Siemens SINAMICS S210 Operating Instructions Manual page 408

Parameters
14.2 List of parameters
Note
SSM: Safe Speed Monitor (safety-relevant feedback signal from the speed monitoring)
r9712 SI Motion diagnostics position actual value motor side
Data type: Unsigned32
Description: Displays the position actual value on the motor side for motion monitoring functions.
Note
The display is updated in the safety monitoring clock cycle.
r9713[0...5] SI Motion diagnostics position actual value load side
Data type: Integer32
Description: Displays the actual load-side actual values of both monitoring channels and their difference.
Index: [0] = Load-side actual value on the CU
[1] = Load-side actual value on the second channel
[2] = Load-side actual value difference CU - second channel
[3] = Load-side max. actual value difference CU - second channel
[4] = Reserved
[5] = Reserved
Dependency: See also: r9708
Note
Regarding the units, this parameter should be interpreted as follows:
- linear axis: µm
- rotary axis: mdegrees
The value of this parameter is displayed in r9708 with units (mm or degrees).
The display is updated in the safety monitoring clock cycle.
For index [0]:
The display of the load-side position actual value on the first channel is updated in the monitoring clock cycle.
For index [1]:
The display of the load-side position actual value on the second channel is updated in the KDV clock cycle (r9724) and
delayed by one KDV clock cycle.
For index [2]:
The difference between the load-side position actual value in the first channel and load-side position actual value in the
second channel is updated in the KDV clock cycle (r9724) and delayed by one KDV clock cycle.
For index [3]:
The maximum difference between the load-side position actual value in the first channel and the load-side position
actual value in the second channel.
KDV: Data cross-check
r9714[0...3] SI motion diagnostics velocity
Data type: FloatingPoint32
Description: Displays the velocity actual values for motion monitoring functions.
Index: [0] = Load side speed actual value
[1] = Actual SAM/SBR speed limit
[2] = Actual SLS speed limit
[3] = Actual SLA velocity limit
Note
The display is updated in the safety monitoring clock cycle.
For linear axes, the following unit applies: millimeters per minute
For rotary axes, the following unit applies: revolutions per minute
406
Unit: -
Unit: -
Unit: [mm/min]
Unit: [rpm]
Operating Instructions, 01/2019, A5E41702836B AC
SINAMICS S210 servo drive system