Siemens SINAMICS S120 Function Manual page 195

Defining the output cam positions
● You define the output cam positions to be monitored using the parameters p9536[x] and
p9537[x] (where x = 0 ... 29).
Note that the defined output cams must have a certain minimum length: p9536[x] -
If you violate this rule, the drive will output the message F01686 ("SI Motion: Cam
position parameterization not permissible").
● Owing to variations in the cycle and signal propagation times, the output cam signals of
the two monitoring channels do not switch simultaneously and not precisely at the same
position. For this reason, enter a tolerance band for all output cam types via parameter
p9540. Within this tolerance band, the monitoring channels can have different signal
states for the same output cam:
Figure 4-30
Note
The smallest possible tolerance range should be selected for the SCA function
(< 5 ... 10 mm). It makes sense to parameterize the cam tolerance to be greater than or
equal to the actual value tolerance.
● Reference the axis using the "Safe referencing (Page 190)" function.
Enabling SCA
● You enable the SCA function with p9501.28 = 1.
● You enable each output cam individually with p9503.x = 1 (where x = 0 ... 29).
Safe referencing
The enabled output cam signals are output immediately after POWER ON. However, this
output only safe after safe referencing has been performed. The cams are only considered
as being safe if they were safely referenced.
• Reference the axis using the "Safe referencing (Page 190)" function.
Safety Integrated
Function Manual, 12/2018, 6SL3097-5AR00-0BP1
p9537[x] ≥ p9540 + p9542
Parameterize output cam and tolerance
WARNING
Description of Safety Integrated functions
4.3 Safety Integrated Advanced Functions
193