Siemens SINAMICS S120 Function Manual page 193

Referencing types
SINAMICS distinguishes between 2 types of referencing:
● Initial referencing
For initial safe referencing, or in the event of a fault during a subsequent referencing, the
following steps are necessary:
– The reference position determined by the controller is entered in parameter p9572 and
– Referencing has been correctly implemented (r9723.17 = 1)
– Confirm the actual position value: Within 4 s, set parameters p9726 = p9740 = AC hex
● Subsequent referencing
Subsequent referencing involves referencing with a safety-relevant history (i.e. with an
internally buffered user agreement) after a POWER ON or after deselecting "parking
axis".
– The position determined by the controller is entered in parameter p9572 and is
– After the drive has been referenced, Safety Integrated automatically performs a
– If the deviation between the actual absolute position and the previous standstill
Safety Integrated
Function Manual, 12/2018, 6SL3097-5AR00-0BP1
is declared to be valid with p9573 = 89. This step is not required for closed-loop
position control with EPOS.
- If you do not set p9740 = AC hex within 4 s after setting p9726 = AC hex, the
converter outputs messages C01711 (value: 1002), C30711(value: 0) and any
subsequent messages. User confirmation is cleared in safety channels.
- If you do not set p9726 = AC hex within 4 s after setting p9740 = AC hex, the
converter outputs messages C01711 (value: 0), C30711(value: 1002) and any
subsequent messages. User confirmation is cleared in safety channels.
After correctly setting this "user agreement", the drive is "safely referenced"
(r9722.23 = 1)
Note
No automatic user agreement permitted
Please note that the operator must be capable of assigning the determined position to
the real position of the axis before setting the user agreement. This can be performed,
for example, by a visual inspection of the axis position. Under no circumstances must
these parameters ever be set fully automatically by a control system without
agreement by the user. This would only be permissible if the reference position can be
safely sensed by means of a safe sensor.
declared to be valid with p9573 = 89. This step is not required for closed-loop position
control with EPOS and use of an absolute encoder.
plausibility check.
position saved from Safety Integrated in the NVRAM is within the tolerance p9544,
then the drive goes into the state "safely referenced" (r9722.23 = 1).
Description of Safety Integrated functions
4.3 Safety Integrated Advanced Functions
191