Siemens SINUMERIK MC Commissioning Manual page 163

Control and status signals from the SLP
Selecting SLP and switching over between the position ranges is performed via a PROFIsafe
control bit. SLP selection can be checked using parameter r9720.6. The selected position
range can be checked using parameter r9720.19. Status bit r9722.6 is set if SLP is active. The
active position range is displayed by r9722.19. Maintaining the upper or lower active SLP limit
can be checked using r9722.30 and r9722.31.
Note
Jumps in the display
There is no hysteresis available for r9722.30 and r9722.31. Small fluctuations in the area
around the range limit can result in the display jumping back and forth.
Controlling the Safely-Limited Position function
You have 2 options to select/deselect the Safely-Limited Position function and to switch over
the range limits:
● PROFIsafe
– SLP is selected/deselected using control words S_STW1.6 or S_STW2.6.
– Switchover between the two limit switch pairs using control word S_STW2.19.
– S_ZSW2.23 indicates whether the actual position is "safe"; for instance, the bit is only set
– Whether SLP is active is indicated in bit 6 of the status words S_ZSW1.6 or S_ZSW2.6.
– Which SLP limit switch pair is active is indicated in status word S_ZSW2.19. This
– S_ZSW2.30 and S_ZSW2.31 indicate whether the upper or lower limit of the active
Note
Extended Functions via PROFIsafe
The status signal "SLP active" (S_ZSW1.6 or S_ZSW2.6) is not the same as the diagnostic
signal "SLP active" (r9722.6), but is the AND logic operation of "SLP active" (r9722.6) and
"safely referenced" (r9722.23).
The other SLP status signals S_ZSW2.19 "SLP active position range", S_ZSW2.30 "upper SLP
limit maintained" and S_ZSW2.31 "lower SLP limit maintained" match the corresponding bits in
r9722.
Safety Integrated (with SINAMICS S120)
Commissioning Manual, 02/2020, A5E46305916B AB
after the axis was "safely referenced".
The bit is not set until SLP is selected and the axis is in the "safely referenced" state.
indication is only valid if SLP is itself active.
position range is maintained.
Safety functions integrated in the drive
4.13 SLP
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