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The actual value acquisition cycle (p9511) is preassigned with 1 ms and the monitoring cycle
(p9500) with 4 ms. The following must be observed when the values are changed:
• If the values are increased, the response time of the monitoring functions lengthens.
• The monitoring cycle must be a multiple of the actual value acquisition cycle.
• For motion monitoring functions with encoder, the actual value acquisition cycle must be an
integer multiple of the current controller cycle p0115[0].
Selecting the axis type influences the actual value acquisition and switches over the units.
Parameters
The following list contains the parameters of the "Safety Integrated function selection" function.
Number
p0115[0...6]
p9500
r9502
p9511
p9603.0...1
p9604.0...30
14.12.8
Safe actual value acquisition/mechanical system
Overview
Safe actual value acquisition using an encoder makes the actual values of the motor available to
the Safety Integrated Functions. The encoder or the sensor module generates the actual value
and transfers it to the converter.
Requirement
Only use motor encoders suitable for Safety Integrated to safely sense the drive actual values.
The following encoders are approved for safe actual value acquisition:
• DRIVE-CLiQ encoder
• Incremental encoder sin/cos 1 Vpp connected to the Sensor Module Cabinet SMC20
To prevent the A/B track signals with valid levels from becoming static ("freezing"), encoders
must contain purely analog signal processing and generation.
The following applies when using encoders from other manufacturers:
• Machine OEMs must subject the encoder mounting to the motor shaft or at the linear drive
to a failure mode effects analysis (FMEA). More detailed information on FMEA is provided in
DIN EN 61800-5-2.
• The FMEA must rule out any fault involving the encoder mounting being released from the
motor shaft or the linear drive. The encoder no longer correctly maps motion if its mounting
becomes loose.
SINAMICS G220 converter
Operating Instructions, 04/2024, FW V6.2, A5E51781573B AB
Name
Sampling times for internal control loops
SI monitoring clock cycle
SI axis type
SI actual value sensing cycle
SI control
SI enable
Functions
14.12 Safety Integrated
Unit
[µs]
[ms]
[ms]
681
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