Siemens SINUMERIK MC Commissioning Manual Download

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Safe referencing...................................................................................................................189

4.19

Safe actual value acquisition................................................................................................191

4.19.1

Reliable actual value acquisition with encoder system ........................................................191

4.19.2

Overview of important parameters .......................................................................................197

4.20

Safe gearbox stage switchover ............................................................................................198

4.21

Forced checking procedure/test stop ...................................................................................203

4.21.1

Examples for when the forced checking procedure is carried out........................................203

4.21.2

Options and control ..............................................................................................................204

Controlling safety functions integrated in the drive...................................................................................205
5.1

Control possibilities ..............................................................................................................205

5.2

Overview of telegrams .........................................................................................................206

5.3

Overview: Process data in telegrams...................................................................................207

5.4

Control via PROFIsafe .........................................................................................................208

5.4.1

Enabling PROFIsafe control.................................................................................................208

5.4.2

Selecting the PROFIsafe telegram.......................................................................................209

5.4.3

ESR response in the event of a communication error..........................................................210

5.4.4

Parameters and function diagrams ......................................................................................211

5.5

Safety Info Channel and Safety Control Channel (SIC/SCC) ..............................................212

5.5.1

Introduction ..........................................................................................................................212

5.5.2

Safety Info Channel (SIC) ....................................................................................................212

5.5.3

Safety Control Channel (SCC) .............................................................................................212

5.5.4

SIC/SCC communication using telegram 701......................................................................212

5.5.5

PLC user interface of the axis/spindle signals (LBP_Axis1 ... LBP_Axis8) .........................213

5.5.6

Overview of important parameters (see SINAMICS S120/S150 List Manual) .....................213

5.6

Control via terminals on the Control Unit and Motor/Power Module ....................................214

5.6.1

Features ...............................................................................................................................214

5.6.2

Overview of available terminals ...........................................................................................214

5.6.3

Terminals for STO, SS1 (time-controlled), SBC...................................................................215

5.6.4

Grouping drives....................................................................................................................215

5.6.5

Simultaneity and tolerance time of the two monitoring channels .........................................216

5.6.6

Bit pattern test ......................................................................................................................218

Commissioning and configuring ...............................................................................................................219
6.1

Commissioning sequence ....................................................................................................219

6.2

Configuring safety-relevant components..............................................................................220

6.2.1

Overview ..............................................................................................................................220

6.2.2

Loading the configuration into the controller ........................................................................221

6.2.3

Allocating and assigning a PROFINET device name...........................................................222

6.2.4

Assigning F-destination addresses, address type 1.............................................................224

6.2.5

Assigning F-destination addresses, address type 2.............................................................224

6.2.6

Checking the PROFIsafe address........................................................................................226

6.3

Generating a safety program ...............................................................................................228

6.3.1

Overview ..............................................................................................................................228

6.3.2

Creating F-capable PLC variables .......................................................................................228

6.3.3

Adapting the settings of the F-runtime group (optional) .......................................................232

6.3.4

Setting up access protection ................................................................................................234

Table of contents

Safety Integrated (with SINAMICS S120)

Commissioning Manual, 02/2020, A5E46305916B AB

Summary of Contents for SINUMERIK MC

Page 1: ... 2020 A5E46305916B AB Preface Fundamental safety instructions 1 Fundamentals 2 Safety program of the F PLC 3 Safety functions integrated in the drive 4 Controlling safety functions integrated in the drive 5 Commissioning and configuring 6 Diagnostics 7 Acceptance test in the SINUMERIK ONE Commissioning Tool 8 Component replacement software hardware 9 Data descriptions 10 System features 11 Appendi...

Page 2: ...ersonnel are those who based on their training and experience are capable of identifying risks and avoiding potential hazards when working with these products systems Proper use of Siemens products Note the following WARNING Siemens products may only be used for the applications described in the catalog and in the relevant technical documentation If products and components from other manufacturers...

Page 3: ...owing address mailto docu motioncontrol siemens com mySupport Documentation At the following address https support industry siemens com My ww en documentation you can find information on how to create your own individual documentation based on Siemens content and adapt it for your own machine documentation Training At the following address http www siemens com sitrain you can find information abou...

Page 4: ... Protection Regulation Siemens observes standard data protection principles in particular the principle of privacy by design That means that this product does not process store any personal data only technical functional data e g time stamps If a user links this data with other data e g a shift schedule or stores personal data on the same storage medium e g hard drive and thus establishes a link t...

Page 5: ...ne data MD15068 1 Machine data 15068 index 1 MD15068 1 3 Machine data 15068 index 1 bit 3 MD15068 0 3 Machine data 15068 index 0 to 3 MD15068 4 Machine data 15068 bit 4 Purpose of the documentation This documentation provides a description of functions and data about the Safety Integrated mode as well as more general information relating to commissioning acceptance maintenance and diagnostics usin...

Page 6: ...pending on the application area the SINUMERIK MC being part of plants and systems requires that special standards and regulations be carefully observed It is absolutely crucial that you observe the appropriate safety and accident prevention regulations e g IEC 60204 1 general requirements placed on the safety of machines SINUMERIK ONE Commissioning Tool SINUMERIK MC uses its own operating software...

Page 7: ...guration with hardware and network editor Programming in the LAD and FBD programming languages using the program editor Communication between CPUs Configuring and programming failsafe systems with SIMATIC Safety Configuring and programming with SINUMERIK hardware and the SINUMERIK PLC basic program Commissioning SINUMERIK MC using the TIA Portal Commissioning the Safety Integrated Functions of the...

Page 8: ...Preface Safety Integrated with SINAMICS S120 8 Commissioning Manual 02 2020 A5E46305916B AB ...

Page 9: ...2 8 6 Configuring the PC system 39 2 8 7 Inserting and networking a SINAMICS drive 40 2 8 8 Setting up the communication 42 2 8 8 1 Configuring PROFINET for SINUMERIK MC 42 2 8 8 2 Configuring PROFINET on the PC system 44 2 8 8 3 Compile hardware configuration 45 2 8 8 4 Establish the communication connection 45 2 8 9 F I O for PROFINET IO 47 2 8 10 Drive components 47 2 8 10 1 Interconnecting DRI...

Page 10: ...ta transfer from standard user program to the safety program 90 4 Safety functions integrated in the drive 93 4 1 Introduction to Safety Integrated Functions 93 4 2 SS1 Basic 94 4 2 1 Details and parameterization 95 4 2 1 1 SS1 with OFF3 95 4 2 1 2 SS1 with external stop SS1E 96 4 2 1 3 Function diagrams and parameters 97 4 3 SS1 98 4 3 1 Details and parameterization 100 4 3 1 1 Safe Stop 1 SS1 ti...

Page 11: ...ameters 151 4 12 SDI 153 4 12 1 Details and parameterization 155 4 12 1 1 Safe Direction with encoder 155 4 12 1 2 Safe Direction without encoder 156 4 12 1 3 Safe Direction without selection 158 4 12 1 4 Function diagrams and parameters 159 4 13 SLP 161 4 13 1 Details and parameterization 161 4 13 1 1 Retraction 164 4 13 1 2 Function diagrams and parameters 165 4 14 SP 166 4 14 1 Details and para...

Page 12: ... interface of the axis spindle signals LBP_Axis1 LBP_Axis8 213 5 5 6 Overview of important parameters see SINAMICS S120 S150 List Manual 213 5 6 Control via terminals on the Control Unit and Motor Power Module 214 5 6 1 Features 214 5 6 2 Overview of available terminals 214 5 6 3 Terminals for STO SS1 time controlled SBC 215 5 6 4 Grouping drives 215 5 6 5 Simultaneity and tolerance time of the tw...

Page 13: ...ng the setpoint speed limiting 252 6 5 6 Parameterizing reaction of the stop response 254 6 5 7 Parameterizing an encoder 255 6 5 8 Configuring encoderless operation 259 6 5 9 Configuring telegrams 264 6 6 Configuring safety functions integrated in the drive 266 6 6 1 STO SS1 Basic 268 6 6 2 STO Extended 270 6 6 3 SBC 272 6 6 4 SS1 Extended 274 6 6 5 SS2 SOS 276 6 6 6 SAM 278 6 6 7 SBR 280 6 6 8 S...

Page 14: ...afety message buffer 335 7 8 2 Configuring the standard alarm buffer 335 7 8 3 Configuring the safety alarm buffer 336 7 9 Acknowledging 337 7 9 1 Overview 337 7 9 2 Acknowledgment via PROFIsafe 338 7 9 3 Additional acknowledgment via PROFIdrive RESET 338 7 9 4 Acknowledgment using POWER ON 339 7 9 5 Extended acknowledgment deselection of STO SS1 339 7 9 6 Additional acknowledgment when the safety...

Page 15: ... position value 16 bits 371 10 5 2 10 S_XIST32 Current actual position value 32 bits 371 10 5 2 11 S_ZSW_CAM1 372 10 5 3 SIC SCC PROFIdrive process data 374 10 5 3 1 S_STW1B Safety Control Channel control word 1 374 10 5 3 2 S_ZSW1B SI Motion Safety Info Channel status word 375 10 5 3 3 S_ZSW2B Safety Info Channel status word 2 376 10 5 3 4 S_STW3B Safety Control Channel control word 3 376 10 5 3 ...

Page 16: ... lists from the TIA Portal 398 A 7 Importing SINUMERIK PLC alarm texts into the TIA Portal 400 A 8 Additional information on safety topics 402 A 8 1 Information sheets issued by the Employer s Liability Insurance Association 402 A 8 2 Further information 402 Index 403 Table of contents Safety Integrated with SINAMICS S120 16 Commissioning Manual 02 2020 A5E46305916B AB ...

Page 17: ...ions given in the hardware documentation Consider the residual risks for the risk evaluation WARNING Malfunctions of the machine as a result of incorrect or changed parameter settings As a result of incorrect or changed parameterization machines can malfunction which in turn can lead to injuries or death Protect the parameterization against unauthorized access Handle possible malfunctions by takin...

