can arise at maximum slip (p9549)

during a cross-check cycle (r9724).

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Example diagram of actual value synchronization

The mean value of the actual values of both channels is calculated cyclically after actual value

synchronization (p9501.3 = 1) has been activated, for example, for systems or machines with

slip. The maximum slip defined in p9549 is monitored in the cross-check cycle (r9724). The

maximum slip defined in p9549 is monitored once per cross-check cycle (r9724).

If "Actual value synchronization" is not enabled, the value parameterized in p9542 is used as

tolerance value for the cross-checking.

5.2.15.5

Safe motion monitoring

The properties of the actual value acquisition determine not only the encoders used, but also

the values for safe motion monitoring that can be achieved in the best case.

● Safe maximum speed (r9730)

The maximum speed (load side) that is permissible due to the acquisition of actual values

for safe motion monitoring functions is indicated in r9730. This parameter shows the load

velocity up to which the safety-relevant encoder actual values (redundant coarse encoder

position) can still be correctly sensed as a result of the particular encoder parameterization.

The actual value acquisition clock (p9511) determines the frequency at which the actual

values are acquired. The longer the clock cycle, the higher the "safe maximum velocity." On

the other hand, a longer actual value acquisition clock cycle places a greater load on the

Control Unit. You must consider this circumstance when setting the optimum for your

application.

For SINAMICS S120M, only the values 2 and 0 ms are allowed for the actual value

acquisition cycle clock (p9511). In both cases, the frequency converter calculates with an

actual value acquisition cycle clock of 2 ms regardless of the PROFIBUS DP/PN cycle clock.

● Safe positioning accuracy (r9731)

This positioning accuracy can be achieved in the best case by acquiring the actual values.

If a 2-encoder system is used, the accuracy of the poorer encoder is indicated based on the

number of encoder pulses.

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Description of Safety Integrated functions

5.2 Safety Integrated Extended Functions

5.2.17.1

Gearbox switchover without increased position tolerance

In order to switch over the gearbox stage, where no increased tolerance is required for the

crosswise comparison of the actual positions, proceed as follows:

1. Set the new gearbox stage using bits 0 to 2 in byte 3 of S_STW2.

2. The actual values are then synchronized once automatically. This synchronization is used

to compensate any possible difference that occurs between the position actual values of the

two monitoring channels as a result of the switchover operation.

The new gearbox stage is then active.

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5.2.17.2

Gearbox switchover with increased position tolerance

In order to switch over the gearbox stage, where increased tolerance is required for the

crosswise comparison of the actual positions, proceed as follows:

Note

Maximum duration of the increased position tolerance

It is not permissible that the increased position tolerance is set for longer than 2 min. If this time

is exceeded, the converter outputs message C01711 with fault value 1015 (≙ STOP F).

Safety Integrated

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Description of Safety Integrated functions

5.2 Safety Integrated Extended Functions

1. Set the increased position tolerance using bit 3 (= 1) in byte 3 of S_STW2.

2. Set the new gearbox stage using bits 0 to 2 in byte 3 of S_STW2.

3. Set the position tolerance back to the normal value using bit 3 (= 0) in byte 3 of S_STW2.

4. The actual values are then synchronized once automatically. This synchronization is used

to compensate any possible difference that occurs between the position actual values of the

two monitoring channels as a result of the switchover operation.

The new gearbox stage is then active.

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Description of Safety Integrated functions

5.2 Safety Integrated Extended Functions

Connection example for TM54F

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Safety Integrated

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Description of Safety Integrated functions

5.2 Safety Integrated Extended Functions

Details on F-DIs and F-DOs

● The F-DIs must be registered for the test stop using p10041.

Note

F-DI not operational during the test

The F-DI states are frozen for the duration of the test!

● Ensure that the states of the F-DIs are not evaluated during the test.

● The associated F-DOs must be registered for the test stop using p10046.

Note

F-DOs during the time period of the test stop

F-DOs, which are not registered for evaluation using p10046, are set to "0" for the duration

of the test stop ("failsafe values").

Maximum test stop time period is: T_{Test stop} = T_FDIs + T_FDOs

● Testing F-DIs: T_FDIs = 3 · r10015 + 3 · X ms

(X = 20 ms or r10015 or p10017 - the greatest time value of the 3 values determines the

waiting time X)

● Test of the F-DOs: T_FDOs = 8 · r10015 + 6 · Y ms

(Y = p10001 or r10015 or p10017 - the longest time of the 3 values determines the wait

time Y)

The Safety Integrated Functions of the TM54F are executed in the sampling time displayed

in r10015. This sampling time corresponds to the lowest value of the communication

sampling time entered in p10000[0..5].

Note

Manual dynamization required for specific F-DIs or F-DOs

It is possible that this test stop function cannot be used for certain F-DIs or F-DOs because of

the devices that are connected.

● Ensure dynamic operation of the affected F-DIs/F-DOs by other means, e.g. switch

operation or triggering certain machine functions.

Safety Integrated

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Description of Safety Integrated functions

5.3 Safety Integrated Advanced Functions

Note

Restrictions for PROFIsafe telegram 30

The use of PROFIsafe telegram 30 (with the 16-bit words S_STW1 and S_ZSW1) has the

following restrictions:

● Only position range 1 is available.

● A switchover to position range 2 is not possible.

● The status feedback signals "safely referenced", "active position range", "upper SLP limit

maintained" and "lower SLP limit maintained" are not available.

F-DI

The function can be selected via the F-DI of the TM54F or via onboard F-DI (CU310-2):

● Parameter p10032 is used to predefine the terminal for the SLP selection.

● The terminals to select the SLP position range are defined in parameter p10033.

● The status signal "SLP active" can be used directly as signal source, or linked via the safe

state signal (p10039) with an F-DO (p10042).

Note

Extended Functions via TM54F or onboard terminals

The safe status signal "SLP active" is not the same as the diagnostic signal "SLP active"

(r9722.6), but is the AND logic operation of "SLP active" (r9722.6) and "safely referenced"

(r9722.23).

On the other hand, the status signal "Active SLP area" corresponds to the signal "SLP active

position range" (r9722.19 ).

Note

Response to bus failure

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

reaction is only realized if, as an SLP response, a STOP with delayed pulse suppression when

the bus fails has been parameterized (p9562[0...1] ≥ 10).

Safety Integrated

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Description of Safety Integrated functions

5.3 Safety Integrated Advanced Functions

Control via F-DI (TM54F or onboard terminals)

1.

Using parameters p10009, parameterize an F-DI, with which you can select/deselect the

internal retract logic function.

2.

Parameterize two F-DIs for the selection/deselection of the SDI positive and SDI negative

functions in an independent acceptance test.

3.

Proceed as follows for an SLP limit violation:

- Switch the signal at the F-DI "retract" from 0 to 1 (the signal edge is evaluated). The

retract function is active at all drives that are safely referenced and where presently a

limit value has been violated. When the retract function is active, SLP is inactive and

depending on which limit which has been violated, either SDI positive or SDI negative is

selected.

- Safe acknowledgment of the limit violation

- Move the drive into the range that has been enabled using the appropriate setpoint

inputs.

- Switch the signal at the F-DI "retract" from 1 to 0 (the signal edge is evaluated): As a

consequence, SDI is again deselected and SLP is active again.

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Time behavior of SLP and retraction

Safety Integrated

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