Page 3 Preface ___________________ Fundamental safety instructions General information about SINAMICS SINAMICS Safety Integrated Overview of Safety Integrated functions S120 Safety Integrated ___________________ Description of Safety Integrated functions Control of the safety functions Function Manual ___________________ Commissioning ___________________ Acceptance test ___________________ System features ___________________ Maintenance ___________________...
Page 4 Note the following: WARNING Siemens products may only be used for the applications described in the catalog and in the relevant technical documentation. If products and components from other manufacturers are used, these must be recommended or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance are required to ensure that the products operate safely and without any problems.
Page 5: Preface
Siemens' content, and adapt it for your own machine documentation. Training At the following address (http://www.siemens.com/sitrain), you can find information about SITRAIN (Siemens training on products, systems and solutions for automation and drives). FAQs You can find Frequently Asked Questions in the Service&Support pages at Product Support (https://support.industry.siemens.com/cs/de/en/ps/faq).
Page 6 SINAMICS Converters for Single-Axis Drives – Distributed Converters (D 31.2) • SINUMERIK 840 Equipment for Machine Tools (Catalog NC 62) • Installation/assembly SINAMICS S120 Equipment Manual for Control Units and Additional System • Components SINAMICS S120 Equipment Manual for Booksize Power Units •...
Page 7 Basic and Extended Functions SINAMICS S120 Safety Integrated Function Manual Basic Functions SINAMICS S120 Function Manual Drive Functions Commissioning Of a simple SINAMICS S120 drive with Getting Started (up to Firmware V5.1 SP1) STARTER Commissioning With STARTER SINAMICS S120 Commissioning Manual (up to firmware V5.1 SP1)
Page 8 (https://support.industry.siemens.com/sc/ww/en/sc/2090) in the "Contact" area. Compliance with the General Data Protection Regulation Siemens respects the principles of data protection, in particular the data minimization rules (privacy by design). For this product, this means: The product does not process neither store any person-related data, only technical function data (e.g.
Page 9 Preface Notation for faults and alarms (examples): Fault 12345 • F12345 Alarm 67890 • A67890 Safety message • C23456 Notation for parameters (examples): Adjustable parameter 918 • p0918 Display parameter 1024 • r1024 Adjustable parameter 1070, index 1 • p1070[1] Adjustable parameter 2098, index 1 bit 3 •...
Page 10 Preface Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 11: Table Of Contents
Table of Contents Preface ..............................3 Fundamental safety instructions ......................17 Fundamental safety instructions ..................... 17 1.1.1 General safety instructions ..................... 17 1.1.2 Warranty and liability for application examples ..............17 1.1.3 Industrial security ........................18 Fundamental safety instructions for Safety Integrated ............20 Residual risk ...........................
Page 12 Table of Contents 3.3.1 Preconditions for Safety Integrated Extended Functions ............63 3.3.2 Safely-Limited Position (SLP) ....................64 3.3.3 Transferring safe position values (SP) ................... 65 3.3.4 Safe referencing ........................65 3.3.5 Safe Cam (SCA) ........................67 Description of Safety Integrated functions ..................... 69 Safety Integrated basic functions ...................
Page 13 Table of Contents 4.2.11 Safely Limited Acceleration (SLA) ..................135 4.2.12 Safe Brake Test (SBT) ......................138 4.2.12.1 Communication via SIC/SCC ....................147 4.2.12.2 Function diagrams and parameters ..................149 4.2.13 Safe Acceleration Monitor (SAM) ..................150 4.2.14 Safe Brake Ramp (SBR) ....................... 152 4.2.15 Safe actual value acquisition ....................
Page 14 Table of Contents 5.5.2 Initiating ESR for a communication failure ................239 Control of the Extended/Advanced Functions via F-DI (for CU310-2)......... 241 5.6.1 Assigning Safety Integrated Functions to the F-DI/TM54F ..........243 5.6.2 Overview of the F-DIs ......................244 5.6.3 Function of the F-DO ......................
Page 15 Table of Contents 6.9.2.1 Test mode 1: Evaluation of internal diagnostic signal (passive load) ........308 6.9.2.2 Test mode 2: Read back F-DO in DI (relay circuit) ............... 309 6.9.2.3 Test mode 3: Read back F-DO into the DI (actuator with feedback signal) ......310 6.9.2.4 Test stop mode parameters ....................
Page 16 Table of Contents 8.4.7 Control of Extended Functions without encoder via PROFIsafe (CU310-2 and CU320-2) ..........................363 8.4.8 Control of Extended Functions without encoder via terminals (only CU310-2) ....365 8.4.9 Control of Extended Functions without encoder via TM54F (CU310-2 and CU320-2) ..366 8.4.10 Control of Advanced Functions with encoder via PROFIsafe (CU310-2 and CU320-2) ..
Page 17 Table of Contents Documentation overview ...................... 413 Change history ........................414 Stop versions ........................415 Index..............................417 Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 18 Table of Contents Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 19: Fundamental Safety Instructions
Fundamental safety instructions Fundamental safety instructions 1.1.1 General safety instructions WARNING Danger to life if the safety instructions and residual risks are not observed If the safety instructions and residual risks in the associated hardware documentation are not observed, accidents involving severe injuries or death can occur. •...
Page 20: Industrial Security
Siemens’ products and solutions undergo continuous development to make them more secure. Siemens strongly recommends that product updates are applied as soon as they are available and that the latest product versions are used. Use of product versions that are no longer supported, and failure to apply the latest updates may increase customer’s exposure...
Page 21 Fundamental safety instructions 1.1 Fundamental safety instructions WARNING Unsafe operating states resulting from software manipulation Software manipulations (e.g. viruses, trojans, malware or worms) can cause unsafe operating states in your system that may lead to death, serious injury, and property damage.
Page 22: Fundamental Safety Instructions For Safety Integrated
Fundamental safety instructions 1.2 Fundamental safety instructions for Safety Integrated Fundamental safety instructions for Safety Integrated Additional safety instructions and residual risks Additional safety information and residual risks not specified in this section are included in the relevant sections of this Function Manual. DANGER Risk minimization through Safety Integrated Safety Integrated can be used to minimize the level of risk associated with machines and...
Page 23 Fundamental safety instructions 1.2 Fundamental safety instructions for Safety Integrated WARNING Danger to life as a result of undesirable motor movement when automatically restarting The Emergency Stop function must bring the machine to a standstill according to Stop Category 0 or 1 (STO or SS1) (EN 60204-1). It is not permissible that the motor automatically restarts after an Emergency Stop, as this represents danger to life as a result of the associated undesirable motor motion.
Page 24 Fundamental safety instructions 1.2 Fundamental safety instructions for Safety Integrated Note EDS switchover for safe motion monitoring An encoder which is used for safety functions must not be switched over when a drive data set (DDS) is switched over. The safety functions check the safety-relevant encoder data for changes when data sets are switched over.
Page 25: Residual Risk
Fundamental safety instructions 1.3 Residual risk Residual risk The fault analysis enables machine manufacturers to determine the residual risk at their machine with regard to the drive unit. The following residual risks are known: WARNING Danger due to short, limited movements If two power transistors simultaneously fail in the power unit (one in the upper and one in the lower inverter bridge), then this can cause cause brief, limited movement.
Page 26 Fundamental safety instructions 1.3 Residual risk WARNING Residual risk for a single-encoder system Within a single-encoder system: a) A single electrical fault in the encoder b) A break of the encoder shaft (or loose encoder shaft coupling), or a loose encoder housing will cause the encoder signals to remain static (that is, they no longer follow a movement while still returning a correct level), and prevent fault detection while the drive is in stop state (for example, drive in SOS state).
Page 27: General Information About Sinamics Safety Integrated
General information about SINAMICS Safety Integrated Supported functions All of the Safety Integrated functions available under SINAMICS S120 are listed in this section. The safety functions listed here conform to: ● Safety Integrity Level (SIL) 2 according to IEC 61508 ●...
Page 28: Safety Integrated Basic Functions
General information about SINAMICS Safety Integrated 2.1 Supported functions 2.1.1 Safety Integrated Basic Functions The Safety Integrated Basic Functions are part of the standard scope of the drive and can be used without an additional license. These functions are always available. These functions do not require an encoder and/or do not place any special requirements on the encoder used.
Page 29: Safety Integrated Extended Functions
General information about SINAMICS Safety Integrated 2.1 Supported functions 2.1.2 Safety Integrated Extended Functions The Safety Integrated Extended Functions require an additional Safety Extended license. Extended Functions with encoder require an encoder with safety capability (see Chapter "Notes regarding safe actual value sensing using an encoder system (Page 155)"). ●...
Page 30: Safety Integrated Advanced Functions
General information about SINAMICS Safety Integrated 2.1 Supported functions Note regarding Power/Motor Modules in the chassis format: For the chassis format, SBC is only supported by Power/Motor Modules with article number ...3 or higher. A Safe Brake Adapter is also needed for this design. Note regarding Power/Motor Modules in the blocksize format: Blocksize Power Modules also require a Safe Brake Relay for this function.
Page 31: Supported Functions: Hla Module
General information about SINAMICS Safety Integrated 2.2 Supported functions: HLA module Supported functions: HLA module SINAMICS HLA supports the following Safety Integrated functions: ● Safety Integrated Basic Functions ● Safety Integrated Extended Functions ● Safety Integrated Advanced Functions Note Only "linear" axis type permitted For SINAMICS HLA, only the "linear"...
Page 32: Hla: Safety Integrated Extended Functions
General information about SINAMICS Safety Integrated 2.2 Supported functions: HLA module 2.2.2 HLA: Safety Integrated Extended Functions SINAMICS HLA and Safety Integrated SINAMICS HLA supports the following Safety Integrated functions: ● The Safety Integrated Extended Functions require an additional Safety Extended license. Extended Functions with encoder require an encoder with safety capability (see Chapter "Notes regarding safe actual value sensing using an encoder system (Page 155)").
Page 33: Hla: Safety Integrated Advanced Functions
General information about SINAMICS Safety Integrated 2.2 Supported functions: HLA module – Safely-Limited Speed (SLS) Safely-Limited Speed ensures that the drive does not exceed a preset speed limit. – Safe Speed Monitor (SSM) Safe Speed Monitor is used for safely identifying when a speed limit is undershot in both directions of motion, e.g.
Page 34: Drive Products With Integrated Safety Functions
General information about SINAMICS Safety Integrated 2.3 Drive products with integrated safety functions Drive products with integrated safety functions Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 35 However, these descriptions essentially also apply in the same way for hydraulic systems. You will find parameters and messages for the drive object HLA in the SINAMICS S120/S150 List Manual. Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 36: Examples Of How The Safety/Diagnostic Functions Can Be Applied
General information about SINAMICS Safety Integrated 2.4 Examples of how the safety/diagnostic functions can be applied Examples of how the safety/diagnostic functions can be applied Safety function Application examples Possible solution It is only permissible to open a protective door if the Select STO in the converter via a terminal •...
Page 37 General information about SINAMICS Safety Integrated 2.4 Examples of how the safety/diagnostic functions can be applied Safety function Application examples Possible solution The drive must not exit the specified position ranges. Selection of SLP in the converter; inhibits the range that is not permitted. It is necessary to transmit a "safe position,"...
Page 38: Drive Monitoring With Or Without Encoder
General information about SINAMICS Safety Integrated 2.5 Drive monitoring with or without encoder Drive monitoring with or without encoder If motors without a (safety-capable) encoder are being used, not all Safety Integrated Functions can be used. Note Definition: "Without encoder" When "without encoder"...
Page 39 General information about SINAMICS Safety Integrated 2.5 Drive monitoring with or without encoder Functions Abbr. With With- Brief description coder coder Advanced Safely-Limited Position Safely Limited Position Functions Transfer safe Transfer safe position values position values Safe Cam Safe cam The use of this safety function without an encoder is permitted only for the following motors: - Induction motors - SIMOTICS A-1FU synchronous motors (previously: SIEMOSYN)
Page 40: General Information About Operating Components With Safety Integrated Activated
General information about SINAMICS Safety Integrated 2.6 General information about operating components with Safety Integrated activated General information about operating components with Safety Integrated activated It is not permissible to withdraw and insert components. Malfunctions can occur when components are withdrawn or inserted that are used for Safety Integrated. However, this does not mean that the fail-safe state is exited.
Page 41: Overview Of Safety Integrated Functions
Overview of Safety Integrated functions Safety Integrated Basic Functions Note Basic Functions do not require an encoder The Safety Integrated Basic Functions are functions for safely stopping the drive. You do not require an encoder. Note Application of the Basic Functions Basic Functions are available in all control modes with and without encoder for synchronous and induction motors without any restrictions.
Page 42: Safe Torque Off (Sto)
Overview of Safety Integrated functions 3.1 Safety Integrated Basic Functions 3.1.1 Safe Torque Off (STO) Definition according to EN 61800-5-2: "The STO function prevents energy from being supplied to the motor, which can generate a torque." Examples of how the function can be used Example Possible solution It is only permissible to open a protective door if the...
Page 43: Safe Stop 1 (Ss1)
Overview of Safety Integrated functions 3.1 Safety Integrated Basic Functions 3.1.2 Safe Stop 1 (SS1) Definition according to EN 61800-5-2: "The function SS1 brakes the motor and trips the function STO after a delay time." Example of how the function can be used Example Possible solution After an Emergency Stop button has been pressed,...
Page 44: Safe Brake Control (Sbc)
Overview of Safety Integrated functions 3.1 Safety Integrated Basic Functions 3.1.3 Safe Brake Control (SBC) Definition according to EN 61800-5-2: "The SBC function supplies a safe output signal to control a holding brake." Safe Brake Control (SBC) Example of how the function can be used Example Possible solution The safe control of a motor holding brake must be...
Page 45: Safety Integrated Extended Functions
SMC30, EnDat-2.2 encoder with SMC40 The list of approved encoders can be found on the Internet at: Approved encoders (https://support.industry.siemens.com/cs/ww/en/) Enter the number 33512621 there as search term or contact your local Siemens office. Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 46: Control Possibilities
Overview of Safety Integrated functions 3.2 Safety Integrated Extended Functions 3.2.2 Control possibilities The following options are available for controlling Safety Integrated Extended Functions: ● PROFIsafe ● TM54F ● Onboard F-DI (CU310-2) ● Permanent selection (Safety Integrated functions without selection) 3.2.3 Safe Torque Off (STO) For the control options and the functionality for "Safe Torque Off"...
Page 47 Overview of Safety Integrated functions 3.2 Safety Integrated Extended Functions How does SS1 function in detail? Overview Using the SS1 function, the converter brakes the motor and monitors the absolute speed. If the motor speed is low enough or the delay time has expired, the converter safely switches off the motor torque using STO .
Page 48 Overview of Safety Integrated functions 3.2 Safety Integrated Extended Functions Brake ramp monitoring Acceleration monitoring (with or without encoder) (with or without encoder) The converter monitors the speed of the mo- Using the SBR (Safe Brake Ramp) function, • • the converter monitors whether the motor tor with the SAM function.
Page 49: Safe Operating Stop (Sos)
Overview of Safety Integrated functions 3.2 Safety Integrated Extended Functions 3.2.5 Safe Operating Stop (SOS) Definition according to EN 61800-5-2: "This SOS function is used for safe monitor- ing of the standstill position of a drive." Example of how the function can be used Example Possible solution A protective door must only be opened if a motor is...
Page 50: Safe Stop 2 (Ss2)
Overview of Safety Integrated functions 3.2 Safety Integrated Extended Functions Figure 3-1 Standstill tolerance Details and parameterization For further details and information on how to parameterize this function, see Section "Safe Operating Stop (SOS) (Page 103)". 3.2.6 Safe Stop 2 (SS2) Definition according to EN 61800-5-2: "The function SS2 brakes the motor, moni- tors the magnitude of the motor decelera-...
Page 51 Overview of Safety Integrated functions 3.2 Safety Integrated Extended Functions Example of how the function can be used Example Possible solution A protective door must only be opened if a motor is Select SS2 in the converter via a terminal or •...
Page 52 Overview of Safety Integrated functions 3.2 Safety Integrated Extended Functions Braking behavior Figure 3-2 Braking behavior and diagnostics of the safety function SS2 (example of SS2 with SAM) Note SS2 with external stop (SS2E) If you use SS2E, neither of the two monitoring functions (SBR, SAM) is active. The drive must be shut down in SS2E within the delay time, for example, by a user program of a CPU.
Page 53: Safely Limited Speed (Sls)
Overview of Safety Integrated functions 3.2 Safety Integrated Extended Functions 3.2.7 Safely Limited Speed (SLS) Definition according to EN 61800-5-2: "The SLS function prevents the motor from exceeding the specified speed limit." Examples of how the function can be used Example Possible solution The machine operator must be able to enter the...
