Siemens SINAMICS S120 Function Manual page 14

Table of contents
4 Safety Integrated Basic Functions ........................................................................................................... 53
4.1 Safe Torque Off (STO)................................................................................................................ 53
4.2 Safe Stop 1 (SS1, time controlled).............................................................................................. 57
4.3 Safe Brake Control (SBC) ........................................................................................................... 59
4.4 Safety faults ................................................................................................................................ 62
4.5 Forced dormant error detection .................................................................................................. 64
5 Safety Integrated Extended Functions ..................................................................................................... 65
5.1 Parking note ................................................................................................................................ 65
5.2 Safe Torque Off (STO)................................................................................................................ 65
5.2.1 Safe Torque Off with encoder ..................................................................................................... 65
5.2.2 Encoderless Safe Torque Off...................................................................................................... 65
5.3 Safe Stop 1 (SS1) ....................................................................................................................... 66
5.3.1 Safe Stop 1 with encoder (time and acceleration controlled) ..................................................... 66
5.3.2 Encoderless Safe Stop 1 (time and speed controlled)................................................................ 68
5.3.3 Integration ................................................................................................................................... 70
5.4 Safe Stop 2 (SS2) ....................................................................................................................... 71
5.5 Safe Operating Stop (SOS)......................................................................................................... 73
5.6 Safely-Limited Speed (SLS)........................................................................................................ 75
5.6.1 Safely-Limited Speed with encoder ............................................................................................ 75
5.6.2 Encoderless Safely Limited Speed ............................................................................................. 77
5.6.3 EPOS and Safely-Limited Speed................................................................................................ 80
5.7 Safe Speed Monitor (SSM) ......................................................................................................... 81
5.8 Safe Acceleration Monitor (SBR) ................................................................................................ 84
5.9 Safe Brake Ramp (SBR) ............................................................................................................. 86
5.10 Safety faults ................................................................................................................................ 88
5.11 Message buffer ........................................................................................................................... 92
5.12 Safe actual value acquisition ...................................................................................................... 94
5.13 Forced dormant error detection ................................................................................................ 100
6 Control of the safety functions ............................................................................................................... 105
6.1 Overview of F-DI/F-DOs and of their structure ......................................................................... 105
6.2 Control signals by way of terminals on the Control Unit and Motor/Power Module.................. 106
6.3 Control via TM54F..................................................................................................................... 110
6.3.1 TM54F design ........................................................................................................................... 110
6.3.2 F-DI function.............................................................................................................................. 111
6.3.3 Function of the F-DO................................................................................................................. 113
6.4 Activation via PROFIsafe .......................................................................................................... 115
6.4.1 Setting up PROFIsafe communication...................................................................................... 115
6.4.2 Structure of telegram 30............................................................................................................ 116
6.4.2.1 Structure of telegram 30 (Basic Functions)............................................................................... 116
6.4.2.2 Structure of telegram 30 (Extended Functions) ........................................................................ 118
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Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0
Safety Integrated