Response Times; Controlling Basic Functions Via Terminals On The Control Unit And Motor Module - Siemens SINUMERIK MC Commissioning Manual

11.2

Response times

The Basic Functions are executed in the monitoring cycle (p9780). PROFIsafe telegrams are
evaluated in the PROFIsafe scan cycle, which corresponds to twice the monitoring clock cycle
(PROFIsafe scan cycle = 2 · r9780).
Note for understanding the tables
The drive system is the component that provides the safety functions. The designation "fault-
free drive system" means that the component that provides the safety functions does not have
a defect itself:
● Worst case for a fault-free drive system
For faults outside the drive system, such as e.g. faulty setpoint input from a control system,
limit value violations as a result of the behavior of the motor, closed-loop control, load, etc.,
the "Worst case for a fault-free drive system" response time is guaranteed.
● Worst case when a fault exists
For a single fault within the drive system, such as a defect in a switch-off signal path of the
power unit, a defect in an encoder actual value measurement, a defect in a microprocessor
(Control Unit or Motor Module) etc., the "Worst case when a fault exists" response time is
guaranteed.
11.2.1

Controlling Basic Functions via terminals on the Control Unit and Motor Module

The following table lists the response times from the control via terminals until the response
actually occurs.
Table 11-1 Response times for control via terminals on the Control Unit and the Motor Module.
Function
STO
SBC
SS1/SS1E (time-controlled)
Selection until STO is initiated
SS1/SS1E (time-controlled)
Selection until SBC is initiated
SS1 (time-controlled)
Selection until braking is initiated
The following applies for t_E (debounce time of the digital input being used):
1)
p9651 = 0
p9651 ≠ 0
The minimum time for t_E is t_E_min = 2 ms.
Safety Integrated (with SINAMICS S120)
Commissioning Manual, 02/2020, A5E46305916B AB
Drive system has no fault
2 · r9780 + t_E
1)
4 · r9780 + t_E
1)
2 · r9780 + p9652 + t_E
1)
4 · r9780 + p9652 + t_E
1)
3 · r9780 + 2 ms + t_E
1)
t_E = 2 · p0799 (default = 4 ms)
t_E = p9651 + p0799 + 1 ms
Worst case for
A fault is present
3 · r9780 + t_E
1)
8 · r9780 + t_E
1)
3 · r9780 + p9652 + t_E
8 · r9780 + p9652 + t_E
4 · r9780 + 2 ms + t_E
System features
11.2 Response times
1)
1)
1)
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