Siemens SINAMICS S120 Function Manual page 283

● PROFIsafe (via PROFIBUS/PROFINET)
– The monitoring cycle (p9500) must be an integer multiple of the actual value update
– Actual value acquisition cycle ≥ 4 · current controller cycle
– Depending on the set sampling time of the current controller (p0115[0]), the maximum
● TM54F
The sampling time of the TM54F must be set the same as the monitoring cycle of the
Safety Integrated function used (p10000[0..5] = p9500 or r9780).
Note
Relationship between the monitoring cycle and the PROFIsafe scan cycle
The safety functions are carried out in the monitoring cycle (r9780 for Basic Functions or
p9500 for Extended/Advanced Functions). PROFIsafe telegrams are evaluated in the
PROFIsafe scan cycle, which corresponds to twice the monitoring cycle.
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p9500
• p9511
• r9780
• p10000[0..5]
Safety Integrated
Function Manual, 12/2018, 6SL3097-5AR00-0BP1
cycle. p9511 is generally used for the cycle time for actual value acquisition. If p9511
isochronous operation
= 0 in
non-isochronous
used, in
Recommendation: Actual value acquisition cycle ≥ 8 · current controller cycle.
Note
Actual value sensing cycle for safety functions without encoder
This is not applicable when using safety functions without encoder: In this case, the
actual value sensing cycle must be configured to be the same as the current controller
cycle.
Note
Actual value acquisition cycle clock for SINAMICS S120M
SINAMICS S120M only allows a fixed actual value acquisition cycle clock of 2 ms: For
SINAMICS S120M, only 2 ms or 0 will be accepted for p9511 (in the latter case, 2 ms
is accepted internally – regardless of the PROFIBUS DP-/PN cycle clock).
number of controllable drives will vary (see SINAMICS S120 Function Manual drive
functions, Chapter "System control, sampling times, and DRIVE-CLiQ wiring").
SI Motion monitoring clock cycle (Control Unit) (Extended and Advanced
Functions)
SI Motion actual value acquisition clock (Control Unit)
SI monitoring cycle (Control Unit)
SI TM54F communication clock
6.7 Commissioning Safety Integrated functions
the isochronous PROFIBUS communication cycle is
operation the actual update cycle in this case is 1 ms.
Commissioning
281