Page 54 Overview of Safety Integrated functions 3.2 Safety Integrated Extended Functions 3. SLS monitors the absolute value of the current speed. The SLS setpoint limit can be transferred to the higher-level motion controller (e.g. SIMOTION), where the speed setpoint can be limited. In addition, you can configure the setpoint limit provided by SLS as maximum speed in the ramp-function generator.
Page 55 Overview of Safety Integrated functions 3.2 Safety Integrated Extended Functions With braking ramp monitoring Without braking ramp monitoring (only without encoder) (with or without encoder) The converter monitors the load velocity after After the adjustable "delay time for the brak- •...
Page 56 Overview of Safety Integrated functions 3.2 Safety Integrated Extended Functions Selecting SLS at low velocities If the motor velocity when selecting SLS is less than the SLSlimit, then the drive responds as follows: Deselecting SLS If the higher-level controller deselects SLS , then the converter deactivates limiting and monitoring.
Page 57 Overview of Safety Integrated functions 3.2 Safety Integrated Extended Functions Switching to a lower speed level With braking ramp monitoring Without braking ramp monitoring (only without encoder) (with or without encoder) Once the "delay time for braking ramp" has The converter monitors the velocity with the •...
Page 58 Overview of Safety Integrated functions 3.2 Safety Integrated Extended Functions Switching to a higher speed level If you switch over from a lower to a higher speed level, the converter immediately monitors the actual velocity against the higher velocity. Details and parameterization For further details and information on how to parameterize this function, see Section "Safely- Limited Speed (SLS) (Page 112)".
Page 59: Safe Speed Monitor (Ssm)
Overview of Safety Integrated functions 3.2 Safety Integrated Extended Functions 3.2.8 Safe Speed Monitor (SSM) Definition according to EN 61800-5-2: "The SSM function supplies a safe output signal to indicate whether the motor speed is below a specified limit value." Note SSM is a pure signaling function Contrary to other Safety Integrated functions, a violation of the SSM limit does not result in a...
Page 60 Overview of Safety Integrated functions 3.2 Safety Integrated Extended Functions How does SSM function in detail? Requirements The safety function SSM cannot be selected or deselected using external control signals. SSM is active when you have set a monitoring velocity > 0 for SSM . Evaluating the speed The converter compares the load speed with the speed limit and signals if the limit value is undershot to the high-level control.
Page 61: Safe Direction (Sdi)
Overview of Safety Integrated functions 3.2 Safety Integrated Extended Functions 3.2.9 Safe Direction (SDI) Definition according to EN 61800-5-2: "The SDI function prevents the motor shaft mov- ing in the wrong direction." Examples of how the function can be used Example Possible solution A protective door must only be opened if a drive...
Page 62 Overview of Safety Integrated functions 3.2 Safety Integrated Extended Functions Selecting and deselecting SDI As soon as the converter identifies that SDI has been selected via a failsafe input or via PROFIsafe safe communication, the following happens: ● You can also set a delay time, within which you can ensure that the converter moves in the enabled (safe) direction.
Page 63: Safe Brake Test (Sbt)
Overview of Safety Integrated functions 3.2 Safety Integrated Extended Functions 3.2.10 Safe Brake Test (SBT) The diagnostic function "Safe Brake Test" func- tion (SBT) checks the required holding torque of a brake (operating or holding brake). You can test linear axes and rotary axes. The drive purposely generates a force/torque against the applied brake.
Page 64: Safely-Limited Acceleration (Sla)
Overview of Safety Integrated functions 3.2 Safety Integrated Extended Functions 3.2.11 Safely-Limited Acceleration (SLA) Definition according to EN 61800-5-2: "The SLA function prevents the motor from exceeding the defined acceleration limit." Examples of how the function can be used Example Possible solution In the setup mode, it is not permissible that the Select SLA in the converter via PROFIsafe.
Page 65: Safety Integrated Advanced Functions
SMC30, EnDat-2.2 encoder with SMC40 The list of approved encoders can be found on the Internet at: Approved encoders (https://support.industry.siemens.com/cs/ww/en/) Enter the number 33512621 there as search term or contact your local Siemens office. Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 66: Safely-Limited Position (Slp)
Overview of Safety Integrated functions 3.3 Safety Integrated Advanced Functions 3.3.2 Safely-Limited Position (SLP) Definition according to EN 61800-5-2: "The SLP function prevents the motor shaft from exceeding the specified position limit(s)." The Safely-Limited Position function (SLP) is used to safely monitor the limits of two traversing and/or positioning ranges, which are toggled between using a safe signal.
Page 67: Transferring Safe Position Values (Sp)
Overview of Safety Integrated functions 3.3 Safety Integrated Advanced Functions 3.3.3 Transferring safe position values (SP) The "Safe Position (SP)" function enables you to transfer safe position values to the higher- level fail-safe controller (F-CPU) via PROFIsafe (telegram 901 or 902). On the F-CPU side, you can also calculate the current speed from the change in position per time.
Page 68 Overview of Safety Integrated functions 3.3 Safety Integrated Advanced Functions General description In most cases, an external control performs referencing to an absolute position. The converter only performs this task in special cases (for example, EPOS). ● Referencing using an external control Requirement: No movement of the drive The reference position determined by the control is entered into parameter p9572 and is declared to be valid using p9573 = 89.
Page 69: Safe Cam (Sca)
Overview of Safety Integrated functions 3.3 Safety Integrated Advanced Functions 3.3.5 Safe Cam (SCA) Definition according to EN 61800-5- The function "Safe Cam" (SCA) safe supplies a safety-related output sig- nal to indicate whether the motor shaft position is within a defined range.
Page 70 Overview of Safety Integrated functions 3.3 Safety Integrated Advanced Functions Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 71: Description Of Safety Integrated Functions
Because Startdrive sets the safety-related parameters of the 2nd channel by copying, only the parameters of the 1st channel are given in this manual. You will find the relevant parameters of the 2nd channel in the parameter description, e.g. in SINAMICS S120/S150 List Manual.
Page 72: Safety Integrated Basic Functions
If you want to control the Safety Integrated Basic Functions via TM54F, set p9601.6 = 1. Note PFH values The PFH values of the individual SINAMICS S120 safety components can be found at: PFH values (https://support.industry.siemens.com/cs/ww/en/view/76254308) 4.1.1 Safe Torque Off (STO) In conjunction with a machine function or in the event of a fault, the "Safe Torque Off"...
Page 73 Description of Safety Integrated functions 4.1 Safety Integrated basic functions ● When the "Safe Torque Off" function is selected, the following applies: – The motor cannot be started accidentally. – The pulse suppression safely disconnects the torque-generating energy supply to the motor.
Page 74 Description of Safety Integrated functions 4.1 Safety Integrated basic functions Enabling the "Safe Torque Off" function The "Safe Torque Off" function is enabled via parameter p9601: ● STO for the Safety Integrated Basic Functions: – p9601 = 1 hex (Basic Functions via onboard terminals) –...
Page 75 • 2810 SI Basic Functions - STO (Safe Torque Off), safe pulse suppression • 2811 Overview of important parameters (see SINAMICS S120/S150 List Manual) SI enable functions integrated in the drive (Control Unit) • p9601 CO/BO: SI Motion drive-integrated control signals •...
Page 76: Safe Torque Off (Sto) For Sinamics Hla
Description of Safety Integrated functions 4.1 Safety Integrated basic functions 4.1.1.1 Safe Torque Off (STO) for SINAMICS HLA For the HLA module, safe torque off (STO) corresponds to shutting off a safety-relevant shutoff valve. Special features of STO for HLA ●...
Page 77: Safe Stop 1 (Ss1, Time Controlled)
• 2810 SI Basic Functions - STO (Safe Torque Off), safe pulse cancellation • 2811 Overview of important parameters (see SINAMICS S120/S150 List Manual) SI HLA shutoff valve wait time (CU) • p9625[0...1] SI HLA shutoff valve feedback contacts configuration (CU) •...
Page 78 Description of Safety Integrated functions 4.1 Safety Integrated basic functions Functional features of Safe Stop 1 SS1 is enabled by p9652 (delay time) ≠ 0. ● Setting parameter p9652 has the following effect: – p9652 = 0 SS1 is not enabled. Only STO can be selected via TM54F, the onboard terminals and/or PROFIsafe.
Page 79: Ss1 With External Stop
Description of Safety Integrated functions 4.1 Safety Integrated basic functions 4.1.2.2 SS1 with external stop In drive line-ups (e.g. drives that are mechanically connected via the material), the drive- independent braking on the respective OFF3 ramp can cause problems. If the SS1E function is used, the safe delay time (p9652) is started when the function is selected, but no OFF3 is triggered.
Page 80: Function Diagrams And Parameters
SI Basic Functions - STO (Safe Torque Off), SS1 (Safe Stop 1) • 2810 SI Basic Functions - STO (Safe Torque Off), safe pulse cancellation • 2811 Overview of important parameters (see SINAMICS S120/S150 List Manual) OFF3 ramp-down time • p1135[0...n] Motor holding brake closing time •...
Page 81 Description of Safety Integrated functions 4.1 Safety Integrated basic functions Note Controlling the brake via a relay for "Safe Brake Control": If you use the "Safe Brake Control (SBC)" function, the use of relays/contactors can cause faults in the brake control when brakes are switched. For this reason, this type of control is not generally permissible.
Page 82 Description of Safety Integrated functions 4.1 Safety Integrated basic functions 2-channel brake control Note Connecting the brake The brake cannot be directly connected to the Motor Module in chassis format. A Safe Brake Adapter is also required. The brake is controlled from the Control Unit. Two signal paths are available for applying the brake.
Page 83: Sbc For Motor Modules In The Chassis Format
Description of Safety Integrated functions 4.1 Safety Integrated basic functions 4.1.3.1 SBC for Motor Modules in the chassis format To be able to set higher power in the brakes of devices of this format, an additional Safe Brake Adapter (SBA) module is needed. For more information about connecting and wiring the Safe Brake Adapter, refer to the "SINAMICS G130/G150/S120 Chassis/S120 Cabinet Modules/S150 Safety Integrated"...
Page 84 Description of Safety Integrated functions 4.1 Safety Integrated basic functions There are two options for registering this power unit with the system: ● Automatic brake identification when commissioning the system for the first time – Requirements: - No Safety Integrated functions enabled - p1215 = 0 (no motor holding brake available) –...
Page 85: Hardware Required For Sbc
Description of Safety Integrated functions 4.1 Safety Integrated basic functions 4.1.3.2 Hardware required for SBC ● Safe Brake Relay The command for releasing or applying the brake is transferred to the Motor Module / Power Module via DRIVE-CLiQ. The Motor Module / Safe Brake Relay then carries out the action and appropriately activates the outputs for the brake.
Page 86 Description of Safety Integrated functions 4.1 Safety Integrated basic functions Figure 4-4 Interconnecting the Safe Brake Adapter Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 87: Function Diagrams And Parameters
Function diagrams (see SINAMICS S120/S150 List Manual) SI Basic Functions - SBC (Safe Brake Control), SBA (Safe Brake • 2814 Adapter) Overview of important parameters (see SINAMICS S120/S150 List Manual) CU inputs/outputs, sampling time • p0799 Motor holding brake configuration •...
Page 88: Safety Faults
Description of Safety Integrated functions 4.1 Safety Integrated basic functions 4.1.4 Safety faults The fault messages of the Safety Integrated Basic Functions are saved in the standard message buffer and can be read out from there. By contrast, the fault messages of the Safety Integrated Extended Functions are stored in a separate Safety message buffer (see Chapter "Message buffer (Page 382)").
Page 89 Description of faults and alarms Note References The faults and alarms for SINAMICS Safety Integrated Functions are described in the following document: References: SINAMICS S120/S150 List Manual Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 90: Forced Checking Procedure (Test Stop)
Description of Safety Integrated functions 4.1 Safety Integrated basic functions 4.1.5 Forced checking procedure (test stop) Forced checking procedure or test of the switch-off signal paths (test stop) for Safety Integrated Basic Functions The forced checking procedure (test stop) at the switch-off signal paths is used to detect software/hardware faults at both monitoring channels in time and is automated by means of activation/deactivation of the "Safe Torque Off"...
Page 91: Function Diagrams And Parameters
Extended Functions. It is otherwise not possible to verify the correct control through the terminals. 4.1.6 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) SI Basic Functions - Parameter manager • 2800 SI Basic Functions - Monitoring functions and faults/alarms •...
Page 92: Safety Integrated Extended Functions
● A trial license is available for test purposes; this allows you to use Safety Integrated functions for a specific time without having a valid license. Details on the trial license can be found in the "SINAMICS S120 Function Manual Drive Functions", Chapter "Licensing".
Page 93 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Activation For activation of the Safety Integrated Extended Functions "with encoder" and "without encoder", set the parameters p9306 and p9506 (factory setting = 0). You can also make this setting by selecting "with encoder" or "without encoder" on the Safety-Integrated Startdrive screen.
Page 94 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Taking into account the slip of an induction motor For Safety Integrated without encoder (depending on the drive load), as a result of slip (deviations between electrical and mechanical speed), deviations can occur between the safely determined electrical speed and the mechanical speed at the motor shaft.
Page 95 When using Extended Functions, observe the following restrictions: Synchronous reluctance motors with Safety Integrated Functions "without encoder" SINAMICS S120 supports synchronous reluctance motors with Safety Integrated Functions "without encoder". Note the following information for this application case: ● Synchronous reluctance motors may only be operated with vector control.
Page 96 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Inadmissible operating modes for Safety Integrated Functions "without encoder" ● No operation with SINAMICS Hydraulic Drive (HLA) ● Current controller clock cycles 31.25 µs and 62.5 μs (for Double Motor Modules with two configured safety drives) are not permissible.
Page 97 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions ● Current limiting of the power unit When the current limiting of the power unit responds, then it can be assumed that this will result in errors in the encoderless safe actual value sensing and in turn with an associated stop response.
Page 98 ● Closed-loop controlled operation down to f = 0 Hz with test signal (see corresponding chapter in the SINAMICS S120 Function Manual Drive Functions) If you use Safety Integrated without encoder simultaneously with the function "Closed- loop controlled operation up to f = 0 Hz with test signal", the drive may react with an undesired safety message and a stop reaction.
Page 99: Safe Torque Off (Sto)
Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions ● Before commissioning the safety functions, we recommend that the motor data are identified at standstill and a rotating measurement is carried out. ● For the basic commissioning, i.e. before the safety commissioning, the closed-loop control should be optimally set.
Page 100: Safe Stop 1 (Ss1)
Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions 4.2.4 Safe Stop 1 (SS1) 4.2.4.1 Safe Stop 1 with encoder For function SS1 of the Extended Safety Functions, braking monitoring is included. ● If p9506 = 0: Braking is monitored with the "Safe Acceleration Monitor" function (see Chapter "Safe Acceleration Monitor (SAM) (Page 150)").
Page 101 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Commissioning The delay time (SS1 time) is set by entering parameter p9556. The wait time until safe pulse suppression (STO) can be shortened by specifying a shutdown speed in p9560. To enable the drive to brake to standstill after selection, the time in p9556 must be selected to be large enough for the drive to be able to brake along the OFF3 ramp (p1135) from any speed of the work process to below the shutdown speed (p9560).
Page 102: Safe Stop 1 Without Encoder
Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions 4.2.4.2 Safe Stop 1 without encoder Two encoderless Safe Stop 1 (SS1) monitoring functions can be set with parameter p9506: ● p9506 = 3: Safe monitoring of acceleration (SAM) / delay time The function is identical to "Safe Stop 1"...
Page 103: Safe Stop 1 With External Stop
Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions 4.2.4.3 Safe Stop 1 with external stop General description NOTICE Any axis motion is possible During the delay time (p9652), for "Safe Stop 1 (time-controlled) with external stop", any axis movements are possible. •...
Page 104: Function Diagrams And Parameters
Function diagrams (see SINAMICS S120/S150 List Manual) SI Extended Functions - SS1, SS2, SOS, internal STOP B, C, D, F • 2819 Overview of important parameters (see SINAMICS S120/S150 List Manual) OFF3 ramp-down time • p1135[0...n] SI Motion enable safety functions (Control Unit) •...
Page 105: Safe Operating Stop (Sos)
Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions 4.2.6 Safe Operating Stop (SOS) This function serves for failsafe monitoring of the standstill position of a drive. WARNING Drive can be forced out of the SOS position by mechanical forces A drive under position control can be forced out of the "Safe Operating Stop"...
Page 106 Function diagrams (see SINAMICS S120/S150 List Manual) SI Extended Functions - SS1, SS2, SOS, internal STOP B, C, D, F • 2819 Overview of important parameters (see SINAMICS S120/S150 List Manual) SI Motion enable safety functions (Control Unit) • p9501 SI Motion standstill tolerance (Control Unit) •...
