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Siemens SINAMICS S120 Function Manual

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SINAMICS S120
Safety Integrated
Function Manual · 11/2009
SINAMICS
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Summary of Contents for Siemens SINAMICS S120

  • Page 1 SINAMICS S120 Safety Integrated Function Manual · 11/2009 SINAMICS...
  • Page 3 ___________________ Safety Integrated Preface ___________________ Standards and regulations General information about ___________________ SINAMICS Safety Integrated SINAMICS ___________________ System features S120 Safety Integrated Basic ___________________ Safety Integrated Functions Safety Integrated Extended ___________________ Functions Function Manual Control of the safety ___________________ functions ___________________ Commissioning ___________________...
  • 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

    ● Manufacturer/service documentation A current overview of the documentation in the available languages is provided in the Internet: http://www.siemens.com/motioncontrol Select the menu items "Support" --> "Technical Documentation" --> "Overview of Publications." The Internet version of DOConCD (DOConWEB) is available on the Internet: http://www.automation.siemens.com/doconweb...
  • Page 6 SINAMICS S drive system. Benefits The Safety Integrated Function Manual covers all information, procedures and operations required for commissioning safety functions and servicing of SINAMICS S120. Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...
  • Page 7 Europe/Africa Phone +49 180 5050 - 222 +49 180 5050 - 223 0.14 €/min. from German landlines, max. 0.42 €/min for calls from a mobile phone Internet http://www.siemens.de/automation/support-request America Phone +1 423 262 2522 +1 423 262 2200 E-mail mailto:[email protected]...
  • Page 8 If you have any questions (suggestions, corrections) regarding this documentation, please fax or e-mail us at: +49 9131 98 2176 E-mail mailto:[email protected] A fax form is available in the appendix of this document. Internet address for SINAMICS http://www.siemens.com/sinamics Internet address for Safety Integrated http://www.siemens.com/safety...
  • Page 9 Preface ESD Notes CAUTION Electrostatic sensitive devices (ESD) are single components, integrated circuits or devices that can be damaged by electrostatic fields or electrostatic discharges. Regulations for the ESD handling: During the handling of electronic components, pay attention to the grounding of the person, workplace and packaging! Electronic components may be touched by persons only when •...
  • Page 10 Preface Safety notices DANGER • Commissioning is absolutely prohibited until it has been completely ensured that the machine, in which the components described here are to be installed, is in full compliance with the provisions of the EC Machinery Directive. •...
  • Page 11 Preface CAUTION • As part of routine tests, SINAMICS devices are subject to a voltage test in accordance with EN 61800-5-1. Before the voltage test is performed on the electrical equipment of industrial machines to EN 60204-1:2006, Section 18.4, all connectors of SINAMICS equipment must be disconnected/unplugged to prevent the equipment from being damaged.
  • Page 12 Preface Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...

  • Page 13: Table Of Contents

    Table of contents Preface ..............................5 Standards and regulations ........................17 General information ........................17 1.1.1 Aims .............................17 1.1.2 Functional safety ..........................18 Safety of machinery in Europe.....................18 1.2.1 Machinery Directive ........................19 1.2.2 Harmonized European Standards ....................19 1.2.3 Standards for implementing safety-related controllers ..............21 1.2.4 EN ISO 13849-1:2006 (previously EN 954-1)................23 1.2.5...
  • Page 14 Table of contents Safety Integrated Basic Functions ......................53 Safe Torque Off (STO)........................ 53 Safe Stop 1 (SS1, time controlled)....................57 Safe Brake Control (SBC) ......................59 Safety faults ..........................62 Forced dormant error detection ....................64 Safety Integrated Extended Functions ..................... 65 Parking note ..........................
  • Page 15 Table of contents Commissioning ............................121 Safety Integrated firmware versions ..................121 Commissioning Safety Integrated functions ................122 7.2.1 Prerequisites for commissioning the Safety Integrated function..........123 7.2.2 Default settings for commissioning Safety Integrated functions without an encoder ....124 7.2.3 Standard commissioning of Safety Integrated functions ............126 7.2.4 Setting the sampling times......................127 Commissioning TM54F by means of STARTER/SCOUT............129...
  • Page 16 Table of contents Acceptance tests........................190 9.3.1 Basic Function........................... 191 9.3.1.1 Safe Torque Off......................... 191 9.3.1.2 Safe Stop 1 ..........................193 9.3.1.3 Safe Brake Control........................195 9.3.2 Extended Functions ........................196 9.3.2.1 Acceptance tests for Extended Functions................. 196 9.3.2.2 Safe Torque Off......................... 197 9.3.2.3 Safe Stop 1 ..........................

  • Page 17: Standards And Regulations

    Standards and regulations General information 1.1.1 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 18: Functional Safety

    Standards and regulations 1.2 Safety of machinery in Europe 1.1.2 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 19: Machinery Directive

    Standards and regulations 1.2 Safety of machinery in Europe 1.2.1 Machinery Directive The basic safety and health requirements specified in Annex I of the Directive must be fulfilled for the safety of machines. The protective goals must be implemented responsibly to ensure compliance with the Directive.
  • Page 20 Standards and regulations 1.2 Safety of machinery in Europe Type B standards/group standards B standards cover all safety-related standards for various different machine types. B standards are aimed primarily at the bodies responsible for setting C standards. They can also be useful for manufacturers during the machine design and construction phases, however, if no applicable C standards have been defined.

  • Page 21: Standards For Implementing Safety-Related Controllers

    Standards and regulations 1.2 Safety of machinery in Europe 1.2.3 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 the safety functions failing is sufficiently minimized.
  • Page 22 Standards and regulations 1.2 Safety of machinery in Europe Systems for executing safety-related control EN ISO 13849-1:2006 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 23: Iso 13849-1:2006 (Previously En 954-1)

    Standards and regulations 1.2 Safety of machinery in Europe 1.2.4 EN ISO 13849-1:2006 (previously EN 954-1) A qualitative analysis (to EN 954-1) is not sufficient for modern controllers due to their technology. Among other things, EN 954-1 does not take into account time behavior (e.g. test interval and/or cyclic test, lifetime).
  • Page 24 Standards and regulations 1.2 Safety of machinery in Europe 1.2.5 EN 62061 EN 62061 (identical to IEC 62061) is a sector-specific standard subordinate to IEC/EN 61508. It describes the implementation of safety-related electrical machine control systems and looks at the complete lifecycle, from the conceptual phase to decommissioning. 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 25 Standards and regulations 1.2 Safety of machinery in Europe Parameters for the sub-system, which comprises sub-system elements that must be defined during the design phase: ● T2: Diagnostic test interval ● β: Susceptibility to common cause failure ● DC: Diagnostic coverage The PFH value of the safety-related controller is determined by adding the individual PFH values for subsystems.

  • Page 26: Series Of Standards En 61508 (Vde 0803)

    Standards and regulations 1.2 Safety of machinery in Europe 1.2.6 Series of standards EN 61508 (VDE 0803) This series of standards describes the current state of the art. EN 61508 is not harmonized in line with any EU directives, which means that an automatic presumption of conformity for fulfilling the protective requirements of a directive is not implied.

  • Page 27: Risk Analysis/Assessment

    Standards and regulations 1.2 Safety of machinery in Europe 1.2.7 Risk analysis/assessment Risks are intrinsic in machines due to their design and functionality. For this reason, the Machinery Directive requires that a risk assessment be performed for each machine and, if necessary, the level of risk reduced until the residual risk is less than the tolerable risk.
  • Page 28 Standards and regulations 1.2 Safety of machinery in Europe Figure 1-2 Iterative process to achieve the required level of safety to ISO 14121-1 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 in accordance with EN ISO 13849-1:2006.

  • Page 29: Risk Reduction

    Standards and regulations 1.2 Safety of machinery in Europe 1.2.8 Risk reduction Risk reduction measures for a machine can be implemented by means of safety-related control functions in addition to structural measures. To implement these control functions, special requirements graded according to the magnitude of the risk must be taken into account.

  • Page 30: Machine Safety In The Usa

    Standards and regulations 1.3 Machine safety in the USA Machine safety in the USA A key difference in the legal requirements regarding safety at work between the USA and Europe 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 manufacturers/supplier.

  • Page 31: Nfpa 79

    Standards and regulations 1.3 Machine safety in the USA 1.3.3 NFPA 79 NFPA 79 (Electrical Standard for Industrial Machinery) applies to the electrical equipment of industrial machines with rated voltages of less than 600 V A group of machines that operate with one another in a coordinated fashion is also considered to be a machine.

