Siemens SINAMICS S120 Function Manual page 128

Commissioning
7.2 Commissioning Safety Integrated functions
● Non-isochronous PROFIBUS
● The sampling time of the TM54F must be the same as the monitoring clock cycle
Overview of important parameters (see the S120/S150 List Manual)
● p9300 SI Motion monitoring clock cycle (Motor Module) (only Extended Functions)
● p9500 SI Motion monitoring clock cycle (Control Unit) (only Extended Functions)
● p9311 SI Motion actual value sensing clock cycle (Motor Module)
● p9511 SI Motion actual value sensing clock cycle (Control Unit)
● r9780 SI monitoring clock cycle (Control Unit)
● r9880 SI monitoring clock cycle (Motor Module)
● p10000 SI sampling time (TM54F)
128
– The monitoring cycle must be an integer multiple of the actual value update clock
cycle. In non-isochronous mode, this is p9311/p9511 or 1 ms (when p9311/9511 = 0).
– The sampling time of the current controller (p0115[0]) must be at least 125 µs.
(p10000 = p9300/p9500).
Note
The Safety functions are executed in the monitoring clock cycle (p9780). PROFIsafe
telegrams are evaluated in the PROFIsafe scan cycle, which corresponds to twice the
monitoring clock cycle (PROFIsafe scan cycle = 2 × r9780).
Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0
Safety Integrated