Page 107: Safe Stop 2 (Ss2)
Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions 4.2.7 Safe Stop 2 (SS2) Note The "Safe Stop 2" (SS2) safety function can only be used with an encoder. The safety function "Safe Stop 2" (SS2) is used to brake the motor of the OFF3 deceleration ramp (p1135) safely with transition after the delay time (p9552) has expired in to the SOS state (see Chapter "Safe Operating Stop (SOS) (Page 103)").
Page 108 Function diagrams (see SINAMICS S120/S150 List Manual) SI Basic Functions - SBC (Safe Brake Control), SBA (Safe Brake Adapter) • 2814 Overview of important parameters (see SINAMICS S120/S150 List Manual) OFF3 ramp-down time • p1135[0...n] SI Motion enable safety functions (Control Unit) •...
Page 109: Ss2 With External Stop (Ss2E)
Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions 4.2.7.1 SS2 with external stop (SS2E) WARNING Unexpected axis motion When function "Safe Stop 2 with external stop" (SS2E) is active, during the delay time (p9553) the speed follows the setpoint issued from the higher-level control system. As a consequence, unexpected axis motion is possible, which can lead to severe injury and death.
Page 110 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions ● The PROFIsafe status word S_ZSW2.28 indicates whether the SS2E function is active. PROFIsafe status word S_ZSW2.28 is contained in telegrams 31, 901, 902 and 903. The associated diagnostics parameter is r9722.28. In the "Safety Info Channel", status word S_ZSW3B.11 indicates whether function SS2E is active.
Page 111: Safe Stop 2 Extended Stop And Retract (Ss2Esr)
Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions 4.2.7.2 Safe Stop 2 Extended Stop and Retract (SS2ESR) WARNING Unexpected axis motion When function SS2ESR is active, during the delay time (p9554) the speed follows the setpoint issued from the higher-level control system. As a consequence, unexpected axis motion is possible, which can lead to severe injury and death.
Page 112 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions ● In addition, in the "Safety Info Channel", status word S_ZSW1B.14 = 1 is set. This bit corresponds to diagnostic parameter r9734.14. ● You can use p0890[1] to interconnect to an ESR integrated in the drive. ●...
Page 113: Overview Of Important Parameters
Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions 4.2.7.3 Overview of important parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) EPOS maximum delay • p2573 CI: EPOS maximum speed, externally limited • p2594 BI: EPOS intermediate stop (0 signal) •...
Page 114: Interaction With Epos
Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions 4.2.7.4 Interaction with EPOS Since the function SS2 – with its setpoint-independent braking – is not suitable for use with EPOS, the Safe Operating Stop (SOS) function can be used with delay. On selection of SOS, the EPOS function "intermediate stop"...
Page 115 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions An override can also be added to SLS limit value 1. In operation, this override can be varied using a PROFIsafe telegram. Note Deviation of the displayed speed limit The SLS speed limit displayed in r9714[2] can deviate slightly from the specified SLS speed limit.
Page 116: Safely Limited Speed (Sls)
Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions 4.2.8.1 Safely Limited Speed (SLS) Features ● When SLS is selected, the monitoring only takes effect after the configured delay time has expired (p9551). Within this time, the actual speed must be below the (selected) limit. The delay time is not effective when SLS is deselected.
Page 117 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Changeover of SLS limit values The changeover is executed binary-coded via 2 F-DIs or 2 PROFIsafe control bits. The speed selection status can be checked using parameters r9720.9/r9720.10. Parameters r9722.9 and r9722.10 indicate the actual speed limit, bit r9722.4 must carry a "1" signal. Table 4- 2 Changeover of speed limits: F-DI for bit 1...
Page 118 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Transferring the first limit value via PROFIsafe SINAMICS offers the option of influencing the first SLS limit value via PROFIsafe: ● The transfer of the first SLS limit value via PROFIsafe is active if the speed level 1 in the PROFIsafe telegram is selected and the bit "Enable transfer SLS (SG) limit via PROFIsafe"...
Page 119: Safely Limited Speed Without Encoder
Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions 4.2.8.2 Safely Limited Speed without encoder Functions 2 different encoderless Safely-Limited Speed monitoring functions can be set with parameter p9506: ● p9506 = 3: Safe monitoring of acceleration (SAM) / delay time The function is identical to "Safely-Limited Speed with encoder"...
Page 120 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Configuring the limits ● The speed limits for Safely-Limited Speed without encoder are configured in exactly the same way as described for Safely-Limited Speed with encoder. ● Only STOP A and STOP B may be configured as stop responses for "Safely-Limited Speed"...
Page 121: Safely-Limited Speed Without Selection
Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions 4.2.8.3 Safely-Limited Speed without selection Differences between Safely-Limited Speed with and without selection ● As an alternative to controlling via terminals and/or PROFIsafe, there is also the option to parameterize the SLS function without selection (see Section "Motion monitoring without selection (Page 249)").
Page 122: Function Diagrams And Parameters
Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) SI Extended Functions - SLS (Safely-Limited Speed) • 2820 Overview of important parameters (see SINAMICS S120/S150 List Manual) SI Motion enable safety functions (Control Unit): • p9501.0 Enable SOS/SLS (SBH/SG) Select SI Motion safety functions without selection (CU) •...
Page 123: Epos And Safe Setpoint Velocity Limitation
This required braking time is determined by the current speed, the jerk limit in p2574 and the maximum delay in p2573. Overview of important parameters (see SINAMICS S120/S150 List Manual) EPOS maximum delay • p2573 EPOS jerk limitation •...
Page 124 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions The function is activated automatically as soon as the Safety Integrated Extended Functions are enabled with parameter p9501.0 = 1 and p9546 > 0. The SSM function is deactivated with setting p9546 = 0. Note Relationship between SSM and SAM If you enter "0"...
Page 125: Safe Speed Monitor With Encoder
Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions 4.2.9.1 Safe Speed Monitor with encoder Functional features of "Safe Speed Monitor" with encoder The parameter p9546 "SI Motion SSM (SGA n < nx) speed limit n_x" is used to set the speed limit.
Page 126 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions During safe motion monitoring, the "hysteresis and filtering" functions can be activated or deactivated together using the enable bit p9501.16. In the default setting, the functions are deactivated (p9501.16 = 0). Note Exception: SSM as an active monitoring function If the "hysteresis and filtering"...
Page 127: Safe Speed Monitor Without Encoder
Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions 4.2.9.2 Safe Speed Monitor without encoder Set p9506 = 1 or p9506 = 3 (factory setting = 0) to activate Safety Integrated Extended Functions without encoder. You can also make this setting by selecting "Without encoder" on the Safety screen in Startdrive.
Page 128 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Sequence diagram The following diagram shows the signal characteristic for the case p9509.0 = 0. Figure 4-16 Safe Speed Monitor without encoder (p9509.0 = 0) The speed remains below the limits of p9546 throughout the entire monitoring period. Therefore, the SSM feedback signal remains r9722.15 = 1.
Page 129 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Restart after pulse cancellation for p9509.0 = 0 If the drive pulses have been suppressed using OFF1/OFF2/STO, the following steps must be carried out for a restart: 1. Case State after switching on •...
Page 130: Function Diagrams And Parameters
• 2905 = 0) SI TM54F - Extended Functions assignment (F-DO 0 ... F-DO 3) • 2907 Overview of important parameters (see SINAMICS S120/S150 List Manual) SI Motion enable safety functions (Control Unit) • p9501 SI Motion function specification (Control Unit) •...
Page 131: Safe Direction With Encoder
Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions 4.2.10.1 Safe Direction with encoder The Safe Direction function (SDI) allows reliable monitoring of the direction of motion of the drive. If this function is activated, the drive can only move in the enabled direction. Principle of operation After SDI has been selected via terminals or PROFIsafe, the delay time p9565 is started.
Page 132 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Enabling the Safe Direction function The "Safe Direction" function is enabled with p9501.17 = 1. Figure 4-17 Functional principle SDI with encoder Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 133: Safe Direction Without Encoder
Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions 4.2.10.2 Safe Direction without encoder Set p9506 = 1 or p9506 = 3 (factory setting = 0) to activate Safety Integrated Extended Functions without encoder. You can also make this setting by selecting "Without encoder" on the Startdrive safety screen.
Page 134 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions 2. Case Situation • Traversing to standstill with SDI selected • Initiate OFF1 • Pulses are canceled; internal selection STO becomes active • Select STO • Deselect STO • STO activated internally via pulse suppression: This activation must be undone by se- lecting/deselecting STO.
Page 135: Safe Direction Without Selection
Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions 4.2.10.3 Safe Direction without selection Differences between Safe Direction with and without selection ● As an alternative to controlling via terminals and/or PROFIsafe, there is also the option of parameterizing SDI without selection. In this case, SDI will be permanently active after POWER ON (with encoder) or will be active after switch-on (without encoder).
Page 136: Function Diagrams And Parameters
SI TM54F - Extended Functions Safe State selection • 2906 SI TM54F - Extended Functions assignment (F-DO 0 ... F-DO 3) • 2907 Overview of important parameters (see SINAMICS S120/S150 List Manual) Reverse the output phase sequence • p1820[0...n] Direction of rotation •...
Page 137: Safely Limited Acceleration (Sla)
Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions 4.2.11 Safely Limited Acceleration (SLA) Function "Safely-Limited Acceleration" (SLA) monitors that the motor does not violate the defined acceleration limit (e.g. in the setup mode). SLA detects early on whether the speed is increasing at an inadmissible rate (the drive accelerates uncontrollably) and initiates the stop response.
Page 138 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Filter time If the determination of the acceleration leads to very noisy signals, the drive cannot reasonably monitor the acceleration. Remedy ● In this case, increase the "SLA filter time" (p9576). Note that SLA reacts with a delay when you increase the filter time.
Page 139 (Page 251)"). You will find this status word in telegrams 700 and 701. Function diagrams (see SINAMICS S120/S150 List Manual) SLA (Safely-Limited Acceleration) • 2838 Overview of important parameters (see SINAMICS S120/S150 List Manual) SI Motion enable safety functions (Control Unit) • p9501 SI Motion SLA filter time (CU) •...
Page 140: Safe Brake Test (Sbt)
● The parameters of the "SBT" function are protected by the safety password, and can only be changed in the safety commissioning mode. ● Using this function, brakes can be tested that are directly connected to SINAMICS S120 (integrated brake control), but also externally controlled brakes (e.g. via a PLC).
Page 141 2 brakes in a Category 3 application, a Performance Level of up to Category PL d can be achieved with an adequate test rate. You will find an application example of the calculation at this address (https://support.industry.siemens.com/cs/ww/en/view/69870640). Preconditions The following preconditions must be satisfied when using the "Safe Brake Test" function: ●...
Page 142 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Enabling the SBT function To enable the Safe Brake Test function, proceed as follows: 1. Enable the Safe Brake Control (SBC) function: p9602 = 1. 2. Select the SBT selection type with parameter p10203: –...
Page 143 ("motor holding brake closing time"). Further information can be found in the SINAMICS S120 Function Manual Drive Functions. – Note that you must set the times p1216 and p1217 exactly according to the physical behavior of the brake.
Page 144 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Note SBT and EPOS If EPOS is activated, you must activate "follow-up mode" (r2683.0) before you perform the brake test so that the position monitoring does not react during the brake test. Note SBT and DSC If you use SBT with SIMOTION, evaluate parameter r10234 (S_ZSW3B) and activate Safety...
Page 145 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Starting SBT 1. Selection You have the following options for the selection of the Safe Brake Test: – Selection via BICO using a 0/1 signal edge at DI for p10230[0] –...
Page 146 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions 4. Start brake test Start the brake test sequence using a 0/1 edge at the DI for p10230[1] or in S_STW3B bit 1. 5. Exit brake test Note Observe the sequence when exiting When you exit the brake test, you must observe the following sequence.
Page 147 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Sequence SBT has the following basic sequence: Figure 4-20 SBT: Time sequence ● After you have selected the brake test (0/1 edge in r10231.0), the drive determines the static suspended load. This is the reason that all brakes must be open and the pulses enabled when the brake test is selected.
Page 148 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions ● At the end of the test sequence, the brake is opened or there is a prompt to open the brake. ● After deselection of the test sequence (test sequence is switched off), another test sequence can be started, e.g.
Page 149: Communication Via Sic/Scc
Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions 4.2.12.1 Communication via SIC/SCC Test of a motor holding brake The following figure shows the communication via SIC and SCC during the test of a motor holding brake: Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 150 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Test of an external brake The following figure shows the communication via SIC and SCC during the test of an external brake: Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 151: Function Diagrams And Parameters
SI Extended Functions - SBT (Safe Brake Test) • 2836 SI Extended Functions – Selection of active control word • 2837 Overview of important parameters (see SINAMICS S120/S150 List Manual) Motor holding brake configuration • p1215 Motor holding brake opening time •...
Page 152: Safe Acceleration Monitor (Sam)
Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions 4.2.13 Safe Acceleration Monitor (SAM) The "Safe Acceleration Monitor" (SAM) function is used to safety monitor braking along the OFF3 ramp. The function is active for SS1, SS2 or STOP B and STOP C. Features As long as the speed is less, the converter continuously adds the adjustable tolerance p9548 to the actual speed so that the monitoring tracks the speed.
Page 153 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Calculating the SAM tolerance of the actual speed ● The following applies when parameterizing the SAM tolerance: – The maximum speed increase after SS1 or SS2 is triggered results from the effective acceleration (a) and the duration of the acceleration phase.
Page 154: Safe Brake Ramp (Sbr)
● System fault: – STOP F with subsequent STOP A – Safety message C01711 Overview of important parameters (see SINAMICS S120/S150 List Manual) SI Motion SSM (SGA n < nx) speed limit (CU) • p9546 SI Motion SAM actual speed tolerance (Control Unit) •...
Page 155 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Additional specific functions (e.g. STO, new SLS speed limit) are activated at this point, depending on the Safety Integrated function used. Figure 4-21 Safe Brake Ramp without encoder (for SLS) Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 156 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Parameterization of the brake ramp p9581 (SI Motion braking ramp reference value) and p9583 (SI Motion brake ramp monitoring time) are used to set the gradient of the brake ramp. Parameter p9581 determine the reference speed and parameter p9583 define the ramp-down time.
Page 157: Safe Actual Value Acquisition
The following encoder systems can in principle be used for safety-relevant speed/position acquisition: ● Single-encoder systems ● 2-encoder systems Note Rules for connecting an encoder Note when connecting an encoder the valid rules: See SINAMICS S120 Drive Functions Function Manual. Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 158 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Single-encoder system In a single-encoder system, only the motor encoder is used to safely acquire the drive actual values. This motor encoder must be appropriately suitable (see encoder types). The actual values are generated in a safety-relevant fashion either directly in the encoder or in the Sensor Module and are transferred to the Control Unit via DRIVE-CLiQ.
Page 159 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Special feature in the case of linear motors The motor encoder (linear scale) of linear motors also acts as load measuring system. Only one measuring system is required for this reason. The system is connected by means of a Sensor Module or directly via DRIVE-CLiQ.
Page 160 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Figure 4-24 Example of a 2-encoder system on a rotary axis When parameterizing a 2-encoder system with Safety Integrated, you must align parameters p9315 to p9329 with parameters r0401 to r0474. Note Assignment of the encoder parameters Parameters p95xx are assigned to the 1st encoder;...
Page 161 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Table 4- 3 Encoder parameters and corresponding safety parameters for 2-encoder systems Safety parameters Designation Encoder parameters p9315/p9515 SI Motion coarse position value configuration p9315.0/p9515.0 Up-counter r0474[x].0 p9315.1/p9515.1 Encoder CRC, least significant byte first r0474[x].1 p9315.2/p9515.2 Redundant coarse position value, most significant bit left-...
Page 162 U310-2, CUA32, SINAMICS HLA or SINAMICS S120 Combi. – An HTL/TTL encoder connected to the onboard interface of CU310-2, CUA32, SINAMICS HLA or SINAMICS S120 Combi must not be operated as first encoder. – Note the lowest possible velocity resolution (r9732[1]) for an HTL/TTL encoder system.
Page 163 Information on the internal realization of the encoder must come from the encoder manufacturer. The FMEA must be created by the machine manufacturer. Siemens motors with and without DRIVE-CLiQ connection, which can be used for Safety Integrated functions, are listed under: Siemens motors for Safety Integrated (https://support.industry.siemens.com/cs/ww/en/view/33512621)
Page 164 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Actual value synchronization This deviation cannot be larger than the position difference that can arise at maximum slip (p9549) during a cross-check cycle (r9724). Figure 4-25 Example diagram of actual value synchronization The mean value of the actual values of both channels is calculated cyclically after actual value synchronization (p9501.3 = 1) has been activated, for example, for systems or machines with slip.