  • Page 32: Machine Safety In Japan

    Standards and regulations 1.4 Machine safety in Japan 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 33: Other Safety-Related Issues

    Standards and regulations 1.6 Other safety-related issues Other safety-related issues 1.6.1 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 34 Standards and regulations 1.6 Other safety-related issues Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...

  • Page 35: 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 chapter. A distinction is made between Safety Integrated Basic Functions and Safety Integrated Extended Functions. The functions listed here are in conformance with the IEC 61508 standard, SIL2, in the high demand mode, Category 3 and Performance Level d (PL d) according to ISO 13849-1 (2006), as well as IEC 61800-5-2.
  • Page 36 General information about SINAMICS Safety Integrated 2.1 Supported functions ● Safety Integrated Extended Functions – Safe Torque Off (STO) STO is a safety function that prevents the drive from restarting unexpectedly, in accordance with EN 60204-1:2006 Section 5.4. – Safe Stop 1 (SS1, time and acceleration controlled) The SS1 function is based on the “Safe Torque Off”...

  • Page 37: Preconditions For The Safety Extended Functions

    = 1. For information on how to generate the license key for the product "SINAMICS Safety Integrated Extended Functions", read the section "Licensing" in the SINAMICS S120 Function Manual. An insufficient license is indicated via the following alarm and LED: –...

  • Page 38: Controlling The Safety Integrated Functions

    General information about SINAMICS Safety Integrated 2.3 Controlling the Safety Integrated functions Controlling the Safety Integrated functions The Safety Integrated functions can be controlled via terminals, via a PROFIsafe telegram using PROFIBUS or PROFINET or, for the Extended Functions, via the TM54F Terminal Module.

  • Page 39: Parameter, Checksum, Version, Password

    General information about SINAMICS Safety Integrated 2.4 Parameter, checksum, version, password Parameter, checksum, version, password Properties of Safety Integrated parameters The following applies to Safety Integrated parameters: ● The safety parameters are kept separate for each monitoring channel. For SINAMICS, Safety Integrated functions are controlled through two channels via a terminal at the Power Module and at the Control Unit.
  • Page 40 General information about SINAMICS Safety Integrated 2.4 Parameter, checksum, version, password Extended functions ● r9398[0...1] SI Motion actual checksum SI parameters (Motor Module) ● r9399[0...1] SI Motion setpoint checksum SI parameters (Motor Module) ● r9728[0...2] SI Motion actual checksum SI parameters ●...
  • Page 41 2. Recommission the drive unit and drives. 3. Recommission Safety Integrated. Or contact your regional Siemens office and ask for the password to be deleted (complete drive project must be made available). Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...

  • Page 42: Drive-Cliq Rules For Safety Integrated Functions

    General information about SINAMICS Safety Integrated 2.5 DRIVE-CLiQ rules for Safety Integrated Functions Overview of important parameters for "Password" (see SINAMICS S120/S150 List Manual) ● p9761 SI password input ● p9762 SI password new ● p9763 SI password acknowledgement ● p10061 SI password input TM54F ●...

  • Page 43: System Features

    ● Safety integrity level 2 (SIL 2) to IEC 61508 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 instructions Note Additional safety information and residual risks not specified in this section are included in the relevant sections of this Function Manual.
  • Page 44 System features 3.2 Safety instructions WARNING The Safety Integrated functions cannot be activated until the system has been completely powered up. System startup is a critical operating state with increased risk. No personnel may be present in the immediate danger zone in this phase. The drives of vertical axes must be in torque state.
  • Page 45 System features 3.2 Safety instructions WARNING • For a 1-encoder system, encoder faults are detected using different hardware and software monitoring functions. It is not permissible to disable these monitoring functions and they must be parameterized carefully. Depending on the fault type and responding monitoring function, stop function category 0 or 1 to EN 60204-1:2006 (fault response functions STOP A or STOP B to Safety Integrated) is selected.

  • Page 46: Probability Of Failure Of The Safety Functions

    PFH values of other components used for this safety function. Corresponding PFH values are provided for the SINAMICS S120 drive system, depending on the hardware configuration (number of drives, control type, number of encoders used).

  • Page 47: Response Times

    System features 3.4 Response times Response times The Basic Functions are executed in the monitoring clock cycle (p9780). PROFIsafe telegrams are evaluated in the PROFIsafe scan cycle, which corresponds to twice the monitoring clock cycle (PROFIsafe scan cycle = 2 × r9780). Controlling Basic Functions via terminals on the Control Unit and Motor Module The following table lists the response times from the control via terminals until the response actually occurs.
  • Page 48 System features 3.4 Response times Control of the Safety Extended Functions via PROFIsafe The following table lists the response times from receiving the PROFIsafe telegram on the Control Unit up to initiating the response. Table 3- 3 Response times with control by way of PROFIsafe Function Standard Worst case...
  • Page 49 System features 3.4 Response times Information on the tables: *) t_DP = PROFIBUS cycle for isochronous PROFIBUS master, otherwise 1 ms t_ACT =Safety actual value acquisition cycle: If p9311 = 9511 > 0, then the set time is added If p9311 = 9511 = 0, then t_DP = PROFIBUS cycle is added if an isochronous PROFIBUS master is being used, otherwise ->...

  • Page 50: Residual Risk

    System features 3.5 Residual risk Residual risk The fault analysis enables the machine manufacturer to determine the residual risk at his machine with regard to the drive unit. The following residual risks are known: WARNING Due to the intrinsic potential of hardware faults, electrical systems are subject to additional residual risk, which can be expressed by means of the PFH value.
  • Page 51 System features 3.5 Residual risk WARNING Within a single-encoder system: a) a single electrical fault in the encoder or b) an encoder shaft breakage (or loose encoder shaft coupling), or a loose encoder housing will cause a static state of the encoder signals (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 52 System features 3.5 Residual risk Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...

  • Page 53: Safety Integrated Basic Functions

    Note The Basic Functions are also described in the following manual: Reference: /FH1/ SINAMICS S120 Function Manual Drive Functions. Safe Torque Off (STO) In conjunction with a machine function or in the event of a fault, the "Safe Torque Off" (STO) function is used to safely disconnect the torque-generating energy feed to the motor.
  • Page 54 Safety Integrated Basic Functions 4.1 Safe Torque Off (STO) WARNING Appropriate measures must be taken to ensure that the motor does not undesirably move once the energy feed has been disconnected, e.g. against coasting down or for a hanging/suspended axis, the "Safe Brake Control" (SBC) function should be enabled, also refer to Chapter "Safe Brake Control".
  • Page 55 Safety Integrated Basic Functions 4.1 Safe Torque Off (STO) Selecting/deselecting "Safe Torque Off" The following is executed when "Safe Torque Off" is selected: ● Each monitoring channel triggers safe pulse suppression via its switch-off signal path. ● A motor holding brake is closed (if connected and configured). Deselecting "Safe Torque Off"...
  • Page 56 The "STO" safety function has the higher priority when simultaneously selected. If the "STO" function is initiated, then an activated "internal armature short-circuit" is disabled. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r9720.0...10 CO/BO: SI Motion control signals integrated in the drive ●...

  • Page 57: Safe Stop 1 (Ss1, Time Controlled)

    Safety Integrated Basic Functions 4.2 Safe Stop 1 (SS1, time controlled) Safe Stop 1 (SS1, time controlled) General description A Category 1 stop in accordance with EN 60204-1:2006 can be implemented with function "Safe Stop 1" (SS1). The drive decelerates with the OFF3 ramp (p1135) once "Safe Stop 1" is selected and switches to "Safe Torque Off"...
  • Page 58 Alternatively, the status of the functions can be displayed using the configurable messages N01621 and N30621 (configured using p2118 and p2119). Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1135[0...n] OFF3 ramp-down time ● p9652 SI Safe Stop 1 delay time (Control Unit) ●...

  • Page 59: Safe Brake Control (Sbc)

    Safety Integrated Basic Functions 4.3 Safe Brake Control (SBC) Safe Brake Control (SBC) Description The "Safe Brake Control" function (SBC) is used to control holding brakes that function according to the closed-circuit principle (e.g. motor holding brake). The command for releasing or applying the brake is transmitted to the Motor Module/Power Module via DRIVE-CLiQ.
  • Page 60 Safety Integrated Basic Functions 4.3 Safe Brake Control (SBC) ● When the state changes, electrical faults, such as e.g. a short-circuit in the brake winding or wire breakage can be detected. ● A debounce function can be applied to the terminals of the Control Unit and the Motor Module in order to prevent incorrect trips due to signal disturbances.
  • Page 61 If "Safe Brake Control" is used, it is not permissible to control the brake via a relay. This can result in incorrect feedback regarding a brake fault. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0799 CU inputs/outputs sampling time ●...

