Control Of Extended Functions Without Encoder Via Profisafe (Cu310-2 And Cu320-2) - Siemens SINAMICS S120 Function Manual

8.4.7 Control of Extended Functions without encoder via PROFIsafe (CU310-2 and
CU320-2)
The following table lists the response times
Control Unit up to initiating the particular response.
Table 8- 7 Response times when controlling via PROFIsafe
Function
STO
SBC
SS1
(speed controlled/time and acceleration controlled),
SS1E (time controlled)
SBR or SAM (limit value violation until STO active)
SLS speed limit violated
SSM
6)
SDI (limit value violation until brak-
ing is initiated)
SP
7)
The specified response times are valid for Extended Functions with and without selection!
1)
The specified response times involve internal SINAMICS response times. Program run times in the F-host and the
2)
transmission time via PROFIBUS or PROFINET are not taken into account. When calculating the response times be-
tween the F-CPU and the converter, you must take into account that faults in the communication can result in a safety
function only being selected after the PROFIsafe monitoring time (F_WD_Time) has expired. The PROFIsafe monitoring
time (F_WD_Time) must also be included in the calculation when an error occurs.
Start phase: This describes the behavior after switching on (ON command with previously deleted pulses).
3)
Standard: This behavior applies when the pulses have already been enabled.
There is a different behavior because, with the aid of p9586, the encoderless actual value acquisition after pulse enable
can only be activated after a delay.
t_K is the time for internal communication within the SINAMICS module; t_K can be determined as follows:
4)
For isochronous communication
For non-isochronous
communication
Safety Integrated
Function Manual, 12/2018, 6SL3097-5AR00-0BP1
Standard
3) 3)
Start phase
3)
Standard
3)
Start phase
3)
t_K = To (for To, see parameter r2064[4])
t_K = 4 ms
(for modules, on which p2048 or p8848
t_K = value from p2048 or p8848
(for modules on which p2048 or p8848
from receiving the PROFIsafe telegram at the
1)2)
Drive system has no fault
5 · p9500 + r9780 + t_K
4)
5 · p9500 + 2 · r9780 + t_K
5 · p9500 + 2 ms + t_K
4)
3 · p9500 + r9780 + p9587 + 4
ms
3 · p9500 + p9587 + 6 ms
3 · p9500 + p9587 + p9586
6 ms
6 · p9500 + p9587 + 4 ms
2,5 · p9500 + p9587 + 6 ms
2,5 · p9500 + p9587 + p9586
6 ms
6 · p9500 + p9587 + 4 ms
5)
System features
8.4 Response times
Worst case for
A fault is present
5 · p9500 + 2 · r9780 + t_K
5 · p9500 + 6 · r9780 + t_K
4)
5 · p9500 + 2 ms + t_K
3,5 · p9500 + r9780 + p9587 +
32 ms
4,5 · p9500 + r9780 + p9587 +
32 ms
+ 4,5 · p9500 + r9780 + p9587 +
3)
p9586 + 32 ms
3)
6,5 · p9500 + p9587 + 32 ms
4 · p9500 + r9780 + p9587 +
32 ms
+ 4 · p9500 + r9780 + p9587 +
3)
p9586 + 32 ms
3)
6,5 · p9500 + p9587 + 32 ms
does not exist)
5)
exists)
5)
4)
4)
4)
363