Page 165 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Safe motion monitoring The properties of the actual value acquisition determine not only the encoders used, but also the values for safe motion monitoring that can be achieved in the best case. ●...
Page 166 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Overview of important parameters (see SINAMICS S120/S150 List Manual) SI Motion enable safety-related functions Enable actual value synchroni- • p9501.3 zation SI Motion axis type (Control Unit) • p9502 SI Motion actual value acquisition clock (Control Unit) •...
Page 167: Notes Regarding Setting Parameters For Safe Actual Value Sensing Without Encoder
Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions 4.2.15.2 Notes regarding setting parameters for safe actual value sensing without encoder Parameters p9585, p9586, p9588 and p9589 are available to guarantee safe motion monitoring for Safety Extended Functions without encoder depending on the situation in your specific application.
Page 168 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions ● Using parameter Fault tolerance actual value acquisition encoderless (p9585), you can set the tolerance of the plausibility monitoring of current and voltage angle. – For synchronous motors, p9585 = 4 must be parameterized. –...
Page 169 = 375 µs, 312.5 µs, 218.75 µs, 200 µs, 187.5 µs, 175 µs, 156.25 µs, 150 µs or 137.5 µs Overview of important parameters (see SINAMICS S120/S150 List Manual) SI Motion actual value acquisition without encoder fault tolerance (CU) •...
Page 170: Safe Gearbox Stage Switchover
Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions 4.2.16 Safe gearbox stage switchover "Safe gearbox switchover" allows you to switch between 8 gearbox ratios in operation. Switchover between gearbox ratios is only possible via PROFIsafe (p9601.3 = 1). Parameterization Before you can use "Safe gearbox switchover", you must parameterize the following values: ●...
Page 171 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Gearbox switchover without increased position tolerance In order to switch over the gearbox stage, where no increased tolerance is required for the crosswise comparison of the actual positions, proceed as follows: 1.
Page 172 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Gearbox switchover with increased position tolerance In order to switch over the gearbox stage, where increased tolerance is required for the crosswise comparison of the actual positions, proceed as follows: Note Maximum duration of the increased position tolerance It is not permissible that the increased position tolerance is set for longer than 2 min.
Page 173 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Figure 4-27 Gearbox switchover with increased position tolerance Diagnostics The selected gearbox stage is displayed for diagnostic purposes in parameter r9720, bits 24 to 26. The selected gearbox stage is displayed for diagnostic purposes in parameter r9720, bit 27. "Safe gearbox switchover"...
Page 174: Forced Checking Procedure (Test Stop)
Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Overview of important parameters (see SINAMICS S120/S150 List Manual) SI Motion enable safety functions (Control Unit): Enable reliable gearbox • p9501.26 switchover SI Motion gearbox encoder (motor)/load denominator (Control Unit) •...
Page 175 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Executing a forced checking procedure (test stop) Forced checking procedure (test stop) can be executed at the following points in time: 1. Forced checking procedure (test stop) can be initiated application-specifically and can therefore be executed at a time that suits application requirements.
Page 176 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Safety devices When the appropriate safety devices are implemented (e.g. protective doors), it can be assumed that running machinery will not pose any risk to personnel. The user is therefore only informed that the forced checking procedure (test stop) is due in the form of an alarm, which requests the user to perform forced checking procedure (test stop) at the next possible opportunity.
Page 177 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions Figure 4-28 Connection example for TM54F Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 178 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions The F-DIs must be registered for the test stop using p10041. Note F-DI not operational during the test The F-DI states are frozen for the duration of the test! • Ensure that the states of the F-DIs are not evaluated during the test. The associated F-DOs must be registered for the test stop using p10046.
Page 179 Description of Safety Integrated functions 4.2 Safety Integrated Extended Functions ● Forced checking procedure (test stop) can be automatically executed at POWER ON. – If an automatic test stop of F-DI and F-DO of the TM54F is to be executed, then set p10048 = 1.
Page 180: Safety Integrated Advanced Functions
● A trial license is available for test purposes; this allows you to use Safety Integrated functions for a specific time without having a valid license. Details on the trial license can be found in the "SINAMICS S120 Function Manual Drive Functions", Chapter "Licensing".
Page 181 Description of Safety Integrated functions 4.3 Safety Integrated Advanced Functions Preconditions For the Safely-Limited Position function, the following requirements must be met: ● The use of one or two suitable encoders for the extended safety functions with encoder (see also Section "Notes regarding safe actual value sensing using an encoder system (Page 155)").
Page 182 Description of Safety Integrated functions 4.3 Safety Integrated Advanced Functions Control and status signals from the SLP Selecting SLP and switching over between the position ranges is realized via an F-DI or a PROFIsafe control bit. SLP selection can be checked using parameter r9720.6. The selected position range can be checked using parameter r9720.19.
Page 183 Description of Safety Integrated functions 4.3 Safety Integrated Advanced Functions Note Restrictions for PROFIsafe telegram 30 The use of PROFIsafe telegram 30 (with the 16-bit words S_STW1 and S_ZSW1) has the following restrictions: • Only position range 1 is available. •...
Page 184: Retraction
– Activate this program for retraction, for example, using an F-DI of the F-CPU Note FAQ retraction You will find a description of how retraction can be implemented via a fail-safe control and PROFIsafe communication in the Internet at: Retraction (https://support.industry.siemens.com/cs/ww/en/view/65128501) Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 185 Description of Safety Integrated functions 4.3 Safety Integrated Advanced Functions Control via F-DI (TM54F or onboard terminals) 1. Using parameters p10009, parameterize an F-DI, with which you can select/deselect the internal retract logic function. 2. Parameterize two F-DIs for the selection/deselection of the SDI positive and SDI negative functions in an independent acceptance test.
Page 186: Function Diagrams And Parameters
SI functions - CU310-2 safe state selection • 2876 SI functions, CU310-2 assignment (F-DO 0) • 2877 Overview of important parameters (see SINAMICS S120/S150 List Manual) SI Motion enable safety functions (Control Unit) • p9501 SI Motion SLP (SE) upper limit values (Control Unit) •...
Page 187: Transferring Safe Position Values (Sp)
Its use for safe position monitoring is only permissible if the reference to the absolute position was established at the controller level. In this case, the "safely referenced" bit of SINAMICS S120 (r9722.23) cannot be used. Enabling the "Transfer safe position values" function The following steps are required to enable the "Transfer safe position values"...
Page 188 Description of Safety Integrated functions 4.3 Safety Integrated Advanced Functions Principle of operation After parameter assignment, release and POWER ON, the function is automatically selected and the values transferred. Please observe the following: ● Transfer of safe absolute position values –...
Page 189 Description of Safety Integrated functions 4.3 Safety Integrated Advanced Functions the actual position value does not exceed the 16-bit format. If the actual position value exceeds the range that can be displayed with 16 bits (±32767), a STOP F is initiated and message C01711 is output with fault value 7001.
Page 190: Synchronous Transfer Of Safe Position Values
Description of Safety Integrated functions 4.3 Safety Integrated Advanced Functions 4.3.4.2 Synchronous transfer of safe position values For axes that have to transfer their position values synchronously due to their application, proceed as follows: Selection and enabling 1. For all axes that must transfer their position synchronously at the same time, parameterize the following: –...
Page 191: Function Diagrams And Parameters
Function diagrams (see SINAMICS S120/S150 List Manual) SI Motion drive-integrated control signals / status signals • 2840 Overview of important parameters (see SINAMICS S120/S150 List Manual) SI Motion enable safety functions (Control Unit) • p9501 SI Motion SP modulo value (Control Unit) •...
Page 192: Safe Referencing
Safety Integrated indicates the position of the drive in diagnostic parameters r9708 and r9713. Bit r9722.23 is set when the axis is safely referenced. Function diagrams (see SINAMICS S120/S150 List Manual) SI functions - safe referencing • 2821...
Page 193 Description of Safety Integrated functions 4.3 Safety Integrated Advanced Functions Referencing types SINAMICS distinguishes between 2 types of referencing: ● Initial referencing For initial safe referencing, or in the event of a fault during a subsequent referencing, the following steps are necessary: –...
Page 194: Safe Cam (Sca)
Description of Safety Integrated functions 4.3 Safety Integrated Advanced Functions Overview of important parameters (see SINAMICS S120/S150 List Manual) SI Motion reference position (Control Unit) • p9572 Accept SI Motion reference position (Control Unit) • p9573 SI Motion diagnostics safe position •...
Page 195 Description of Safety Integrated functions 4.3 Safety Integrated Advanced Functions 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] - p9537[x] ≥...
Page 196 SCA (Safe Cam) • 2826 S_ZSW_CAM1 Safety status word Safe Cam 1 • 2844 Overview of important parameters (see SINAMICS S120/S150 List Manual) SI Motion enable safety functions (Control Unit) • p9501 SI Motion SCA (SN) enable (Control Unit) • p9503 SI Motion SP modulo value (Control Unit) •...
Page 197: Forced Checking Procedure (Test Stop)
Description of Safety Integrated functions 4.3 Safety Integrated Advanced Functions 4.3.7 Forced checking procedure (test stop) Forced checking procedure (test stop) and function test The functions and switch-off signal paths must be tested at least once within a defined period to establish whether they are working properly in order to meet the requirements of EN ISO 13849-1 and IEC 61508 in terms of timely error detection.
Page 198 Description of Safety Integrated functions 4.3 Safety Integrated Advanced Functions Executing a forced checking procedure (test stop) Forced checking procedure (test stop) can be executed at the following points in time: 1. Forced checking procedure (test stop) can be initiated application-specifically and can therefore be executed at a time that suits application requirements.
Page 199 Description of Safety Integrated functions 4.3 Safety Integrated Advanced Functions Safety devices When the appropriate safety devices are implemented (e.g. protective doors), it can be assumed that running machinery will not pose any risk to personnel. The user is therefore only informed that the forced checking procedure (test stop) is due in the form of an alarm, which requests the user to perform forced checking procedure (test stop) at the next possible opportunity.
Page 200 Description of Safety Integrated functions 4.3 Safety Integrated Advanced Functions Figure 4-31 Connection example for TM54F Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 201 Description of Safety Integrated functions 4.3 Safety Integrated Advanced Functions The F-DIs must be registered for the test stop using p10041. Note F-DI not operational during the test The F-DI states are frozen for the duration of the test! • Ensure that the states of the F-DIs are not evaluated during the test. The associated F-DOs must be registered for the test stop using p10046.
Page 202 Description of Safety Integrated functions 4.3 Safety Integrated Advanced Functions ● Forced checking procedure (test stop) can be automatically executed at POWER ON. – If an automatic test stop of F-DI and F-DO of the TM54F is to be executed, then set p10048 = 1.
Page 203: Control Of The Safety Functions
The safety-oriented input and output terminals (F-DI and F-DO) act as an interface between the SINAMICS S120 Safety Integrated functionality and the process. A dual-channel signal applied to an F-DI (Fail-safe Digital Input, safety-oriented digital input = safe input terminal pair) controls the active monitoring of the activation/deactivation of safety functions.
Page 204: Control Signals By Way Of Terminals On The Control Unit And Motor / Power Module
Control of the safety functions 5.2 Control signals by way of terminals on the Control Unit and Motor / Power Module Control signals by way of terminals on the Control Unit and Motor / Power Module Features ● Only for the Basic Functions ●...
Page 205 5.2 Control signals by way of terminals on the Control Unit and Motor / Power Module Overview of the safety function terminals for SINAMICS S120 The different power unit formats of SINAMICS S120 have different terminal designations for the inputs of the safety functions. These are shown in the following table.
Page 206 Control of the safety functions 5.2 Control signals by way of terminals on the Control Unit and Motor / Power Module Description of the two-channel structure The functions are separately selected/deselected for each drive using two terminals. ● Switch-off signal path, Control Unit (CU310-2/CU320-2) The desired input terminal is selected via BICO interconnection (BI: p9620[0]).
Page 207 Control of the safety functions 5.2 Control signals by way of terminals on the Control Unit and Motor / Power Module Note Parameterization of the grouping The grouping must be configured (DI on Control Unit) and wired (EP terminals) identically in both monitoring channels.
Page 208: Simultaneity And Tolerance Time Of The Two Monitoring Channels
Control of the safety functions 5.2 Control signals by way of terminals on the Control Unit and Motor / Power Module 5.2.1 Simultaneity and tolerance time of the two monitoring channels The monitoring functions must be selected/deselected simultaneously in both monitoring channels via the input terminals and only have an effect on the associated drive.
Page 209 (p9650 and p9658). Otherwise, the drive will coast down after the time p9650 + p9658 has elapsed. Further notes for setting the discrepancy time (also see the following diagram "Discrepancy time") are provided in the "SINAMICS S120/S150 List Manual" for the following message: ● F01611 (Basic Functions) ● C01770 (Extended/Advanced Functions)
Page 210: Bit Pattern Test
Extended/Advanced Functions). To do this, a value must be entered in p9651 or p10017 that is greater than the duration of a test pulse. Overview of important parameters (see SINAMICS S120/S150 List Manual) SI STO/SBC/SS1 debounce time (Control Unit) •...
Page 211: Sto Via Terminals Of The Power Modules Blocksize (Cu310-2)
Voltage: 24 V DC (20.4 … 28.8 V) Current consumption: max. 1.0 A Ground Type: screw-type terminal 2 (see Manual SINAMICS S120 AC Drive, Section "Screw terminals") Max. connectable conductor cross-section: 2.5 mm Note Using the "STO" safety function via the Power Module terminals With enabled Safety Integrated functions of the CU310, a simultaneously active STO function via Power Module terminals results in fault messages being output.
Page 212 Note Diagnostics The state of the switch-off signal paths can be monitored using 2 digital outputs of the Control Unit. You can find additional information in the SINAMICS S120/S150 List Manual. Note Conformity with SIL3 To satisfy the requirements of SIL3, you must regularly check the STO functionality – as a minimum every 4 weeks.
Page 213: Activation Via Profisafe
Control of the safety functions 5.3 Activation via PROFIsafe Activation via PROFIsafe As an alternative to controlling Safety Integrated Functions via terminals, TM54F or on-board terminals on the CU310-2, they can also be controlled via PROFIsafe. For communication via PROFIBUS and PROFINET, use one of the following PROFIsafe telegrams: 30, 31, 901, 902 and 903 Control via PROFIsafe is available for both Safety Integrated Basic Functions, Safety Integrated Extended Functions and the Safety Integrated Advanced Functions.
Page 214: Enabling Of The Control Via Profisafe
Control of the safety functions 5.3 Activation via PROFIsafe 5.3.2 Enabling of the control via PROFIsafe For PROFIsafe communication, SINAMICS devices require a PROFIBUS or a PROFINET interface. Every drive with configured PROFIsafe in the drive unit represents a PROFIsafe slave (F slave or F device) with a fail-safe communication to the F host via PROFIBUS or PROFINET and is assigned its own PROFIsafe telegram.
Page 215: Selecting A Profisafe Telegram
Control of the safety functions 5.3 Activation via PROFIsafe Note Double Motor Module in the case of PROFIsafe and a sampling time of 62.5 µs In the case of a Double Motor Module, the converter issues message F01625 "Sign-of-life error in safety data" if you also select the following options: •...
Page 216 Control of the safety functions 5.3 Activation via PROFIsafe PROFIsafe configuration The PROFIsafe address is required for control of the safety functions via PROFIsafe. Note You can only change communication parameters in Startdrive in the setting dialog. 1. Click the icon "Telegram configuration"...
Page 217: Telegram Format
Control of the safety functions 5.3 Activation via PROFIsafe 5.3.4 Telegram format The PROFIsafe telegram received at the Control Unit is displayed in r9768, and the PROFIsafe telegram to be sent, in parameter r9769. Structure of telegram 30 Telegram 30 transfers safety control word 1 (S_STW1) and safety status word 1 (S_ZSW1) as user data.
Page 218 Telegram 902 can only be used, if the higher-level controller (F-host) can process 32-bit values. Note Telegram 902 for SIEMENS products STEP7 Safety in the TIA Portal can process this value. However, Distributed Safety in older STEP 7 version cannot do this.
Page 219: Process Data
Control of the safety functions 5.3 Activation via PROFIsafe 5.3.5 Process data 5.3.5.1 S_STW1 and S_ZSW1 (Basic Functions) Safety control word 1 (S_STW1) S_STW1, output signals see function chart [2806]. Table 5- 5 Description of safety-control word1 (S_STW1) Byte Meaning Remarks Deselect STO Select STO...
Page 220 Control of the safety functions 5.3 Activation via PROFIsafe Safety status word 1 (S_ZSW1) S_ZSW1, input signals see function diagram [2806]. Table 5- 6 Description of safety status word 1 (S_ZSW1) Byte Meaning Remarks STO active STO active STO not active SS1 active SS1 active SS1 not active...
