Siemens SINAMICS G130 Manual page 91

Functional features of "Safe Operating Stop" with encoder
● The drive remains in the closed-loop control mode.
● A programmable standstill tolerance window is available.
● STOP B is the stop response if the standstill tolerance window is violated
Responses
Standstill tolerance violated in p9330/p9530:
● STOP B with subsequent STOP A
● Safety message C01707/C30707
System errors:
● STOP F
● Safety message C01711/C30711
Overview of important parameters
● p9301 SI Motion enable safety functions (Motor Module)
● p9501 SI Motion enable safety functions (Control Unit)
● p9330 SI Motion standstill tolerance (Motor Module)
● p9530 SI Motion standstill tolerance (Control Unit)
● p9351 SI Motion SLS changeover delay time (Motor Module)
● p9551 SI Motion SLS(SG) changeover delay time (Control Unit)
● r9722.0...15 CO/BO: SI Motion drive-integrated status signals
● r9731 SI Motion safe position accuracy
Safety Integrated
Function Manual, 05/2010, A5E03264275A
Note
The size of the tolerance window should be slightly above the standard standstill
monitoring limit, otherwise the standard monitoring functions will no longer be effective.
Parameter r9731 displays the safe position accuracy (load side) that can be achieved as
a maximum due to the acquisition of the actual value for the safe motion monitoring
functions.
Safety Integrated Extended Functions
6.6 Safe Operating Stop (SOS)
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