Siemens SINUMERIK MC Commissioning Manual page 167

Enabling the "Transfer safe position values" function
The following steps are required to enable the "Transfer safe position values" function:
● Enable the Safety Integrated Extended Functions
– p9601 = 12 = C hex (≙ Extended Functions via PROFIsafe)
– p9601 = 13 = D hex (≙ Extended Functions via PROFIsafe and Basic Functions via
● Enable "Transfer the safe absolute position with the possibility of calculating the velocity by
the controller"
– Select one of the PROFIsafe telegrams 901 or 902 (p60022, p9611, p9811)
– p9501.2 = 1 (≙ enable absolute position)
– p9501.25 = 1 (≙ enable transfer of safe position via PROFIsafe)
Note
No actual value synchronization when SP is enabled
If the transfer safe position value function is used, it is not permissible to enable actual value
synchronization (p9501.3 = 1): In this case, the drive outputs fault F01688.
● Enable the "Transfer safe relative position" only to calculate the speed by the controller
– Select one of the PROFIsafe telegrams 901 or 902
– p9501.25 = 1
● After the enable, POWER ON the converter.
Principle of operation
After parameter assignment, release and POWER ON, the function is automatically selected
and the values transferred. Please observe the following:
● Transfer of safe absolute position values
– If the transfer of the safe relative position has been enabled through p9501.25 = 1 and
– If the transfer of the safe absolute position has been enabled using p9501.25 = 1 and
● Transfer of safe relative position values (e.g. for calculating the velocity)
– Only S_ZSW2.22 (r9722.22, actual position value valid) must be set to calculate the
Safety Integrated (with SINAMICS S120)
Commissioning Manual, 02/2020, A5E46305916B AB
or
onboard terminals)
p9501.2 = 0, the validity of the safe relative position is displayed by the set bit
S_ZSW2.22.
p9501.2 = 1, S_ZSW2.22 is only set when the drive has also been safely referenced.
speed.
Safety functions integrated in the drive
4.14 SP
167