Siemens SINAMICS S120 Commissioning Manual page 244

Commissioning
4.10 Safety Integrated commissioning
"SAM" recognizes if the drive accelerates beyond the velocity tolerance defined in p9548
during the ramp-down phase, and triggers a STOP A. The monitoring is performed as
follows:
● The monitoring through "SAM" is activated for "SS1" (or STOP B) and "SS2"
(or STOP C).
● The SAM limit value is frozen when the velocity falls below the SAM velocity limit in
p9568.
● SAM monitoring continues until the transition time to SOS/STO expires.
Calculating the SAM tolerance of the actual velocity:
● The following applies when parameterizing the SAM tolerance:
– The possible velocity increase after SS1 or SS2 is triggered results from the effective
– The duration of the acceleration phase is equivalent to one monitoring cycle (MC;
● Calculating the SAM tolerance:
Actual velocity for SAM = acceleration x acceleration duration
This results in the following setting rule:
– For a linear axis: SAM tolerance [mm/min] = a [m/s
– For a rotary axis: SAM tolerance [rpm] = a [rev/s
● Recommendation:
The SAM tolerance value entered should be approx. 20% higher than the calculated
value.
● You set the tolerance so that the "overshoot" that occurs when standstill is reached after
braking along the OFF3 ramp, is tolerated. However, the size of this cannot be
calculated.
Configuring SAM
1. Select the setting "with SAM" in the "Monitoring" drop-down list in the "SS1" or "SS2"
screen form.
The "SAM (Safe Acceleration Monitor)" dialog opens.
2. Enter the required values in the input fields.
– Velocity tolerance (p9548)
– SAM velocity limit (p9568)
– STO shutdown speed (p9560)
– Ramp-down time (OFF3) (p1135[0])
– Maximum speed (p1082[0])
3. Confirm your entry with "OK".
The dialog closes.
244
acceleration a and the duration of the acceleration phase.
p9500) (delay from detecting an SS1/SS2 until n
[s/min]
= 0)
set
] x MC [s] x 1000 [mm/m] x 60
2
] x MC [s] x 60 [s/min]
2
Commissioning with Startdrive
Commissioning Manual, 11/2017, 6SL3097-4AA10-0BP1