  • Page 62: Safety Faults

    Safety Integrated Basic Functions 4.4 Safety faults Safety faults The fault messages for Safety Integrated Basic Functions are stored in the standard message buffer and can be read from there. In contrast, the fault messages for Safety Integrated Extended Functions are stored in a separate Safety message buffer (see chapter "Message buffer").
  • Page 63 If this action has not eliminated the fault cause, the fault is displayed again immediately after power up. Description of faults and alarms Note The faults and alarms for SINAMICS Safety Integrated functions are described in the following document: Reference: /LH1/ SINAMICS S120/S150 List Manual Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...

  • Page 64: Forced Dormant Error Detection

    Safety Integrated Basic Functions 4.5 Forced dormant error detection Forced dormant error detection Forced dormant error detection or test of the switch-off signal paths for Safety Integrated Basic Functions The forced dormant error detection function 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 65: Safety Integrated Extended Functions

    Safety Integrated Extended Functions Parking note Note When a drive object for which Safety Integrated Extended Functions are enabled is switched to "Park" mode, the Safety Integrated software responds by selecting STO without generating a separate message. This internal STO selection is displayed in parameter r9772.19.

  • Page 66: Safe Stop 1 (Ss1)

    Safety Integrated Extended Functions 5.3 Safe Stop 1 (SS1) Safe Stop 1 (SS1) 5.3.1 Safe Stop 1 with encoder (time and acceleration controlled) Safe Stop 1 with encoder The "Safe Stop 1" (SS1) function allows the drive to be stopped in accordance with EN 60204-1:2006, stop category 1.
  • Page 67 Safety Integrated Extended Functions 5.3 Safe Stop 1 (SS1) Note Activating SS1 can mean that the device (PLC, motion controller) which issues the speed setpoint interrupts the ramp function with OFF2. The reason is a fault response of this device, which is initiated due to the activation of OFF3. The fault response can be prevented using suitable parameterization or wiring, which then signals the initiation of SS1 to this device.

  • Page 68: Encoderless Safe Stop 1 (Time And Speed Controlled)

    Safety Integrated Extended Functions 5.3 Safe Stop 1 (SS1) 5.3.2 Encoderless Safe Stop 1 (time and speed controlled) If an induction motor is being used, the "Safe Stop 1" (SS1) Safety Integrated function can also be activated without an encoder. Function The motor is immediately decelerated along the OFF3 ramp (OFF3 ramping) as soon as SS1 is triggered.
  • Page 69 Safety Integrated Extended Functions 5.3 Safe Stop 1 (SS1) Difference between Safe Stop 1 with and without an encoder The SS1 function with an encoder monitors whether motor acceleration reaches impermissible levels during the SS1 time. If the drive complies with acceleration monitoring limits, STO is triggered when the shutdown speed is reached.

  • Page 70: Integration

    5.3 Safe Stop 1 (SS1) 5.3.3 Integration Overview of important parameters (see the SINAMICS S120/S150 List Manual) ● p1135[0...n] OFF3 ramp-down time ● p9301 SI Motion enable safety functions (Motor Module) ● p9501 SI Motion enable safety functions (Control Unit) ●...

  • Page 71: Safe Stop 2 (Ss2)

    Safety Integrated Extended Functions 5.4 Safe Stop 2 (SS2) Safe Stop 2 (SS2) General description The "Safe Stop 2" (SS2) function is used to brake the motor safely along the OFF3 deceleration ramp (p1135) with subsequent transition to the SOS state (see "Safe Operating Stop") after the delay time expires (p9352/p9552).
  • Page 72 System errors: ● STOP F with subsequent STOP A ● Safety message C01711/C30711 Overview of important parameters (see the SINAMICS S120/S150 List Manual) ● p1135[0...n] OFF3 ramp-down time ● p9301 SI Motion enable safety functions (Motor Module) ● p9501 SI Motion enable safety functions (Control Unit) ●...

  • Page 73: Safe Operating Stop (Sos)

    Safety Integrated Extended Functions 5.5 Safe Operating Stop (SOS) Safe Operating Stop (SOS) General description This function serves for fail-safe monitoring of the standstill position of a drive. Personnel can enter the protected machine areas without having to shut down the machine as long as SOS is active.
  • Page 74 System errors: ● STOP F ● Safety message C01711/C30711 Overview of important parameters (see the SINAMICS S120/S150 List Manual) ● p9301 SI Motion enable safety functions (Motor Module) ● p9501 SI Motion enable safety functions (Control Unit) ● p9330 SI Motion standstill tolerance (Motor Module) ●...

  • Page 75: Safely-Limited Speed (Sls)

    Safety Integrated Extended Functions 5.6 Safely-Limited Speed (SLS) Safely-Limited Speed (SLS) The Safely Limited Speed (SLS) function is used to protect a drive against unintentionally high speeds. This is achieved by monitoring the current drive speed up to a speed limit. Safely Limited Speed prevents a parameterized speed limit from being exceeded.
  • Page 76 Safety Integrated Extended Functions 5.6 Safely-Limited Speed (SLS) Changeover of speed limits The changeover is controlled binary-coded via two F-DIs. 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 5- 1 Changeover of speed limits: F-DI for bit 0 (r9720.9)

  • Page 77: Encoderless Safely Limited Speed

    Safety Integrated Extended Functions 5.6 Safely-Limited Speed (SLS) 5.6.2 Encoderless Safely Limited Speed If an induction motor is being used, Safely Limited Speed (SLS) can also be activated without an encoder. Features After SLS has been triggered, measures should be taken to ensure the motor is immediately decelerated with the OFF3 ramp from the current speed to below the selected SLS [1...4] speed limit.
  • Page 78 Safety Integrated Extended Functions 5.6 Safely-Limited Speed (SLS) reference Deselection of SS1-ramp: Selection of SS1-ramp: Activation of STO: Starting drive: frequency user action: user action: user action: user action: - clear SS1 signal - set SS1 signal - none - set OFF1/ON signal Activation of SS1-ramp: set point user action:...
  • Page 79 Safety Integrated Extended Functions 5.6 Safely-Limited Speed (SLS) Restart after OFF2 If the drive has been switched off via OFF2/STO, the following steps need to be carried out before a safe restart can be performed: 1st scenario: ● SLS not selected, OFF2 is active (STO active) ●...

  • Page 80: Epos And Safely-Limited Speed

    EPOS (p2594) in order to prevent an SLS limit value violation as a result of the EPOS setpoint input. Overview of important parameters (see the SINAMICS S120/150 List Manual) ● p2593 CI: EPOS LU/revolution LU/mm ●...

  • Page 81: Safe Speed Monitor (Ssm)

    Safety Integrated Extended Functions 5.7 Safe Speed Monitor (SSM) Safe Speed Monitor (SSM) General description The "Safe Speed Monitor" function is used for reliably detecting when a velocity limit value has been undershot (p9346/p9546) (e.g. for standstill detection) in both directions. A fail-safe output signal is available for further processing.
  • Page 82 Safety Integrated Extended Functions 5.7 Safe Speed Monitor (SSM) In addition, the output signal for SSM can be smoothed by means of a PT1 filter by setting a filter time p9345/9545. During safe motion monitoring, the hysteresis and filtering functions can be activated or deactivated jointly using the enable bit p9301.16 (Motor Modules) and p9501.16 (CU).
  • Page 83 ● No stop response ● This function is not available for speed monitoring without an encoder. Overview of important parameters (see the SINAMICS S120/S150 List Manual) ● p9345 SI Motion SSM (SGA n < nx) filter time (Motor Module) ● p9545 SI Motion SSM (SGA n < nx) filter time (Control Unit) ●...

  • Page 84: Safe Acceleration Monitor (Sbr)

    Safety Integrated Extended Functions 5.8 Safe Acceleration Monitor (SBR) Safe Acceleration Monitor (SBR) Safe Acceleration Monitor with encoder The "Safe Acceleration Monitor" (SBR) function is used to safely monitor drive acceleration. This function is part of the SS1 (time and acceleration-controlled) and SS2 (or STOP B and STOP C) safety functions.
  • Page 85 ● Element of the SS1 (time and acceleration controlled) and SS2 functions ● Parameterizable, minimum shutdown speed to be monitored Overview of important parameters (see the SINAMICS S120/S150 List Manual) ● p9346 SI Motion SSM velocity limit (Motor Module) ● p9546 SI Motion SSM (SGA n < nx) velocity limit n_x (CU) ●...

