Siemens SINUMERIK MC Commissioning Manual page 107

The maximum movement can involve:
1)
● Synchronous rotary motors: Max. movement = 180° / no. of pole pairs
● Synchronous linear motors: Max. movement = pole width
Enabling the "Safe Torque Off" function
The "Safe Torque Off" function is enabled via parameter p9601:
● STO for the Safety Integrated Basic Functions:
– p9601 = 1 hex (Basic Functions via onboard terminals)
– p9601 = 8 hex (Basic Functions via PROFIsafe)
– p9601 = 9 hex (Basic Functions via PROFIsafe and onboard terminals)
● STO for the Safety Integrated Extended Functions:
– p9601 = C hex (Extended Functions via PROFIsafe)
– p9601 = D hex (extended functions via PROFIsafe and basic functions via onboard
– p9601 = 25 hex (Extended Functions without selection and Basic Functions via onboard
Selecting/deselecting "Safe Torque Off"
The following is executed when "Safe Torque Off" is selected:
● Each monitoring channel triggers safe pulse cancellation via its switch-off signal path.
● A motor holding brake is closed (if connected and configured).
Deselecting "Safe Torque Off" represents an internal safety acknowledgment. The following is
executed if the cause of the fault has been removed:
● Each monitoring channel cancels safe pulse cancellation via its switch-off signal path.
● The Safety requirement "Close motor holding brake" is canceled.
● Any pending STOP F or STOP A commands are canceled (see r9772).
● The messages in the fault memory must also be reset using the general acknowledgment
mechanism.
Note
No message for selection/deselection within the tolerance time (p9650)
If "Safe Torque Off" is selected and deselected through one channel within the tolerance
time p9650, the pulses are suppressed without a message being output.
However, if you want a message to be displayed, then you must reconfigure N01620 as an
alarm or fault using p2118 and p2119.
Restart after the "Safe Torque Off" function has been selected
1. Deselect the function.
2. Set drive enables.
Safety Integrated (with SINAMICS S120)
Commissioning Manual, 02/2020, A5E46305916B AB
terminals)
terminals)
Safety functions integrated in the drive
4.4 STO (Basic/Extended)
107