Table Of Contents - Siemens Simatic Manual

Table of contents

Table of contents
1 Storage and retrieval machines and safety functions ............................................. 1-6
1.1 General design for safety-related position sensing ................................................................ 1-6
1.2 Supported encoder combinations and mechanical design versions ...................................... 1-6
1.2.1 Safety-related motor encoder with positively-driven mechanical system ....................... 1-6
1.2.2 Two-encoder system with connection via SINAMICS S120 ........................................... 1-7
1.2.3 Two-encoder system with connection via distributed I/O ............................................... 1-7
1.2.4 Three-encoder system .................................................................................................... 1-8
1.2.5 Summary of the encoder versions .................................................................................. 1-9
1.2.6 Safety-related parameters of the encoder versions........................................................ 1-9
1.2.6.1 Subsystem C according to DIN EN 62061 (Chapter 6.7.8.2.4): ............................ 1-10
1.2.6.2 Subsystem D according to DIN EN 62061 (Chapter 6.7.8.2.5): ............................ 1-10
2 System and software requirements .......................................................................... 2-0
2.1 General .................................................................................................................................. 2-0
2.2 Safety requirements ............................................................................................................... 2-0
2.3 Software ................................................................................................................................. 2-0
2.4 Safety aspects when generating the blocks .......................................................................... 2-1
2.5 Standards that are complied with ........................................................................................... 2-1
2.5.1 Demarcation of DIN EN 528 to the ASRS block library .................................................. 2-1
3 Fail-safe function blocks for storage and retrieval machines ................................ 3-4
3.1 Overview ................................................................................................................................ 3-4
3.1.1 Safety notes and instructions .......................................................................................... 3-4
3.1.2 Fail-safe blocks ............................................................................................................... 3-4
3.1.3 Block connections ........................................................................................................... 3-5
3.1.4 Block numbers and signatures ....................................................................................... 3-6
3.1.5 Integration in cyclic interrupts - OBs ............................................................................... 3-6
3.1.6 Using data blocks/multi-instances .................................................................................. 3-7
3.1.7 Response times .............................................................................................................. 3-7
3.1.8 Execution times............................................................................................................... 3-7
3.2 Fail-safe function block F_SAFE_POS .................................................................................. 3-8
3.2.1 Introduction ..................................................................................................................... 3-8
3.2.2 Connections .................................................................................................................. 3-10
3.2.2.1 Inputs ..................................................................................................................... 3-10
3.2.2.2 Outputs .................................................................................................................. 3-11
3.2.2.3 Structure of DIAG .................................................................................................. 3-12
3.2.3 Interrelationship between the assignment of the block inputs and the drive configuration
3-13
3.2.4 Principle of operation .................................................................................................... 3-15
3.2.4.1 Parameterization ................................................................................................... 3-15
3.2.4.2 Starting characteristics .......................................................................................... 3-16
3.2.4.3 Actual position value .............................................................................................. 3-17
3.2.4.4 Actual velocity value .............................................................................................. 3-17
3.2.4.5 Referencing ........................................................................................................... 3-18
3.2.4.6 Synchronizing encoders ........................................................................................ 3-18
3.2.4.7 Acknowledging faults ............................................................................................. 3-19
3.2.5 Additional diagnostic functions ..................................................................................... 3-19
3.3 Fail-safe function block F_SCALE_DINT ............................................................................. 3-20
3.3.1 Introduction ................................................................................................................... 3-20
3.3.2 Connections .................................................................................................................. 3-20
3.3.2.1 Inputs ..................................................................................................................... 3-20
3.3.2.2 Outputs .................................................................................................................. 3-21
3.3.3 Principle of operation .................................................................................................... 3-21
3.3.3.1 Parameterization ................................................................................................... 3-21
3.3.3.2 Output of the scaling result .................................................................................... 3-22
3.3.3.3 Error response ....................................................................................................... 3-22
3.4 SCALE_DINT function ......................................................................................................... 3-23
S7-Distributed Safety/SIMATIC Safety - fail-safe function blocks for storage and retrieval machines
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