Page 18: ...nly intended to provide support for typical tasks As the user you yourself are responsible for ensuring that the products described are operated correctly Application examples do not relieve you of your responsibility for safe handling when using installing operating and maintaining the equipment Fundamental safety instructions 1 2 Warranty and liability for application examples Safety Integrated ...

Page 19: ...ns that are no longer supported and failure to apply the latest updates may increase customer s exposure to cyber threats To stay informed about product updates subscribe to the Siemens Industrial Security RSS Feed under https www siemens com industrialsecurity https new siemens com global en products services cert html Subscriptions Further information is provided on the Internet Industrial Secur...

Page 20: ...Fundamental safety instructions 1 3 Security information Safety Integrated with SINAMICS S120 20 Commissioning Manual 02 2020 A5E46305916B AB ...

Page 21: ...th F logic using the editors for F FBD or F LAD Configurations and the F library are handled in the same way as for SIMATIC F CPUs Configuration using the Safety Administration Editor Page 60 Controlling the safety functions integrated in the drive via a connected SINAMICS drive Safety Integrated Basic Functions Safety Integrated Extended Functions Safety Integrated with SINAMICS S120 Commissionin...

Page 22: ...D SRUW 6SLQGOH 6 027 6 3 6 027 6 6 1 0 6 6 5 9 L4 352 1 7 6 180 5 0 0 8 6 0 7 7 63 6ZLWFK 6 0 7 3DQHO Figure 2 1 Example Simplified schematic of a SINUMERIK MC configuration Fundamentals 2 2 Configuring SINUMERIK MC Safety Integrated with SINAMICS S120 22 Commissioning Manual 02 2020 A5E46305916B AB ...

Page 23: ... safety function or a fault response function If in the case of a fault the F system can no longer execute the actual user safety function then it executes the fault response function for example the associated outputs are shut down and the F PLC goes into the STOP mode if necessary In the failsafe inputs and outputs F I O The F I O guarantees the safety relevant processing of information from the...

Page 24: ...ns according to the application Table 2 1 Functions for safe stopping and braking Safety function Scope Brief description Configuration via Safe Torque Off STO Extended Safe Torque Off is a safety function that prevents the drive from re starting unexpectedly in accordance with EN 60204 1 STO prevents the supply of power to the motor which can produce a torque This is equivalent to stop Category 0...

Page 25: ...is function 3 The Safe Brake Test is purely a diagnostic function but for organizational reasons is included in the list of Safety Integrated Extended Functions Table 2 2 Functions for safe motion monitoring Safety function Scope Brief description Configuration via Safely Limited Speed SLS Extended Safely Limited Speed monitors that the drive does not exceed a preset speed velocity limit SLS Page ...

Page 26: ...AMICS they are encrypted and belong there to the Advanced Functions which require their own license For reasons of transparency in this manual they are still called Extended Functions Fundamentals 2 4 Safety functions integrated in the drive Safety Integrated with SINAMICS S120 26 Commissioning Manual 02 2020 A5E46305916B AB ...

Page 27: ... Safety Integrity Level according to IEC 61508 Note F system SIMATIC Safety Safety Integrated is used to control processes where a safe state can be immediately achieved by shutting down It is only permissible to use SIMATIC Safety to control processes where an immediate shutdown does not represent any risk to persons and the environment Further information Information about the maximum safety req...

Page 28: ...xample SIEMENS telegram 901 are transferred via a PROFINET interface from the PLC to the SINAMICS S drive for this purpose Status and control information is transferred between the integrated subcomponents of the SINUMERIK MC PLC NC using SIC SCC Safety Info Channel Safety Control Channel PROFIsafe communication is only possible between F components As a consequence for SINUMERIK MC PROFIsafe comm...

Page 29: ... signals in the safety relevant user program safety program See Safety program of the F PLC Page 53 Processing status and control signals SIC SCC via the corresponding axis DB LBP_Axis1 DB31 LBP_Axis8 DB38 See PLC user interface DB3x Page 213 SIC SCC Page 212 NC Transfers status and control information SIC SCC axis DB between the F PLC and SINAMICS S drive Reads in safety relevant messages signals...

Page 30: ...ed drives For each individual axis and spindle safety functions integrated in the drive can be implemented which can communicate via safety relevant input output signals with the process See Safety functions integrated in the drive Page 93 SINAMICS S drive PROFIsafe slave Safety relevant motion monitoring of NC controlled drives See Safety functions integrated in the drive Page 93 Executes fault r...

Page 31: ...e catalog Inspector window or object properties Program editor This also applies to the SINUMERIK components SINUMERIK MC As the PLC subcomponent supports Safety Integrated Functions the higher level SINUMERIK MC is marked as safety relevant resource Integrated PLC Fundamentals 2 7 Structure of the project view in the TIA Portal Safety Integrated with SINAMICS S120 Commissioning Manual 02 2020 A5E...

Page 32: ... are marked in the Properties inspector window Folders and the devices themselves are marked in the hardware catalog You can therefore see whether Safety Inte grated is supported before inserting the device Fail safe devices are also marked in the information area of the hardware catalog Figure 2 3 Marking fail safe components in the TIA Portal Fundamentals 2 7 Structure of the project view in the...

Page 33: ...t PC system When creating the SINUMERIK MC in the TIA Portal all subcomponents and the PC system are simultaneously created Some of the safety settings required can also be made via an external SINAMICS drive In addition to the complete SINUMERIK MC this is why it is also recommended to always simultaneously create a drive and to connect it to SINUMERIK MC via PROFINET Figure 2 4 Example SINUMERIK...

Page 34: ...e also copied PC system The PC system is a fixed component of an MC It is created together with the MC and automatically connected to the CP To use the customized interfaces install the WinCC RT Advanced provided on the PC system You can configure and adapt the operating area for specific customers The PC system is configured separately from the configuration of the MC subcomponents Note You also ...

Page 35: ... completely commission and configure the drive The SINUMERIK ONE Commissioning Tool is not suitable for S210 drives Commissioning using the device master data files in the TIA Portal Basic commissioning without the functions and optimization methods of the Startdrive application intended for the selected drive It is especially important to note that the drive based Safety Integrated Functions cann...

Page 36: ... are performed Precondition The TIA Portal has been started Procedure 1 Click Create new project in the portal view Figure 2 5 New project 2 Assign a project name and select the storage location of the project path 3 Click Create Result A new empty project has been created Fundamentals 2 8 Device configuration Safety Integrated with SINAMICS S120 36 Commissioning Manual 02 2020 A5E46305916B AB ...

Page 37: ...multaneously created PROFINET is used for the internal communication between the various components Precondition A project is open in the TIA Portal The project view is active Procedure Proceed as follows to insert a SINUMERIK MC into the project 1 Click Add new device in the project tree 2 Click on Controllers Fundamentals 2 8 Device configuration Safety Integrated with SINAMICS S120 Commissionin...

Page 38: ...own list 4 Confirm your selection with OK Result The SINUMERIK MC is created as new device in the project network view The PC system is also created and is automatically connected to the CP via the PN IE interface this can be identified at the two interfaces shown in green at both CP components Figure 2 7 SINUMERIK MC inserted in the network view Fundamentals 2 8 Device configuration Safety Integr...

Page 39: ... project is open in the TIA Portal A SINUMERIK MC has been created The device view is active Procedure 1 In the project navigation call menu PC system Device configuration The device configuration for the PC system is displayed 2 In the hardware catalog select the runtime software under SIMATIC HMI application WinCC RT Advanced and drag it to a free slot of the device in the device view Figure 2 8...

Page 40: ...irm your settings If the Open device view option is activated then the SINAMICS drive is automatically created and displayed the device view 6 Supplement the drive with the other components required Line Module Power Module Motor encoder etc and specify these components Note More detailed information You must create and specify the drive components required for S120 Alternatively you can also read...

Page 41: ... the required interface at the MCU to which you wish to link the drive e g MCU_NC_1 PLC_1 PROFINET interface_150 The PROFINET connection is established and the drive is assigned to the control system At the drive a code for the linked interface of the control system is displayed in the link e g PLC_1 4 Save the project to back up the settings Result You have networked the SINUMERIK MC and the SINA...

Page 42: ...nal and external communication between the devices involved is established via the PROFINET interfaces In order that PROFINET participants can be correctly addressed the configured addresses must be set at the various participants Fundamentals 2 8 Device configuration Safety Integrated with SINAMICS S120 42 Commissioning Manual 02 2020 A5E46305916B AB ...

Page 43: ...ties General You can configure the IP addresses of the various PROFINET interfaces in the associated properties PROFINET interface X150 PROFINET interface X160 Figure 2 11 PROFINET interface 3 Under IP protocol in each case check as to whether the correct IP address is set 192 168 0 1 for X150 in the example Fundamentals 2 8 Device configuration Safety Integrated with SINAMICS S120 Commissioning M...

Page 44: ...configure the IP addresses of the various PROFINET interfaces in the associated properties PROFINET onboard X1 PROFINET onboard X2 Figure 2 12 IPC interface 3 Under PROFINET onboard PROFINET interface Ethernet addresses in the IP protocol area set the IP address of the interface on the PC system under Address Fundamentals 2 8 Device configuration Safety Integrated with SINAMICS S120 44 Commissioni...

Page 45: ...ut menu Compile Hardware only changes The consistency of the hardware configuration is tested in the compilation process Remedy any errors that may occur and compile the project again Result The PC system and the SINUMERIK MC with the integrated subcomponents PLC CP and NC have been compiled 2 8 8 4 Establish the communication connection Description To be able to load the configuration to the PLC ...

