Siemens Sinamics S120 Function Manual page 122

Description of Safety Integrated functions
4.2 Safety Integrated Extended Functions
Not e
No ac t ual v alue synchronization for SLP
It is not permissible to simultaneously enable the SLP function and the actual value
synchronization (p9501.3 = 1). In this case, the drive outputs fault F01688.
Control and status s ignals 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. Status bit r9722.6 is set if SLP is
active. The active position range is displayed by r9722.19. Maintaining the upper or lower
active SLP limit can be checked using r9722.30 and r9722.31.
Not e
J umps in t he display
There is no hysteresis available for r9722.30 and r9722.31. Small fluctuations in the area
around the range limit can result in the display jumping back and forth.
Controlling the Safely-Limited Position function
You have 2 options to select/deselect the Safely-Limited Position function and to switch over
the range limits:
● PROFIsafe
– SLP is selected/deselected using control words S_STW1.6 or S_STW2.6.
– Switchover between the two limit switch pairs using control word S_STW2.19.
– S_ZSW2.23 indicates whether the actual position is "safe"; for instance, the bit is only
– Whether SLP is active is indicated in bit 6 of the status words S_ZSW1.6 or
– Which SLP limit switch pair is active is indicated in status word S_ZSW2.19. This
– S_ZSW2.30 and S_ZSW2.31 indicate whether the upper or lower limit of the active
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set after the axis was "safely referenced".
S_ZSW2.6. The bit is not set until SLP is selected and the axis is in the "safely
referenced" state.
indication is only valid if SLP is itself active.
position range is maintained.
Function Manual, (FHS), 07/2016, 6SL3097-4AR00-0BP6
Safety Integrated