Table of contents
SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions, 04/2019, A5E36037884-007
11
8.1.2.7
Risk analysis/assessment ..................................................................................................... 300
8.1.2.8
Risk reduction ....................................................................................................................... 301
8.1.2.9
Residual risk ......................................................................................................................... 302
8.1.3
Machine safety in the USA ................................................................................................... 302
8.1.3.1
Minimum requirements of the OSHA .................................................................................... 302
8.1.3.2
NRTL listing .......................................................................................................................... 303
8.1.3.3
NFPA 79 ............................................................................................................................... 303
8.1.3.4
ANSI B11 .............................................................................................................................. 304
8.1.4
Machine safety in Japan ....................................................................................................... 305
8.1.5
Equipment regulations .......................................................................................................... 305
8.2
General information about SINAMICS Safety Integrated ..................................................... 306
8.3
System features .................................................................................................................... 306
8.3.1
STO functional safety data ................................................................................................... 306
8.3.2
Certification ........................................................................................................................... 306
8.3.3
Safety instructions ................................................................................................................. 307
8.3.4
Probability of failure of the safety function ............................................................................ 308
8.3.5
Response time ...................................................................................................................... 309
8.3.6
Residual risk ......................................................................................................................... 309
8.4
Safety Integrated basic functions .......................................................................................... 309
8.4.1
Safe Torque Off (STO).......................................................................................................... 309
8.4.2
Forced dormant error detection ............................................................................................ 312
9
Tuning ................................................................................................................................................ 313
9.1
Controller overview ............................................................................................................... 313
9.2
Tuning mode ......................................................................................................................... 315
9.3
One-button auto tuning ......................................................................................................... 316
9.4
Real-time auto tuning ............................................................................................................ 321
9.5
Manual tuning ....................................................................................................................... 325
9.6
Resonance suppression ....................................................................................................... 326
9.7
Low frequency vibration suppression ................................................................................... 329
9.8
Gain switching ....................................................................................................................... 330
9.8.1
Gain switching using an external digital input signal (G-CHANGE) ..................................... 331
9.8.2
Gain switching using position deviation ................................................................................ 332
9.8.3
Gain switching using position setpoint frequency ................................................................. 332
9.8.4
Gain switching using actual speed ....................................................................................... 333
9.9
PI/P switching ....................................................................................................................... 334
9.9.1
PI/P switching using torque setpoint ..................................................................................... 336
9.9.2
PI/P switching using an external digital input signal (G-CHANGE) ...................................... 337
9.9.3
PI/P switching using speed setpoint ..................................................................................... 338
9.9.4
PI/P switching using acceleration setpoint ........................................................................... 338
9.9.5
PI/P switching using pulse deviation ..................................................................................... 339
10
Parameters ......................................................................................................................................... 341
10.1
Overview ............................................................................................................................... 341
10.2
Parameter list ........................................................................................................................ 343
11
Diagnostics ......................................................................................................................................... 383