  • Page 86: Safe Brake Ramp (Sbr)

    Safety Integrated Extended Functions 5.9 Safe Brake Ramp (SBR) Safe Brake Ramp (SBR) If an induction motor is being used, the "Safe Brake Ramp" (SBR) Safety Integrated function can be activated without an encoder. The Safe Brake Ramp (SBR) function provides a safe method for monitoring the brake ramp.
  • Page 87 ● Part of the encoderless SS1 and encoderless SLS functions ● Parameterizable safe brake ramp Overview of important parameters (see the SINAMICS S120/S150 List Manual) ● p9360 SI Motion pulse suppression shutdown speed (Motor Module) ● p9560 SI Motion pulse suppression shutdown speed (Control Unit) ●...

  • Page 88: Safety Faults

    Safety Integrated Extended Functions 5.10 Safety faults 5.10 Safety faults Stop responses Faults with Safety Integrated Extended Functions and violation of limits can trigger the following stop responses: Table 5- 2 Overview, stop responses Stop response Triggered ... Action Effect STOP A For all acknowledgeable Immediate pulse cancelation...
  • Page 89 Safety Integrated Extended Functions 5.10 Safety faults Note A delay time between STOP F and STOP B should only be set if an additional response is initiated during this time when the "Internal Event" (p9722.7) message signal is evaluated. Further, when using the delay time, a monitoring function should always be selected (e.g. SLS with a high limit speed) or the hysteresis of SSM should be configured.
  • Page 90 Safety Integrated Extended Functions 5.10 Safety faults Priorities of stop responses and Extended Functions Table 5- 4 Priorities of stop responses and Extended Functions Highest priority Lowest priority Stop response/ Extended Function STOP A STOP B STOP C STOP D STOP F Highest STOP A / STO...
  • Page 91 Description of faults and alarms Note The faults and alarms for SINAMICS Safety Integrated are described in the following documentation: Reference: /LH1/ SINAMICS S120/S150 List Manual Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...

  • Page 92: Message Buffer

    The fault messages for the Safety Integrated Basic Functions are stored in the standard fault buffer (see chapter "Buffer for faults and alarms" in /IH1/: SINAMICS S120 Commissioning Manual). The message buffer for safety messages is similar to the fault buffer for fault messages.
  • Page 93 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 the SINAMICS S120/S150 List Manual) ● r2139.0...12 CO/BO: Status word, faults/alarms 1 ●...

  • Page 94: Safe Actual Value Acquisition

    Safety Integrated Extended Functions 5.12 Safe actual value acquisition 5.12 Safe actual value acquisition Supported encoder systems The Safety functions used to monitor motion (e.g. SS1, SS2, SOS, SLS and SSM) require safe actual value acquisition. For safe speed/position sensing... ●...
  • Page 95 Safety Integrated Extended Functions 5.12 Safe actual value acquisition Figure 5-11 Example of an S120 single-encoder system Two-encoder system The fail-safe actual values for a drive are provided by two separate encoders. The actual values are transferred to the Control Unit by means of fail-safe communication via DRIVE- CLiQ.
  • Page 96 Safety Integrated Extended Functions 5.12 Safe actual value acquisition Figure 5-13 Example of an S120 two-encoder system on a rotary axis Encoder types Incremental encoders or absolute encoders can be used for safe detection of the position values on a drive. Safe actual value acquisition relies on redundant evaluation of the incremental channels A/B that supply sin/cos signals of 1 Vpp.
  • Page 97 Safety Integrated Extended Functions 5.12 Safe actual value acquisition Encoder types for two-encoder systems With a two-encoder system, the required redundancy can also be achieved using less highly qualified encoders. In this case, therefore, encoders with a microprocessor in the signal path can also be used.
  • Page 98 Both parameters (r9730/r9731) depend on the relevant encoder type. Overview of important parameters (see the SINAMICS S120/S150 List Manual) ● p9301.3 SI Motion enable safety functions (Motor Module), enable actual value synchronization ●...
  • Page 99 Safety Integrated Extended Functions 5.12 Safe actual value acquisition ● p9517 SI Motion linear scale grid division (Control Unit) ● p9318 SI Motion encoder pulses per revolution (Motor Module) ● p9518 SI Motion encoder pulses per revolution (Control Unit) ● p9319 SI Motion fine resolution Gn_XIST1 (Motor Module) ●...

  • Page 100: Forced Dormant Error Detection

    Safety Integrated Extended Functions 5.13 Forced dormant error detection 5.13 Forced dormant error detection Forced dormant error detection and function test through test stop The functions and switch-off signal paths must be tested at least once within a defined time interval in order to meet requirements as per EN ISO 13849-1 (2006) and IEC 61508 in terms of timely fault detection.
  • Page 101 Safety Integrated Extended Functions 5.13 Forced dormant error detection Forced dormant error detection F-DI/F-DO of TM54F through test stop An automatic test stop function is available for forced dormant error detection within the F-DIs/DOs test. To ensure that the test stop function of the TM54F can be used, the F-DIs that are used must be interconnected in accordance with the following wiring example.
  • Page 102 Safety Integrated Extended Functions 5.13 Forced dormant error detection Figure 5-15 Example of the TM54F wiring Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...
  • Page 103 Safety Integrated Extended Functions 5.13 Forced dormant error detection The F-DIs must be registered for the test stop by means of p10041. CAUTION The F-DI states are frozen for the duration of the test (approx. 100 ms)! In order to be able to use the test stop function, the F-DOs being used must be interconnected in accordance with the connection example shown above and the forced feedback signals of the two relays must be connected to the corresponding digital input (DI 20 to DI 23).
  • Page 104 Safety Integrated Extended Functions 5.13 Forced dormant error detection Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...

  • Page 105: Control Of The Safety Functions

    Control of the safety functions Overview of F-DI/F-DOs and of their structure General description The safety-oriented input and output terminals (F-DI and F-DO) act as an interface between the internal 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 106: 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 107 Control of the safety functions 6.2 Control signals by way of terminals on the Control Unit and Motor/Power Module Terminals for STO, SS1 (time-controlled), SBC The functions are separately selected/deselected for each drive using two terminals. 1. Switch-off signal path, Control Unit The desired input terminal is selected via BICO interconnection (BI: p9620[0]).
  • Page 108 Control of the safety functions 6.2 Control signals by way of terminals on the Control Unit and Motor/Power Module Grouping drives To ensure that the function works for more than one drive at the same time, the terminals for the corresponding drives must be grouped together as follows: 1.
  • Page 109 Control of the safety functions 6.2 Control signals by way of terminals on the Control Unit and Motor/Power Module Figure 6-2 Example: Grouping terminals with Motor Modules booksize and CU320-2 DP Information on the parallel connection of chassis type Motor Modules When chassis type Motor Modules are connected in parallel, a safe AND element is created on the parallel drive object.

  • Page 110: Control Via Tm54F

    Control of the safety functions 6.3 Control via TM54F Control via TM54F 6.3.1 TM54F design Terminal Module TM54F is a terminal expansion module for snap-on rail mounting to DIN EN 60715. The TM54F features fail-safe digital I/O for controlling the Safety Integrated Extended Functions.

  • Page 111: F-Di Function

    "Extended Functions"). In the SINAMICS S120/150 List Manual, function diagrams 2850, or 2851, show an overview of the fail-safe inputs F-DI 0 ..4, or F-DI 5 ... 9.
  • Page 112 The inclusion of additional load resistors makes it possible to use digital outputs with larger residual currents to connect TM54F inputs. Overview of important parameters (see the SINAMICS S120/S150 List Manual) ● p9651 SI STO/SBC/SS1 debounce time (Control Unit) ● p9851 SI STO/SBC/SS1 debounce time (Control Unit) ●...

  • Page 113: Function Of The F-Do

    (additional information on forced dormant error detection is provided in the chapter "Extended functions"). In the SINAMICS S120/150 List Manual, function diagram 2853 provides an overview of the fail-safe outputs F-DO 0...3, and the associated checking inputs F-DI 20...23.
  • Page 114 ● 2853 TM54F (F-DO 0 ... F-DO 3, DI 20 ... DI 23) ● 2856 TM54F Safe State selection ● 2857 TM54F assignment (F-DO 0 ... F-DO 3) Overview of important parameters (see the SINAMICS S120/S150 List Manual) ● p10042[0..5] SI F-DO 0 signal sources ● p10045[0..5] SI F-DO 3 signal sources ●...

  • Page 115: Activation Via Profisafe

    Control of the safety functions 6.4 Activation via PROFIsafe Activation via PROFIsafe As an alternative to controlling Safety Integrated functions via terminals or TM54F, they can also be controlled via PROFIsafe. PROFIsafe telegram 30 is used for communication using PROFIBUS and PROFINET. The structure of the associated control and status words is described further below (see chapter "Description of telegram 30").