Page 221: S_Stw2 And S_Zsw2 (Basic Functions)
Control of the safety functions 5.3 Activation via PROFIsafe 5.3.5.2 S_STW2 and S_ZSW2 (Basic Functions) Safety control word 2 (S_STW2) S_STW2, output signals see function diagram [2806]. Table 5- 7 Description of safety-control word 2 (S_STW2) Byte Meaning Remarks Deselect STO Select STO Deselect SS1 Select SS1...
Page 222 Control of the safety functions 5.3 Activation via PROFIsafe Safety status word 2 (S_ZSW2) S_ZSW2, input signals see function diagram [2806]. Table 5- 8 Description of safety status word 2 (S_ZSW2) Byte Meaning Remarks STO active STO active STO not active SS1 active SS1 active SS1 not active...
Page 223: S_Stw1 And S_Zsw1 (Extended/Advanced Functions)
Control of the safety functions 5.3 Activation via PROFIsafe 5.3.5.3 S_STW1 and S_ZSW1 (Extended/Advanced Functions) Safety control word 1 (S_STW1) S_STW1, output signals see function chart [2842]. Table 5- 9 Description of safety-control word1 (S_STW1) Byte Meaning Remarks Deselect STO Select STO Deselect SS1 Select SS1...
Page 224 Control of the safety functions 5.3 Activation via PROFIsafe Safety status word 1 (S_ZSW1) S_ZSW1, input signals see function diagram [2842]. Table 5- 10 Description of safety status word 1 (S_ZSW1) Byte Meaning Remarks STO active STO active STO not active SS1 active SS1 active SS1 not active...
Page 225: S_Stw2 And S_Zsw2 (Extended/Advanced Functions)
Control of the safety functions 5.3 Activation via PROFIsafe 5.3.5.4 S_STW2 and S_ZSW2 (Extended/Advanced Functions) Safety control word 2 (S_STW2) S_STW2, output signals see function diagram [2843]. Table 5- 11 Description of safety-control word 2 (S_STW2) Byte Meaning Remarks Deselect STO Select STO Deselect SS1 Select SS1...
Page 226 Control of the safety functions 5.3 Activation via PROFIsafe Byte Meaning Remarks Select gearbox stage, bit 0 – Select gearbox stage (3 bits) Select gearbox stage, bit 1 – Select gearbox stage, bit 2 – Gearbox stage switchover With increased position tolerance Without increased position tolerance SS2E Deselect SS2E...
Page 227 Control of the safety functions 5.3 Activation via PROFIsafe Byte Meaning Remarks SDI positive not active SDI negative active SDI negative active SDI negative not active Reserved – – SSM (speed) SSM (speed below limit value) SSM (speed higher than/equal to limit) 0 ...
Page 228: Additional Process Data
Control of the safety functions 5.3 Activation via PROFIsafe 5.3.5.5 Additional process data S_SLS_LIMIT_A ● PZD3 in telegrams 901, 902 and 903, output signals ● SLS limit value input ● Value range 1 ... 32767; 32767 ≙ 100% of the 1st SLS level S_SLS_LIMIT_A_ACTIVE ●...
Page 229 Control of the safety functions 5.3 Activation via PROFIsafe S_XIST32 ● PZD5 and PZD6 in telegram 902, input signals ● Current actual position value (32 bits) ● Value range ±737280000 ● Unit: 1 μm (linear axis), 0.001 ° (rotary axis) ●...
Page 230 Control of the safety functions 5.3 Activation via PROFIsafe Byte Meaning Remarks Position is not at cam 14 Position at cam 15 Position is at cam 15 Position is not at cam 15 Position at cam 16 Position is at cam 16 Position is not at cam 16 Position at cam 17 Position is at cam 17...
Page 231: Function Diagrams And Parameters
• 2840 SI functions, control via PROFIsafe (p9601.2 = p9601.3 = 1) • 2858 Overview of important parameters (see SINAMICS S120/S150 List Manual) SI Motion SLP (SE) stop response (Control Unit) • p9562[0...1] SI Motion SLS (SG)-specific stop response (Control Unit) •...
Page 232: Control Via Tm54F
Control of the safety functions 5.4 Control via TM54F Control via TM54F Note Commissioning TM54F • TM54F is not yet available in Startdrive. • You can find information on commissioning with STARTER in older editions of this manual. The TM54F is a terminal expansion module for snapping onto a DIN EN 60715 mounting rail: The TM54F features failsafe digital inputs and outputs for controlling and signaling the states of the Safety Integrated Basic, Extended and Advanced Functions.
Page 233: Assigning Safety Integrated Functions To The F-Di/Tm54F
Control of the safety functions 5.4 Control via TM54F Function diagrams (see SINAMICS S120/S150 List Manual) SI TM54F - overview • 2890 5.4.1 Assigning Safety Integrated Functions to the F-DI/TM54F The following table provides you with an overview of which Safety Integrated functions you can control with which F-DI/F-DO (onboard or TM54F).
Page 234: Overview Of The F-Dis
TM54F to the dynamic voltage supply L1+ and the digital inputs to F-DI 5 ... 9 to L2+. Additional information for the forced checking procedure (test stop) is provided in Chapter "Forced checking procedure (test stop) (Page 172)". Table 5- 16 Overview of the failsafe inputs in the SINAMICS S120/S150 List Manual: Module Function diagram Inputs...
Page 235 2 switching events (ON/OFF, OFF/ON) (see also the following diagram "Discrepancy time"). Further notes for setting the discrepancy time are contained in the "SINAMICS S120/S150 List Manual" for the following messages: •...
Page 236 SI TM54F - Failsafe digital inputs (F-DI 0 ... F-DI 4) • 2893 SI TM54F - Failsafe digital inputs (F-DI 5 ... F-DI 9) • 2894 Overview of important parameters (see SINAMICS S120/S150 List Manual) SI TM54F F-DI switchover discrepancy time • p10002 SI TM54F digital inputs debounce time •...
Page 237: Overview Of The F-Dos
The actuator connected to the F-DO can also be tested under specific conditions as part of forced checking procedure (test stop). See Section "Forced checking procedure (test stop) of the TM54F (Page 313)". Table 5- 17 Overview of the failsafe outputs in the SINAMICS S120/S150 List Manual: Module Function diagram Outputs...
Page 238 AND operation. The different signals selected via p10039 are logically OR'ed. Result of these logic operations is the "Safe State" for each drive group. You will find details in the SINAMICS S120/S150 List Manual in function diagrams 2901 (Basic Functions) and 2906 (Extended/Advanced Functions).
Page 239 Control of the safety functions 5.4 Control via TM54F Overview of important parameters (see SINAMICS S120/S150 List Manual) • p10039[0...3] SI TM54F Safe State signal selection • p10042[0...5] SI TM54F F-DO 0 signal sources • p10043[0...5] SI TM54F F-DO 1 signal sources •...
Page 240: Communication Failure Via Profisafe Or With Tm54F
Control of the safety functions 5.5 Communication failure via PROFIsafe or with TM54F Communication failure via PROFIsafe or with TM54F Factory setting for the response to communication failure In the following cases, the drive responds with a STOP A. ● PROFIsafe communication to the higher-level control has failed. ●...
Page 241: Initiating Esr For A Communication Failure
Control of the safety functions 5.5 Communication failure via PROFIsafe or with TM54F 5.5.2 Initiating ESR for a communication failure If, braking the axis along the braking ramp for a communication failure can result in subsequent damage, the braking operation can be delayed by a maximum of 800 ms. During this delay time, the converter can suitably stop the axis using the "Extended stop and retract (ESR)"...
Page 242 Control of the safety functions 5.5 Communication failure via PROFIsafe or with TM54F Drive response For a communication failure, the converter responds corresponding to the settings of the ESR function module. For communication failure, a maximum delay time of (p9580) 800 ms can be set. After this time has elapsed, the frequency converter activates the "Safe Torque Off"...
Page 243: Control Of The Extended/Advanced Functions Via F-Di (For Cu310-2)
Control of the safety functions 5.6 Control of the Extended/Advanced Functions via F-DI (for CU310-2) Control of the Extended/Advanced Functions via F-DI (for CU310-2) The following terminals are provided on the CU310-2: Table 5- 18 Interface overview of the CU310-2 Type Number Failsafe digital outputs (F-DO)
Page 244 The discrepancy time must be set so that it is always less than the smallest expected switching interval of the signal at this F-DI (see also the following diagram "Discrepancy time"). Further notes for setting the discrepancy time are contained in the "SINAMICS S120/S150 List Manual" for the following messages: • F01611 (Basic Functions) •...
Page 245: Assigning Safety Integrated Functions To The F-Di/Tm54F
Control of the safety functions 5.6 Control of the Extended/Advanced Functions via F-DI (for CU310-2) 5.6.1 Assigning Safety Integrated Functions to the F-DI/TM54F The following table provides you with an overview of which Safety Integrated functions you can control with which F-DI/F-DO (onboard or TM54F). Table 5- 19 Assigning Safety Integrated functions to F-DI/F-DO (onboard or TM54F) Safety function...
Page 246: Overview Of The F-Dis
The digital inputs of the CU310-2 cannot be dynamized by a test stop. Table 5- 20 Overview of the failsafe inputs in the SINAMICS S120/S150 List Manual: Module Function diagram...
Page 247 2 switching events (ON/OFF, OFF/ON). Further notes for setting the discrepancy time (also see the following diagram "Discrepancy time") are provided in the "SINAMICS S120/S150 List Manual" for the following message: – F01611 (Basic Functions) –...
Page 248: Function Of The F-Do
The actuator connected to the F-DO can also be tested under specific conditions as part of forced checking procedure (test stop). See Section "Forced checking procedure (test stop) of the CU310-2 (Page 306)". Table 5- 21 Overview of the failsafe outputs in the SINAMICS S120/S150 List Manual: Module Function diagram Outputs...
Page 249 The same signals (high-active) are logically AND'ed. The different signals selected via p10039 are logically OR'ed. Result of these logic operations is the "Safe State". Details can be found in function block diagram 2876, see SINAMICS S120/S150 List Manual. Safety Integrated...
Page 250 SI functions - CU310-2 safe state selection • 2876 SI functions, CU310-2 assignment (F-DO 0) • 2877 Overview of important parameters (see SINAMICS S120/S150 List Manual) SI Safe State signal selection (CPU 1) • p10039 • p10042[0...5] SI F-DO 0 signal sources CO/BO: SI Digital inputs status (CPU 1) •...
Page 251: Motion Monitoring Without Selection
Control of the safety functions 5.7 Motion monitoring without selection Motion monitoring without selection As an alternative to controlling via terminals and/or PROFIsafe, there is also the option to parameterize several Safety functions without selection. For this mode, after parameterization and a POWER ON, these functions are permanently selected. Example "SLS without selection"...
Page 252 PROFIsafe/terminals are described in the sections for commissioning the individual functions: ● "Safely-Limited Speed (SLS) (Page 112)" ● "Safe Direction (SDI) (Page 128)" Overview of important parameters (see SINAMICS S120/S150 List Manual) SI Motion enable safety functions (Control Unit) • p9501.0 Select SI Motion safety functions without selection (CU) •...
Page 253: Safety Info Channel And Safety Control Channel
Parameter PZD1 – S_ZSW1B r9734 PZD2 – S_V_LIMIT_B r9733[2] PZD3 – You can find further information on communication via PROFIdrive in the Manual "SINAMICS S120 Drive Functions Function Manual", Section "Communication according to PROFIdrive". Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 254 The send data S_ZSW2B and S_ZSW3B are only updated if the Safety Integrated Extended/Advanced Functions are enabled. You will find further information on communication via PROFIdrive in the Manual "SINAMICS S120 Drive Functions Function Manual," Chapter "Communication according to PROFIdrive." Safety Integrated...
Page 255: Configuring
Control of the safety functions 5.8 Safety Info Channel and Safety Control Channel 5.8.4 Configuring The following diagram shows the principle when configuring for telegrams 700 and 701: Figure 5-10 Telegram configuration procedure Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 256 Control of the safety functions 5.8 Safety Info Channel and Safety Control Channel ● Parameter p2070 is used to define at which location (after how many words) the SCC starts in receive words r2050/r2060. ● Parameter p2071 is used to define at which location (after how many words) the SIC starts in send words p2051/p2061.
Page 257: Applications
Control of the safety functions 5.8 Safety Info Channel and Safety Control Channel 5.8.5 Applications You can attach the telegrams 700 and 701 as an extension to your telegram. You can only select one of the two telegrams.To do this, proceed as follows: Application Action by the user Effect...
Page 258 Control of the safety functions 5.8 Safety Info Channel and Safety Control Channel Changing the standard Specify a new telegram; e.g. p0922 = r2050 and p2051 are deleted and re- • • telegram (without free assigned accordingly. telegram configuration) Select SIC/SCC; e.g. p60122 = 701 The telegram extension for SCC is added •...
Page 259: Send Data For Sic And Scc
Control of the safety functions 5.8 Safety Info Channel and Safety Control Channel 5.8.6 Send data for SIC and SCC S_ZSW1B SI Motion Safety Info Channel status word Table 5- 24 Description S_ZSW1B Meaning Remarks Parameter STO active STO active r9734.0 STO not active SS1 active...
Page 260 Control of the safety functions 5.8 Safety Info Channel and Safety Control Channel S_ZSW2B Safety Info Channel status word 2 Table 5- 25 Description of S_ZSW2B Meaning Remarks Parameter 0...3 Reserved – – – SLP selected position range SLP area 2 selected r9743.4 SLP area 1 selected 5, 6...
Page 261 Control of the safety functions 5.8 Safety Info Channel and Safety Control Channel S_ZSW3B Safety Info Channel status word 3 Table 5- 26 Description of S_ZSW3B Meaning Remarks Parameter Brake test Brake test selected r10234.0 Brake test deselected Setpoint input, drive/external Setpoint specification for the drive r10234.1 Setpoint specification, external (controller)
Page 262: Receive Data For Scc
Control of the safety functions 5.8 Safety Info Channel and Safety Control Channel 5.8.7 Receive data for SCC S_STW1B Safety Control Channel control word 1 Table 5- 27 Description of S_STW1B Meaning Remarks Parameter 0...7 Reserved – – – Extended/Advanced Functions forced Extended/Advanced Functions forced checking r10251.8 checking procedure (test stop)
Page 263: Overview Of Important Parameters
Control of the safety functions 5.8 Safety Info Channel and Safety Control Channel 5.8.8 Overview of important parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) CO: SI Motion setpoint speed limit effective • r9733[0...2] CO/BO: SI Safety Info Channel status word S_ZSW1B •...
Page 264 Control of the safety functions 5.8 Safety Info Channel and Safety Control Channel Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 265: Commissioning
Commissioning Safety Integrated firmware versions Firmware versions for Safety Integrated The safety firmware installed on the Control Unit and the safety firmware installed on the Motor Module each have separate version IDs. The parameters listed below can be used to read the version IDs from the relevant hardware.
Page 266: Parameters, Checksum, Version
Commissioning 6.2 Parameters, checksum, version Parameters, checksum, version Properties of Safety Integrated parameters The following applies to Safety Integrated parameters: ● The safety parameters are kept separate for each monitoring channel. ● During startup, checksum calculations (Cyclic Redundancy Check, CRC) are performed on the safety parameter data and checked.
Page 267 During each ramp-up procedure, the actual checksum is calculated via the Safety parameters and then compared with the reference checksum. If the actual and reference checksums are different, fault F01650/F30650 or F01680/F30680 is output. Function diagrams (see SINAMICS S120/S150 List Manual) SI Extended/Advanced Functions - parameter manager • 2818 Safety Integrated...
Page 268: Handling The Safety Password
Commissioning 6.3 Handling the Safety password Handling the Safety password The safety password protects safety parameters against maloperation. Always assign a strong password, to enable protection. Note The safety password does not have the equivalent quality of a password (protection against unauthorized access, e.g.
Page 269 – Set the new password = 0. – Click "Change password" to accept the new password. – SINAMICS S120 responds with the message "Please change the password!" – Close the message. – In the "Change password" dialog box, then click the "Cancel" button.
Page 270 Commissioning 6.3 Handling the Safety password Function diagrams (see SINAMICS S120/S150 List Manual) SI Extended/Advanced Functions - parameter manager • 2818 Overview of important parameters (see SINAMICS S120/S150 List Manual) SI password input • p9761 SI password new • p9762 SI password acknowledgment •...
Page 271: Drive-Cliq Rules For Safety Integrated Functions
DRIVE-CLiQ rules apply as a basic principle. You will find these rules in Section "Rules for connection with DRIVE-CLiQ" in the following manual: References: SINAMICS S120 Drive Functions Function Manual This specification also lists the exceptions for Safety Integrated components depending on the firmware version.
