Siemens SINAMICS S120 Function Manual page 98

Safety Integrated Extended Functions
5.12 Safe actual value acquisition
Two read parameters are available for safe motion monitoring:
r9730: SI Motion safe maximum velocity
Displays the maximum speed (load side) permissible due to the acquisition of actual values
for safe motion monitoring functions. The maximum velocity for actual value acquisition
depends on the actual value update clock cycle (p9311/p9511). Parameters p9311/p9511
are used to set the clock cycle time of the actual value acquisition for safe motion monitoring.
A slower clock cycle reduces the maximum permissible velocity, but also reduces the load
on the Control Unit for safe actual value acquisition.
The maximum permissible velocity which, if overshot, can trigger faults in safe actual value
acquisition, is displayed in parameter r9730.
With a default value of p9311/p9511 (0 ms), the isochronous PROFIBUS clock cycle is used
(or 1 ms in non-isochronous mode).
NOTICE
Changing the EDS with safe motion monitoring
An encoder which is used for Safety functions must not be switched over when a data set is
switched over.
The Safety functions check the safety-relevant encoder data for changes when data sets
are switched over. If a change is detected, fault F01670 is displayed with a fault value of
10, which results in a non-acknowledgeable STOP A. The safety-relevant encoder data in
the various data sets must therefore be identical.
r9731: SI Motion safe position accuracy
Displays the greatest position accuracy (load side) that can be ensured due to the
acquisition of the actual value for the safe motion monitoring functions.
Both parameters (r9730/r9731) depend on the relevant encoder type.
Overview of important parameters (see the SINAMICS S120/S150 List Manual)
● p9301.3 SI Motion enable safety functions (Motor Module),
● p9501.3 SI Motion enable safety functions (Control Unit),
● p9302 SI Motion axis type (Motor Module)
● p9502 SI Motion axis type (Control Unit)
● p9311 SI Motion actual value sensing clock cycle (Motor Module)
● p9511 SI Motion actual value sensing clock cycle (Control Unit)
● p9315 SI Motion encoder coarse position value configuration (Motor Module)
● p9515 SI Motion encoder coarse position value configuration (Control Unit)
● p9316 SI Motion motor encoder configuration safety functions (Motor Module)
● p9516 SI Motion motor encoder configuration safety functions (Control Unit)
● p9317 SI Motion linear scale grid division (Motor Module)
98
enable actual value synchronization
enable actual value synchronization
Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0
Safety Integrated