Retraction - Siemens SINAMICS S120 Function Manual

Description of Safety Integrated functions
4.3 Safety Integrated Advanced Functions
4.3.3.1

Retraction

After a limit of the active traversing range has been exceeded, the drive must be brought
back to the permissible range. A safety acknowledgment would, in this case, only retrigger
the safety messages; the drive would be prevented from moving. If a switchover to the other
traversing range doesn't come into question, then the only thing that remains is to deselect
SLP. However, this would have the disadvantage that it is not monitored as to whether the
drive is moving in the direction of the permissible traversing range.
Therefore, it is recommended that a retract function is implemented as follows:
Safety commissioning
1. Completely parameterize SLP.
2. Completely parameterize SDI.
3. Perform an acceptance test for both functions.
The next steps differ depending on the control type.
Control via PROFIsafe
● Implement a user program in your F-CPU with the following steps to implement a retract
function:
– Select SDI positive in the case that the lower SLP limit is violated, or SDI negative if
– Wait until the selected SDI is active, then deselect SLP
– Safe acknowledgment of the limit violation
– Movement of the drive with suitable setpoint inputs into the range that has been
– Select SLP
– Wait until SLP is active, then deselect SDI
● Proceed as follows for an SLP limit violation:
– Activate this program for retraction, for example, using an F-DI of the F-CPU
Note
FAQ retraction
You will find a description of how retraction can be implemented via a fail-safe control and
PROFIsafe communication in the Internet at:
Retraction (https://support.industry.siemens.com/cs/ww/en/view/65128501)
182
the upper SLP limit is violated
enabled
Function Manual, 12/2018, 6SL3097-5AR00-0BP1
Safety Integrated