Page 46: ...erface the connecting line between the PG PC and the device is interrupted If devices are accessible the connecting line is shown and the devices accessible at the selected interface of the PG PC are displayed in a list Figure 2 13 Accessible nodes Note The PC system already connected to the CP is also displayed as a communication node Fundamentals 2 8 Device configuration Safety Integrated with S...

Page 47: ... interface Failsafe inputs and outputs F I O such as S7 1500 ET 200MP failsafe modules ET 200SP failsafe modules ET 200S failsafe modules ET 200pro failsafe modules ET 200iSP failsafe modules Failsafe GSD based I O devices light grid laser scanner etc You have the option to expand the configuration with standard I O 2 8 10 Drive components The drive system that you can use depends on whether a saf...

Page 48: ...ven if the values in p0115 0 are different A maximum of 4 Motor Modules with Safety Integrated Extended Functions may be operated on one DRIVE CLiQ line for current controller cycle TIReg 125 μs on all axes No further DRIVE CLiQ components other than a Line Module and Sensor Modules may be operated on this DRIVE CLiQ line 2 8 10 2 Drive monitoring with or without encoder In the Safety Integrated s...

Page 49: ...04 1 SOS Safe Operating Stop x x Safe monitoring of the standstill position SS2 Safe Stop 2 x x Safe stopping process in accordance with stop Cat egory 2 SS2E SS2 with external stop x x x1 SS2 with external stop SS2ESR SS2 with extended stop and retract x x x1 Safe Stop 2 Extended Stop and Retract SLS Safely Limited Speed x x x1 Safely Limited Speed SSM Safe Speed Monitor x x x1 Safe Speed Monitor...

Page 50: ...unction but for organizational reasons is included in the list of Safety Integrated Extended Functions 2 8 10 3 Induction motors and synchronous motors Approved encoders Motors with sin cos encoder and encoder evaluation with DRIVE CLiQ interface or via Sensor Module SMC20 SME20 25 120 125 A list of approved encoders is provided in Siemens Industry Online Support under Entry ID 33512621 https supp...

Page 51: ...IA Portal V16 Engineering system SIMATIC STEP 7 Professional V16 SIMATIC STEP 7 Safety Advanced V16 SINUMERIK MC STEP 7 Toolbox V16 Startdrive V16 SINAMICS firmware V5 2 CNC software SINUMERIK CNC software V1 13 SINUMERIK ONE Commissioning Tool V4 93 This tool is a reduced basic version of SINUMERIK Operate Fundamentals 2 9 Safety components and licensing Safety Integrated with SINAMICS S120 Commi...

Page 52: ... shows a Safety Inte grated Extended Function for CompactFlash card as example When required you can order additional licenses For every license that is ordered you receive a Certificate of Licenses which you can then use to obtain licenses from the license database via the WEB License Manager Note Only for SINAMICS are the Safety Integrated Func tions SP SLP and SCA classified as Advanced Functio...

Page 53: ...ctive F capability F PLC in the failsafe inputs and outputs F I O in the safety functions integrated in the drive drive components The F I O ensure the safe processing of field information sensors e g EMERGENCY STOP pushbuttons light barriers actuators e g motor controls They have all of the required hardware and software components for safe processing in accordance with the required Safety Integr...

Page 54: ...tem in a safe state or to transition it into a safe state In addition to the safety program a standard user program can also be executed in the F PLC Standard and safety programs can coexist in an F PLC This is because the safety relevant data of the safety program are protected against being inadvertently influenced by data of the standard user program Data can be exchanged between the safety and...

Page 55: ...nserted from the project library or global libraries F blocks that are added automatically F system blocks F SBs automatically generated F blocks F runtime DB and F I O DBs The following diagram shows the schematic structure of a safety program and or an F runtime group for an F CPU S7 1500 Safety program of the F PLC 3 2 Program structure of the safety program S7 1500 Safety Integrated with SINAM...

Page 56: ...DWLRQV RXQWHU RSHUDWLRQV RPSDUDWRU RSHUDWLRQV 0DWK IXQFWLRQV 0RYH RQYHUVLRQ RSHUDWLRQV 3URJUDP FRQWURO RSHUDWLRQV RUG ORJLF LQVWUXFWLRQ 6KLIW DQG URWDWH 2SHUDWLQJ 3UHSURFHVV LQJ RSWLRQDO 3RVWSUR FHVVLQJ RSWLRQDO 6WDQGDUG XVHU SURJUDP 5 9 3 6 1 3 Figure 3 1 Schematic structure of a safety program and or an F runtime group for an F CPU S7 1500 Main safety block The main safety block is the first F b...

Page 57: ... or global libraries F system blocks F SBs Automatically generated F blocks Structuring the safety program in two F runtime groups You can divide your safety program into two F runtime groups By having parts of the safety program one F runtime group run in a faster priority class you achieve faster safety circuits with shorter response times Block types of the safety program When the SINUMERIK Saf...

Page 58: ...u can define whether a safety program should be automatically created Procedure when specifying an F runtime group Page 74 Safety program of the F PLC 3 2 Program structure of the safety program S7 1500 Safety Integrated with SINAMICS S120 58 Commissioning Manual 02 2020 A5E46305916B AB ...

Page 59: ... F runtime group information DB is created when you create an F runtime group The F runtime group information DB provides information on the F runtime group and on the safety program as a whole Note You are not permitted to insert F system blocks from the System blocks folder in a main safety block F FB F FC Instructions for the safety program In task card Instructions depending on the F CPU being...

Page 60: ...reation organization of F runtime groups Display of information on the F blocks Display information about F conform PLC data types UDT Information for users with F admin authorization Definition change of the access protection Definition change of the general settings for the safety program The Safety Administration Editor is divided into the following sections General F runtime groups Page 73 F b...

Page 61: ...s to change the default setting 1 Select entry Safety Administration in the project navigation 2 In the secondary navigation select entry settings The Safety program settings screen form is displayed Figure 3 4 Name with or without prefix 3 In the setting range System generated objects activate deactivate option Create F I O dB without prefix Examples with prefix e g F06700_DriveAxis01FIODB withou...

Page 62: ...s provided in the help for SIMATIC STEP 7 Safety Advanced in Chapter Safety Administration Editor Safety program of the F PLC 3 4 Safety Administration Editor Safety Integrated with SINAMICS S120 62 Commissioning Manual 02 2020 A5E46305916B AB ...

Page 63: ...tions The instructions that are supported are listed in the description of the instructions Instructions for the safety program Page 71 Note It is not possible to connect the enable input EN and or the enable output ENO Exception For the following instructions by connecting enable output ENO you can program an overflow detection ADD addition SUB subtraction MUL multiplication DIV dividing NEG gene...

Page 64: ...tics event is entered in the diagnostics buffer of the F CPU You must therefore ensure that the permitted range for the data type is observed when creating the program or select a matching data type or use the ENO output Observe the description of the individual instructions Non permitted data and parameter types The following types are not permitted All of the types not listed under Section Suppo...

Page 65: ...y program the values for the outputs of the F I O are calcu lated and stored in the process image of the outputs The process image of the outputs for F I O is updated after the end of the main safety block Of standard I O Output channels of standard I O are write only channels Transfer to IN_OUT parameters of an F FB or F FC is therefore not valid either In the safety program the values for the ou...

Page 66: ... F block while the F block is being executed The local data stack also provides memory for transferring block parameters and for saving intermediate results File type conversion Just as with the standard user program there are two possibilities for file type conversion in the safety program Implicit conversion The implicit conversion is executed as in the standard user program with the following r...

Page 67: ...y block F FB F FC must always be a write access This initializes the local data element Make sure that a temporary local data element is initialized prior to the first JMP JMPN or RET instruction The local data bit should be initialized with the Assign FBD or LAD instruction Assign the local data bit a signal state of 0 or 1 as a Boolean constant Local data bits cannot be initialized with the Flip...

Page 68: ...nce DBs of F FBs with fully qualified access e g for transfer of block parameters It is not possible to access static local data in single multi instances of other F FBs Note that accessing instance DBs of F FBs that are not called in the safety program can cause the F CPU to go to STOP mode Safety program of the F PLC 3 5 Restrictions in the programming languages FBD LAD Safety Integrated with SI...

Page 69: ...form PLC data types UDT is not supported Proceed as follows for declaration 1 In the project navigation in folder PLC data types click on Add new data type 2 To create F conform PLC data types UDT in dialog Add new data type activate option Create F conform PLC data types 3 Proceed as described in the help for STEP 7 under Programming the structure of PLC data types You specify default values for ...

Page 70: ...roup inputs of channels channel value and value status that when 1oo2 2v2 evaluation of the encoder is set provide the result of the 1oo2 2v2 evaluation of the encoder See also Access to Safety Integrated drives and F I O Page 84 In a structured PLC tag for an F I O with outputs you must either group all outputs of this F I O or an output range with multiples of 16 bits The F CPU can go to STOP mo...

Page 71: ...hand monitoring discrepancy analysis muting E STOP protective door monitoring and feedback circuit monitoring Additional information A detailed description of the instructions for the safety program provided in the Programming and Operating Manual SIMATIC Safety Configuring and Programming https support industry siemens com cs ww en view 54110126 Alternatively you can call up these descriptions di...

Page 72: ...Figure 3 9 Tooltip of an instruction Safety program of the F PLC 3 7 Instructions for the safety program Safety Integrated with SINAMICS S120 72 Commissioning Manual 02 2020 A5E46305916B AB ...

Page 73: ...r it is permissible to use a global F DB in several F runtime groups It is not permissible that you call the main safety block It is automatically called by the assigned F OB Note F OBs are protected by F system know how The OB start information of F OBs therefore cannot be evaluated The F OB should be created with the highest priority of all OBs Note The cycle time of the F OB can be prolonged by...

Page 74: ... specifying an F runtime group An F runtime group comprises a block F OB which calls the main safety block FB or FC Archiving the F blocks The automatically created F blocks of the F runtime group are in folder Program blocks FOB_RTG1 Main Safety_RTG1 and Main Safety_RTG1_DB Figure 3 10 F runtime group blocks in the project navigator Open the F runtime group work cell If you wish to adapt the auto...

