Control Of The Safety Integrated Basic Functions Via Profisafe - Siemens SINAMICS S210 Operating Instructions Manual

4.5.1.2

Control of the Safety Integrated Basic Functions via PROFIsafe

The following table lists the response times
converter up to initiating the specific response.
Table 4-2 Response times when controlling via PROFIsafe
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 specified response times involve SINAMICS-internal response times. Program run times in the F‑host and the
1)
transmission time via PROFINET are not taken into account. When calculating the response times between the F-CPU and
the drive, you must take into account that faults in the communication can result in a safety function only being selected after
the PROFIsafe monitoring time (F_WD_Time) has expired. The PROFIsafe monitoring time (F_WD_Time) must also be
included in the calculation when an error occurs.
t_K is the time for internal communication within the SINAMICS module; t_K can be determined as follows:
2)
For isochronous communication
For non-isochronous communication
p9652: SI SS1 delay time
3)
SINAMICS S210 servo drive system
Operating Instructions, 01/2019, A5E41702836B AC
Drive system has no fault
20 ms + t_K
2)
24 ms + t_K
2)
20 ms + p9652 + t_K
3) 2)
24 ms + p9652 + t_K
3) 2)
20 ms + 2 ms + t_K
2)
t_K = To (determine To from the bus configuration on the control side)
t_K = 4 ms
Safety functions integrated in the drive
from receiving the PROFIsafe telegram at the
1)
Worst case for
A fault is present
20 ms + t_K
40 ms + t_K
20 ms + p9652
40 ms + p9652
20 ms + 2 ms + t_K
4.5 Response times
2)
2)
+ t_K
3) 2)
+ t_K
3) 2)
2)
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