  • Page 116: Structure Of Telegram 30

    Control of the safety functions 6.4 Activation via PROFIsafe Safety Integrated Basic Functions via PROFIsafe and terminals Control of the Basic Functions via terminals on the Control Unit and on the Motor/Power Module (parameters p9601.0 = p9801.0 = 1) may be enabled in parallel. In this way, the STO and SS1 functions (time controlled) can be selected via PROFIsafe telegram 30 as well as in parallel via the onboard terminals of the Control Unit and Motor Module/Power Module.
  • Page 117 Control of the safety functions 6.4 Activation via PROFIsafe PROFIsafe status word (ZSW) S_ZSW1, PZD1 in telegram 30, input signals See function diagram [2840]. Table 6- 4 Description of the PROFIsafe status word (ZSW) Meaning Comments STO active STO active STO not active SS1 active SS1 active...

  • Page 118: Structure Of Telegram 30 (Extended Functions)

    Control of the safety functions 6.4 Activation via PROFIsafe 6.4.2.2 Structure of telegram 30 (Extended Functions) PROFIsafe control word (STW) S_STW1, PZD1 in telegram 30, output signals See function diagram [2840]. Table 6- 5 Description of the PROFIsafe STW Meaning Comments Deselect STO Select STO...
  • Page 119 Control of the safety functions 6.4 Activation via PROFIsafe PROFIsafe status word (ZSW) S_ZSW1, PZD1 in telegram 30, input signals See function diagram [2840]. Table 6- 6 Description of the PROFIsafe status word (ZSW) Meaning Comments STO active STO active STO not active SS1 active SS1 active...
  • Page 120 Control of the safety functions 6.4 Activation via PROFIsafe Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...

  • Page 121: 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 122: Commissioning Safety Integrated Functions

    NOTICE For safety-relevant reasons, using the STARTER commissioning tool from V4.1.5 onwards (or SCOUT) you can only set the safety-relevant parameters of the SINAMICS S120 Control Unit offline. In order to set the safety-relevant parameters of the Motor Module, establish an online connection to SINAMICS S120 and transfer the parameters by clicking on the "Copy parameters"...

  • Page 123: Prerequisites For Commissioning The Safety Integrated Function

    Commissioning 7.2 Commissioning Safety Integrated functions 7.2.1 Prerequisites for commissioning the Safety Integrated function Prerequisites for commissioning the safety functions (Basic Functions) 1. Commissioning of the drives must be complete. 2. Non-safe pulse suppression must be present, e.g. via OFF1 = "0" or OFF2 = "0". If the motor holding brake is connected and parameterized, the holding brake is applied.

  • Page 124: Default Settings For Commissioning Safety Integrated Functions Without An Encoder

    Commissioning 7.2 Commissioning Safety Integrated functions 7.2.2 Default settings for commissioning Safety Integrated functions without an encoder Additional default settings are required before commissioning Safety functions without an encoder. The ramp-function generator is automatically created if a vector drive is configured. Please continue up to the ramp-function generator configuration.
  • Page 125 Commissioning 7.2 Commissioning Safety Integrated functions 3. Clicking on the button with the ramp opens the following window: Figure 7-2 Ramp-function generator ramp 4. Here, enter the data to define the ramp-function generator ramp. Activating Safety Integrated 1. Open the Safety Integrated selection window under Drive unit →...

  • Page 126: Standard Commissioning Of Safety Integrated Functions

    Commissioning 7.2 Commissioning Safety Integrated functions 6. Call the Safely-Limited Speed, change all of the stop responses to "[0]STOP A" or "[1]STOP B" and close the window. 7. The user-specific Safety settings can now be performed. 8. Click on "Copy parameters". 9.

  • Page 127: Setting The Sampling Times

    Commissioning 7.2 Commissioning Safety Integrated functions 7.2.4 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 within the monitoring clock cycle (p9300/p9500) and TM54F is executed within the sampling time (p10000).
  • Page 128 Commissioning 7.2 Commissioning Safety Integrated functions ● Non-isochronous PROFIBUS – The monitoring cycle must be an integer multiple of the actual value update clock cycle. In non-isochronous mode, this is p9311/p9511 or 1 ms (when p9311/9511 = 0). – The sampling time of the current controller (p0115[0]) must be at least 125 µs. ●...

  • Page 129: Commissioning Tm54F By Means Of Starter/Scout

    Commissioning 7.3 Commissioning TM54F by means of STARTER/SCOUT Commissioning TM54F by means of STARTER/SCOUT 7.3.1 Basic sequence of commissioning The following conditions must be met before you can configure the TM54F: ● Concluded initial commissioning of all drives Table 7- 1 Configuration sequence Step Execution...

  • Page 130: Configuration Start Screen

    Commissioning 7.3 Commissioning TM54F by means of STARTER/SCOUT 7.3.2 Configuration start screen Description Figure 7-4 Configuration start screen TM54F The following functions can be selected in the start screen: ● Configuration Opens the "Configuration" screen ● Inputs Opens the "Inputs" screen ●...
  • Page 131 Commissioning 7.3 Commissioning TM54F by means of STARTER/SCOUT ● Change/activate settings – Change settings You can select this button and enter the TM54F password in order to edit the configuration data. The button function changes to "Activate settings". – Activate settings This function activates your parameter settings and initiates calculation of the actual CRC and the corresponding transfer to the target CRC.

  • Page 132: Tm54F Configuration

    Commissioning 7.3 Commissioning TM54F by means of STARTER/SCOUT 7.3.3 TM54F configuration Configuration screen of TM54F for Safety Integrated Figure 7-5 TM54F configuration Functions of this screen: ● Assigning drive objects (p10010) Select a drive object to be assigned to a drive group. ●...
  • Page 133 Commissioning 7.3 Commissioning TM54F by means of STARTER/SCOUT ● Safety sampling time (p10000) The Safety sampling time corresponds to the sampling time of TM54F. Note The Safety clock cycle (p10000) of the TM54F must be the same as the monitoring clock cycle set in p9300/p9500.

  • Page 134: Test Stop

    Commissioning 7.3 Commissioning TM54F by means of STARTER/SCOUT 7.3.4 Test stop 7.3.4.1 Test stop modes of the TM54F Testing the fail-safe inputs and outputs Fail-safe I/O must be tested at defined intervals in order to validate their fail-safety (test stop, or forced dormant error detection).

  • Page 135: Test Stop Mode 1

    Commissioning 7.3 Commissioning TM54F by means of STARTER/SCOUT 7.3.4.2 Test stop mode 1 Test stop mode 1 Figure 7-6 F-DO circuit, test stop mode 1 This mode only knows the internal feedback signal (= signal level at the DO terminal) used to test the F-DO output transistors.

  • Page 136: Test Stop Mode 2

    Commissioning 7.3 Commissioning TM54F by means of STARTER/SCOUT 7.3.4.3 Test stop mode 2 Test stop mode 2 Figure 7-7 F-DO circuit, test stop mode 2 This mode only uses the external feedback signal (DI) to test the F-DO output transistors and to test the actuator itself.

  • Page 137: Test Stop Mode 3

    Commissioning 7.3 Commissioning TM54F by means of STARTER/SCOUT 7.3.4.4 Test stop mode 3 Test stop mode 3 Figure 7-8 F-DO circuit, test stop mode 3 This mode only uses the external feedback signal (DI) to test the F-DO output transistors and to test the actuator itself.

  • Page 138: Test Stop Mode Parameters

    7.3 Commissioning TM54F by means of STARTER/SCOUT 7.3.4.5 Test stop mode parameters Overview of important parameters (see the SINAMICS S120/S150 List Manual) ● p10001 SI delay time for test stop at DO 0 ... DO 3 ● p10003 SI forced dormant error detection timer ●...

  • Page 139: F-Di/F-Do Configuration

    Commissioning 7.3 Commissioning TM54F by means of STARTER/SCOUT 7.3.5 F-DI/F-DO configuration Inputs screen F-DI Figure 7-9 Inputs screen NC/NO contact (p10040) Terminal property F-DI 0-9 (p10040.0 = F-DI 0, ... p10040.9 = F-DI 9), only the property of the second (lower) digital input is set. Always connect an NC contact to digital input 1 (upper).
  • Page 140 Commissioning 7.3 Commissioning TM54F by means of STARTER/SCOUT LED in F-DI screen The LED downstream of the AND element indicates the logical state (inactive: gray, active: green, discrepancy error: red). Outputs screen F-DO Figure 7-10 Outputs screen Signal source for F-DO (p10042 - p10045) An AND element with 6 inputs is interconnected with each output terminal pair of an F-DO;...

