Response Times; Reaction Times Of Safety Integrated Basic Functions; Control Of The Safety Integrated Basic Functions Via Terminals - Siemens SINAMICS S210 Operating Instructions Manual

4.5

Response times

The Safety Integrated Functions are executed with a safety monitoring cycle of 4 ms.
PROFIsafe telegrams are evaluated in the PROFIsafe scan cycle. The PROFIsafe scan cycle
corresponds to twice the monitoring cycle.
Note for understanding the following tables
The drive system is the component that provides the safety functions. The designation "fault-
free drive system" means that the component that provides the safety functions does not have
a defect itself:
● Worst case for a fault-free drive system
For faults outside the drive system, the "Worst case for a fault-free drive system" reaction
time is guaranteed.
Faults outside the drive system are, for example, faulty setpoint specification by the control
system, limit value violations as a result of the behavior of the motor, closed-loop control,
load, etc.
● Worst case when a fault exists
For a single fault within the drive system, the "Worst case when a fault exists" reaction time
is guaranteed.
Faults within the drive system are, for example, a defect in a switch-off signal path of the
power unit, a defect in an encoder actual value measurement, a defect in a microprocessor,
etc.
4.5.1

Reaction times of Safety Integrated Basic Functions

4.5.1.1

Control of the Safety Integrated Basic Functions via terminals

The following table lists the response times from the control via terminals until the response
actually occurs.
Table 4-1 Response times when controlling via terminals
Function
STO
SBC
SS1/SS1E (time-controlled)
Selection until STO is initiated
SS1/SS1E (time-controlled)
Selection until SBC is initiated
SS1 (time-controlled)
Selection until braking is initiated
The following applies for t_E (debounce time of the digital input being used):
1)
SINAMICS S210 servo drive system
Operating Instructions, 01/2019, A5E41702836B AC
Drive system has no fault
8 ms + t_E
1)
16 ms + t_E
1)
8 ms + p9652 + t_E
2) 1)
16 ms + p9652 + t_E
2) 1)
12 ms + 2 ms + t_E
1)
Safety functions integrated in the drive
Worst case for
A fault is present
12 ms + t_E
1)
32 ms + t_E
1)
12 ms + p9652 + t_E
2)
32 ms + p9652 + t_E
2)
16 ms + 2 ms + t_E
4.5 Response times
1)
1)
1)
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