Siemens Sinamics S110 Function Manual page 300

Safety Integrated Functions
8.4 Basic Functions
Restart after the "Safe Torque Off" function has been selected
1. Deselect the function in each monitoring channel via the input terminals.
2. Issue drive enable signals.
3. Cancel the "switching on inhibited" and switch the drive back on.
4. Run the drives again.
Status for "Safe Torque Off"
The status of the "Safe Torque Off" (STO) function is displayed using the following
parameters:
Parameter overview (see S110 List Manual)
● r9772 CO/BO: SI status (Control Unit)
● r9872 CO/BO: SI status (Power Module)
● r9773 CO/BO: SI status (Control Unit + Power Module)
● r9774 CO/BO: SI status (STO group)
Response time with the "Safe Torque Off" function
For the response times when the function is selected/deselected via input terminals, see the
table in "Response times".
Example
Assumption:
Safety monitoring clock cycle time CU (r9780) = 2 ms and
inputs/outputs sampling time = 4 ms
t
R_typ
t
R_max
Parameter overview (see S110 List Manual)
● r9780 SI monitoring clock cycle (Control Unit)
● r9880 SI monitoring clock cycle (Power Module)
300
– 1/0 edge at input signal "ON/OFF1" (cancel "switching on inhibited")
– 0/1 edge at input signal "ON/OFF1" (switch on drive)
= 2 x r9780 (2 ms) + 4 ms = 8 ms
= 4 x r9780 (2 ms) + 4 ms = 12 ms
Function Manual, 10/2008, 6SL3097-4AB10-0BP0
Drive functions