Siemens Sinumerik 840D sl Function Manual page 52

Safety Functions integrated in the drive
4.1 General information about SINAMICS Safety Integrated
If this expected response in a monitoring channel is not fulfilled, the drive coasts to
a standstill (two channel) and an appropriate message is output.
Switch- -off signal paths
Two independent switch--off signal paths are available. All switch--off signal paths
are low active. This ensures that the system is always switched to a safe status if a
component fails or in the event of cable breakage.
If a fault is discovered in the switch--off signal paths, the "Safe Torque Off" function
is activated and a system restart inhibited.
Monitoring cycle
The safety--relevant drive functions are executed cyclically in the monitoring cycle.
The safety monitoring clock cycle is a minimum of 4 ms. Increasing the current
controller cycle (p0110[0]) also increases the safety monitoring clock cycle.
Crosswise data comparison
The safety--relevant data in the two monitoring channels are cyclically subject to a
crosswise comparison.
If any data is inconsistent, a stop response is triggered with any Safety function.
Overview of parameters (see SINAMICS S120/S150 List Manual)
S r9780 SI monitoring clock cycle (Control Unit)
S r9880 SI monitoring clock cycle (Motor Module)
Juxtaposition of function names
Table 4-1 Juxtaposition of safety function names, SINUMERIK <--> SINAMICS
SINUMERIK
Abbreviation
SH Safe standstill
SGA Safety--related output
SGE Safety--related input
4-52
SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 10.2015 Edition
Name New abbreviation
STO
F--DO
F--DI
SINAMICS (acc. to EN 61800- -5- -2)
New name
Safe Torque Off
Failsafe Digital Output
Failsafe Digital Input
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