Page 75: ...Figure 3 11 Display work cell F runtime group Safety program of the F PLC 3 8 F runtime groups Safety Integrated with SINAMICS S120 Commissioning Manual 02 2020 A5E46305916B AB 75 ...

Page 76: ... the event class Cyclic interrupt To change the event class of the F OB of an already created F runtime group you must delete the F runtime group and recreate it Note We recommend that you create the F OB with event class Cyclic interrupt as Cyclic interrupt OB As a consequence the safety program is called at fixed time intervals Safety program of the F PLC 3 8 F runtime groups Safety Integrated w...

Page 77: ...he cycle time If possible select a priority that is higher than the priority of all other OBs Note The higher F OB priority means that you can ensure that the runtime of the safety program and the response time of your safety functions is influenced as little as possible by the standard user program Main safety block Assign the main safety block to be called to the F OB If the main safety block is...

Page 78: ...the runtime of the F runtime group and when using distributed F I O the parameterization of PROFINET As a consequence the configuration parameterization of the standard system also influences the response time of your safety function If you do not prevent changes being made to the configuration parameterization of the standard system that can influence the response time by applying the appropriate...

Page 79: ...F runtime group in ms TCYC_LONG DINT x Longest cycle time of the F runtime group in ms TRTG_CURR DINT x Current runtime of the F runtime group in ms TRTG_LONG DINT x Longest runtime of the F runtime group in ms T1RTG_CURR DINT x Not supported by STEP 7 Safety V16 T1RTG_LONG DINT x Not supported by STEP 7 Safety V16 F_PROG_SIG DWORD x Collective F signature of the safety pro gram F_PROG_DAT DTL x C...

Page 80: ...structions Note It is not permissible that you declare any block parameters in the block interface of the main safety block as they cannot be supplied Note You can edit start values in the instance DBs Function Accept actual values is not supported Note It is not permissible that you access static local data in individual or multi instances of other F FBs Note Outputs of F FCs must always be initi...

Page 81: ...ogram Exception You must not copy blocks from the folder Program blocks System blocks Nesting depth for F FBs and F FCs We recommend that you do not exceed a nesting depth of 8 levels Safety program of the F PLC 3 9 Creating F blocks Safety Integrated with SINAMICS S120 Commissioning Manual 02 2020 A5E46305916B AB 81 ...

Page 82: ...rsion is indicated in the Version column of the Instructions task card you must also note the following Document the versions of these instructions that were set at the time the F block was compiled and on the basis of which the F block was tested and if applicable approved You can use the safety summary for documentation purposes When using the F block again make sure that the documented versions...

Page 83: ...equired Safety related CPU CPU communication IO controller IO controller communica tion PROFINET IO PN PN coupler IO controller I device communication PROFINET IO IO controller I slave communication PROFINET IO IE PB link IO controller IO controller communica tion for S7 Distributed Safety PROFINET IO PN PN coupler Safety program of the F PLC 3 11 Safety relevant communication Safety Integrated wi...

Page 84: ...me group with the first programmed addressing It is only permissible that you address a channel channel value and value status of an F I O or a drive telegram with the unit which corresponds to the data type of the channel Example It is only permissible that you access input channels data type BOOL using unit Input bit Ix y It is not possible to access 16 consecutive input channels data type BOOL ...

Page 85: ...lable under the address of the channel with the lower channel number see the corresponding manuals for the F I O Only address this channel channel value and value status of the channel pair If you address the other channel then an alarm is output when compiling the safety program Additional information Additional information is provided in the help for SIMATIC STEP 7 Safety Advanced in the followi...

Page 86: ...ogram The output of process data must be blocked until manually enabled It is only permissible to issue the enable after process values can be output without incurring any risk and faults have been removed Example of restart startup prevention In order to implement a restart startup prevention it must be possible to detect a startup To detect a startup in an F DB declare a variable data type BOOL ...

Page 87: ... follows User acknowledgment using an operating control and monitoring system User acknowledgment using an acknowledgment button at one of the F I O Assigning the inputs to the F CPU of the I Slaves I Devices Assigning the inputs to the F CPU of the DP master I O controller Additional information Implementing user acknowledgment for global reintegration Page 236 You can find additional information...

Page 88: ...s Write access Process image standard I O PII Permitted Permitted Permitted Not permitted PIQ Permitted Permitted Not permitted Permitted Process image F I O PII Permitted Not permitted Permitted Not permitted PIQ Permitted Not permitted Not permitted Permitted Decoupling of the safety program from the standard program in case of data transfer For data exchange between standard user program and sa...

Page 89: ...perand areas in Restrictions in the programming languages FBD LAD Page 63 Data block bit memory In the safety program you can write to data blocks of the standard user program in order that the safety program data can be directly written to the standard user program e g output DIAG of instruction SENDDP However a written tag must not be read in the safety program itself You can also write to bit m...

Page 90: ...g data blocks between the standard user program and the safety program WARNING Unexpected machine motion when using non failsafe data Bit memories from the standard user program variables of a standard DB or the process image of inputs PAE of the standard I O are not failsafe data Hazardous states can occur in the machine if you evaluate non failsafe data in the safety program This can put people ...

Page 91: ...switch on conditions that you derive from failsafe tags If you want to process standard tags in the safety program please bear in mind that there is not a sufficiently simple method of checking validity for all unsafe tags Reading tags from the standard user program that can change during the runtime of an F runtime group If in the safety program you wish to read variables from the standard user p...

Page 92: ...emory runs asynchronously to the F CPU cycle Note If this is not complied with then the F PLC can go into STOP The cause of the diagnostic result is entered in the diagnostics buffer of the F PLC Safety program of the F PLC 3 15 Data exchange between the standard user program and safety program Safety Integrated with SINAMICS S120 92 Commissioning Manual 02 2020 A5E46305916B AB ...

Page 93: ...g using the parameter list You can find a shorter description on how to commission the safety functions using the screen forms of the SINUMERIK ONE Commissioning Tool under Configuring safety functions integrated in the drive Page 266 Note Difference between Basic Functions and Extended Functions Basic Functions are designated as such in the chapter headings Chapters that are not designated as Bas...

Page 94: ... Torque Off state once the delay time has expired 6SHHG HVHOHFW 66 7HUPLQDOV RU 352 VDIH FRQWURO ZRUG 6DIH 6WRS GHOD WLPH W W 672 Select SS1 As soon as the converter identifies that SS1 has been selected via a terminal or via PROFIsafe safe communication the following happens If when selecting SS1 the motor is already switched off then until the SS1 delay time expires there is no response STO beco...

Page 95: ...oard terminals and PROFIsafe p9652 0 SS1 is enabled Only SS1 can be selected via the onboard terminals with PROFIsafe a selection of SS1 and STO is possible When SS1 is selected the drive is braked along the OFF3 ramp p1135 and STO SBC is automatically initiated after the delay time has expired p9652 After the function has been selected the delay timer runs down even if the function is deselected ...

Page 96: ...e line ups e g drives that are mechanically connected via the material the drive independent braking on the respective OFF3 ramp can cause problems If the SS1E function is used the safe delay time p9652 is started when the function is selected but no OFF3 is triggered The higher level controller still enters the setpoint Note The function is configurable however the braking behavior using SS1E is ...

Page 97: ...1 SI Basic Functions STO Safe Torque Off safe pulse cancellation Overview of important parameters see SINAMICS S120 S150 List Manual p1135 0 n OFF3 ramp down time p1217 Motor holding brake closing time p1228 Pulse cancellation delay time p9601 SI enable functions integrated in the drive Control Unit p9652 SI Safe Stop 1 delay time Control Unit r9772 0 23 CO BO SI Status Control Unit r9773 0 23 CO ...

Page 98: ...F PLC Select SS1 via PROFIsafe SS1 brakes the drives and then brings them into the STO state How does SS1 function in detail Overview Using the SS1 function the converter brakes the motor and monitors the absolute speed If the motor speed is low enough or the delay time has expired the converter safely switches off the motor torque using STO 6SHHG 66 GHVHOHFWLRQ 352 VDIH FRQWURO ZRUG 0RQLWRULQJ W ...

Page 99: ...unction only starts after the Delay for braking ramp The SBR function starts with the speed set point which was present at the instant in time that SS1 was selected If the converter detects that the speed has fall en below the speed threshold standstill moni toring it safely switches off the motor torque STO The converter monitors the speed of the motor with the SAM function The converter prevents...

Page 100: ...ramp p1135 once Safe Stop 1 is selected and switches to Safe Torque Off STO once the delay time has elapsed p9556 or when the shutdown speed is fallen below p9560 Functional features of Safe Stop 1 with encoder The delay time starts after the function has been selected If SS1 is deselected again within this time the STO function is selected and deselected immediately again after the delay time has...

Page 101: ...bsequent STOP B followed by STOP A 2 Safety message C01711 Status of Safe Stop 1 You can check the status in the SI diagnostics screens via MENU SELECT Diagnostics Menu forward key Safety 4 3 1 2 Safe Stop 1 without encoder Two encoderless Safe Stop 1 SS1 monitoring functions can be set with parameter p9506 p9506 3 Safe monitoring of acceleration SAM delay time The function is identical to Safe St...

Page 102: ...FLW 8VHU DFWLRQ 1RQH 6 5 GHOD WLPH S 0RQLWRULQJ UDPS URSRXW WLPH 5HIHUHQFH YHORFLW QYHORSH PRQLWRULQJ UDPS W W Figure 4 1 Sequence for Safe Stop 1 without encoder with SBR monitoring p9506 1 Functional feature of Safe Stop 1 without encoder Selection and monitoring of the brake ramp SBR or the acceleration SAM are implemented in two channels however braking at the OFF3 ramp is only through one cha...