  • Page 141: Control Interface Of The Drive Group

    Commissioning 7.3 Commissioning TM54F by means of STARTER/SCOUT LED in the F-DO screen The LED downstream of the AND element indicates the logical state (inactive: gray, active: green). The LED of the digital inputs DI20 to DI23 indicate the status of the digital input (inactive: gray, active: green).

  • Page 142: Procedure For Configuring Profisafe Communication

    Extended Functions: Configuring PROFIsafe communication Example configuration The next sections deal with a sample configuration of PROFIsafe communication between a SINAMICS S120 drive unit and higher-level SIMATIC F-CPU operating as PROFIBUS master. The configuration and operation of fail-safe communication (F communication) is based on...
  • Page 143 Create an F-CPU such as CPU 317F-2 and a SINAMICS S120 drive, e.g. a CU 320 according to the hardware that is installed. 1. Create the SINAMICS S120 as a DP slave and the connected F CPU as the associated DP master.
  • Page 144 Commissioning 7.4 Procedure for configuring PROFIsafe communication Figure 7-13 Example: PROFIsafe configuration (HW Config) 4. Double-click the icon of the SINAMICS drive unit and select the "Details" tab in the "Configuration" tab. 5. Click "PROFIsafe…" and then define the F parameters which are important to F communication.
  • Page 145 Commissioning 7.4 Procedure for configuring PROFIsafe communication The following range of values is valid for the lower two parameters: F_Dest_Add: 1-65534 F_Dest_Add determines the PROFIsafe destination address of the drive object. Any value within the range is allowed, however, it must be entered once again in the safety configuration of the drive in the SINAMICS drive unit.

  • Page 146: Basic Functions: Configuring Profisafe Communication

    Basic Functions: Configuring PROFIsafe communication The next sections deal with a sample configuration of PROFIsafe communication between a SINAMICS S120 drive unit and higher-level SIMATIC F-CPU operating as PROFIBUS master. In this case, a safety channel that only runs via the IF1 interface must be generated. Mixed operation of interfaces IF1 and IF2 is not supported.

  • Page 147: Configuring Profisafe Via Profibus

    Figure 7-16 Example of a PROFIsafe topology Configuring PROFIsafe communication using an example with a Siemens F-CU The next sections describe a configuration of PROFIsafe communication between a SIMATIC F-CPU and a drive unit. It is helpful to regularly save intermediate states.
  • Page 148 7.4 Procedure for configuring PROFIsafe communication Creating a safety master 1. Create an F-CPU such as CPU 317F-2 and a drive, e.g. a SINAMICS S120 in accordance with the hardware installed. To do this, start SIMATIC Manager and create a new project.
  • Page 149 Commissioning 7.4 Procedure for configuring PROFIsafe communication 4. First create a mounting rail ((0)UR) under HW Config in the lefthand window: From the standard catalog under SIMATIC 300/RACK-300, drag the mounting rail to the upper lefthand field (the cursor has a "+" character). Figure 7-20 Creating a mounting rail Safety Integrated...
  • Page 150 Commissioning 7.4 Procedure for configuring PROFIsafe communication 5. Select a safety-capable CPU under SIMATIC 300/CPU 300: Here, e.g. CPU 317F-2, V2.6, drag into the RACK on the highlighted slot 2. Figure 7-21 Creating an F host (master) Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...
  • Page 151 Commissioning 7.4 Procedure for configuring PROFIsafe communication 6. In the rack: The "Properties - PROFIBUS interface DP" window is opened by double- clicking on line X2. Under the tab "Parameter", click on "Properties..." in the interface field. Figure 7-22 Setting the PROFIBUS interface Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...
  • Page 152 Commissioning 7.4 Procedure for configuring PROFIsafe communication 7. Set the PROFIBUS interface under the "Parameter" tab, set the address, and with the "Properties..." button, set the network settings, the transmission rate (e.g. 12 Mbit/s), the profile (DP) and then acknowledge with "OK". This sets up the master. Figure 7-23 Setting the PROFIBUS profile Safety Integrated...
  • Page 153 SINAMICS S120/SINAMICS S120 CU320 or by installing a GSD file. Using the lefthand mouse key, drag the "SINAMICS S120 CU320" drive to the PROFIBUS line in the upper lefthand window (the cursor has a + character) and release the mouse key. In the following properties window, set the PROFIBUS address of the drive and exit the following window with "OK".
  • Page 154 Commissioning 7.4 Procedure for configuring PROFIsafe communication Figure 7-26 PROFIBUS DP slave properties 3. The F parameters important for F communication are set using the "PROFIsafe…" button. Figure 7-27 Setting the F parameters The PROFIsafe mode is selected using parameters F_CRC_Length and P_Par_Version. The PROFIsafe address is set using parameter F_Dest_Add.
  • Page 155 Commissioning 7.4 Procedure for configuring PROFIsafe communication Selecting the PROFIsafe mode The two PROFIsafe modes V1.0 and V2.0 can be selected. ● In the "F parameter" window, first click on the value that is to be changed. ● Then on the button "Change value..." ●...

  • Page 156: Profisafe Via Profinet

    Configuring PROFIsafe via PROFINET The next sections deal with a sample configuration of PROFIsafe communication between a SINAMICS S120 drive unit and a higher-level SIMATIC F-CPU operating as PROFINET master. In this case, a safety channel that only runs via the IF1 interface must be generated. Mixed operation of interfaces IF1 and IF2 is not supported.

  • Page 157: Requirements For Profisafe Communication

    ● SINAMICS Firmware version 4.3 or higher Hardware: ● A controller 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 NOTICE...

  • Page 158: Configuring Profisafe Via Profinet

    4. Save and compile the settings in HW Config, and then load them to the target device. This sets up a PROFINET connection between the F-CPU and the SINAMICS S120 drive. Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...
  • Page 159 Commissioning 7.5 PROFIsafe via PROFINET Figure 7-29 Configuration of the PROFINET connection in HW Config 1. With a right click, the context menu of the drive object is opened and when selecting "Object properties", the "Properties - Drive object" window is opened. The PROFIsafe telegram via PROFINET is selected in this window.
  • Page 160 Commissioning 7.5 PROFIsafe via PROFINET The following screenshot shows the "Options" tab for the DO: Figure 7-30 Drive object option "PROFIsafe telegram" In the overview for the SINAMICS drive, a PROFIsafe slot that needs to be configured is displayed under "Drive object". Figure 7-31 Defining PROFIsafe for a drive Safety Integrated...
  • Page 161 Commissioning 7.5 PROFIsafe via PROFINET 1. Under the drive module, select "PROFIsafe" and using the righthand mouse key, call up the properties of the PROFIsafe slot. 2. Define the address area of the PROFIsafe telegram under the "Addresses" tab. The start address for inputs and output is the same.
  • Page 162 When you close the "PROFIsafe properties" dialog box, the fail-safe addresses (F-Dest_Add and F-Source_Add) are checked to ensure that they are unique. This function is only available, however, when the PROFINET link between SINAMICS S120 and SIMATIC F-CPU has already been established.

  • Page 163: Initializing The Drives

    In order that the master control can communicate with the drives, e.g. a CU317F-2 PN/DP with a SINAMICS S120, via PROFINET, the drives must have unique names (self- explanatory names are advantageous) and must be assigned their own IP addresses and set using STARTER or the PST initializing tool (so-called initialization).
  • Page 164 Commissioning 7.6 PROFIsafe configuration with STARTER (Basic Functions) Calling Safety Integrated in STARTER using SINAMICS S120 as example The STARTER screen form for "Safety Integrated" is called under Drives/Functions with a double-click and can look like this (tree-type view depends on the specific project):...
  • Page 165 Commissioning 7.6 PROFIsafe configuration with STARTER (Basic Functions) Depending on the selection, different setting screen forms open: Figure 7-36 STO/SBC/SS1 via terminals Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...
  • Page 166 Commissioning 7.6 PROFIsafe configuration with STARTER (Basic Functions) Figure 7-37 STO/SBC/SS1 via PROFIsafe Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...
  • Page 167 Commissioning 7.6 PROFIsafe configuration with STARTER (Basic Functions) Figure 7-38 STO/SBC/SS1 via PROFIsafe and terminal Activating PROFIsafe via the expert list In order to activate Safety Integrated Basic Functions via PROFIsafe, in the expert list, bit 3 of p9601 and p9801 must be set to "1" and bit 2 to "0". Bit 0 must be set to either "1" or "0", depending on whether the control via terminals is to be enabled in parallel via PROFIsafe or not.

