Commissioning A Linear/Rotary Axis - Siemens SINAMICS G130 Manual

Activating PROFIsafe via the expert list
In order to activate Safety Integrated Basic Functions via PROFIsafe, in the expert list, bit 3
of p9601 and p9801 must be set to "1" and bit 2 to "0". Bit 0 must be set to either "1" or "0",
depending on whether the control via terminals is to be enabled in parallel via PROFIsafe or
not.
Saving and copying the Basic Function parameters
After setting the specific parameters for Safety Integrated functions (e.g. the PROFIsafe
address) using the "Copy parameters" button, these must be copied from the CU into the
Motor/Power Module and activated using the "Activate settings" button.
Acceptance test
An acceptance test must be carried out once configuration and commissioning are complete
(see chapter "Acceptance test and acceptance report").
Note
If F parameters of the SINAMICS drive are changed in HW Config, the global signature of
the safety program in the SIMATIC F-CPU changes. This means that using the global
signature it is possible to identify whether safety-relevant settings have changed in the F-
CPU (F parameters of the SINAMICS slave). However, this global signature does not include
the safety-relevant drive parameters so that their change cannot be checked in this way.
8.9

Commissioning a linear/rotary axis

The next section outlines the safety commissioning procedure for a linear axis/rotary axis
when a TM54F is used.
1. Connect a PD to the drive and link it to the target device via STARTER.
2. In the STARTER project tree, select the required drive object and under Functions →
3. Click on the Change settings button. The window for selecting Safety Integrated opens.
Safety Integrated
Function Manual, 05/2010, A5E03264275A
Safety Integrated open the start screen to configure Safety Integrated.
8.9 Commissioning a linear/rotary axis
Commissioning
233