Siemens SINAMICS S120 Function Manual page 160

Description of Safety Integrated functions
4.2 Safety Integrated Extended Functions
Figure 4-24
When parameterizing a 2-encoder system with Safety Integrated, you must align parameters
p9315 to p9329 with parameters r0401 to r0474.
Note
Assignment of the encoder parameters
Parameters p95xx are assigned to the 1st encoder; parameters p93xx to the 2nd encoder.
Note
Transfer of the values from the encoder commissioning
To accept the values from the parameters filled during the encoder commissioning to the
safety parameterization, set parameter p9700 = 46 (2E hex). This copy function is only
possible if you are connected online with the drive unit.
158
Example of a 2-encoder system on a rotary axis
Function Manual, 12/2018, 6SL3097-5AR00-0BP1
Safety Integrated