Page 272 Commissioning 6.4 DRIVE-CLiQ rules for Safety Integrated Functions ● For "V/f control (vector control)", the following rules apply: Safety functionality Number of V/f axes Basic Functions Basic Functions via TM54F Extended/Advanced Functions via PROFIsafe Extended/Advanced Functions via TM54F Motion monitoring without selection The values specified in the table apply to Extended/Advanced Functions with and without encoder and also for group drives connected in parallel.
Page 273: Forced Dormant Error Detection (Test Stop)
Commissioning 6.5 Forced dormant error detection (test stop) Forced dormant error detection (test stop) To fulfill the requirements of standards DIN EN ISO 13849-1 and IEC 61508 regarding timely error detection, the converter must regularly test its safety-relevant circuits to ensure that they function correctly –...
Page 274 Commissioning 6.5 Forced dormant error detection (test stop) Executing the forced checking procedure (test stop) If the converter signals alarm A01699 or A01697, you must initiate the forced checking procedure (test stop) at the next opportunity. These alarms do not affect the operation of your machine. You should shut down the drive before performing the forced checking procedure (test stop).
Page 275 Commissioning 6.5 Forced dormant error detection (test stop) Examples for the instants in time that the forced checking procedure (test stop) is performed ● When the drives are at a standstill after the system has been switched on ● When the protective door is opened ●...
Page 276: Safety Integrated And Esr
Commissioning 6.6 Safety Integrated and ESR Safety Integrated and ESR The following table lists the options that SINAMICS Safety Integrated offers for ESR. There are 3 variants in which the converter triggers ESR: 1. STOP E Internal response to a limit value violation + SLS, SDI, SLP, SLA with subsequent response 2.
Page 277 Commissioning 6.6 Safety Integrated and ESR Variant Basic Functions Extended/Advanced Functions ESR via a STOP E: NOT POSSIBLE → SS1 immedi- STOP E (internal response to a limit value • • control sys- ately responds with STOP B violation + SLS, SDI, SLP, SLA with sub- tem ("exter- sequent response) nal"...
Page 278: Commissioning Safety Integrated Functions
Commissioning 6.7 Commissioning Safety Integrated functions Commissioning Safety Integrated functions 6.7.1 General information 1. In the Startdrive secondary navigation select " > Drive functions > Safety Integrated > Function selection". 2. To commission Safety Integrated Basic Functions, you can select the following settings in the "Function selection"...
Page 279 • The following applies to safety-related functions that have been enabled (p9501 > 0): The parameters are checked against their corresponding encoder parameters (e.g. p0410, p0474, ...). Further information can be found in the parameter descriptions in the SINAMICS S120/S150 List Manual. Safety Integrated...
Page 280: Prerequisites For Commissioning The Safety Integrated Functions
5. Subsequently carry out a "motor data identification" to determine the motor data and to improve the torque accuracy: Start with static measurements and then take rotating measurements. You will find details in the relevant chapters on "Motor data identification" in the "Function manual SINAMICS S120 drive functions." Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 281 • Use the extended ramp-function generator (with rounding) to set a more gentle ramp • Reduce the precontrol. • Change the values of parameters p9586, p9587, p9588, p9589 and p9783 (see the specifications in the SINAMICS S120/S150 List Manual). Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 282: Setting The Sampling Times
Commissioning 6.7 Commissioning Safety Integrated functions 6.7.4 Setting the sampling times Terminology The software functions installed in the system are executed cyclically at different sampling times (p0115, p0799, p4099). Safety functions are executed in the monitoring cycle (p9500) and the TM54F is executed with the sampling time displayed in r10015.
Page 283 – regardless of the PROFIBUS DP-/PN cycle clock). – Depending on the set sampling time of the current controller (p0115[0]), the maximum number of controllable drives will vary (see SINAMICS S120 Function Manual drive functions, Chapter "System control, sampling times, and DRIVE-CLiQ wiring").
Page 284: Commissioning: Basic Procedure
Commissioning 6.8 Commissioning: Basic procedure Commissioning: Basic procedure 6.8.1 Making basic settings 6.8.1.1 Starting the safety commissioning Requirement For safety reasons, you can only set the safety-relevant parameters of the 1st channel offline for Startdrive. To set the safety-relevant parameters of the 2nd channel, the drive must be online.
Page 285 Commissioning 6.8 Commissioning: Basic procedure Selecting the safety functionality Note You can select the safety functionality offline. The selection can be made online with active Safety commissioning (processing mode). 1. Select the required functionality in the first drop-down list: – No Safety Integrated Function –...
Page 286 Commissioning 6.8 Commissioning: Basic procedure Making the basic settings for the Safety Integrated Basic Functions 1. Select the setting "Basic Functions" in the first drop-down list: Figure 6-2 Basic Functions 2. Select one of the following settings in the "Control type" drop-down list: –...
Page 287 Commissioning 6.8 Commissioning: Basic procedure Making the basic settings for the Safety Integrated Extended/Advanced Functions 1. Select the setting "Extended/Advanced Functions" in the first drop-down list. Figure 6-3 Extended Functions 2. In the second drop-down list, select whether a safety-capable encoder is used: –...
Page 288: Accepting The Settings In The Drive
Commissioning 6.8 Commissioning: Basic procedure 6.8.1.3 Accepting the settings in the drive After you have parameterized all safety functions, the drive must accept the settings. Note To accept the settings in the drive, it must be online. 1. To accept the settings and deactivate the safety functions, click the icon in the toolbar.
Page 289 Commissioning 6.8 Commissioning: Basic procedure Procedure To change the safety password, proceed as follows: 1. Enter the current password at the top. Figure 6-4 Entering the password 2. Enter the new password at the bottom. 3. Enter the new password again at the bottom. 4.
Page 290: Basic Functions
Commissioning 6.8 Commissioning: Basic procedure 6.8.2 Basic Functions 6.8.2.1 Commissioning with Startdrive Configuring Safety Functions Proceed as follows to configure the Safety Integrated Functions STO, SS1 and SBC: 1. Call the "STO/SS1/SBC" safety functions. Figure 6-5 Safety Integrated Basic Functions STO, SS1 and SBC 2.
Page 291 Commissioning 6.8 Commissioning: Basic procedure 4. Call "STO/SS1/SBC" again. 5. To configure the "SS1" function, set the delay time until the start of "STO" in the "Safe stop 1 delay time" field. 6. Then connect the signal source r9773.1 for the "STO active in the drive" function. 7.
Page 292: Commissioning Via Direct Parameter Access
Commissioning 6.8 Commissioning: Basic procedure 6.8.2.2 Commissioning via direct parameter access To commission the Basic Functions "STO", "SBC" and "SS1" via terminals, proceed as follows: Table 6- 2 Commissioning the "STO", "SBC" and "SS1" Basic Functions Parameter Description/comments p0010 = 95 Setting Safety Integrated commissioning mode.
Page 293 Commissioning 6.8 Commissioning: Basic procedure Parameter Description/comments p9620 = "fast DI on Set terminals for "Safe Torque Off (STO)". CU" Wire terminal "EP" (enable pulses) on the Motor Module. Terminal "EP" Control Unit monitoring channel: • By appropriately interconnecting BI: p9620 for the individual drives, the following is possi- ble: –...
Page 294 Commissioning 6.8 Commissioning: Basic procedure Parameter Description/comments Setting a new Safety Integrated password. p9762 = "Value" Enter a new password. p9763 = "Value" Confirm the new password. The new password is not valid until it has been entered in p9762 and confirmed in p9763. •...
Page 295: Extended And Advanced Functions
Commissioning 6.8 Commissioning: Basic procedure 6.8.3 Extended and Advanced Functions The following is a description of how you commission the Safety Integrated Extended Functions in Startdrive, using SS1 as an example. The screen forms shown here are examples from the offline commissioning. To complete commissioning, you must subsequently establish an online connection between Startdrive and the drive.
Page 296 Commissioning 6.8 Commissioning: Basic procedure Configuring the motor deceleration with external stop WARNING Any axis motion is possible During the delay time (p9652), for "Safe Stop 1 (time-controlled) with external stop", any axis movements are possible. 1. Select the "[1] SS1E external stop" setting from the "Braking response" drop-down list. The screen form is structured accordingly.
Page 297: General Settings
Commissioning 6.8 Commissioning: Basic procedure 6.8.4 General settings 6.8.4.1 Parameterizing the actual value acquisition / mechanical system The actual value acquisition / mechanical system can only be parameterized for the Extended Functions. For parameterization of the actual value acquisition, only the parameters required for your configuration are offered: Para- Required for the configuration:...
Page 298 Commissioning 6.8 Commissioning: Basic procedure Para- Required for the configuration: meter - Encoder system - Motor type - Axis type ① ② ③ ④ ⑤ ⑥ ⑦ Pulse number p9518 – – This field shows the number of pulses of the encoder used. Fine resolution p9519 –...
Page 299 Commissioning 6.8 Commissioning: Basic procedure Para- Required for the configuration: meter - Encoder system - Motor type - Axis type ① ② ③ ④ ⑤ ⑥ ⑦ Leadscrew pitch p9520 – – – – – – Here, you set the transmission ratio between the encoder and load in mm (linear axis with rotary encoder) (only availa- ble for linear axis).
Page 300: Configuring The Control Of The Safety Functions
❒ "Drive axis > Parameter > Safety Integrated > Control" In the "Control" screen form, you can parameterize the settings of the SINAMICS S120 for the fail-safe inputs and outputs or the control via PROFIsafe. In this screen form, Startdrive shows only those parameters that you have to take into account for the selected control mode.
Page 301 Commissioning 6.8 Commissioning: Basic procedure F-DI configuration The signal states on the two terminals of an F-DI are then monitored whether they attain the same logical signal state within the discrepancy time. For example, the unavoidable delay caused by mechanical switching operation can be adapted via parameters.
Page 302: Forced Checking Procedure (Test Stop)
Commissioning 6.8 Commissioning: Basic procedure Note Unique PROFIsafe addresses You must ensure the unique assignment of the PROFIsafe address throughout the network and the CPU. • The fail-safe I/O of PROFIsafe address type 1 is addressed clearly by its fail-safe destination address.
Page 303 Commissioning 6.8 Commissioning: Basic procedure Test stop for Basic Functions Figure 6-10 Example: Basic Functions To parameterize the forced checking procedure (test stop) for the Basic Functions, proceed as follows: 1. Enter the interval for performing dynamization and testing the safety shutdown paths in the "Timer"...
Page 304 Commissioning 6.8 Commissioning: Basic procedure Extended/Advanced Functions test stop Note If the "Basic functions via onboard terminals" option is active for the Extended/Advanced Functions, you must make the test stop settings for the Basic Functions as well as for the Extended/Advanced Functions.
Page 305: Function Status Of The Safety Integrated Settings
Commissioning 6.8 Commissioning: Basic procedure Status display The following elements show the current status of the forced checking procedure: ● Time remaining: Shows the time remaining until the forced checking procedure and the test of the safety shutdown paths are performed (r9660 for the Basic Functions, r9765 for the Extended Functions).
Page 306 Commissioning 6.8 Commissioning: Basic procedure The status information is displayed on the right-hand side of the screen form for: ● Test stop required Indicates that a forced checking procedure (test stop) is required. – "Timer test stop" (p9659): Time interval for performing the forced checking procedure and testing the safety shutdown paths.
Page 307: Commissioning Cu310-2
Commissioning 6.9 Commissioning CU310-2 Commissioning CU310-2 6.9.1 Basic sequence of commissioning The following preconditions must be met to configure Safety Integrated on the CU310-2: ● Concluded initial commissioning of all drives ● Connect the sensors to the F-DIs and an actuator to the F-DO (if used) Configuration sequence 1.
Page 308: Forced Checking Procedure (Test Stop) Of The Cu310-2
Commissioning 6.9 Commissioning CU310-2 6.9.2 Forced checking procedure (test stop) of the CU310-2 Testing failsafe inputs and outputs Failsafe inputs and outputs must be tested for fail-safety at defined time intervals (forced checking procedure or test stop). For this purpose, the CU310-2 contains a function block that executes this forced checking procedure (test stop) for the failsafe output when selected via a BICO source.
Page 309 Commissioning 6.9 Commissioning CU310-2 While being executed, message A01772 (test stop failsafe output active) is displayed. The messages A01772 and A01774 only disappear again after the execution. If an error has been detected by the forced checking procedure (test stop), fault F01773 is output. Using the test sequence specified for each mode, you can see which error has occurred from the fault value of the test step.
Page 310: Test Mode 1: Evaluation Of Internal Diagnostic Signal (Passive Load)
Commissioning 6.9 Commissioning CU310-2 6.9.2.1 Test mode 1: Evaluation of internal diagnostic signal (passive load) Figure 6-13 F-DO circuit "Test mode 1: Evaluation of internal diagnostic signal (passive load)" Expected response, DIAG signal HIGH Test sequence for test mode 1 Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 311: Test Mode 2: Read Back F-Do In Di (Relay Circuit)
Commissioning 6.9 Commissioning CU310-2 6.9.2.2 Test mode 2: Read back F-DO in DI (relay circuit) Figure 6-14 F-DO circuit "Test mode 2: Read back F-DO in DI (relay circuit)" Expected response, DI signal HIGH HIGH Test sequence for test mode 2 Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 312: Test Mode 3: Read Back F-Do Into The Di (Actuator With Feedback Signal)
Commissioning 6.9 Commissioning CU310-2 6.9.2.3 Test mode 3: Read back F-DO into the DI (actuator with feedback signal) Figure 6-15 F-DO circuit "Test mode 3: Read back F-DO into the DI (actuator with feedback signal)" Expected response, DI signal HIGH HIGH HIGH HIGH...
Page 313: Test Stop Mode Parameters
Commissioning 6.9 Commissioning CU310-2 6.9.2.4 Test stop mode parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) SI Motion monitoring clock cycle (Control Unit) (Extended and Advanced • p9500 Functions) SI Motion wait time for test stop at DO •...
Page 314: Commissioning Tm54F
Commissioning 6.10 Commissioning TM54F 6.10 Commissioning TM54F 6.10.1 Basic sequence of commissioning The following conditions must be met before you can configure the TM54F: ● Initial commissioning of all drives has been completed. ● F-DIs and F-DOs of the TM54F that are to be used must be wired. Configuration sequence 1.
Page 315: Forced Checking Procedure (Test Stop) Of The Tm54F
Commissioning 6.10 Commissioning TM54F 6.10.2 Forced checking procedure (test stop) of the TM54F Testing failsafe inputs and outputs Failsafe inputs and outputs must be tested for fail-safety at defined time intervals (forced checking procedure (test stop)). The TM54F contains a function block that runs this forced checking procedure (test stop) in the following cases: ●...
Page 316 Commissioning 6.10 Commissioning TM54F 4. Use parameter p10041 to define which failsafe digital inputs are to be checked during the test. Inputs which do not have L1+ and L2+ power supplies may not be selected for the test. It is only possible to test the sensors connected to the F-DIs, if these are supplied from L1+ or L2+.
Page 317 Fail-safe inputs and outputs must be tested for fail safety in defined time intervals (test stop or forced dormant error detection). For this purpose, SINAMICS S120 contains a function block which carries out this forced dormant error detection when selected via a BICO source.
Page 318 Commissioning 6.10 Commissioning TM54F Carrying out a test stop Proceed as follows to parameterize the test stop: 1. Determine the appropriate test stop mode for the circuits used in your application (see diagrams in the following sections). 2. Set the test stop mode which is to be used via parameter p10047. 3.
Page 319: Test Mode 1: Evaluation Of Internal Diagnostic Signal (Passive Load)
Commissioning 6.10 Commissioning TM54F 6.10.2.1 Test mode 1: Evaluation of internal diagnostic signal (passive load) Figure 6-16 F-DO circuit "Test mode 1: Evaluation of internal diagnostic signal (passive load)" Comment F-DIs 0 ... 4 Check for 0 V F-DIs 5 ... 9 Check for 0 V Expected response, DIAG signal HIGH Test sequence for test mode 1...
Page 320: Test Mode 2: Read Back F-Do In Di (Relay Circuit)
Commissioning 6.10 Commissioning TM54F 6.10.2.2 Test mode 2: Read back F-DO in DI (relay circuit) Figure 6-17 F-DO circuit "Test mode 2: Read back F-DO in DI (relay circuit)" Comment F-DIs 0 ... 4 Check for 0 V F-DIs 5 ... 9 Check for 0 V Expected response, DI signal HIGH HIGH...
Page 321: Test Mode 3: Read Back F-Do Into The Di (Actuator With Feedback Signal)
Commissioning 6.10 Commissioning TM54F 6.10.2.3 Test mode 3: Read back F-DO into the DI (actuator with feedback signal) Figure 6-18 F-DO circuit "Test mode 3: Read back F-DO into the DI (actuator with feedback signal)" Comment F-DIs 0 ... 4 Check for 0 V F-DIs 5 ...
