Epos And Safe Setpoint Velocity Limitation - Siemens SINAMICS S120 Function Manual

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Function modules

8.8 Basic positioner

• r2684.0...15

Jerk limitation

EPOS and safe setpoint velocity limitation

If safe speed monitoring (SLS) or the safe direction motion monitoring (SDI) is also to be

used at the same time as the EPOS positioning function, EPOS must be informed about the

activated monitoring limits. Otherwise these speed monitoring limits can be violated by the

EPOS setpoint input. By monitoring the limit value, if violated, the drive is stopped therefore

exiting the intended motion sequence. In this case, the relevant safety faults are output first,

and then the sequential faults created by EPOS.

Using parameter r9733, the safety functions offer EPOS setpoint limiting values, which when

taken into account, prevent the safety limit value being violated.

In order to prevent a safety limit violation by the EPOS setpoint specification, you must

transfer the setpoint limit value (r9733) as follows to the maximum speed setpoint of EPOS

● r9733[0] = p2594[1]

● r9733[1] = p2594[2]

In this regard you must set the delay time for SLS/SOS (p9551), so that the relevant safety

monitoring function only becomes active after the maximum required time for the speed to be

reduced below the limit. This required braking time is determined by the current speed, the

jerk limit in p2574 and the maximum delay in p2573.

BI: EPOS STOP cam activation

BI: EPOS STOP cam, minus

BI: EPOS STOP cam, plus

CO/BO: EPOS status word 2

EPOS jerk limitation

BI: EPOS jerk limitation activation

Function Manual, 11/2017, 6SL3097-4AB00-0BP5

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