  • Page 168: Commissioning A Linear/Rotary Axis

    Commissioning 7.7 Commissioning a linear/rotary axis Acceptance test An acceptance test must be performed after completing the configuration and after commissioning (refer to the corresponding chapters in the Function Manuals supplied or in the Safety Integrated documentation). Note If F parameters of the SINAMICS drive are changed in HW Config, the global signature of the safety program in the SIMATIC F-CPU changes.
  • Page 169 Commissioning 7.7 Commissioning a linear/rotary axis 4. It is only possible to change Safety parameters after entering the valid Safety password (parameter p9761 for the drives or p10061 for the TM54F). Figure 7-39 Safety Integrated commissioning of a linear/rotary axis 5.
  • Page 170 Commissioning 7.7 Commissioning a linear/rotary axis 7. The safety configuration screen of the drive opens. Figure 7-40 Safety configuration: Drive 8. For the drive, set the same Monitoring clock cycle (safety clock cycle) as for the TM54F (see "TM54F Configuration"). 9.

  • Page 171: Modular Machine Concept Safety Integrated

    Commissioning 7.8 Modular machine concept Safety Integrated Modular machine concept Safety Integrated The modular machine concept for Safety Integrated Basic Functions and Extended Functions provides support for commissioning modular machines. A complete machine, including all its available options, is created in a topology. Only those components that are actually implemented in the finished machine are later activated.

  • Page 172: Information Pertaining To Component Replacements

    Replacing a component from the perspective of Safety Integrated For information about component replacements, see "Example of component replacements" in the SINAMICS S120 Function Manual FH1. WARNING Observe the instructions with regard to changing or replacing software components in the chapter "Safety instructions".

  • Page 173: Information Pertaining To Series Commissioning

    Commissioning 7.10 Information pertaining to series commissioning 7.10 Information pertaining to series commissioning A commissioned project that has been uploaded to STARTER can be transferred to another drive unit keeping the existing safety parameterization. 1. Load the STARTER project into the drive unit. 2.
  • Page 174 Commissioning 7.10 Information pertaining to series commissioning Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...

  • Page 175: Application Examples

    Application examples Input/output interconnections of a safety switching device with TM54F TM54F: interconnecting F-DO with safe input on safety switching device Note These typical circuit diagrams are only valid for version B of TM54F devices. Figure 8-1 TM54F F-DO at equivalent/antivalent safe input on safety switching device (e.g.
  • Page 176 Application examples 8.1 Input/output interconnections of a safety switching device with TM54F TM54F: Interconnecting F-DI with a plus-minus switching output on a safety switching device WARNING In contrast to mechanical switching contacts (e.g. Emergency Stop switches), leakage currents can still flow in semiconductor switches such as those usually used at digital outputs even when they have been switched off.
  • Page 177 Application examples 8.1 Input/output interconnections of a safety switching device with TM54F Figure 8-2 TM54F F-DI at plus-minus switching safe output on safety switching device (e.g. safety PLC) TM54F: interconnecting F-DI with plus-plus switching output on safety switching device Figure 8-3 TM54F F-DI at plus-plus-switching safe output on a safety switching device (e.g.

  • Page 178: Application Examples

    If the pull-up resistor is higher than 1 kΩ, then the open-circuit detection no longer reliably functions and must be disabled. Application examples Application examples can be found at the following Siemens website: http://support.automation.siemens.com/WW/view/en/20810941/136000t Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...

  • Page 179: Acceptance Tests And Acceptance Reports

    Acceptance tests and acceptance reports Requirements regarding an acceptance test are derived from the EC Machinery Directive and ISO 13849-1 (2006). IEC 22G WG 10 is currently working on a "Functional safety" standard which includes a detailed description of acceptance test requirements. The machine manufacturer (OEM) is committed accordingly ●...
  • Page 180 Acceptance tests and acceptance reports Authorized person, acceptance report The test of each SI function must be carried out by an authorized person and logged in the acceptance report. The report must be signed by the person who carried out the acceptance test.
  • Page 181 Acceptance tests and acceptance reports Information about the acceptance tests Note As far as possible, acceptance tests should be carried out at the maximum possible machine speed and acceleration rates. This is so that the maximum braking distances and braking times that can be expected can be determined.
  • Page 182 1. Inspection of SI parameters 2. Check that the existing safety firmware versions are permissible using the table under Siemens "Product Support" on the Internet (see "Safety Integrated firmware versions") 3. Logging of checksums (for each drive) 4. Assigning and logging the Safety password (do not disclose in the report!) 5.
  • Page 183 Acceptance tests and acceptance reports Effect of the acceptance test on specific measures Table 9- 1 Scope of the acceptance test depending on specific measures Measure Documentation Function test Part 1 Function test Part 2 Conclusion of the report Replacement of the Check of the safety Supplement: Possibly encoder system...

  • Page 184: Safety Logbook

    Acceptance tests and acceptance reports 9.1 Safety logbook Safety logbook Description The "Safety Logbook" function is used to detect changes to safety parameters that affect the associated CRC sums. CRCs are only generated when p9601/p9801 (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 185: Acceptance Reports

    Acceptance tests and acceptance reports 9.2 Acceptance reports Acceptance reports 9.2.1 Plant description - Documentation part 1 Table 9- 2 Machine description and overview diagram Designation Type Serial number Manufacturer End customer Electrical drives Other drives Overview diagram of machine Table 9- 3 Values of relevant parameters Versions of the firmware and of Safety Integrated...
  • Page 186 Acceptance tests and acceptance reports 9.2 Acceptance reports Drive number Firmware version SI version Parameters r0148 = r9890 = Sensor Modules r0148 = r9890 = r0148 = r9890 = r0148 = r9890 = r0148 = r9890 = r0148 = r9890 = Drive number Firmware version SI version...

  • Page 187: Description Of Safety Functions - Documentation Part 2

    Acceptance tests and acceptance reports 9.2 Acceptance reports 9.2.2 Description of safety functions - Documentation Part 2 Note This description of a system is for illustration purposes only. In each case, the actual settings for the system concerned will need to be modified as required. 9.2.2.1 Function table Table 9- 4...
  • Page 188 Acceptance tests and acceptance reports 9.2 Acceptance reports Drive-specific data Table 9- 6 Drive-specific data (excerpt) SI function Parameter Motor Modules / CU Motor Module value / CU value Enable safety functions p9301 / p9501 0000 bin Axis type p9302 / p9502 Encoder assignment p9326 / p9526 Sensor Module node identifier...

  • Page 189: Safety Integrated Functions Parameterized Via Tm54F

    Acceptance tests and acceptance reports 9.2 Acceptance reports 9.2.2.3 Safety Integrated functions parameterized via TM54F Parameters for control by way of TM54F Table 9- 7 Parameters for control via the TM54F (excerpt) SI function Parameters Value Sampling time p10000 12.00 ms Monitoring time discrepancy * p10002 12.00 ms...

  • Page 190: Safety Equipment

    Acceptance tests and acceptance reports 9.3 Acceptance tests 9.2.2.4 Safety equipment Protective door The protective door is unlocked by means of single-channel request key Protective door switch The protective door is equipped with a safety door switch. The safety door switch returns the dual- channel signal "Door closed and locked".

  • Page 191: Basic Function

    Acceptance tests and acceptance reports 9.3 Acceptance tests 9.3.1 Basic Functions 9.3.1.1 Safe Torque Off "Safe Torque Off" (STO) function Table 9- 8 "Safe Torque Off" function Description Status Note: The acceptance test must be individually conducted for each configured control. The control can be realized via terminals or via PROFIsafe.
  • Page 192 Acceptance tests and acceptance reports 9.3 Acceptance tests Description Status r9872.0 = r9872.1 = 1 (STO selected and active – Motor Module, via terminals) • r9720.0 = 0 (STO selected) • r9722.0 = 0 (STO selected) • r9773.0 = r9773.1 = 1 (STO selected and active – drive, via terminals) •...

  • Page 193: Safe Stop 1

    Acceptance tests and acceptance reports 9.3 Acceptance tests 9.3.1.2 Safe Stop 1 "Safe Stop 1" function (SS1, time-controlled) Table 9- 9 "Safe Stop 1" function Description Status Note: The acceptance test must be individually conducted for each configured control. The control can be realized via terminals or via PROFIsafe. Initial state Drive in "Ready"...
  • Page 194 Acceptance tests and acceptance reports 9.3 Acceptance tests Description Status STO is initiated after the SS1 delay time expires (p9652, p9852). No Safety faults and alarms (r0945, r2122, r2132) • r9772.0 = r9772.1 = 1 (STO selected and active – CU, via terminals) •...