Page 322: Test Stop Mode Parameters
Function diagrams (see SINAMICS S120/S150 List Manual) SI TM54F - configuration, F-DI/F-DO Test • 2892 Overview of important parameters (see SINAMICS S120/S150 List Manual) SI TM54F sampling time • r10015 SI TM54F wait time for test stop at DO 0 ... DO 3 •...
Page 323: Profisafe Communication
Correct installation of the software • Hardware: A control with safety functions (in our example, SIMATIC F-CPU 317F-2) • SINAMICS S120 (in our example, a CU320-2) • Correct installation of the devices • When using a SIMATIC F-CPU As an alternative to Drive ES Basic, you can commission the communication using the GSD file.
Page 324: Profisafe Via Profinet
Commissioning 6.11 PROFIsafe communication 6.11.2 PROFIsafe via PROFINET An example of how you can control the Safety Integrated Functions of the SINAMICS S120 with SIMATIC S7-1500F via a PROFIsafe telegram can be found here (https://support.industry.siemens.com/cs/ww/en/view/109749224). 6.11.3 PROFIsafe configuration with Startdrive Activating PROFIsafe via the expert list In order to activate the Safety Integrated Functions via PROFIsafe you must set p9601.3 = 1...
Page 325: Selecting A Profisafe Telegram
Commissioning 6.11 PROFIsafe communication 6.11.3.1 Selecting a PROFIsafe telegram Proceed as follows to define the PROFIsafe telegram: 1. In parameter p60022 select the required telegram. 2. In parameter p9611, select the same telegram number. Note Compatibility mode If you set p9611 = 998 for p60022 = 0 (for instance, if you have upgraded the safety project to firmware V4.5), then the PROFIsafe telegram 30 is also set as for p60022 = 30 and p9611 = 30.
Page 326 Commissioning 6.11 PROFIsafe communication Note Unique PROFIsafe addresses You must ensure the unique assignment of the PROFIsafe address throughout the network and the CPU. • The failsafe I/O of PROFIsafe address type 1 is addressed clearly by its failsafe destination address. •...
Page 327: Modular Machine Concept Safety Integrated
● If a drive with enabled safety functions is copied offline, fault F01656 may be output when the project is downloaded. This behavior occurs whenever component numbers change during copying (e.g. different drive object number or hardware). In this case, please observe the procedure when fault F01656 occurs (see SINAMICS S120/S150 List Manual). Safety Integrated...
Page 328: Information Pertaining To Series Commissioning
Commissioning 6.13 Information pertaining to series commissioning 6.13 Information pertaining to series commissioning A commissioned project that has been uploaded to Startdrive can be transferred to another drive unit keeping the existing safety parameterization. 1. Load the Startdrive project into the drive unit. 2.
Page 329 Commissioning 6.13 Information pertaining to series commissioning Safety message for series commissioning under Safety Integrated Extended/Advanced Functions If third-party motors with absolute encoders are being used, a situation may arise where a Safety message prevents commissioning. One reason for this may be that a different serial number of the absolute encoder is saved on the memory card than that in the Control Unit which is to be commissioned.
Page 330: Application Examples
Commissioning 6.14 Application examples 6.14 Application examples You can find SINAMICS application examples on the Internet page "SINAMICS application examples". We can offer you efficient system strategies, especially as a result of the optimum interaction between SIMATIC control technology and SINAMICS drive systems. The application examples provide you with: ●...
Page 331 3. The first details of the required application description can then be displayed in a tooltip. To do this, click the appropriate entry in the result list. The required tooltip is then displayed in the Siemens Industry Online Support. Safety Integrated...
Page 332 Commissioning 6.14 Application examples Generally, you can download a detailed application description as PDF via the tooltip. Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 333: Acceptance Test
Acceptance test Note Responsibilities The machine manufacturer is responsible for carrying out and documenting the acceptance test: In Chapter "Acceptance test with Startdrive (Page 344)" you will find a suggestion for how to carry out and document the acceptance test for the individual safety functions. Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 334: General Information About The Acceptance Test
Acceptance test 7.1 General information about the acceptance test General information about the acceptance test Why is acceptance required? The EC Machinery Directive and DIN EN ISO 13849-1 stipulate: ● You must check safety-related functions and machine parts after commissioning. →...
Page 335 Acceptance test 7.1 General information about the acceptance test Requirements for the acceptance test ● The machine is properly wired. ● All safety equipment (such as protective door monitoring devices, light barriers, emergency limit switches) are connected and ready for operation. ●...
Page 336 Acceptance test 7.1 General information about the acceptance test Authorized persons Personnel from the machine manufacturer, who, on account of their technical qualifications and knowledge of the safety functions, are in a position to perform the acceptance test in the correct manner.
Page 337 Note PFH values The PFH values of the individual SINAMICS S120 safety components can be found at: PFH (https://support.industry.siemens.com/cs/ww/en/view/76254308) Note on the acceptance test mode The acceptance test mode can be activated for a definable period (p9558) by setting the appropriate parameters (p9570).
Page 338: Contents And Depth Of The Acceptance Test
Acceptance test 7.2 Contents and depth of the acceptance test Contents and depth of the acceptance test 7.2.1 Content of the complete acceptance test A) Documentation Documentation of the machine and of safety functions ● Machine description (with overview) ● Specification of the controller (if this exists) ●...
Page 339 Acceptance test 7.2 Contents and depth of the acceptance test ● Test of the SI function "Safe Direction" (SDI) – For this purpose, individual parameters can be traced/recorded. ● Test of the SI function "Safe Speed Monitor" (SSM) – For this purpose, individual parameters can be traced/recorded. ●...
Page 340: Content Of The Partial Acceptance Test
Acceptance test 7.2 Contents and depth of the acceptance test 7.2.2 Content of the partial acceptance test A) Documentation Documentation of the machine and of safety functions 1. Extending/changing the hardware data 2. Extending/changing the software data (specify version) 3. Extending/changing the function table: –...
Page 341 Acceptance test 7.2 Contents and depth of the acceptance test 9. Test of the SI function "Safely-Limited Position" (SLP) – For this purpose, individual parameters can be traced/recorded. 10.Testing the SI function "Safe Cam" (SCA) – For this purpose, individual parameters can be traced/recorded. 11.Testing the SI function "Safely-Limited Acceleration"...
Page 342 Acceptance test 7.2 Contents and depth of the acceptance test D) Functional testing of actual value acquisition 1. General testing of actual value acquisition – After exchanging the component, initial activation and brief operation in both directions. WARNING Axis movement during the acceptance test The operation causes the machine to move.
Page 343: Test Scope For Specific Measures
Acceptance test 7.2 Contents and depth of the acceptance test 7.2.3 Test scope for specific measures Scope of partial acceptance tests for specific measures The measures and points specified in the table refer to the information given in Section Content of the partial acceptance test (Page 338). Table 7- 1 Scope of partial acceptance tests for specific measures Measure...
Page 344: Relevant Checksums For The Acceptance
Acceptance test 7.2 Contents and depth of the acceptance test 7.2.4 Relevant checksums for the acceptance Checksums of the safety functions The following checksums are available for every drive with activated safety functions. Safety func- Checksum Reason for changing the checksum tion/parameters Basic Functions p9799...
Page 345 Acceptance test 7.2 Contents and depth of the acceptance test Figure 7-1 Parameters for the functional reference checksums of SINAMICS components Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 346: Acceptance Test With Startdrive
Acceptance test 7.3 Acceptance test with Startdrive Acceptance test with Startdrive 7.3.1 Notes Note Conditions for the acceptance test As far as possible, the acceptance tests are to be carried out at the maximum possible machine speed and acceleration rates to determine the maximum braking distances and braking times that can be expected.
Page 347: Preparing The Acceptance Test
Acceptance test 7.3 Acceptance test with Startdrive 7.3.2 Preparing the acceptance test Establishing an overview of all drives 1. Click "Acceptance test" in the project tree. 2. Select the "Overview" screen form in the secondary navigation. 3. Click "Determine" to determine all drives with Safety Integrated Functions in your Startdrive project.
Page 348: Performing The Acceptance Test (Example)
Acceptance test 7.3 Acceptance test with Startdrive Resetting test results 1. Click the "Reset test results" button to delete all the results of the tests previously performed for this drive. This restores the initial state from which you can perform the acceptance tests again. 7.3.3 Performing the acceptance test (example) Description...
Page 349 Acceptance test 7.3 Acceptance test with Startdrive 3. You can change the trace settings for this test or use the preassignment. The preassignment is adequate for most applications. A change permits adaptation to the mechanical conditions of the machine, e.g. when the axis mechanical system exhibits a very high moment of inertia so that longer ramp-up times for accelerating and braking are required.
Page 350: Completing The Acceptance Test With Report
Acceptance test 7.3 Acceptance test with Startdrive 7.3.4 Completing the acceptance test with report Description The acceptance report can be created at any time, for example, even when individual tests have not yet been performed or completed with faults. This allows the intermediate states also to be documented.
Page 351: Transferring Acceptance Test Results
Acceptance test 7.3 Acceptance test with Startdrive Result The acceptance report is created as a table in "xlsx" format and can thus be opened in Microsoft Excel and other spreadsheet programs (e.g. LibreOffice). The report comprises several individual tables. These include: ●...
Page 352: Safety Logbook
Acceptance test 7.4 Safety logbook Safety logbook The "Safety Logbook" function is used to detect changes to safety parameters that affect the associated CRC sums. CRCs are only generated when p9601 (SI enable, functions integrated in the drive CU/Motor Module) is > 0. Data changes are detected when the CRCs of the SI parameters change.
Page 353: System Features
• You should subscribe to and carefully read the corresponding newsletter in order to obtain the latest information and to allow you to modify your equipment accordingly. To subscribe to the newsletter, please proceed as follows: 1. Go to the following Siemens internet site in your browser: Siemens Drives (https://www.industry.siemens.com/newsletter/public/AllNewsletters.aspx) 2.
Page 354 System features 8.1 Latest information 6. Open the topic "Products and solutions". You will now be shown which newsletter is available for this particular subject area or topic. You can subscribe to the appropriate newsletter by clicking on the "Subscribe" entry.
Page 355: Certification
● Safety integrity level 2 (SIL 2) according to IEC 61508 and EN 61800-5-2 In addition, most of the safety functions of the SINAMICS S have been certified by independent institutes. An up-to-date list of certified components is available on request from your local Siemens office. Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 356: Probability Of Failure Of The Safety Functions (Pfh Value)
(number of drives, control type, number of encoders used). The various integrated safety functions are not differentiated. ● The PFH values of the individual SINAMICS S120 safety components can be found at: PFH values (https://support.industry.siemens.com/cs/ww/en/view/76254308) ● The PFH values of all safety components from Siemens are available in the "Safety Evaluation Tool";...
Page 357: Response Times
System features 8.4 Response times Response times The Safety Integrated 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 Actual value of the monitoring cycle (r9780) You can only see the actual value of the monitoring cycle (r9780) if you are connected...
Page 358: Control Of Basic Functions Via Terminals On The Control Unit And Motor Module (Cu310-2 And Cu320-2)
System features 8.4 Response times 8.4.1 Control of Basic Functions via terminals on the Control Unit and Motor Module (CU310-2 and CU320-2) The following table lists the response times from the control via terminals until the response actually occurs. Table 8- 1 Response times for control via terminals on the Control Unit and the Motor Module.
Page 359: Control Of Basic Functions Via Profisafe (Cu310-2 And Cu320-2)
System features 8.4 Response times 8.4.2 Control of Basic Functions via PROFIsafe (CU310-2 and CU320-2) The following table lists the response times from receiving the PROFIsafe telegram at the Control Unit up to initiating the particular response. Note Internal SINAMICS response times The specified response times are internal SINAMICS response times.
Page 360: Control Of Basic Functions Via Tm54F
System features 8.4 Response times 8.4.3 Control of Basic Functions via TM54F The following table lists the response times from the control via TM54F until the response actually occurs. Table 8- 3 Response times for control via TM54F Function Worst case for Drive system has no fault A fault is present 3 ·...
Page 361: Control Of Extended Functions With Encoder Via Profisafe (Cu310-2 And Cu320-2)
System features 8.4 Response times 8.4.4 Control of Extended Functions with encoder via PROFIsafe (CU310-2 and CU320-2) The following table lists the response times from receiving the PROFIsafe telegram at the 1)2) Control Unit up to initiating the particular response. Table 8- 4 Response times when controlling via PROFIsafe Function...
Page 362 System features 8.4 Response times t_K is the time for internal communication within the SINAMICS module; t_K can be determined as follows: For isochronous communication t_K = To (for To, see parameter r2064[4]) For non-isochronous t_K = 4 ms communication (for modules, on which p2048 or p8848 does not exist) t_K = value from p2048 or p8848...
Page 363: Control Of Extended Functions With Encoder Via Tm54F (Cu310-2 And Cu320-2)
System features 8.4 Response times 8.4.5 Control of Extended Functions with encoder via TM54F (CU310-2 and CU320-2) The table below shows the response times from the occurrence of a signal at the terminals until the response is initiated. Table 8- 5 Response times for control via TM54F Function Worst case for...
Page 364: Control Of Extended Functions With Encoder Via Terminals (Only Cu310-2)
System features 8.4 Response times 8.4.6 Control of Extended Functions with encoder via terminals (only CU310-2) The table below shows the response times from the occurrence of a signal at the terminals until the response is initiated. Table 8- 6 Response times when controlling the Extended Functions with encoder via safe onboard terminals (only CU310-2) Function...
Page 365: Control Of Extended Functions Without Encoder Via Profisafe (Cu310-2 And Cu320-2)
System features 8.4 Response times 8.4.7 Control of Extended Functions without encoder via PROFIsafe (CU310-2 and CU320-2) The following table lists the response times from receiving the PROFIsafe telegram at the 1)2) Control Unit up to initiating the particular response. Table 8- 7 Response times when controlling via PROFIsafe Function...
Page 366 System features 8.4 Response times p2048 applies to communication via IF1, p8848 to communication via IF2. SSM: The data corresponds to the times between the limit value being undershot up to sending the information via PROFIsafe. SP: The data corresponds to the times between acquisition of the safe position and transfer of the safe position via PROFIsafe.
Page 367: Control Of Extended Functions Without Encoder Via Terminals (Only Cu310-2)
System features 8.4 Response times 8.4.8 Control of Extended Functions without encoder via terminals (only CU310-2) The table below shows the response times from the occurrence of a signal at the terminals until the response is initiated. CAUTION Extension of the response times for SLS without encoder or SDI without encoder under certain circumstances If the safety functions SLS without encoder or SDI without encoder are already selected when the gating pulses for the Power Module are enabled, then during the starting phase, it...
Page 368: Control Of Extended Functions Without Encoder Via Tm54F (Cu310-2 And Cu320-2)
System features 8.4 Response times 8.4.9 Control of Extended Functions without encoder via TM54F (CU310-2 and CU320-2) The table below shows the response times from the occurrence of a signal at the terminals until the response is initiated. CAUTION Extension of the response times for SLS without encoder or SDI without encoder under certain circumstances If the safety functions SLS without encoder or SDI without encoder are already selected when the gating pulses for the Power Module are enabled, then during the starting phase, it...
Page 369: Control Of Advanced Functions With Encoder Via Profisafe (Cu310-2 And Cu320-2)
System features 8.4 Response times 8.4.10 Control of Advanced Functions with encoder via PROFIsafe (CU310-2 and CU320-2) The following table lists the response times from receiving the PROFIsafe telegram at the Control Unit up to initiating the particular response. Table 8- 10 Response times when controlling via PROFIsafe Function Worst case for...
Page 370: Control Of Advanced Functions With Encoder Via Tm54F (Cu310-2 And Cu320-2)
System features 8.4 Response times 8.4.11 Control of Advanced Functions with encoder via TM54F (CU310-2 and CU320-2) The table below shows the response times after the appearance of a signal at the terminals. Table 8- 11 Response times for control via TM54F Function Worst case for Drive system has no fault...
Page 371: Control Of Advanced Functions With Encoder Via Terminals (Only Cu310-2)
System features 8.4 Response times 8.4.12 Control of Advanced Functions with encoder via terminals (only CU310-2) The table below shows the response times after the appearance of a signal at the terminals. Table 8- 12 Response times when controlling the Advanced Functions with encoder via safe onboard terminals (only CU310-2) Function Worst case for...
Page 372: Advanced Functions Without Encoder Via Profisafe (Cu310-2 And Cu320-2)
System features 8.4 Response times 8.4.13 Advanced Functions without encoder via PROFIsafe (CU310-2 and CU320-2) The following table lists the response times from receiving the PROFIsafe telegram at the Control Unit up to initiating the particular response. Table 8- 13 Response times when controlling via PROFIsafe Function Worst case for...
