Siemens Sinamics S110 Function Manual page 408

Safety Integrated Functions
8.5 Safety Integrated Extended Functions
Encoder types for a single-encoder system
In systems with encoders with SINAMICS Safety Integrated, for safe actual value acquisition
only encoders with sin/cos 1 Vpp signals are permitted at the SINAMICS Sensor Modules
SME20/25 and SMC20, which fulfill the following conditions:
1. The encoders must contain purely analog signal processing and creation. This is
2. A failure modes and effects analysis (FMEA) must be carried out for the fixation of the
It should be noted that the machine manufacturer has sole responsibility for the fulfillment of
the above-described requirements. Information on the internal realization of the encoder
must come from the encoder manufacturer. The FMEA must be created by the machine
manufacturer.
Certain Siemens motors with and without DRIVE-CLiQ connection can also be used for
Safety Integrated functions, see:
http://support.automation.siemens.com/WW/view/de/33512621
For these motors, the fault listed under 2. cannot occur.
NOTICE
Basic absolute encoders (e.g. ECI, EQI) that offer an EnDat interface with additional sin/cos
tracks, but operate according to an inductive measuring principle internally, are not
permitted until their suitability for SINAMICS Safety Integrated has been determined.
Safe motion monitoring
Two read parameters are available for safe motion monitoring:
r9730: SI Motion maximum velocity
Displays the maximum velocity (load side) permissible due to the acquisition of actual values
for safe motion monitoring functions. The maximum velocity for actual value acquisition
depends on the actual value update clock cycle (p9311/p9511). Parameter p9311/p9511 can
be used to set the clock cycle of actual value acquisition for safe motion monitoring.
A slower clock cycle reduces the maximum permissible velocity, but also reduces the load
on the Control Unit for safe actual value acquisition.
The maximum permissible velocity which, if overshot, can trigger faults in safe actual value
acquisition, is displayed in parameter r9730.
r9731: SI Motion safe position accuracy
Displays the maximum positioning accuracy (load side) that can be ensured due to the
acquisition of the actual value for the safe motion monitoring functions.
Both parameters r9730/r9731 depend on the relevant encoder type.
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necessary to be able to prevent the A/B track signals with valid levels from becoming
static ("freezing").
encoder onto the motor shaft. The result should incorporate exclusion of the failure
"Loosening of encoder fixation so that encoder no longer reports movement correctly"
(see IEC 61800-5-2, 2008, Table D.16).
Function Manual, 01/2011, 6SL3097-4AB10-0BP3
Function Manual