Response Times Of Safety Integrated Extended Functions; Controlling Safety Integrated Extended Functions Via Profisafe - Siemens SINAMICS S210 Operating Instructions Manual

Safety functions integrated in the drive
4.5 Response times
4.5.2

Response times of Safety Integrated Extended Functions

4.5.2.1

Controlling Safety Integrated Extended Functions via PROFIsafe

The following table lists the response times
converter up to initiating the specific response.
Table 4-3 Response times when controlling via PROFIsafe
Function
STO
SBC
SS1 (time controlled), SS1E, SS2E: Time from select‐
ing up to starting the safe timer
SS1 (acceleration controlled), SS2: Time from select‐
ing up to initiating braking
SOS: Time from selecting up to starting standstill mon‐
itoring
SBR or SAM (limit value violation until STO active)
SOS standstill tolerance window violated
SLS speed limit violated
2)
SSM
3)
SDI (limit value violation until braking is initiated)
SLA: Selection or deselection
SLA: Limit value violation
The specified response times involve internal SINAMICS 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.
SLS: Specification of the response time required to initiate a braking response in the drive - or for the output of the "SOS
2)
selected" message to the motion control system.
SSM: The data corresponds to the times between the limit value being undershot up to sending the information via
3)
PROFIsafe.
t_K is the time for internal communication within the SINAMICS module; t_K can be determined as follows:
4)
For isochronous communication
For non-isochronous
communication
Safety monitoring cycle Extended Functions t_EF = 4 ms
5)
Safety monitoring cycle Basic Functions t_BF = 4 ms
6)
126
1)
Drive system has no fault
5 · t_EF + t_BF
5)
5 · t_EF + 2 · t_BF
5)
5 · t_EF + 2 ms + t_K
5)
2 · t_EF + t_BF
5)
1.5 · t_EF + 2 ms
5)
2 · t_EF + 2 ms
5)
4 · t_EF
5)
1.5 · t_EF + 2 ms
5)
5 · t_EF + t_K
5)
3 · t_EF + 2 ms
5)
t_K = To (determine To from the bus configuration on the control side)
t_K = 4 ms
from receiving the PROFIsafe telegram at the
Worst case for
A fault is present
+ t_K 5 · t_EF
6) 4)
+ t_K 5 · t_EF
6) 4)
5 · t_EF
4)
2.5 · t_EF
6)
3 · t_EF
3.5 · t_EF
4.5 · t_EF
3 · t_EF
5 · t_EF
4)
4 · t_EF
SINAMICS S210 servo drive system
Operating Instructions, 01/2019, A5E41702836B AC
+ 2 · t_BF + t_K
5) 6) 4)
+ 6 · t_BF + t_K
5) 6) 4)
+ 2 ms + t_K
5) 4)
+ t_BF + 1 ms
5) 6)
+ 2 ms + 1 ms
5)
+ 2 ms + 1 ms
5)
+ 1 ms
5)
+ 2 ms + 1 ms
5)
+ t_K
5) 4)
+ 2 ms + 1 ms
5)