Epos And Safely-Limited Speed - Siemens SINAMICS G130 Manual

Safety Integrated Extended Functions
6.7 Safely-Limited Speed (SLS)
6.7.6

EPOS and Safely-Limited Speed

If safe speed monitoring (SLS) will also be used at the same time as the EPOS positioning
function, EPOS must be informed of the activated speed monitoring limit. Otherwise the
speed monitoring limit can be violated by the EPOS setpoint input. Through the SLS
monitoring, this infringement results in the drive being stopped and thus abandoning the
planned movement sequences. Here the relevant safety faults are output first, and only then
are the subsequent faults created by EPOS output.
With its parameter r9733, the SLS function provides a setpoint limiting value which when
complied with prevents the SLS limiting value from being infringed.
This means that the setpoint limiting value in r9733 must therefore be transferred to the input
for the maximum setpoint speed/velocity of EPOS (p2594), to prevent an SLS limiting value
infringement as a result of the EPOS setpoint input. In this regard you must set the delay
time for SLS/SOS (p9551/p9351) so that the SLS only becomes active after the maximum
required time for the speed to be reduced below the SLS limit. This required braking time is
determined by the current speed, the jerk limit in p2574 and the maximum delay in p2573.
Overview of important parameters
● p2573 EPOS maximum deceleration
● p2574 EPOS jerk limit
● p2593 CI: EPOS LU/revolution LU/mm
● p2594 CI: EPOS maximum speed externally limited
● p9351 SI Motion SLS changeover delay time (Motor Module)
● p9551 SI Motion SLS(SG) changeover delay time (Control Unit)
● r9733(0.1) CO: SI Motion speed setpoint limit active
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Safety Integrated
Function Manual, 05/2010, A5E03264275A