Siemens SINAMICS G130 Manual page 234

Commissioning
8.9 Commissioning a linear/rotary axis
4. It is only possible to change Safety parameters after entering the valid Safety password
Figure 8-35 Safety Integrated commissioning of a linear/rotary axis
5. Select Motion Monitoring via TM54F from the list Select Safety Function.
6. Use the list of safety functions to enable the safety functions (p9501). Then click on the
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(parameter p9761 for the drives or p10061 for the TM54F).
Configuration button.
Safety Integrated
Function Manual, 05/2010, A5E03264275A