Siemens SINAMICS G130 Manual page 68

Safety Integrated Basic Functions
5.1 Safe Torque Off (STO)
Response time with the "Safe Torque Off" function
For the response times when the function is selected/deselected via input terminals, see the
table in chapter "System features", subchapter, "Response times".
Example - chassis example
Assumption:
Safety monitoring clock cycle CU (r9780) = 16 ms and
inputs/outputs sampling time (p0799) = 4 ms
t
R_type
t
R_max
Example - booksize design
Assumption:
Safety monitoring clock cycle CU (r9780) = 4 ms and
inputs/outputs sampling time (p0799) = 4 ms
t
R_type
t
R_max
Internal armature short-circuit with the "Safe Torque Off" function
The function "internal armature short-circuit" can be configured together with the "STO"
function. However, only one of the two functions can be selected, as an OFF2 is also always
triggered when STO is selected. This OFF2 disables the function "Internal armature short-
circuit".
The "STO" safety function has the higher priority when simultaneously selected. If the "STO"
function is initiated, then an activated "internal armature short-circuit" is disabled.
Overview of important parameters
● p9601 SI enable, functions integrated in the drive (Control Unit)
● r9720.0...10 CO/BO: SI Motion control signals integrated in the drive
● r9722.0...15 CO/BO: SI Motion drive-integrated status signals
● r9772 CO/BO: SI Status (Control Unit)
● r9872 CO/BO: SI Status (Motor Module)
● r9773 CO/BO: SI Status (Control Unit + Motor Module)
● r9774 CO/BO: SI Status (group STO)
● p0799 CU inputs/outputs sampling time
● r9780 SI monitoring clock cycle (Control Unit)
● p9801 SI enable, functions integrated in the drive (Motor Module)
● r9880 SI monitoring clock cycle (Motor Module)
68
= 2 x r9780 (16 ms) + p0799 (4 ms) = 36 ms
= 4 x r9780 (16 ms) + p0799 (4 ms) = 68 ms
= 2 x r9780 (4 ms) + p0799 (4 ms) = 12 ms
= 4 x r9780 (4 ms) + p0799 (4 ms) = 20 ms
Safety Integrated
Function Manual, 05/2010, A5E03264275A