Siemens SINAMICS S120 Function Manual page 12

Table of Contents
3.3.1 Preconditions for Safety Integrated Extended Functions ...................................................... 63
3.3.2 Safely-Limited Position (SLP) ................................................................................................ 64
3.3.3 Transferring safe position values (SP) ................................................................................... 65
3.3.4 Safe referencing ..................................................................................................................... 65
3.3.5 Safe Cam (SCA) .................................................................................................................... 67
4 Description of Safety Integrated functions ............................................................................................. 69
4.1 Safety Integrated basic functions ........................................................................................... 70
4.1.1 Safe Torque Off (STO) ........................................................................................................... 70
4.1.1.1 Safe Torque Off (STO) for SINAMICS HLA ........................................................................... 74
4.1.2 Safe Stop 1 (SS1, time controlled)......................................................................................... 75
4.1.2.1 SS1 with OFF3 ....................................................................................................................... 75
4.1.2.2 SS1 with external stop ........................................................................................................... 77
4.1.2.3 Function diagrams and parameters ....................................................................................... 78
4.1.3 Safe Brake Control (SBC) ...................................................................................................... 78
4.1.3.1 SBC for Motor Modules in the chassis format ....................................................................... 81
4.1.3.2 Hardware required for SBC .................................................................................................... 83
4.1.3.3 Function diagrams and parameters ....................................................................................... 85
4.1.4 Safety faults ........................................................................................................................... 86
4.1.5 Forced checking procedure (test stop) .................................................................................. 88
4.1.6 Function diagrams and parameters ....................................................................................... 89
4.2 Safety Integrated Extended Functions ................................................................................... 90
4.2.1 License for Extended Functions or Advanced Functions ...................................................... 90
4.2.2 Differences between Extended Functions "with encoder" and "without encoder" ................. 90
4.2.3 Safe Torque Off (STO) ........................................................................................................... 97
4.2.4 Safe Stop 1 (SS1) .................................................................................................................. 98
4.2.4.1 Safe Stop 1 with encoder ....................................................................................................... 98
4.2.4.2 Safe Stop 1 without encoder ................................................................................................ 100
4.2.4.3 Safe Stop 1 with external stop ............................................................................................. 101
4.2.4.4 Function diagrams and parameters ..................................................................................... 102
4.2.5 Safe Brake Control (SBC) .................................................................................................... 102
4.2.6 Safe Operating Stop (SOS) ................................................................................................. 103
4.2.7 Safe Stop 2 (SS2) ................................................................................................................ 105
4.2.7.1 SS2 with external stop (SS2E) ............................................................................................. 107
4.2.7.2 Safe Stop 2 Extended Stop and Retract (SS2ESR) ............................................................ 109
4.2.7.3 Overview of important parameters ....................................................................................... 111
4.2.7.4 Interaction with EPOS .......................................................................................................... 112
4.2.8 Safely-Limited Speed (SLS) ................................................................................................. 112
4.2.8.1 Safely Limited Speed (SLS) ................................................................................................. 114
4.2.8.2 Safely Limited Speed without encoder ................................................................................ 117
4.2.8.3 Safely-Limited Speed without selection ............................................................................... 119
4.2.8.4 Function diagrams and parameters ..................................................................................... 120
4.2.8.5 EPOS and safe setpoint velocity limitation .......................................................................... 121
4.2.9 Safe Speed Monitor (SSM) .................................................................................................. 121
4.2.9.1 Safe Speed Monitor with encoder ........................................................................................ 123
4.2.9.2 Safe Speed Monitor without encoder ................................................................................... 125
4.2.9.3 Function diagrams and parameters ..................................................................................... 128
4.2.10 Safe Direction (SDI) ............................................................................................................. 128
4.2.10.1 Safe Direction with encoder ................................................................................................. 129
4.2.10.2 Safe Direction without encoder ............................................................................................ 131
4.2.10.3 Safe Direction without selection ........................................................................................... 133
4.2.10.4 Function diagrams and parameters ..................................................................................... 134
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Function Manual, 12/2018, 6SL3097-5AR00-0BP1
Safety Integrated