Siemens SINUMERIK MC Commissioning Manual page 168

Safety functions integrated in the drive
4.14 SP
Setting the modulo value for rotary axes
● p9505 is used to define the modulo range of a safety rotary axis (p9502 = 1) when the
transfer of a safe absolute position (p9501.2 = 1 and p9501.25 = 1) is enabled.
Parameterizing the modulo value can result in a jump in the position actual value if the range
that can be represented overflows. p9505 must therefore only be parameterized in steps of
2
can be hidden in the case that the possible jump in the position actual value can be tolerated
in the particular application – or this does not present a problem.
● The modulo function is deactivated if p9505 = 0. This parameter has no relevance for a
safety linear axis (p9502 = 0) or when the transfer of a safe relative position (p9501.2 = 0 and
p9501.25 = 1) is enabled.
● If SLP is also enabled (p9501.1 = 1), the modulo function must be deactivated (p9505 = 0).
Transfer formats and value range
● 32-bit
The values are transferred in telegram 902 as 32-bit values with the following value ranges:
Table 4-2
Position values
Unit
Comment
● 16-bit
To transfer the position values in telegram 901 in the 16-bit format, you must scale the
values using p9574. In this case, you must select the scaling factor so that the value of the
actual position value does not exceed the 16-bit format. If the actual position value exceeds
the range that can be displayed with 16 bits (±32767), a STOP F is initiated and message
C01711 is output with fault value 7001. Depending on the scaling factor, this means that
ranges with different sizes can be monitored with varying accuracy. Example:
– Scaling factor: 1000
– Unit: 1 μm (linear axis)
– Position value: ±32767 mm
It may therefore be precisely monitored in a range of ±32.767 m to an accuracy of 1 mm.
Note
Scaling to 16 bits
The scaling is performed by dividing the mean value of r9708[0] and r9708[1] with this
scaling factor.
Example: For a position of -29.999 mm signaled in r9708[0] and r9708[1] and a scaling
factor of p9574 = 1000, a numerical value of -29 is signaled to the controller.
168
× 360° (n = 1, 2, 3, ...). In all other cases, the converter issues alarm A01794. This alarm
n
Value range and resolution (32 bits)
Linear axis
±737280000
1 μm
Monitoring ±737.280 m
with an accuracy of 1 μm
Rotary axis
±737280000
0.001 °
≙ 2048 revolutions
Safety Integrated (with SINAMICS S120)
Commissioning Manual, 02/2020, A5E46305916B AB