  • Page 195: Safe Brake Control

    Acceptance tests and acceptance reports 9.3 Acceptance tests 9.3.1.3 Safe Brake Control "Safe Brake Control" function (SBC) Table 9- 10 "Safe Brake Control" function Description Status Note: The acceptance test must be individually conducted for each configured control. The control can be realized via terminals or via PROFIsafe. Initial state Drive in "Ready"...

  • Page 196: Extended Functions

    Acceptance tests and acceptance reports 9.3 Acceptance tests Description Status Check the following: Brake as in sequence control (p1215 = 1) • Mechanical brake is closed • No Safety faults and alarms (r0945, r2122) • r9772.4 = r9872.4 = 0 (SBC deselection via terminal - Control Unit/Motor Module, via •...

  • Page 197: Safe Torque Off

    Acceptance tests and acceptance reports 9.3 Acceptance tests 9.3.2.2 Safe Torque Off "Safe Torque Off" (STO) function Table 9- 11 "Safe Torque Off" function Description Status Note: The acceptance test must be individually conducted for each configured control. The control can be realized via terminals or via PROFIsafe. Initial state Drive in "Ready"...
  • Page 198 Acceptance tests and acceptance reports 9.3 Acceptance tests Description Status r9773.0 = r9773.1 = 1 (STO selected and active – drive, via terminals) • When terminals are grouped for "Safe Torque Off": • r9774.0 = r9774.1 = 1 (STO selected and active - group) Deselect STO Check the following: No Safety faults and alarms (r0945, r2122, r2132)

  • Page 199: Safe Stop 1

    Acceptance tests and acceptance reports 9.3 Acceptance tests 9.3.2.3 Safe Stop 1 "Safe Stop 1" function (SS1, time and acceleration controlled) Table 9- 12 "Safe Stop 1" function Description Status Note: The acceptance test must be individually performed for each configured control. The control can, for example, be realized via terminals, via TM54F or via PROFIsafe.
  • Page 200 Acceptance tests and acceptance reports 9.3 Acceptance tests Example of the trace Figure 9-1 Example Trace SS1 Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...

  • Page 201: Safe Brake Control

    Acceptance tests and acceptance reports 9.3 Acceptance tests 9.3.2.4 Safe Brake Control "Safe Brake Control" function (SBC) Table 9- 13 "Safe Brake Control" function Description Status Note: The acceptance test must be individually conducted for each configured control. The control can be realized via terminals or via PROFIsafe. Initial state Drive in "Ready"...
  • Page 202 Acceptance tests and acceptance reports 9.3 Acceptance tests Description Status Check the following: Brake as in sequence control (p1215 = 1) • Mechanical brake is closed • No Safety faults and alarms (r0945, r2122) • r9772.4 = r9872.4 = 0 (SBC deselection via terminal - Control Unit/Motor Module, via •...

  • Page 203: Safe Stop 2

    Acceptance tests and acceptance reports 9.3 Acceptance tests 9.3.2.5 Safe Stop 2 "Safe Stop 2" function (SS2) Table 9- 14 "Safe Stop 2" function Description Status Note: The acceptance test must be individually performed for each configured control. The control can be realized, for example, via terminals, the TM54F or via PROFIsafe.
  • Page 204 Acceptance tests and acceptance reports 9.3 Acceptance tests Example of the trace Figure 9-2 Example Trace SS2 Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...

  • Page 205: Safe Operating Stop

    Acceptance tests and acceptance reports 9.3 Acceptance tests 9.3.2.6 Safe Operating Stop "Safe Operating Stop" (SOS) function Table 9- 15 "Safe Operating Stop" function Description Status Note: The acceptance test must be individually performed for each configured control. The control can, for example, be realized via terminals, via TM54F or via PROFIsafe. Initial state Drive in the "Ready"...
  • Page 206 Acceptance tests and acceptance reports 9.3 Acceptance tests Example of the trace Figure 9-3 Example trace SOS Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...

  • Page 207: Safely Limited Speed

    Acceptance tests and acceptance reports 9.3 Acceptance tests 9.3.2.7 Safely Limited Speed "Safely Limited Speed" (SLS) function Table 9- 16 "Safely-Limited Speed" function Description Status Note: The acceptance test must be individually performed for each configured control and every SLS speed limit used. The control can be realized, for example, via terminals, the TM54F or via PROFIsafe.
  • Page 208 Acceptance tests and acceptance reports 9.3 Acceptance tests Examples for traces Example 1 Figure 9-4 Trace example: Switch over SLS level 2 to 1 with STOP A Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...
  • Page 209 Acceptance tests and acceptance reports 9.3 Acceptance tests Example 2 Figure 9-5 Trace example: Switch over SLS level 3 to 2 with STOP B Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...
  • Page 210 Acceptance tests and acceptance reports 9.3 Acceptance tests Example 3 Figure 9-6 Trace example: Switch over SLS level 4 to 3 with STOP C Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...
  • Page 211 Acceptance tests and acceptance reports 9.3 Acceptance tests Example 4 Figure 9-7 Trace example: SLS active STOP D Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...

  • Page 212: Safe Speed Monitor

    Acceptance tests and acceptance reports 9.3 Acceptance tests 9.3.2.8 Safe Speed Monitor Table 9- 17 "Safe Speed Monitor" function Description Status Note: The acceptance test must be individually performed for each configured control. The control can, for example, be realized via terminals, via TM54F or via PROFIsafe. Initial state Drive in the "Ready"...
  • Page 213 Acceptance tests and acceptance reports 9.3 Acceptance tests Example of the trace Figure 9-8 Example trace SSM Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...

  • Page 214: Completion Of Certificate

    Acceptance tests and acceptance reports 9.4 Completion of certificate Completion of certificate SI parameters Specified values checked? Control Unit Motor Module Checksums Drive Checksums on Checksums on the DO Motor Module the DO Control Unit Name Drive number r9781[0/1]* p9798 p9898 p9399[0/1] p9729[0...2]...
  • Page 215 Acceptance tests and acceptance reports 9.4 Completion of certificate Data backup Storage medium Storage location Type Designation Date Parameter PLC program Circuit diagrams Countersignatures Commissioning engineer This confirms that the tests and checks have been carried out properly. Date Name Company/dept.
  • Page 216 Acceptance tests and acceptance reports 9.4 Completion of certificate Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...

  • Page 217: List Of Abbreviations

    Appendix A List of abbreviations Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...
  • Page 218 Appendix A A.1 List of abbreviations Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...
  • Page 219 Appendix A A.1 List of abbreviations Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...
  • Page 220 Appendix A A.1 List of abbreviations Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...
  • Page 221 Appendix A A.1 List of abbreviations Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...
  • Page 222 Appendix A A.1 List of abbreviations Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...
  • Page 223 Appendix A A.1 List of abbreviations Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...
  • Page 224 Appendix A A.1 List of abbreviations Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...
  • Page 225 Appendix A A.1 List of abbreviations Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...

  • Page 226: Document Structure

    Appendix A A.2 Document structure Document structure Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...
  • Page 227 Suggested improvements If you come across any misprints in this document, please let us know using this form. We would also be grateful for any suggestions and recommendations for improvement. Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...
  • Page 228 Acceptance tests and acceptance reports Safety Integrated Function Manual, (FHS), 11/2009, 6SL3097-4AR00-0BP0...

  • Page 229: Index

    Index Acceptance test Delay time, 67 SBC, 195, 201 SLS, 207 Deactivation/activation, 171 SOS, 205 DRIVE-CLiQ rules, 42 SS2, 203 Acceptance test SS1 SS1, 199 Activating PROFISAFE, 167 EDS, 98 Actual value acquisition, 94 Enabling PROFIsafe, 115 Actual value synchronization Encoder Encoder, 97 Actual value synchronization, 97...
  • Page 230 Index Safe Acceleration Monitor with encoder SBR with encoder, 84 License for Basic Functions, 115 Safe actual value acquisition, 94 Limit exceeded, 88 Safe Brake Control Linear axis SBC, 59 Commissioning, 168 Safe Operating Stop SOS, 73 Safe Speed Monitor SSM, 81 Message buffer, 92 Safe Stop 1...
  • Page 231 Index Acceptance test, 203 Safe Stop 2, 71 SS2 in an EPOS application Safe Stop 2 in an EPOS application, 72 Safe Speed Monitor, 81 Safe Torque Off, 53 STOP A, 62, 88 STOP B, 88 STOP C, 88 STOP D, 88 STOP E, 88 STOP F, 62, 88 Stop response...
  • Page 232 Siemens AG Subject to change without prior notice Industry Sector © Siemens AG 2009 Drive Technologies Motion Control Systems P.O. Box 3180 91050 ERLANGEN GERMANY www.siemens.com/motioncontrol...

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