Slp (Advanced Functions) - Siemens SINAMICS S120 Commissioning Manual

Current actual position value in parameter r9708
The diagnostics information in parameter r9708 is displayed with the following properties:
Table 4- 5
Position values
Unit
Comment
The display in parameter r9713 is identical to the values of r9708; however, in SINAMICS-
internal calculation units.
4.10.5.2

SLP (Advanced Functions)

The "Safely-Limited Position" ("SLP") function is used to safely monitor the limits of two
traversing or positioning ranges that are switched between using a safe signal.
As soon as "SLP" is active, maintaining the limits of the active positioning range is safely
monitored. With a safety signal you can switch between two position ranges. Each position
range is limited by its previously defined limit switch pair. At overtravel of the position of one
of the two limit switches, a parameterizable stop response (STOP A, STOP B, STOP C,
STOP D or STOP E) is triggered and the safety message C01715 is output.
To acknowledge this fault, you can either switch over to a range whose limits have not been
violated, or you can deselect the "SLP" function. After acknowledgment, the drive can then
be traversed again in the permissible range.
Note
No actual value synchronization for SLP
It is not permissible to simultaneously enable the SLP function and the actual value
synchronization (p9501.3 = 1). In this case, the drive outputs fault F01688.
Requirements
The following requirements must be fulfilled for the "SLP" function:
● Use of one or two encoders
● Determining the absolute position of the drive by homing during commissioning and after
all actions, after which a safe absolute reference can no longer be guaranteed (POWER
ON, parking)
You will find a description of safe homing at: "Safe homing (Advanced Functions)
(Page 269)"
Commissioning with Startdrive
Commissioning Manual, 11/2017, 6SL3097-4AA10-0BP1
Value range and resolution (32-bit)
Linear axis
±737280000
Monitoring ±737.280 m with an
accuracy of 1 μm
4.10 Safety Integrated commissioning
1 μm
Commissioning
Rotary axis
±737280000
0.001 °
≙ 2048 revolutions
271