Page 103: ...mp You are responsible in applying suitable measures to brake the drive After the delay time has expired p9556 only STO SBC are automatically initiated After the function has been selected the delay timer runs down even if the function is deselected during this time In this case after the delay time has expired the STO SBC function is selected and then again deselected immediately The brake ramp S...

Page 104: ...l Unit p9556 SI Motion STOP A delay time Control Unit p9560 SI Motion STO shutdown speed Control Unit r9722 0 15 CO BO SI Motion drive integrated status signals Only for SS1 Extended Functions with external stop p9507 SI Motion function configuration Control Unit Safety functions integrated in the drive 4 3 SS1 Safety Integrated with SINAMICS S120 104 Commissioning Manual 02 2020 A5E46305916B AB ...

Page 105: ...erter then safely switches off the torque of the connected motor 7KH PRWRU WRUTXH LV VZLWFKHG RII 6SHHG 672 GHVHOHFWLRQ 352 VDIH FRQWURO ZRUG 672 W W 4 4 1 Details and parameterization In conjunction with a machine function or in the event of a fault the Safe Torque Off STO function is used to safely disconnect the torque generating energy supply to the motor A restart is prevented by the two chan...

Page 106: ... PROFIsafe Page 338 acknowledgement is also possible by selection deselection of STO via terminals The status of the Safe Torque Off function is displayed using parameters r9772 r9872 r9773 and r9774 Effect on Setpoint speed limit effective r9733 0 2 For STO STOP A a setpoint of 0 is specified in r9733 0 2 WARNING Unexpected machine motion when STO is active After the energy feed has been disconne...

Page 107: ...otor holding brake is closed if connected and configured Deselecting Safe Torque Off represents an internal safety acknowledgment The following is executed if the cause of the fault has been removed Each monitoring channel cancels safe pulse cancellation via its switch off signal path The Safety requirement Close motor holding brake is canceled Any pending STOP F or STOP A commands are canceled se...

Page 108: ...diagrams see SINAMICS S120 S150 List Manual 2810 SI Basic Functions STO Safe Torque Off SS1 Safe Stop 1 2811 SI Basic Functions STO Safe Torque Off safe pulse cancellation Overview of important parameters see SINAMICS S120 S150 List Manual p9601 SI enable functions integrated in the drive Control Unit r9720 CO BO SI Motion drive integrated control signals r9722 CO BO SI Motion drive integrated sta...

Page 109: ... zes the selection of STO via a failsafe input or via the safe commu nication PROFIsafe The converter then safely switches off the torque of the connected motor SBC is if configured in itiated together with STO The Motor Mod ule Safe Brake Relay Safe Brake Adapter then carries out the ac tion and safely controls the outputs for the brake 7KH PRWRU WRUTXH LV VZLWFKHG RII 6 FRQWUROV D EUDNH VDIHO 6S...

Page 110: ... cable between the Safe Brake Adapter and the motor brake is not monitored for an interrupted cable or short circuit WARNING Undesirable motor motion due to a defective brake The Safe Brake Control function does not detect mechanical defects of the brake A defective brake can result in unwanted motor motion which may result in injury or death Test the brake using the Safety Integrated diagnostics ...

Page 111: ...plied If the Motor Module or Control Unit detects a fault the brake current is switched off The brake then closes and a safe state is reached 4 5 1 1 SBC for Motor Modules in the chassis format To be able to set higher power in the brakes of devices of this format an additional Safe Brake Adapter SBA module is needed For more information about connecting and wiring the Safe Brake Adapter refer to ...

Page 112: ...meter p7015 If several SBAs are found at the parallel connected power units message F07935 drive Motor holding brake configuration error is output For devices in the chassis format if the SBA feedback signal SBA_DIAG is read in via an input of the power unit then in addition this digital input is automatically entered into parameter p9621 Manually defining the power unit Enter the component number...

Page 113: ...4 SI common functions Control Unit SBC supported for parallel connec tion r9780 SI monitoring cycle Control Unit 4 5 1 3 Hardware required SBR and SBA Safe Brake Relay The command for releasing or applying the brake is transferred to the Motor Module Power Module via DRIVE CLiQ The Motor Module Safe Brake Relay then carries out the action and appropriately activates the outputs for the brake Cable...

Page 114: ... The Safe Brake Adapter is available for a 230 V AC brake control voltage Fast de excitation 230 V OK Connecting cable 6SL3060 4DX04 0AA0 Control Interface Module CIM External supply voltage G_D213_DE_00091b Safe Brake Adapter SBA 230 V AC BR output BR output FB input FB input 230 V AC X12 1 2 L N X15 1 2 AUX1 AUX2 X14 1 2 SBA_BR_L SBA_BR_N X11 1 2 3 4 5 6 BR BR FB FB P24 M K2 ON LEDs K1 ON P24 M ...

Page 115: ...tor is in the safe standstill state Select SS2 in the converter via a terminal or via PROFIsafe After braking the converter goes into the SOS state Only then may the protective door be released The safety function SS2 monitors the load speed and initiates the SOS function if the SS2 delay time has expired With SS2 braking is monitored on the OFF3 ramp A faulty acceleration is de tected and the dri...

Page 116: ...A faulty acceleration is therefore detected Safe Brake Ramp SBR In this way a violation of the braking ramp is detected After a delay time the converter activates the Safe Operating Stop function SOS This function monitors the safe standstill of the drive Braking behavior 6 0 FWXDO YDOXH HOD WLPH 66 6HOHFW 66 RDG VSHHG 6WDWXV ZRUGb ELWb 352 VDIH LDJQRVWLFV HVHOHFW 66 W W 2SHUDWRU DFWLRQV HVHOHFW 6...

Page 117: ...hin this time The standstill tolerance p9530 may not be violated after this time After braking the drives remain in speed control mode with the speed setpoint n 0 The full torque is available When braking one of the following functions is active For p9506 0 the following applies Braking is monitored with the Safe Acceleration Monitor function see Chapter SAM Page 128 For p9506 2 the following appl...

Page 118: ...otion SAM actual speed tolerance Control Unit p9552 SI Motion transition time STOP C to SOS SBH Control Unit 1 r9722 0 15 CO BO SI Motion drive integrated status signals 1 STOP C corresponds to SS2 4 6 1 1 SS2 with external stop SS2E WARNING Unexpected axis motion when the SS2E function is activated When the SS2E function is active during the safety delay time until SOS is reached axis motion that...

Page 119: ...In order to activate Safe Stop 2 with external stop set p9501 18 1 The PROFIsafe control word S_STW2 28 selects the SS2E function PROFIsafe S_STW2 28 is contained in telegrams 31 901 902 and 903 The PROFIsafe status word S_ZSW2 28 indicates whether the SS2E function is active The PROFIsafe status word S_ZSW2 28 is contained in telegrams 31 901 902 and 903 The associated diagnostics parameter is r9...

Page 120: ...9553 SI Motion transition time STOP D to SOS Therefore ensuring stopping with low associated stress on the machine If the STOP D time parameterized in p9553 is used as basis to determine the braking time and issue an alarm this must be enabled by setting bit 2 in MD37950 MA_SAFE_INFO_ENABLE When powering up for all axes with SIC SCC connection where the bit to take into account the stop D SS2E tra...

Page 121: ...the acceleration limit The SOS function is automatically activated after the transition time set in p9553 expires Alarms are triggered for The following formulas are applied when initiating the two alarms 22001 22002 METRIC p9553 MAX_AX_VELO 1 60000 MAX_AX_ACCEL INCH ROT SPINDLE p9553 MAX_AX_VELO 1 60 MAX_AX_ACCEL For axes with jerk limitation the minimum braking time is increased by the additiona...

Page 122: ...tion When function SS2ESR is active during the delay time p9554 the speed follows the setpoint issued from the higher level control system As a consequence unexpected axis motion is possible which can lead to severe injury and death Prevent persons from entering the danger zone of the machine or system during the delay time p9554 for example by keeping protective devices closed and interlocked In ...

Page 123: ...diagnostics parameter is r9722 27 In the Safety Info Channel status word S_ZSW3B 12 indicates whether the SS2ESR function is active The associated diagnostics parameter is r10234 12 In addition in the Safety Info Channel status word S_ZSW1B 14 1 is set This bit corresponds to diagnostic parameter r9734 14 You can use p0890 1 to interconnect to an ESR integrated in the drive SS2ESR has no effect on...

Page 124: ...own at the left and SS2 shown at the right When selecting SS1 the drive brakes the motor along the OFF3 ramp and monitors the speed using function SAM SBR Function STO becomes active when the motor is at a standstill When selecting SS2 the drive also brakes the motor along the OFF3 ramp and monitors the speed using the SAM function Function SOS becomes active after time p9552 Safety functions inte...

Page 125: ...meterizable delay time has expired The drive must be braked to standstill within this delay time e g by the controller Drive stopping is monitored using an SOS tolerance window When this function is activated the current actual position is saved as a comparative position until SOS is deselected again Any delay time is cleared after SOS is deselected and the drive can be immediately moved The drive...

Page 126: ...e of the drive This unexpected drive motion then initiates a Category 1 stop function according to EN 60204 1 The alarms for SS1 and STO must be carefully observed This unexpected drive motion can result in death and serious injury To rule out any unexpected motion use a brake with safe monitoring see SBC Page 109 This function serves for failsafe monitoring of the standstill position of a drive D...

Page 127: ...rresponds to selection of SS2 As a consequence of STOP D corresponds to selection of SOS As a consequence of STOP E corresponds to selecting SOS with additional activation of the standard Extended stop and retract ESR function Responses Standstill tolerance violated in p9530 STOP B with subsequent STOP A Safety message C01707 System error STOP F Safety message C01711 Function diagrams see SINAMICS...

