Siemens SINAMICS S120 Function Manual page 605

Control of the Basic Functions via PROFIsafe (CU310-2 and CU320-2)
The following table lists the response times
Control Unit up to initiating the particular response.
Table 10- 3 Response times when controlling via PROFIsafe
Function
STO
SBC
SS1/SS1E (time-controlled)
Selection until STO is initiated
SS1/SS1E (time-controlled)
Selection until SBC is initiated
SS1 (time-controlled)
Selection until braking is initiated
The specified response times involve internal SINAMICS response times. Program run times in the F host and the
1)
transmission time via PROFIBUS or PROFINET are not taken into account. When calculating the response times
between the F-CPU and the converter, you must take into account that faults in the communication can result in a safety
function only being selected after the PROFIsafe monitoring time (F_WD_Time) has expired. The PROFIsafe monitoring
time (F_WD_Time) must also be included in the calculation when an error occurs.
t_K is the time for internal communication within the SINAMICS module; t_K can be determined as follows:
2)
For PROFIsafe via
PROFIBUS
For PROFIsafe via
PROFINET
Drive functions
Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4
Worst case for a fault-free drive system Worst case when a fault exists
5 x r9780 + t_K
6 x r9780 + t_K
5 x r9780 + p9652 + t_K
6 x r9780 + p9652 + t_K
5 x r9780 + 2 ms + t_K
For isochronous communication
For non-isochronous communication
For isochronous communication
For non-isochronous communication
via the integrated PROFINET interface
For non-isochronous communication
via the CBE20 option module
from receiving the PROFIsafe telegram at the
1)
2)
2)
2)
2)
2)
t_K = To (for To, see parameter r2064[4])
t_K = 4 ms
(for modules on which parameter p2048 does not
exist)
t_K = value from p2048 (for modules on which
parameter p2048 exists)
t_K = To (for To, see parameter r2064[4])
t_K = 4 ms
(for modules on which parameter p2048 does not
exist)
t_K = value from p2048 (for modules on which
parameter p2048 exists)
t_K = PROFINET bus cycle time + 4 ms
(for modules on which parameter p2048 does not
exist)
t_K = PROFINET bus cycle time + value from
p2048
(for modules on which parameter p2048 exists)
Safety Integrated basic functions
10.7 Response times
5 x r9780 + t_K
2)
10 x r9780 + t_K
2)
5 x r9780 + p9652 + t_K
2)
10 x r9780 + p9652 + t_K
5 x r9780 + 2 ms + t_K
2)
2)
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