Siemens SINUMERIK MC Commissioning Manual page 169

Value range r9708
The diagnostics information in parameter r9708 is displayed with the following properties:
Table 4-3
Position values
Unit
Comment
What is shown in parameter r9713 is identical to the values of r9708; however, in SINAMICS-
internal calculation units.
Speed calculation
The control must calculate the speed from the position change:
● Pos diff = Pos new - Pos old
● Cycle diff = cycle counter new - cycle counter old
● Timediff = Cyclediff × Safetycycle
(If Cyclediff = 0, the speed that was last calculated must be used.)
● v = Pos diff/time diff
● Format v
Acceptance test
An acceptance test is not required for the "Transfer safe position values" function, but the
function that was implemented with the aid of SP must be accepted in the higher-level
controller.
Function diagrams (see SINAMICS S120/S150 List Manual)
● 2840
Overview of important parameters (see SINAMICS S120/S150 List Manual)
● p9501
● p9505
● p9542
● p9601
● r9708[0...5]
● r9713[0...5]
Safety Integrated (with SINAMICS S120)
Commissioning Manual, 02/2020, A5E46305916B AB
Value range and resolution (32 bits)
Linear axis
±737280000
1 μm
Monitoring ±737.280 m
with an accuracy of 1 μm
SI Extended Functions - SI Motion drive-integrated control signals/status sig‐
nals
SI Motion enable safety functions (Control Unit)
SI Motion SP modulo value (Control Unit)
SI Motion actual value comparison tolerance (crosswise) (Control Unit)
SI enable functions integrated in the drive (Control Unit)
SI Motion diagnostics safe position
CO: SI Motion diagnostics actual position value load side
Safety functions integrated in the drive
Rotary axis
±737280000
0.001 °
≙ 2048 revolutions
4.14 SP
169