Drive-Cliq Rules For Safety Integrated Functions - Siemens SINAMICS S120 Function Manual

6.4

DRIVE-CLiQ rules for Safety Integrated Functions

Note
General DRIVE-CLiQ rules
For the Safety Integrated Functions (Basic, Extended and Advanced Functions) the general
DRIVE-CLiQ rules apply as a basic principle. You will find these rules in Section "Rules for
connection with DRIVE-CLiQ" in the following manual:
References: SINAMICS S120 Drive Functions Function Manual
This specification also lists the exceptions for Safety Integrated components depending on
the firmware version.
Note
Effect of the Safety monitoring clock cycle (p9500)
If you select a value of <12 ms for the Safety monitoring clock cycle, you can operate fewer
than the specified number of maximum axes at one Control Unit if you have demanding
configurations.
● The following rule also applies particularly for Safety Integrated Basic Functions:
– Maximum of four drives per DRIVE-CLiQ line for control via PROFIsafe
● The following rules are also valid particularly for the Safety Integrated
Extended/Advanced Functions:
– Maximum of 6 servo axes for default clock cycle settings (Safety monitoring clock
– Maximum of six vector axes for the following cycle settings (Safety monitoring
– One Double Motor Module corresponds to 2 DRIVE-CLiQ nodes.
– On Double Motor Modules, on the drive objects, different values for p9511 are not
– A maximum of 4 Motor Modules with Safety Extended/Advanced Functions may be
Safety Integrated
Function Manual, 12/2018, 6SL3097-5AR00-0BP1
cycle = 12 ms; current controller cycle = 125 μs); of which a maximum of 4 servo axes
are in one DRIVE-CLiQ line
cycle = 12 ms; current controller cycle = 500 μs)
permitted, even if the values in p0115[0] are different.
operated on one DRIVE-CLiQ line (for current controller cycle T
axes). No further DRIVE-CLiQ components other than a Line Module and Sensor
Modules may be operated on this DRIVE-CLiQ line.
Exception: For SINAMICS S120M, a maximum of 6 S120M with Safety
Extended/Advanced Functions can be operated on one DRIVE-CLiQ line.
6.4 DRIVE-CLiQ rules for Safety Integrated Functions
Commissioning
= 125 μs on all
IReg
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