Transferring Safe Position Values (Sp) - Siemens Sinamics S120 Function Manual

4.2.14

Transferring safe position values (SP)

The function "Transfer safe position values (SP)" enables you to transfer a safe position (i.e.
absolute or relative position) to the higher-level controller via PROFIsafe. From the position
values, the control can calculate, for example, the actual velocity.
Enabling the "Transfer safe position v alues" function
The following steps are required to enable the "Transfer safe position values" function:
● Enable the Safety Integrated Extended Functions
– p9601 = 12 = C hex (≙ Extended Functions via PROFIsafe) or
– p9601 = 13 = D hex (≙ Extended Functions via PROFIsafe and Basic Functions via
● Enable "Transfer the safe absolute position with the possibility of calculating the velocity
by the controller"
– Select one of the PROFIsafe telegrams 901 or 902 (p60022, p9611, p9811)
– p9501.2 = 1 (≙ enable absolute position)
– p9501.25 = 1 (≙ enable transfer of safe position via PROFIsafe)
Not e
No ac t ual v alue synchronization when S P is enabled
If the transfer safe position value function is used, it is not permissible to enable actual
value synchronization (p9501.3 = 1): In this case, the drive outputs fault F01688.
● Enable the "Transfer safe relative position" only to calculate the speed by the controller
– Select one of the PROFIsafe telegrams 901 or 902
– p9501.25 = 1
● After the enable, POWER ON the converter.
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
– If the transfer of the safe relative position has been enabled through p9501.25 = 1 and
– If the transfer of the safe absolute position has been enabled using p9501.25 = 1 and
● Transfer of safe relative position values (e.g. for calculating the velocity)
– Only S_ZSW2.22 (r9722.22, actual position value valid) must be set to calculate the
Safety Integrated
Function Manual, (FHS), 07/2016, 6SL3097-4AR00-0BP6
onboard terminals)
p9501.2 = 0, the validity of the safe relative position is displayed by the set bit
S_ZSW2.22.
p9501.2 = 1, S_ZSW2.22 is only set when the drive has also been safely referenced.
speed.
Description of Safety Integrated functions
4.2 Safety Integrated Extended Functions
129