Siemens SINAMICS S120 Function Manual page 68

Overview of Safety Integrated functions
3.3 Safety Integrated Advanced Functions
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
after homing (see Chapter "Safe referencing (Page 190)").
Safety Integrated only evaluates the home 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.
Details and parameterization
For further details and information on how to parameterize this function, see Section "Safe
referencing (Page 190)".
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Function Manual, 12/2018, 6SL3097-5AR00-0BP1
Safety Integrated