Page 128: ...limit SAM no longer triggers a response from the drive In this case the effects of Safe Acceleration Monitoring are therefore significantly restricted if a relatively high SSM velocity limit is set when using the SS1 and SS2 stop functions Note No direct selection of SAM SAM is part of the Safety Integrated Extended Functions SS1 and SS2 or STOP B and STOP C SAM cannot be individually selected Cal...

Page 129: ...ual value acquisition cycle p9511 Example SI Motion monitoring cycle p9500 12 ms SI Motion actual value acquisition cycle p9511 1 ms SAM tolerance p9548 300 rpm Actual speed 250 Rotary axis In the first cycle after activation of the monitoring the SAM limit value is therefore Actual speed SAM tolerance 12 ms 1 ms 250 rpm 300 rpm 12 approx 3850 rpm Responses Speed limit violated SAM STOP A Safety m...

Page 130: ...ime in p9582 has elapsed Monitoring ensures that the motor does not exceed the set brake ramp SBR when braking The safe monitoring of the brake ramp is deactivated For SS1 As soon as the speed drops below the shutdown speed p9560 Or As soon as the SS2 delay time p9552 has elapsed For SLS As soon as the set brake ramp has reached the new SLS level Or As soon as the actual speed drops below the newl...

Page 131: ... 6 5 GHOD WLPH 6 6 OLPLW 6 6 OLPLW 6 6 DFWLYH 6 6 VHOHFWHG 6 5 0RQLWRULQJ DFWLYH 6 6 DFWLYH LDJQRVWLFV 6 6 VHWSRLQW OLPLW 6 6 OLPLW YDOXH 0RQLWRULQJ UDPS DFWLYH QYHORSH FXUYH GHVHOHFW 6 6 8VHU DFWLRQ FWXDO VSHHG YDOXH 6SHHG VHWSRLQW QYHORSH FXUYH 352 VDIH W PP W Figure 4 13 Safe Brake Ramp without encoder for SLS Safety functions integrated in the drive 4 9 SBR Safety Integrated with SINAMICS S120...

Page 132: ...an 2 p9500 is parameterized for the delay time p9582 SBR takes effect after active SS1 after the time p9582 Ensure that you round off the SBR delay time to an integer multiple of the safety cycle p9500 Responses to brake ramp violations SBR Safety message C01706 SI Motion SAM SBR limit exceeded Drive is stopped with STOP A For an encoder fault in a 1 encoder system the Safe Acceleration Monitoring...

Page 133: ...um velocity Select SLS and the corresponding SLSlevel in the converter via PROFIsafe How does SLS function in detail Overview 1 The inverter recognizes the selection of SLS via a failsafe input or via the PROFIsafe safe communication 2 SLS allows a motor to reduce its possibly inadmissibly high speed within a defined time 3 SLS monitors the absolute value of the actual velocity The SLS setpoint li...

Page 134: ...mmunication the following happens To avoid a limit value being violated the setpoint limit can be transferred to the F PLC This can then limit the velocity setpoint If the speed setpoint limitation is interconnected to the ramp function generator the converter limits the speed to a value below the SLS monitoring For SLS without encoder you can select whether the converter monitors motor braking us...

Page 135: ...wn in the diagram above After the actual velocity has reached the value of the SLS monitoring threshold the system again waits for the delay time for braking ramp until SLS becomes active The converter monitors the load velocity after the delay time for SLS switchover has ex pired Advantages Already when braking the converter detects as to whether the load velocity decreases too slowly The feedbac...

Page 136: ...14 Selecting SLS at low velocities Deselecting SLS If the higher level controller deselects SLS then the converter deactivates limiting and monitoring Switching over the monitoring limits When SLS is active you can switchover between 4 different speed levels An exception is SLS without selection In this case there is only one limit Safety functions integrated in the drive 4 10 SLS Safety Integrate...

Page 137: ...ns is fulfilled The SBR monitoring ramp has reached the value of the SLS monitoring This case is shown in the diagram above The load velocity has decreased down to the value SLS monitoring and the delay time for braking ramp has expired The converter monitors the velocity with the lower SLS level after the delay time for SLS changeover has expired this is the same de lay time that applies after se...

Page 138: ... parameter p9531 0 3 it is possible to switch between them even if the SLS is activated An override can also be added to SLS limit value 1 In operation this override can be varied using a PROFIsafe telegram Note Deviation of the displayed speed limit The SLS speed limit displayed in r9714 2 can deviate slightly from the specified SLS speed limit The reason for this is the internal resolution r9732...

Page 139: ...function integrated in the drive is then entered in S_V_LIMIT_B After rescaling S_V_LIMIT_B is multiplied with the value from MD36933 MA_SAFE_DES_VELO_LIMIT 0 3 and is transferred to the motion control in the NC as setpoint speed limit If a value of 0 or 100 is entered in MD36933 then the value from S_V_LIMIT_B is transferred as speed setpoint limit When SOS or a STOP A to F is selected then S_V_L...

Page 140: ...selected SLS stage Conversion factor from the motor to the load side Motor type rotary and axis type linear p9522 p9521 p9520 Otherwise p9522 p9521 Limit value r9733 0 p9531 x x p9533 x selected SLS limit value r9733 1 p9531 x x p9533 x selected SLS limit value r9733 is used for example for transferring values to a higher level controller which can then for example adjust traversing speeds to the ...

Page 141: ...Isafe The transfer of the first SLS limit value via PROFIsafe is active if the speed level 1 in the PROFIsafe telegram is selected and the bit Enable transfer SLS SG limit via PROFIsafe p9501 24 is set S_SLS_LIMIT_A has the value range 1 32767 the following applies 32767 100 of the 1st SLS level The actually monitored limit value is calculated as follows SLS limit value S_SLS_LIMIT_A 32767 p9531 0...

Page 142: ...actual speed to below the value defined with r9733 along the OFF3 ramp In this case the drive may no longer follow the setpoint of the higher level motion controller Parameter p9582 is used to set the delay time for the braking ramp monitoring Monitoring of the brake ramp is activated once the delay time in p9582 has elapsed If the actual speed of the drive violates the brake ramp SBR during braki...

Page 143: ...nal selection STO Select STO Deselect STO STO activated internally via pulse suppression This activation must be undone by se lection deselection The drive enable must be issued within 5 seconds via a positive edge at OFF1 otherwise STO is reactivated 3 Case Situation Traversing to standstill with SLS selected OFF1 is initiated pulse cancellation becomes active internal selection STO Deselect SLS ...

Page 144: ...LWRULQJ 5DPS GRZQ WLPH 2 6HWSRLQW FWXDO YDOXH 6ZLWFK RII WKH PRWRU 2 2 FRPPDQG RDG VSHHG LDJQRVWLFV 2SHUDWRU DFWLRQV 6 6 DFWLYH 6DIH SXOVH VXSSUHV VLRQ DFWLYH 6 6 W W S S S U U Figure 4 16 Time response of SLS without selection example Switching the motor on and off without encoder SLS without selection behaves as follows when switching off and switching on again After switch off the motor behaves...

Page 145: ...0 15 CO BO SI Motion status signals Control Unit r9722 0 31 CO BO SI Motion drive integrated status signals Control Unit 4 10 1 6 EPOS and safety relevant setpoint velocity limiting EPOS and safe setpoint velocity limitation If safe speed monitoring SLS or the safe direction motion monitoring SDI is also to be used at the same time as the EPOS positioning function EPOS must be informed about the a...

Page 146: ...g function only becomes active after the maximum required time for the speed to be reduced below the limit This required braking time is determined by the current speed the jerk limit in p2574 and the maximum delay in p2573 Overview of important parameters see SINAMICS S120 S150 List Manual p2573 EPOS maximum delay p2574 EPOS jerk limitation p2593 CI EPOS LU revolution LU mm p2594 0 2 CI EPOS maxi...

Page 147: ...tep using the Status SSM sta tus bit Note SSM is a pure signaling function Contrary to other safety functions integrated in the drive a violation of the SSM limit does not result in a drive based stop response 4 11 1 Details and parameterization The Safe Speed Monitor SSM function provides a reliable method for detecting when a speed limit has been fallen below in both directions of rotation e g f...

Page 148: ... selected or deselected using external control signals SSM is active if for the drive involved the following settings have been made Extended Functions are selected as safety function scope The velocity limit for SSM is parameterized 0 Evaluating the speed The converter compares the load speed with the speed limit and signals if the limit value is undershot to the high level control Parameterizabl...

Page 149: ...ut signal for SSM with hysteresis 4 11 1 2 Differences in operation without encoder In operation safety function SSM makes a distinction without encoder as a result of the following features Due to the less precise speed sensing Safe Speed Monitor without encoder requires a higher hysteresis p9547 and where applicable a filter time p9545 compared with the function with encoder For Safe Speed Monit...

Page 150: ...is activated p9509 0 0 6SHHG 3XOVHV HQDEOHG XWRPDWLF 6HOHFW 672 660 VSHHG OLPLW HUR VSHHG GHWHFWLRQ 6DIH RXWSXW VLJQDO 3RZHU UHPRYHG 672 6HOHFW 672 2 0RQLWRULQJ HVHOHFW 672 7LPHU V W W 660 IHHGEDFN VLJQDO PLQ 352 VDIH Figure 4 19 Flow chart SSM without encoder with feedback signal SSM for pulse inhibit p9509 0 0 The speed remains below the speed limit throughout the entire monitoring period This i...

Page 151: ...tion for p9509 0 0 If the drive pulses have been suppressed using OFF1 OFF2 STO the following steps must be carried out for a restart 1 Case State after switching on SSM active STO selected Pulse suppression active Deselect STO The drive enable must be issued within 5 seconds via a positive edge at OFF1 otherwise STO is reactivated 2 Case Situation SSM active Motor turning OFF1 triggered pulses ar...

