Additional Functional Features - Siemens SINAMICS S210 Operating Instructions Manual

Safety functions integrated in the drive
4.2 Extended Functions
4.2.6.4

Additional functional features

Setpoint speed limit and SLS
It makes sense to configure the set velocity limit if SLS is also parameterized. This configuration
is realized, for example in a higher-level control that evaluates the Safety Info Channel.
In parameter "SI Motion SLS setpoint speed limiting" (p9533) enter the weighting factor to
determine the setpoint limit from the selected actual speed limit in percent. The active limit
value is evaluated using this factor, and is made available as "Setpoint speed limit effective"
(r9733).
● r9733[0] = p9531[x] · p9533 (converted from the load to the motor side)
● r9733[1] = -p9531[x] · p9533 (converted from the load to the motor side)
[x] = selected SLS stage
Conversion factor from the motor to the load side:
● Motor type = rotary and axis type = linear: p9522/(p9521 · p9520)
● Otherwise: p9522/p9521
SLS limit value
● r9733[0] = p9531[x] · p9533
● r9733[1] = -p9531[x] · p9533
[x] = selected SLS limit value
"Setpoint speed limit effective" r9733 is used, for example, for transferring values to a higher-
level control, which can then, for example, adjust traversing speeds to the SLS levels. r9733 is
a part of the Safety Info Channel (SIC).
Toggling between SLS limit values
The changeover is performed binary-coded via 2 PROFIsafe control bits. The speed selection
statuses can be checked using parameters "Select SLS bit 0" and "Select SLS bit 1" (r9720.9
and r9720.10). The actual speed limit value is indicated using parameters "Active SLS level
bit 0" and "Active SLS level bit 1" (r9722.9 and r9722.10), "SLS active" (r9722.4) must be a "1".
Switchover to another stage may also be performed with time delay. This corresponds to the
processes from "SLS with one speed level" with a different respective SLS stage.
When changing over from a lower to a higher limit value, the delay time is not effective: The
higher limit value immediately becomes active.
Response in the event of a communication error
If the "Stop response delay bus failure" (p9580) ≠ 0 and SLS is active, in the event of
communication failure, the parameterized ESR reaction is only realized if, as SLS response, a
stop reaction with delayed pulse cancellation when the bus fails has been parameterized
(p9563[0...3] ≥ 10).
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SINAMICS S210 servo drive system
Operating Instructions, 01/2019, A5E41702836B AC