Safe Referencing - Siemens SINAMICS S120 Function Manual

Description of Safety Integrated functions
4.3 Safety Integrated Advanced Functions
4.3.5

Safe referencing

The "safe referencing" function allows a safe absolute position to be defined. This safe
position is used for the following functions:
● Safely-Limited Position (SLP) (Page 178)
● Transferring safe position values (SP) (Page 185)
● Safe Cam (SCA) (Page 192)
General description
In most cases, an external control performs referencing to an absolute position. The
converter only performs this task in special cases (for example, EPOS).
● Referencing using an external control
Requirement: No movement of the drive
The reference position determined by the control is entered into parameter p9572 and is
declared to be valid using p9573 = 89.
● Referencing by EPOS
The SINAMICS EPOS function transfers, when referencing, the determined position
directly to Safety Integrated. This can also take place during motion.
● User agreement
The user agreement must be set (p9726 = p9740 = AC hex) within a certain time interval
(see below) after referencing.
Safety Integrated only evaluates the reference position if this is required by a function that
has been enabled (e.g. SLP). Using diagnostics bit r9723.17, Safety Integrated indicates
whether the drive has been referenced. Safety Integrated indicates the position of the drive
in diagnostic parameters r9708 and r9713. Bit r9722.23 is set when the axis is safely
referenced.
Function diagrams (see SINAMICS S120/S150 List Manual)
• 2821
Value range r9708
The diagnostics information in parameter r9708 is displayed with the following properties:
Table 4- 6
Position values
Unit
Comment
What is shown in parameter r9713 is identical to the values of r9708; however, in
SINAMICS-internal calculation units.
190
SI functions - safe referencing
Value range and resolution (32 bits)
Linear axis
±737280000
1 μm
Monitoring ±737.280 m with an
accuracy of 1 μm
Rotary axis
±737280000
0.001 °
≙ 2048 revolutions
Function Manual, 12/2018, 6SL3097-5AR00-0BP1
Safety Integrated