Details And Parameterization; Safe Direction With Encoder - Siemens SINUMERIK MC Commissioning Manual

4.12.1

Details and parameterization

Note
Response to bus failure
If p9580 ≠ 0 and SDI is active, in the event of communication failure, the parameterized ESR
reaction is only realized if, as SDI response, a STOP with delayed pulse cancellation when the
bus fails has been parameterized (p9566[0...3] ≥ 10).
4.12.1.1

Safe Direction with encoder

The Safe Direction function (SDI) allows reliable monitoring of the direction of motion of the
drive. If this function is activated, the drive can only move in the enabled direction.
Principle of operation
After SDI has been selected via terminals or PROFIsafe, the delay time p9565 is started. During
this time, you have the option of ensuring that the drive is moving in the enabled direction. After
this, the Safe Direction function is active and the direction of motion is monitored.
If the drive now moves more than the configured tolerance (p9564) in the disabled direction,
message C01716 is output and the stop response defined in p9566 is initiated. To acknowledge
the messages, you must first deselect SDI, correct the fault cause and then safely acknowledge
(Page 338) the messages. Only then can you reselect SDI.
Features
● Parameters r9720.12 and r9720.13 display whether the SDI function is selected.
● Parameters r9722.12 and r9722.13 display whether the SDI function is active.
● Parameter p9564 are used to set the tolerance within which a movement in a non-enabled
(non-safe) direction is tolerated.
● Parameter p9566 define the stop response in the case of a fault.
● If "SDI positive" is selected, the following value is set automatically:
– r9733[1] = 0 (setpoint limitation negative)
● If "SDI "negative" is selected, the following value is set automatically:
– r9733[0] = 0 (setpoint limitation positive)
● The absolute setpoint speed limit is available in r9733[2].
Safety Integrated (with SINAMICS S120)
Commissioning Manual, 02/2020, A5E46305916B AB
Safety functions integrated in the drive
4.12 SDI
155