Control Of Extended Functions With Encoder Via Profisafe (Cu310-2 And Cu320-2) - Siemens SINAMICS S120 Function Manual

8.4.4 Control of Extended Functions with encoder via PROFIsafe (CU310-2 and
CU320-2)
The following table lists the response times
Control Unit up to initiating the particular response.
Table 8- 4 Response times when controlling via PROFIsafe
Function
STO
SBC
SS1 (time controlled), SS1E, SS2E: Time from select-
ing up to starting the safe timer
SS1 (acceleration controlled), SS2: Time from select-
ing up to initiating braking
SOS: Time from selecting up to starting standstill
monitoring
SBR or SAM (limit value violation until STO active)
SOS standstill tolerance window violated
SLS speed limit violated
SSM
4)
SDI (limit value violation until braking is initiated)
SLA: Selection or deselection
SLA: Limit value violation
The specified response times are valid for Extended Functions with and without selection.
1)
The specified response times involve internal SINAMICS response times. Program run times in the F-host and the
2)
transmission time via PROFIBUS or PROFINET are not taken into account. When calculating the response times be-
tween the F-CPU and the converter, you must take into account that faults in the communication can result in a safety
function only being selected after the PROFIsafe monitoring time (F_WD_Time) has expired. The PROFIsafe monitoring
time (F_WD_Time) must also be included in the calculation when an error occurs.
SLS: Specification of the response time required to initiate a braking response in the drive - or for the output of the "SOS
3)
selected" message to the motion control system.
SSM: The data corresponds to the times between the limit value being undershot up to sending the information via
4)
PROFIsafe.
t_ACT:
5)
For p9511 ≠ 0
For p9511 = 0 If an isochronous PROFIBUS master is available:
Otherwise:
Safety Integrated
Function Manual, 12/2018, 6SL3097-5AR00-0BP1
3)
from receiving the PROFIsafe telegram at the
1)2)
Drive system has no fault
5 · p9500 + r9780 + t_K
8) 6)
5 · p9500 + 2 · r9780 + t_K
8)
5 · p9500 + 2 ms + t_K
8) 6)
2 · p9500 + r9780
1.5 · p9500 + 2 ms
2 · p9500 + 2 ms
4 · p9500
1.5 · p9500 + 2 ms
5 · p9500 + t_K
8)
3 · p9500 + 2 ms
System features
8.4 Response times
Worst case for
A fault is present
5 · p9500 + 2 · r9780 + t_K
8)
5 · p9500 + 6 · r9780 + t_K
6) 8)
5 · p9500 + 2 ms + t_K
8)
2.5 · p9500 + r9780 + t_ACT
3 · p9500 + 2 ms + t_ACT
3.5 · p9500 + 2 ms + t_ACT
4.5 · p9500 + t_ACT
3 · p9500 + 2 ms + t_ACT
5 · p9500 + t_K
8)
4 · p9500 + 2 ms + t_act
t_ACT = p9511
t_ACT = PROFIBUS cycle
t_ACT = 1 ms
6)
6)
6)
5)
5)
5)
5)
5)
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