Siemens SINUMERIK MC Commissioning Manual page 183

Defining the output cam positions
● You define the output cam positions to be monitored using the parameters p9536[x] and
p9537[x] (where x = 0 ... 29).
Note that the defined output cams must have a certain minimum length: p9536[x] -
If you violate this rule, the drive will output the message F01686 ("SI Motion: Output cam
position parameterization not permissible").
● Owing to variations in the cycle and signal propagation times, the output cam signals of the
two monitoring channels do not switch simultaneously and not precisely at the same
position. For this reason, enter a tolerance band for all output cam types via parameter
p9540. Within this tolerance band, the monitoring channels can have different signal states
for the same output cam:
Figure 4-26
Note
The smallest possible tolerance band should be selected for the SCA function
(<5 ... 10 mm). It makes sense to parameterize the output cam tolerance to be greater than
or equal to the actual value tolerance.
● Reference the axis using the "Safe referencing (Page 189)" function.
Enable SCA
● You enable the SCA function with p9501.28 = 1.
● You enable each output cam individually with p9503.x = 1 (where x = 0 ... 29).
Unexpected speed of the machine component as the axis was not referenced (homed)
The enabled cam signals are immediately output after POWER ON. However, the output is
only safety-related after safety-related referencing (safety-related homing) People can be put
into a dangerous situation or material damage can result if the axis is not referenced in a
safety-related way.
● Reference the axis using the "Safe referencing (Page 189)" function.
Safety Integrated (with SINAMICS S120)
Commissioning Manual, 02/2020, A5E46305916B AB
p9537[x] ≥ p9540 + p9542
Parameterize output cam and tolerance
WARNING
Safety functions integrated in the drive
4.16 SCA
183