Siemens SINAMICS G130 Manual page 194

Commissioning
8.3 Commissioning of Safety Integrated functions
Note
The Safety functions are carried out in the monitoring cycle (r9780/r9880 for Basic Functions
or p9500/p9300 for Extended Functions). PROFIsafe telegrams are evaluated in the
PROFIsafe scan cycle, which corresponds to twice the monitoring clock cycle.
Overview of important parameters
● p9300 SI Motion monitoring clock cycle (Motor Module) (only Extended Functions)
● p9500 SI Motion monitoring clock cycle (Control Unit) (only Extended Functions)
● p9311 SI Motion actual value sensing clock cycle (Motor Module)
● p9511 SI Motion actual value sensing clock cycle (Control Unit)
● r9780 SI monitoring clock cycle (Control Unit)
● r9880 SI monitoring clock cycle (Motor Module)
● p10000 SI sampling time (TM54F)
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Safety Integrated
Function Manual, 05/2010, A5E03264275A