Page 152: ...eed hystere sis n_x CU Hysteresis r9722 0 14 CO BO SI Motion drive integrated status signals r9722 15 SSM speed below limit value Speed below SSM limit value You can parameterize parameters that are marked in column Designation in function specific screen form using these Parameters not designated there are either part of the general NC and drive specific settings Page 248 or can only be configure...

Page 153: ...he protection against jamming has been trig gered a roller shutter gate must only be able to start moving in one direction At an operational limit switch the trolley of a crane must only be able to start in the opposite direction How does SDI function in detail SDI Safe Direction monitors the actual direction of rotation The SDI setpoint limit can be transmitted to the F PLC to enable limitation o...

Page 154: ...n the configured tolerance in the blocked direction a message is output and the defined stop response is initiated 6SHHG 6HWSRLQW 6 GHVHOHFWLRQ 352 VDIH FRQWURO ZRUG 6 GHVHOHFWLRQ 352 VDIH FRQWURO ZRUG 2 RU 352 VDIH VWDWXV ZRUG 6 DFWLYH 2 RU 352 VDIH VWDWXV ZRUG 6 DFWLYH HOD HOD LPLWDWLRQ WR VSHHGV LPLWDWLRQ WR VSHHGV W 6 6 W W W W Figure 4 20 Time response of the safety function SDI Safe Directio...

Page 155: ...configured tolerance p9564 in the disabled direction message C01716 is output and the stop response defined in p9566 is initiated To acknowledge the messages you must first deselect SDI correct the fault cause and then safely acknowledge Page 338 the messages Only then can you reselect SDI Features Parameters r9720 12 and r9720 13 display whether the SDI function is selected Parameters r9722 12 an...

Page 156: ... for the safety functional scope Page 251 Differences between Safe Direction with encoder and Safe Direction without encoder For Safe Direction without encoder after pulse suppression the drive is unable to determine the current speed For this operating state the behavior is defined using parameter p9509 8 p9509 8 1 The status signal displays inactive p9509 8 0 The status signal displays active an...

Page 157: ...edge at OFF1 otherwise STO is reactivated 2 Case Situation Traversing to standstill with SDI selected Initiate OFF1 Pulses are canceled internal selection STO becomes active Select STO Deselect STO STO activated internally via pulse suppression This activation must be undone by se lecting deselecting STO The drive enable must be issued within 5 seconds via a positive edge at OFF1 otherwise STO is ...

Page 158: ... the safety STOP as a result of safe acknowledgment 4 12 1 3 Safe Direction without selection Differences between Safe Direction with and without selection As an alternative to controlling via terminals and or PROFIsafe there is also the option of parameterizing SDI without selection In this case SDI will be permanently active after POWER ON with encoder or will be active after switch on without e...

Page 159: ...cancellation becomes active after the standstill limit is undershot After the ON command the converter cancels the safe pulse suppression state and the start procedure is initiated If the minimum current has not been reached after 5 seconds the converter returns to the safe pulse suppression state and initiates the safety message C01711 1041 4 12 1 4 Function diagrams and parameters Function diagr...

Page 160: ...31 CO BO SI Motion drive integrated status signals Control Unit r9733 0 2 CO SI Motion speed setpoint limit active p10017 SI Motion digital inputs debounce time processor 1 p10030 0 3 SI Motion SDI positive input terminal processor 1 p10031 0 3 SI Motion SDI negative input terminal processor 1 p10039 0 3 SI Motion safe state signal selection processor 1 p10042 0 5 SI Motion F DO signal sources pro...

Page 161: ... switchover between the two position ranges Adjustable stop response To move the motor out of the unauthorized range you must execute a special sequence see Retraction Page 164 4 13 1 Details and parameterization The Safely Limited Position function SLP is used to safely monitor the limits of two traversing or positioning ranges which can be switched over by a safe signal Requirements For the Safe...

Page 162: ...n in the permissible range Traversing in the permissible range can be realized in a safety relevant fashion using the Retract function see Chapter Retracting Page 164 Features Selection via safe terminals onboard F DI or PROFIsafe Definition of the position range using 2 limit switch pairs p9534 and p9535 Safe switchover between 2 different position ranges not available for PROFIsafe telegram 30 A...

Page 163: ...rs using control word S_STW2 19 S_ZSW2 23 indicates whether the actual position is safe for instance the bit is only set after the axis was safely referenced Whether SLP is active is indicated in bit 6 of the status words S_ZSW1 6 or S_ZSW2 6 The bit is not set until SLP is selected and the axis is in the safely referenced state Which SLP limit switch pair is active is indicated in status word S_Z...

Page 164: ...traversing range has been exceeded the drive must be brought back to the permissible range A safety acknowledgment would in this case only retrigger the safety messages the drive would be prevented from moving If a switchover to the other traversing range doesn t come into question then the only thing that remains is to deselect SLP However this would have the disadvantage that it is not monitored...

Page 165: ...he Internet at FAQ retraction https support industry siemens com cs ww en view 65128501 4 13 1 2 Function diagrams and parameters Function diagrams see SINAMICS S120 S150 List Manual 2822 SI Extended Functions SLP Safely Limited Position 2840 SI Extended Functions SI Motion drive integrated control signals status sig nals Overview of important parameters see SINAMICS S120 S150 List Manual p9501 SI...

Page 166: ...rred position can be used the actual position value must be valid Using the time stamp that is also transferred you can also calculate the velocity from the position values If you only want to calculate the velocity it is sufficient to enable the Transfer of safe position values without the Absolute position 4 14 1 Details and parameterization The function Transfer safe position values SP enables ...

Page 167: ...e the Transfer safe relative position only to calculate the speed by the controller Select one of the PROFIsafe telegrams 901 or 902 p9501 25 1 After the enable POWER ON the converter Principle of operation After parameter assignment release and POWER ON the function is automatically selected and the values transferred Please observe the following Transfer of safe absolute position values If the t...

Page 168: ...solution 32 bits Linear axis Rotary axis Position values 737280000 737280000 Unit 1 μm 0 001 Comment Monitoring 737 280 m with an accuracy of 1 μm 2048 revolutions 16 bit To transfer the position values in telegram 901 in the 16 bit format you must scale the values using p9574 In this case you must select the scaling factor so that the value of the actual position value does not exceed the 16 bit ...

Page 169: ... Acceptance test An acceptance test is not required for the Transfer safe position values function but the function that was implemented with the aid of SP must be accepted in the higher level controller Function diagrams see SINAMICS S120 S150 List Manual 2840 SI Extended Functions SI Motion drive integrated control signals status sig nals Overview of important parameters see SINAMICS S120 S150 L...

Page 170: ...ory 2 according to EN ISO 13849 1 The Safe Brake Test function has the following properties The parameters of the SBT function are protected by the safety password and can only be changed in the safety commissioning mode Using this function brakes can be tested that are directly connected to SINAMICS S120 integrated brake control but also externally controlled brakes e g via a PLC A maximum of 2 b...

Page 171: ...T Safe Brake Test The relevant axis DB is used to control SBT Block SI_BrakeTest FB11 known from the SINUMERIK Safety Integrated mode system integrated is no longer used in the Safety Integrated mode 4 15 1 Details and parameterization 4 15 1 1 Requirements NC The following preconditions must be complied with before the brake test is enabled by the NC The axis must be at a standstill and be in a s...

Page 172: ...1 The NC checks that the appropriate conditions are satisfied If the conditions are satisfied then the Brake test active bit is set to 1 DBX71 0 1 Alarm 27830 is output if the conditions are not satisfied 2nd Check whether the Brake test active bit DBX71 0 is set to 1 It this is not the case then it is not permissible that you perform the SBT In this case ensure that the requirements Page 171 are ...

Page 173: ...ize the positioning behavior after the brake test via the expert list using MD36968 2 MA_SAFE_BRAKETEST_CONTROL bit 2 0 Positioning at the actual axis position To conclude the brake test the actual axis position for the next path motion is used MD36968 MA_SAFE_BRAKETEST_CONTROL bit 2 0 This results in motion to the last programmed axis position on the path 1 Positioning to the last programmed axis...

Page 174: ... can make sense to extend the ramp time p10208 when ramping up and ramping down the test torque The interconnection of the parameters for the telegram extension relevant for SCC SIC can be performed automatically by setting p60122 701 However the telegram extension must have been previously created More detailed information on this can be found in Chapter Safety Info Channel and Safety Control Cha...

Page 175: ...olerated in mm degrees during the test Perform a POWER ON after commissioning Note SBT and EPOS If EPOS is activated you must activate follow up mode r2683 0 before you perform the brake test so that the position monitoring does not react during the brake test Note SBT and DSC If SBT is used with DSC parameter r10234 S_ZSW3B must be evaluated and Safety Control Channel control word 3B S_STW3B must...

Page 176: ...in the S_STW1B bit 8 external drives or at the DI for p9705 only external drives After selection initially an SBT is automatically performed followed by the test stop forced checking procedure Note Only brake 1 when selecting using test stop forced checking procedure When selecting using a test stop forced checking procedure only the internal motor holding brake parameterized as brake 1 is tested ...

Page 177: ...6 a value of 0 indicates that the external brake must be opened This must occur within 11 seconds otherwise the test is canceled and a fault is output The brake the test sequence and the test direction are then selected by the user When the brake test is active after the start of the brake test brake test sequence by the user 0 1 edge in r10231 1 the holding brake MHB is closed or there is a promp...

Page 178: ...nt SBT An active brake test is cancelled through deselection of the test sequence or deselection of the brake test Alarm A01782 is output Acknowledging alarms The alarms relevant for the brake test can only be safely acknowledged failsafe acknowledge and under certain circumstances only acknowledged when the brake test is deselected For motion monitoring without selection a POWER ON is required or...

