Safe Acceleration Monitor (Sam) - Siemens Sinamics S120 Function Manual

Description of Safety Integrated functions
4.2 Safety Integrated Extended Functions
4.2.16

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. If the speed is temporarily
higher, the monitoring remains at the last value. The converter reduces the monitoring
threshold until the "Shutdown speed" has been reached.
SAM recognizes if the drive accelerates beyond the tolerance defined in p9548 during the
ramp-down phase, and generates a STOP A. The monitoring function is activated for SS1
(or STOP B) and SS2 (or STOP C) and is deactivated after the speed drops below the value
set in p9568.
Not e
Relationship between SSM and S AM
If 0 is entered for p9568, the speed limit of the SSM function (p9546) is also used as
minimum limit value for the SAM function (safe acceleration monitoring). The SAM is
deactivated if the speed is below this limit.
In this case, the effects of safe acceleration monitoring are therefore significantly restricted if
a relatively high SSM velocity limit is set when using the SS1 and SS2 stop functions.
Not e
No direct s election of SAM
SAM is part of the Safety Integrated Extended Functions SS1 and SS2 or STOP B and
STOP C. SAM cannot be individually selected.
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
– The duration of the acceleration phase is equivalent to one monitoring cycle (MC
● Calculating the SAM tolerance:
Actual speed for SAM = acceleration × acceleration duration
The following setup rule is derived thereof:
– For linear axes:
– For rotary axes:
142
acceleration (a) and the duration of the acceleration phase.
p9500) (delay from detecting an SS1 / SS2 until n
SAM tolerance [mm/min] = a [m/s
SAM tolerance [rpm] = a [rev/s
= 0)
set
] x MC [s] x 1000 [mm/m] x 60 [s/min]
2
] x MC [s] x 60 [s/min]
2
Function Manual, (FHS), 07/2016, 6SL3097-4AR00-0BP6
Safety Integrated