Storage And Retrieval Machines And Safety Functions; General Design For Safety-Related Position Sensing; Supported Encoder Combinations And Mechanical Design Versions; Safety-Related Motor Encoder With Positively-Driven Mechanical System - Siemens Simatic Manual

Storage and retrieval machines and safety functions

1 Storage and retrieval machines and safety functions
This chapter schematically provides an overview of the application conditions of fail-safe function blocks for
storage and retrieval machines and the mechanical hardware versions that are supported.

1.1 General design for safety-related position sensing

The following components are essentially required for use in the fail-safety function blocks for storage and
retrieval machines known in the following as "ASRS blocks".

Fail-safe SIMATIC S7 control – Distributed Safety/Safety Advanced

SINAMICS S120 inverters with CU320-2 (from firmware release 4.6), called SINAMICS S120 in the
following, equipped with an encoder
o
SMC20/SMC30
o
or via DRIVE-CLiQ.

PROFIBUS/PROFINET data transfer between SINAMICS and F-CPU

F-DO module to control the brakes

F-AI module or comparable safety-related signal source for load measurement for overload/slack
cable detection

External mechanical brake and/or motor holding brake
An example of the hardware structure looks like this:
Figure 1: Hardware structure
The package of blocks addresses several versions of encoder combinations, also see Table 1. As a con-
sequence, the following components may be additionally required:

1.2 Supported encoder combinations and mechanical design versions

An overview of the encoder combinations supported by the ASRS blocks is provided in the following.
1.2.1

Safety-related motor encoder with positively-driven mechanical system

Sensing:

Safety-related sin/cos motor encoders with safety-related connection via PROFIsafe telegram 901
of SINAMICS S120.

The absolute position is transferred to the F-CPU from the SINAMICS S120 using a standard tele-
gram.
The position actual value of EPOS must be additionally transferred via the standard telegram to obtain the
two-channel structure for data transfer to the F-CPU. The position actual value of the motor encoder is
additionally determined by SI and is transferred to the F-CPU using a safety-related telegram. The motor
encoder must be a safety encoder (safety-related motor encoder with safety-related mounting).
As a consequence, the signal flow of the safety function looks like this:
S7-Distributed Safety/SIMATIC Safety - fail-safe function blocks for storage and retrieval machines
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