Transferring Safe Position Values (Sp); Transferring Safe Position Values - Siemens SINAMICS S120 Function Manual

4.3.4

Transferring safe position values (SP)

4.3.4.1

Transferring safe position values

The function "Transfer safe position values (SP)" enables you to transfer a safe position (i.e.
absolute or relative position) to the higher-level controller via PROFIsafe. Transfer of the
safe relative position (Safe Position SP) can be used to calculate the safe speed in a higher-
level controller. Its use for safe position monitoring is only permissible if the reference to the
absolute position was established at the controller level. In this case, the "safely referenced"
bit of SINAMICS S120 (r9722.23) cannot be used.
Enabling the "Transfer safe position values" function
The following steps are required to enable the "Transfer safe position values" function:
● Enabling Safety Integrated functions
– p9601 = 12 = C hex (≙ Extended Functions via PROFIsafe)
– p9601 = 13 = D hex (≙ Extended Functions via PROFIsafe and Basic Functions via
● Enable "Transfer the safe absolute position with the possibility of calculating the velocity
by the controller"
– Select one of the PROFIsafe telegrams 901 or 902 (p60022, p9611, p9811)
– p9501.2 = 1 (≙ enable absolute position)
– p9501.25 = 1 (≙ enable transfer of safe position via PROFIsafe)
Note
No actual value synchronization when SP is enabled
If the transfer safe position value function is used, it is not permissible to enable actual
value synchronization (p9501.3 = 1): In this case, the drive outputs fault F01688.
● Enable the "Transfer safe relative position" only to calculate the speed by the controller
– Select one of the PROFIsafe telegrams 901 or 902
– p9501.25 = 1
● After the enable, POWER ON the converter.
Safety Integrated
Function Manual, 12/2018, 6SL3097-5AR00-0BP1
or
onboard terminals)
Description of Safety Integrated functions
4.3 Safety Integrated Advanced Functions
185