Epos And Safe Setpoint Velocity Limitation - Siemens Sinamics S120 Function Manual

● p2573 EPOS maximum deceleration
● p2646 CI: EPOS velocity override
Software limit switches
● p2578 CI: EPOS software limit switch, minus signal source
● p2579 CI: EPOS software limit switch, plus signal source
● p2580 CO: EPOS software limit switch, minus
● p2581 CO: EPOS software limit switch, plus
● p2582 BI: EPOS software limit switch activation
● r2683 CO/BO: EPOS status word 1
STOP cam
● p2568 BI: EPOS STOP cam activation
● p2569 BI: EPOS STOP cam, minus
● p2570 BI: EPOS STOP cam, plus
● r2684 CO/BO: EPOS status word 2
Jerk limitation
● p2574 EPOS jerk limitation
● p2575 BI: EPOS jerk limitation activation
7.8.3

EPOS and safe setpoint velocity limitation

If safe speed monitoring (SLS) or the safe direction motion monitoring (SDI) is also to be
used at the same time as the EPOS positioning function , EPOS must be informed about the
activated monitoring limits. Otherwise these speed monitoring limits can be violated by the
EPOS setpoint input. By monitoring the limit value, if violated, the drive is stopped therefore
exiting the intended motion sequence. In this case, the relevant safety faults are output first,
and then the sequential faults created by EPOS.
With parameters r9733.0 = p2594.1 and p9733.1 = p2594.2, the safety functions offer EPOS
a setpoint limit value, which when taken into account, avoids the safety limit value from being
violated.
This means that the setpoint limit value in r9733 must therefore be transferred to the input for
the maximum setpoint speed/velocity of EPOS (p2594), to prevent a safety limit value
violation as a result of the EPOS setpoint input. In this regard you must set the delay time for
SLS/SOS/SDI (p9551/p9351), so that the relevant safety monitoring functions only become
active after the maximum required time for the speed to be reduced below the limit. This
required braking time is determined by the actual speed, the jerk limiting in p2574 and the
maximum deceleration in p2573.
Further information can be found in the SINAMICS S120 Safety Integrated Function Manual.
Drive functions
Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2
Function modules
7.8 Basic positioner
361