Siemens Sinamics S110 Function Manual page 350

Safety Integrated Functions
8.3 System features
If the safety functions SLS without encoder or SDI without encoder are already selected
when the gating pulses for the Power Module are enabled, then during the starting phase, it
is absolutely imperative that you take into account the response times when limit values are
violated and for system errors in order to extend the time value set in parameters p9586
and p9386
The standard response times (see the table above) are valid after the time interval, which is
set in parameters p9586 and p9386.
The specified response times involve internal SINAMICS response times. Program run times
in the F host and the transmission time via PROFIBUS or PROFINET are not taken into
account.
Control of Extended Functions without encoder via terminals
The table below shows the response times after the appearance of a signal at the terminals.
Table 8- 8 Response times when controlling the Extended Functions without encoder via terminals
Function
STO
SBC
SS1 (time and acceleration controlled)
SAM response of the safe acceleration monitoring 3 x p9500 + 31 ms
SLS speed limit violated
SSM without encoder
SDI without encoder until braking
initiated
If the safety functions SLS without encoder or SDI without encoder are already selected
when the gating pulses for the Power Module are enabled, then during the starting phase, it
is absolutely imperative that you take into account the response times when limit values are
violated and for system errors in order to extend the time value set in parameters p9586
and p9386
The standard response times (see the table above) are valid after the time interval, which is
set in parameters p9586 and p9386.
348
CAUTION
with respect to the standard values (see the table above).
5)
Standard
2)
Starting
phase
5)
Standard
Starting
phase
5)
CAUTION
with respect to the standard values (see the table above).
5)
Typical
2.5 x p9500 + r9780 + 1.5 ms
2.5 x p9500 + 2 x r9780 + 1
ms
2.5 x p9500 + 3 ms
3 x p9500 + 31 ms
3 x p9500 + 31 ms + p9586
4 x p9500 + p9587 + 4 ms
2.5 x p9500 + p9587 + 6 ms
2.5 x p9500 + p9587 + 6 ms +
p9586
5)
Worst case
3 x p9500 + 6 x r9780
3 x p9500 + 9 x r9780 + 2 ms
4 x p9500 + 4 ms
3.5 x p9500 + r9780 + 57 ms
4.5 x p9500 + r9780 + 57 ms
4.5 x p9500 + r9780 + 57 ms +
5)
p9586
5)
4.5 x p9500 + p9587 + 32 ms
4 x p9500 + r9780 + p9587 + 32 ms
4 x p9500 + r9780 + p9587 + 32 ms +
p9586
5)
Function Manual, 01/2011, 6SL3097-4AB10-0BP3
Function Manual