Siemens SINAMICS S120 Function Manual 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
– 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
Setting the modulo value for rotary axes
● P9505 is used to define the modulo range of a safety rotary axis (p9502 = 1) when the
transfer of a safe absolute position (p9501.2 = 1 and p9501.25 = 1) is enabled.
Parameterizing the modulo value can result in a jump in the position actual value if the
range that can be represented overflows. p9505 must therefore only be parameterized in
steps of 2
This alarm can be hidden in the case that the possible jump in the position actual value
can be tolerated in the particular application – or this does not present a problem.
● The modulo function is deactivated if p9505 = 0. This parameter has no relevance for a
safety linear axis (p9502 = 0) or when the transfer of a safe relative position (p9501.2 = 0
and p9501.25 = 1) is enabled.
● If SLP is also enabled (p9501.1 = 1), the modulo function must be deactivated
(p9505 = 0).
Transfer formats and value range
● 32-bit
The values are transferred in telegram 902 as 32-bit values with the following value
ranges:
Table 4- 4
Position values
Unit
Comment
● 16-bit
To transfer the position values in telegram 901 in the 16-bit format, you must scale the
values using p9574. In this case, you must select the scaling factor so that the value of
186
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.
× 360° (n = 1, 2, 3, ...). In all other cases, the converter issues alarm A01794.
n
Value range and resolution (32 bits)
Linear axis
±737280000
1 μm
Monitoring ±737.280 m with an
accuracy of 1 μm
Function Manual, 12/2018, 6SL3097-5AR00-0BP1
Rotary axis
±737280000
0.001 °
≙ 2048 revolutions
Safety Integrated