Reliable Actual Value Acquisition With The Encoder System - Siemens SINAMICS G130 Manual

Safety Integrated Extended Functions

6.13 Reliable actual value acquisition with the encoder system

6.13 Reliable actual value acquisition with the encoder system
Supported encoder systems
The Safety Functions used to monitor motion (e.g. SS1, SS2, SOS, SLS and SSM) require
reliable actual value acquisition.
The following encoder systems should primarily be used for reliable speed/position
acquisition:
● Single-encoder systems or
● Two-encoder systems
Single-encoder system
In a single-encoder system, only the motor encoder is used to safely acquire the drive actual
values. This motor encoder must be appropriately qualified (see encoder types). The safety-
relevant actual values are generated either directly in the encoder or in the Sensor Module
and are transferred to the Control Unit by way of fail-safe communication via DRIVE-CLiQ.
For motors without a DRIVE-CLiQ interface, the connection is established by means of
additional Sensor Modules (SMC or SME).
Even if the drive is operating in the closed-loop torque controlled mode, motion monitoring
functions may be selected as long as it is guaranteed that the encoder signals can be
evaluated.
Special feature in the case of linear motors
The motor encoder (linear scale) of linear motors also acts as load measuring system. Only
one measuring system is required for this reason. The system is connected by means of a
Sensor Module or directly via DRIVE-CLiQ.
NOTICE
When specifying the standstill tolerance window, you must remember that fail-safe position
monitoring takes place with a maximum of the precision displayed in r9731.
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Safety Integrated
Function Manual, 05/2010, A5E03264275A