Safe Direction With Encoder - Siemens SINAMICS S120 Function Manual

4.2.10.1

Safe Direction with encoder

The Safe Direction function (SDI) allows reliable monitoring of the direction of motion of the
drive. If this function is activated, the drive can only move in the enabled direction.
Principle of operation
After SDI has been selected via terminals or PROFIsafe, the delay time p9565 is started.
During this period, you have the option of ensuring that the drive is moving in the enabled
direction. After this, the Safe Direction function is active and the direction of motion is
monitored.
If the drive now moves more than the configured tolerance (p9564) in the disabled direction,
message C01716 is output and the stop response defined in p9566 is initiated. To
acknowledge the messages you must first deselect SDI, remove the fault cause and then
safely acknowledge the messages. Only then can you reselect SDI.
Features
● Parameters r9720.12 and r9720.13 display whether the SDI function is selected.
● Parameters r9722.12 and r9722.13 display whether the SDI function is active.
● Parameter p9564 is used to set the tolerance within which a movement in a non-enabled
(safe) direction is tolerated.
● Parameter p9566 defines the stop response in the case of a fault.
● For control via TM54F, parameters p10030 and p10031 are used to define the terminals
for SDI.
● Parameters p10042 to p10045 are used to define whether the SDI status in the F-DO
status display of theTM54F is taken into account.
● If "SDI positive" is selected, the following value is set automatically:
– r9733[1] = 0 (setpoint limitation negative)
● If "SDI "negative" is selected, the following value is set automatically:
– r9733[0] = 0 (setpoint limitation positive)
● The absolute setpoint speed limit is available in r9733[2].
Safety Integrated
Function Manual, 12/2018, 6SL3097-5AR00-0BP1
Description of Safety Integrated functions
4.2 Safety Integrated Extended Functions
129