Siemens SINUMERIK MC Commissioning Manual page 140

Safety functions integrated in the drive
4.10 SLS
● After the delay time has elapsed, if the actual speed of the drive is higher than the new
Safely-Limited Speed limit then a message is generated with the parameterized stop
response.
● The stop response (STOP A, STOP B, STOP C, STOP D or STOP E) is parameterized with
p9563.
● During changeover to a higher limit value, the delay time is not active and the high limit value
becomes immediately active. This also applies to increasing the limit value via PROFIsafe.
● 4 parameterizable limit values p9531[0...3]
● The first limit value can be entered via the PROFIsafe telegrams 901 and 902 (for
p9501.24 = 1)
● In parameter p9533 enter the weighting factor to determine the setpoint limit from the
selected actual speed limit in percent. The active limit value is evaluated using this factor,
and is provided as setpoint limit in r9733.
– r9733[0] = p9531[x] x p9533 (converted from the load to the motor side)
– r9733[1] = - p9531[x] x p9533 (converted from the load to the motor side)
Conversion factor from the motor to the load side:
– Motor type = rotary and axis type = linear: p9522/(p9521 × p9520)
– Otherwise: p9522/p9521
● Limit value
– r9733[0] = p9531[x] x p9533; x = selected SLS limit value
– r9733[1] = - p9531[x] x p9533; x = selected SLS limit value
r9733 is used, for example, for transferring values to a higher-level controller, which can
then, for example, adjust traversing speeds to the SLS levels or at the setpoint channel
(p1051). r9733 is a part of the Safety Info Channel (SIC).
● The currently monitored limit value is displayed in parameter r9714[2].
Changeover of SLS limit values
The changeover is executed binary-coded via 2 F-DIs or 2 PROFIsafe control bits. The speed
selection status can be checked using parameters r9720.9/r9720.10. Parameters r9722.9 and
r9722.10 indicate the actual speed limit, bit r9722.4 must carry a "1" signal.
Table 4-1
F-DI for bit 1 (r9720.10) F-DI for bit 0 (r9720.9) Speed limit
140
[x] = selected SLS stage
Changeover of speed limits:
0
0
1
1
0 p9531[0]
1 p9531[1]
0 p9531[2]
1 p9531[3]
Commissioning Manual, 02/2020, A5E46305916B AB
SLS level
Safety Integrated (with SINAMICS S120)
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