Page 373: Maintenance
Maintenance Information pertaining to component replacements Replacing a component from the perspective of Safety Integrated Note Note additional safety instructions Observe the instructions with regard to changing or replacing software components in Section "Safety instructions (Page 20)"! The faulty component was replaced according to safety regulations. The information relevant from the perspective of Safety Integrated is provided in the following.
Page 374 Maintenance 9.1 Information pertaining to component replacements Replaced Control type Drive re- User action Diagnostic component sponse parameters Fault ac- Acknowledg- Save (fault) knowledgment ment is re- required quired that the component has been replaced Extend- Control Unit F01641.0 = r9776.2 = 1 ed/Advanc ed Func-...
Page 375 • After component replacement, always run a simplified function test. You can find more detailed information in the chapters "Test scope for specific measures (Page 341)" and "Acceptance test (Page 331)". Overview of important parameters (see SINAMICS S120/S150 List Manual) SI module identification Control Unit • r9670 SI module identification Motor Module •...
Page 376: Note Regarding Firmware Update
Maintenance 9.2 Note regarding firmware update Note regarding firmware update WARNING Firmware update without POWER ON and acceptance test If the message A01007 "POWER ON required for DRIVE-CLiQ component" appears after a firmware update, death or serious injury can be caused if a person enters the danger zone of the motors.
Page 377: Safety Faults
Maintenance 9.3 Safety faults Safety faults 9.3.1 Stop responses Faults with Safety Integrated Extended/Advanced Functions and violation of limits can initiate the following stop responses: Table 9- 1 Overview of stop responses Stop response Triggered ... Action Effect STOP A Immediate pulse suppression Drive coasts down For all acknowledgeable...
Page 378 Maintenance 9.3 Safety faults Stop response Triggered ... Action Effect STOP D Timer t starts. The drive must be decelerated by Configurable subsequent • the higher-level controller (within the stop p9563 for SLS No drive-integrated response. drive group)! SOS is activated on expiration Configurable subsequent •...
Page 379 Maintenance 9.3 Safety faults Note Delayed pulse cancellation when the bus fails For SLP, SLS, SDI and SLA the stop responses are also available with delayed pulse suppression when the bus fails (to prevent the drive from immediately responding with pulse suppression when a communication error occurs): •...
Page 380 Maintenance 9.3 Safety faults Description of faults and alarms Note References The faults and alarms for SINAMICS Safety Integrated are described in the following documentation: References: SINAMICS S120/S150 List Manual Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 381: Stop Response Priorities
Maintenance 9.3 Safety faults 9.3.2 Stop response priorities Table 9- 2 Stop response priorities Priority classes Stop response Highest priority STOP A ..STOP B STOP C STOP D STOP E Lowest priority STOP F Priorities of stop responses and Extended Functions Table 9- 3 Priorities of stop responses and Extended Functions Highest priori-...
Page 382 Maintenance 9.3 Safety faults If a field contains two entries, the stop responses and safety functions have the same priority. Explanation: ● STOP A corresponds to selecting STO ● STOP B corresponds to selecting SS1 ● STOP C corresponds to selecting SS2 ●...
Page 383: Acknowledging Safety Faults
Maintenance 9.3 Safety faults 9.3.3 Acknowledging safety faults Note Acknowledgment through Power Off/On Safety faults can also be acknowledged (as with all other faults) by switching the drive unit off and then on again (POWER ON). If this action has not removed the fault cause, the fault is displayed again immediately after ramp-up.
Page 384: Message Buffer
C... safety messages is available for Safety Integrated Extended/Advanced Functions. The fault messages for the Safety Integrated Basic Functions are stored in the standard fault buffer (see chapter "Buffer for faults and alarms" in the SINAMICS S120 Commissioning Manual). Note...
Page 385 The message buffer can be deleted as follows: p9752 = 0. Parameter p9752 (SI message cases, counter) is also reset to 0 at POWER ON. This also clears the fault memory. Overview of important parameters (see SINAMICS S120/S150 List Manual) CO/BO: Status word, faults/alarms 1 •...
Page 386 Maintenance 9.4 Message buffer Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 387: Standards And Regulations
Standards and regulations 10.1 General information 10.1.1 Aims Manufacturers and operating companies of equipment, machines, and products are responsible for ensuring the required level of safety. This means that plants, machines, and other equipment must be designed to be as safe as possible in accordance with the current state of the art.
Page 388: Functional Safety
Standards and regulations 10.1 General information 10.1.2 Functional safety Safety, from the perspective of the object to be protected, cannot be split-up. The causes of hazards and, in turn, the technical measures to avoid them can vary significantly. This is why a differentiation is made between different types of safety (e.g.
Page 389: Safety Of Machinery In Europe
Standards and regulations 10.2 Safety of machinery in Europe 10.2 Safety of machinery in Europe The EU Directives that apply to the implementation of products are based on Article 95 of the EU contract, which regulates the free exchange of goods. These are based on a new global concept ("new approach", "global approach"): ●...
Page 390: Harmonized European Standards
Standards and regulations 10.2 Safety of machinery in Europe 10.2.2 Harmonized European Standards The two Standards Organizations CEN (Comité Européen de Normalisation) and CENELEC (Comité Européen de Normalisation Électrotechnique), mandated by the EU Commission, drew-up harmonized European standards in order to precisely specify the requirements of the EC directives for a specific product.
Page 391 Standards and regulations 10.2 Safety of machinery in Europe Type C standards/product standards C standards are product-specific standards (e.g. for machine tools, woodworking machines, elevators, packaging machines, printing machines etc.). Product standards cover machine- specific requirements. The requirements can, under certain circumstances, deviate from the basic and group standards.
Page 392: Standards For Implementing Safety-Related Controllers
Standards and regulations 10.2 Safety of machinery in Europe 10.2.3 Standards for implementing safety-related controllers If the functional safety of a machine depends on various control functions, the controller must be implemented in such a way that the probability of safety functions failing in a dangerous fashion is sufficiently minimized.
Page 393 Standards and regulations 10.2 Safety of machinery in Europe Systems for executing safety-related control EN ISO 13849-1 EN 62061 functions Non-electrical (e.g. hydraulic, pneumatic) Not covered Electromechanical (e.g. relay and/or basic Restricted to the designated All architectures and max. up to electronics) architectures (see comment 1) SIL 3...
Page 394: Din En Iso 13849-1
Standards and regulations 10.2 Safety of machinery in Europe 10.2.4 DIN EN ISO 13849-1 A qualitative analysis according to DIN EN 13849-1 is not sufficient for modern control systems due to their technology. Among other things, DIN EN ISO 13849-1 does not take into account time behavior (e.g.
Page 395 Standards and regulations 10.2 Safety of machinery in Europe 10.2.5 EN 62061 EN 62061 (this is identical to IEC 62061) is a sector-specific standard below IEC/EN 61508. It describes the implementation of safety-related electrical control systems of machines and takes into account the complete lifecycle - from the conceptual phase to de-commissioning. The standard is based on the quantitative and qualitative analyses of safety functions, whereby it systematically applies a top-down approach to implementing complex control systems (known as "functional decomposition").
Page 396: Series Of Standards Iec 61508 (Vde 0803)
Standards and regulations 10.2 Safety of machinery in Europe The PFH value of the safety-related controller is determined by adding the individual PFH values for subsystems. The user has the following options when setting up a safety-related controller: ● Use devices and sub-systems that already comply with EN ISO 13849-1, IEC/EN 61508, or IEC/EN 62061.
Page 397: Risk Analysis/Assessment
Standards and regulations 10.2 Safety of machinery in Europe safety functions and/or to ensure the appropriate level of functional safety. Other hazards (e.g. electric shock) are not part of the standard, similar to DIN ISO 13849. IEC 61508 has recently been declared the "International Basic Safety Publication", which makes it a framework for other sector-specific standards (e.g.
Page 398 Standards and regulations 10.2 Safety of machinery in Europe Figure 10-2 Iterative process for achieving safety Risks must be reduced by designing and implementing the machine accordingly (e.g. by means of controllers or protective measures suitable for the safety-related functions). If the protective measures involve the use of interlocking or control functions, these must be designed according to EN ISO 13849-1.
Page 399: Risk Reduction
Residual risks must be clearly referred to in the machine/plant documentation (user information according to EN ISO 12100). 10.2.10 EC declaration of conformity The EC Declaration of Conformity for the product can be obtained from your local Siemens office or in the Internet at: EC declaration of conformity (https://support.industry.siemens.com/cs/ww/en/view/67385845)
Page 400: Machine Safety In The Usa
Standards and regulations 10.3 Machine safety in the USA 10.3 Machine safety in the USA A key difference between the USA and Europe in the legal requirements regarding safety at work is that, in the USA, no legislation exists regarding machinery safety that is applicable in all of the states and that defines the responsibility of the manufacturer/supplier.
Page 401: Nfpa 79
Standards and regulations 10.3 Machine safety in the USA 10.3.3 NFPA 79 Standard NFPA 79 (Electrical Standard for Industrial Machinery) applies to electrical equipment on industrial machines with rated voltages of less than 600 V. A group of machines that operate together in a coordinated fashion is also considered to be one machine.
Page 402: Machine Safety In Japan
Standards and regulations 10.4 Machine safety in Japan 10.4 Machine safety in Japan The situation in Japan is different from that in Europe and the US. Legislation such as that prescribed in Europe does not exist. Similarly, product liability does not play such an important role as it does in the US.
Page 403: Equipment Regulations
Standards and regulations 10.5 Equipment regulations 10.5 Equipment regulations In addition to the requirements of the guidelines and standards, company-specific requirements must be taken into account. Large corporations in particular (e.g. automobile manufacturers) make stringent demands regarding automation components, which are often listed in their own equipment specifications.
Page 404: Other Safety-Related Issues
Standards and regulations 10.6 Other safety-related issues 10.6 Other safety-related issues 10.6.1 Information sheets issued by the Employer's Liability Insurance Association Safety-related measures to be implemented cannot always be derived from directives, standards, or regulations. In this case, supplementary information and explanations are required.
Page 405: Appendix
Appendix Modules available in Startdrive A list of the hardware and functions of the SINAMICS S120, which are supported by Startdrive V15, are provided in the Service and Support Portal at the following link (https://support.industry.siemens.com/cs/ww/en/view/109761180). Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 406: List Of Abbreviations
Appendix A.2 List of abbreviations List of abbreviations Note The following list of abbreviations includes all abbreviations and their meanings used in the entire SINAMICS family of drives. Abbreviation Source of abbreviation Meaning A… Alarm Warning Alternating Current Alternating current Analog Digital Converter Analog digital converter Analog Input...
Page 407 Appendix A.2 List of abbreviations Abbreviation Source of abbreviation Meaning Compact Disc Compact disc Command Data Set Command data set CF Card CompactFlash Card CompactFlash card Connector Input Connector input Clearance Control Clearance control Computerized Numerical Control Computer-supported numerical control Connector Output Connector output CO/BO...
Page 408 Appendix A.2 List of abbreviations Abbreviation Source of abbreviation Meaning Doppelsubmodul Double submodule Digital Time Clock Timer EASC External Armature Short-Circuit External armature short-circuit Encoder Data Set Encoder data set EEPROM Electrically Erasable Programmable Read-Only Electrically Erasable Programmable Read-Only Memory Memory Elektrostatisch gefährdete Baugruppen Electrostatic sensitive devices...
Page 409 Appendix A.2 List of abbreviations Abbreviation Source of abbreviation Meaning Global Control Global control telegram (broadcast telegram) Ground Reference potential for all signal and operating voltages, usually defined as 0 V (also referred to as M) Gerätestammdatei Generic Station Description: Describes the fea- tures of a PROFIBUS slave Gate Supply Voltage Gate supply voltage...
Page 410 Appendix A.2 List of abbreviations Abbreviation Source of abbreviation Meaning KTY84-130 Temperature sensor Symbol for inductance Light Emitting Diode Light emitting diode Linearmotor Linear motor Lageregler Position controller Least Significant Bit Least significant bit Line-Side Converter Line-side converter Line-Side Switch Line-side switch Length Unit Length unit...
Page 411 Appendix A.2 List of abbreviations Abbreviation Source of abbreviation Meaning NVRAM Non-Volatile Random Access Memory Non-volatile read/write memory Open Architecture Software component which provides additional functions for the SINAMICS drive system OAIF Open Architecture Interface Version of the SINAMICS firmware as of which the OA application can be used OASP Open Architecture Support Package...
Page 412 Appendix A.2 List of abbreviations Abbreviation Source of abbreviation Meaning Point To Point Point-to-point Pulse Width Modulation Pulse width modulation Prozessdaten Process data r… Display parameters (read-only) Random Access Memory Memory for reading and writing RCCB Residual Current Circuit Breaker Residual current operated circuit breaker Residual Current Device Residual current device...
Page 413 Safe stop Safety Integrated Safety Integrated Safety Info Channel Safety Info Channel Safety Integrity Level Safety Integrity Level SITOP Siemens power supply system Safely-Limited Acceleration Safely limited acceleration Smart Line Module Smart Line Module Safely-Limited Position Safely Limited Position Safely-Limited Speed...
Page 414 Appendix A.2 List of abbreviations Abbreviation Source of abbreviation Meaning Technology Extension Software component which is installed as an addi- tional technology package and which expands the functionality of SINAMICS (previously OA applica- tion) Totally Integrated Automation Totally Integrated Automation Transport Layer Security Encryption protocol for secure data transfer (previ- ously SSL)
Page 415: Documentation Overview
Appendix A.3 Documentation overview Documentation overview Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 416: Change History
Acceptance test suggestions removed Former Chapter A.4 Note An overview of the availability of hardware components and software functions is provided in the appendix of the following literature: • SINAMICS S120 Function Manual Drive Functions Safety Integrated Function Manual, 12/2018, 6SL3097-5AR00-0BP1...
Page 417: Stop Versions
Appendix A.5 Stop versions Stop versions Safe stops are used to stop a drive and bring it to a standstill. The type of stop response that occurs in the event of faults/errors can either be permanently specified by the system or configured by the machine manufacturer.
Page 418 Appendix A.5 Stop versions STOP B The drive is braked at the current limit under speed control and brought to a safe standstill (SOS) (corresponds to a Stop Category 1 according to EN 60204-1, without electrical isolation). Application ● E.g. when SOS responds STOP C The drive is braked at the current limit under speed control and brought to a safe operating stop (corresponds to a Stop Category 2 according to EN 60204-1).
Page 419: Index
Extended, 381 Required measures, 371 Actual value acquisition, 155, 295 Configuration Actual value acquisition cycle clock Control, 298 S120M, 163 Copy, 325 SINAMICS S120, 281 Offline, 325 Actual value synchronization CPU time, 280 Encoder, 162 Deactivated drive, 280 Advanced Functions CU310-2...
Page 420 Index Initiated by the application, 88, 173, 177, 196, 200 Interval, 313 TM54F, 313 Switchover, 22 Function status Emergency Stop button, 41 Startdrive, 303 EN 61800-5-2, 40 Function test, 172, 195 Enabling PROFIsafe, 212 Encoder Actual value synchronization, 162 HTL/TTL, 160 Systems, 155 Group drives, 270 Types, 155...
Page 421 Index Password Basic Functions via terminals on the Control Unit Changing, 266 and the Motor Module, 356 PFH value, 354 Basic Functions via TM54F, 358 Position tolerance, 169 Extended Functions with encoder via PROFIsafe Increased, 169 (CU310-2 and CU320-2), 359 Preconditions Extended Functions with encoder via terminals Advanced Functions, 90, 178...
Page 422 Index Extended Functions, 102 Safety Integrated SBC, 78, 102 Commissioning, 277 Safe Brake Ramp Safety Integrated password, 266 SBR, 91, 91, 98, 105, 152 Safety logbook, 350 Safe cam, (SCA) Safety slot, 276 Safe Cam, 192 Safe Direction, 59, 129 For SS1, 46 With encoder, 129 For SS2, 49...
Page 423 Index Safely Limited Acceleration, 62 Time response, 41, 45, 46 Setup mode:, 62 Tolerance, 46 With external stop (Basic Functions), 77 Enable, 135 With external stop (Extended Functions), 101 SLP, 64, 64 With OFF3 (Basic Functions), 75 General, 64 Without encoder, 100 Safely-Limited Position, 64 SS1E, 77 SS1 with external stop (Basic Functions), 77...
Page 424 Index For HLA (Basic Functions), 74 Internal armature short-circuit, 73 Safe Torque Off, 40 Safe Torque Off (Basic Functions), 44, 70, 97 Select, 40 STOP A, 86, 375 STOP B, 375 STOP C, 375 STOP D, 375 STOP E, 375 STOP F, 86, 375 Stop response, 375 Priorities compared to Extended Functions, 379...

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