Page 179: ...RQ 6WDUW EUDNH WHVW ORVH PRWRU KROGLQJ EUDNH UDNH WHVW DFWLYH UDNH WHVW VHOHFWHG FWLYH EUDNH FWXDO ORDG VLJQ UDNH WHVW UHVXOW 6HWSRLQW LQSXW GULYH H WHUQDO 7HVW WRUTXH 7HVWPRPHQW 6B67 W W 6B67 W 6B67 W 6B67 W W 6B67 W W 6B 6 W 6B 6 W 6B 6 W 6B 6 W 6B 6 W 6B 6 W 6B 6 W W S S S Figure 4 24 Testing a motor holding brake Safety functions integrated in the drive 4 15 SBT Safety Integrated with SINAMICS...

Page 180: ...VXOW UDNH WHVW FRPSOHWHG 6HWSRLQW LQSXW GULYH H WHUQDO 7HVW WRUTXH 6B67 W W 6B67 W 6B67 W 6B67 W W 6B67 W W 6B 6 W 6B 6 W 6B 6 W 6B 6 W 6B 6 W 6B 6 W 6B 6 W 6B 6 W W S S S Figure 4 25 Testing an external brake 4 15 1 9 Function diagrams and parameters Function diagrams see SINAMICS S120 S150 List Manual 2836 SI Extended Functions SBT Safe Brake Test 2837 SI Extended Functions selection of active c...

Page 181: ...test torque factor sequence 1 p10211 0 1 SI Motion SBT test duration sequence 1 p10212 0 1 SI Motion SBT position tolerance sequence 1 p10218 SI Motion SBT test torque sign p10220 0 1 SI Motion SBT test torque factor sequence 2 p10221 0 1 SI Motion SBT test duration sequence 2 p10222 0 1 SI Motion SBT position tolerance sequence 2 p10230 0 5 BI SI Motion SBT control word r10231 SI Motion SBT contr...

Page 182: ...tion for each individual axis 4 16 1 Details and parameterization With the Safe Cam function SCA you implement safe electronic cams safe zone sensing or a working area limitation protection zone delimitation for a specific axis to replace a hardware based solution You parameterize up to 30 output cams for each axis You enable each output cam individually Note The Safe Cam SCA safety function can o...

Page 183: ...Figure 4 26 Parameterize output cam and tolerance Note The smallest possible tolerance band should be selected for the SCA function 5 10 mm It makes sense to parameterize the output cam tolerance to be greater than or equal to the actual value tolerance Reference the axis using the Safe referencing Page 189 function Enable SCA You enable the SCA function with p9501 28 1 You enable each output cam ...

Page 184: ...ts are transmitted in status word S_ZSW_CAM1 see Chapter S_ZSW_CAM1 Page 372 Function diagrams see SINAMICS S120 S150 List Manual 2826 SCA Safe Cam 2844 S_ZSW_CAM1 Safety status word Safe Cam 1 Overview of important parameters see SINAMICS S120 S150 List Manual p9501 SI Motion enable safety functions Control Unit p9503 SI Motion SCA SN enable Control Unit p9505 SI Motion SP modulo value Control Un...

Page 185: ... the stop response SLA is effective when accelerating however not when braking Note Safety function Safely Limited Acceleration SLA can only be used with an encoder Note Safety function Safely Limited Acceleration SLA can only be used for 1 encoder systems Note Configuration only possible in the parameter list Contrary to other Safety Integrated Functions there is no configuration screen form for ...

Page 186: ... acquisition the gear ratios as well as the quality of the encoder being used The drive indicates the velocity limit corresponding to the actual acceleration in r9714 3 r9789 allows the finer resolution acceleration monitoring to be diagnosed Index 0 indicates the actual acceleration determined Index 1 and 2 indicate the current limit values of the SLA monitoring Filter time If the determination o...

Page 187: ...transmitted in status words S_ZSW1 8 or S_ZSW2 8 Note Response to bus failure If p9580 0 and SLA is active in the event of a communication failure the parameterized ESR reaction only occurs if a STOP with delayed pulse suppression when the bus fails has been parameterized as the SLA response p9579 10 Transfer via SIC Once SLA has been parameterized and selected the monitoring results are also tran...

Page 188: ...ics velocity Actual SLA velocity limit on the Control Unit r9719 17 CO BO SI Motion control signals 2 Deselect SLA r9720 8 CO BO SI Motion drive integrated control signals Deselect SLA r9721 11 CO BO SI Motion status signals Control Unit SLA active r9722 8 CO BO SI Motion drive integrated status signals Control Unit SLA active r9789 CO SI Motion SLA acceleration acceleration diagnostics r9790 SI M...

Page 189: ...ial safe referencing or in the event of a fault during a subsequent referencing the following steps are necessary Perform referencing by the NC Setting user agreement Subsequent referencing Subsequent referencing involves referencing with a safety relevant history i e with an internally buffered user agreement after a POWER ON or after deselecting parking axis After the drive has been referenced S...

Page 190: ...ion diagnostics safe position r9713 0 5 CO SI Motion diagnostics actual position value load side r9722 0 31 CO BO SI Motion drive integrated status signals Control Unit r9723 0 17 CO BO SI Motion diagnostics signals integrated in the drive p9726 SI motion user agreement select deselect p9740 SI motion user agreement select deselect MM Safety functions integrated in the drive 4 18 Safe referencing ...

Page 191: ...y relevant fashion either directly in the encoder or in the Sensor Module and are transferred to the Control Unit via DRIVE CLiQ For motors without a DRIVE CLiQ interface the connection is made using additional Sensor Modules 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 ...

Page 192: ...encoder system The failsafe actual values for a drive are provided by 2 separate encoders The actual values are transferred to the Control Unit via DRIVE CLiQ For motors without a DRIVE CLiQ interface the connection is made using additional Sensor Modules see encoder types DFNODVK 0 0DFKLQH WDEOH LQHDU VFDOH QFRGHU 0 0RWRU 6HQVRU 0RGXOH QRW DSSOLFDEOH IRU PRWRU ZLWK 5 9 L4 LQWHUIDFH 5 9 L4 Figure ...

Page 193: ...it Table 4 6 Encoder parameters and corresponding safety parameters for 2 encoder systems Safety parameters Designation Encoder parameters p9315 p9515 SI Motion coarse position value configuration p9315 0 p9515 0 Up counter r0474 x 0 p9315 1 p9515 1 Encoder CRC least significant byte first r0474 x 1 p9315 2 p9515 2 Redundant coarse position value most significant bit left justified r0474 x 2 p9315...

Page 194: ...or an SSI interface to the controller However these are not evaluated by the safety functions In systems with encoders with SINAMICS Safety Integrated single and 2 encoder systems the following encoders are permitted for safe actual value acquisition Encoders with sin cos 1 Vpp signals Single and 2 encoder systems Connected to the SINAMICS SME20 25 SME120 125 and SMC20 Sensor Modules The encoders ...

Page 195: ...he encoder manufacturer The FMEA must be created by the machine manufacturer Information about Siemens motors with and without DRIVE CLiQ connection which can be used for Safety Integrated Functions is available in the SIOS Portal Suitable motors and encoders https support industry siemens com cs ww en view 33512621 For these motors the encoder mounting on the motor shaft can be considered to be s...

Page 196: ... be achieved in the best case Safe maximum speed r9730 The maximum speed load side that is permissible due to the acquisition of actual values for safe motion monitoring functions is indicated in r9730 This parameter shows up to which load velocity the safety relevant encoder actual values redundant coarse encoder position can still be correctly sensed as a result of the particular encoder paramet...

Page 197: ...ion redundant coarse position relevant bits Control Unit p9526 SI Motion encoder assignment second channel p9542 SI Motion actual value comparison tolerance crosswise Control Unit p9549 SI Motion slip velocity tolerance Control Unit p9700 SI Motion copy function r9713 0 5 SI Motion diagnostics actual position value load side r9714 0 2 SI Motion diagnostics velocity r9724 SI Motion cross check cycl...

Page 198: ...ry to increase the tolerance threshold for the duration of the switchover operation Using parameter p9539 you set how the tolerance is calculated when switching over the gearbox Without actual value synchronization p9542 p9543 With actual value synchronization p9549 p9543 Selection Proceed as follows to enable the Safe gearbox switchover function 1 Set p9501 26 1 If control via PROFIsafe is not pa...

Page 199: ... between the position actual values of the two monitoring channels as a result of the switchover operation The new gearbox stage is then active W W W 3RVLWLRQ WROHUDQFH 6WDQGDUG QFUHDVHG HDUER VWDJH FKDQJH E WH ELW 6DIHO UHIHUHQFHG 0D LPXP U 6LQJOH DFWXDO YDOXH V QFKURQL DWLRQ RQYHUVLRQ WR WKH ORDG VLGH ZLWK QHZ JHDUER IDFWRUV 352 VDIH 6B67 6DIHW 0RWLRQ 0RQLWRULQJ Figure 4 32 Gearbox switchover fr...

Page 200: ...increased position tolerance using bit 3 1 in byte 3 of S_STW2 Set the new gearbox stage using bits 0 to 2 in byte 3 of S_STW2 Set the position tolerance back to the normal value using bit 3 0 in byte 3 of S_STW2 The actual values are then synchronized once automatically This synchronization is used to compensate any possible difference that occurs between the position actual values of the two mon...

Page 201: ...s in parameter r9720 bits 24 to 26 The selected gearbox stage is displayed for diagnostic purposes in parameter r9720 bit 27 Safe gearbox switchover and referencing The gearbox stage switchover means that the reference position and the user agreement are lost This means that after a gearbox switchover initial referencing is required in order to return to the safely referenced state see Chapter Saf...

Page 202: ...ntrol Unit p9539 0 7 SI Motion gearbox direction of rotation reversal Control Unit p9542 SI Motion actual value comparison tolerance crosswise Control Unit p9543 SI Motion gearbox switching position tolerance factor CU p9549 SI Motion slip velocity tolerance Control Unit r9720 0 27 CO BO SI Motion drive integrated control signals Safety functions integrated in the drive 4 20 Safe gearbox stage swi...

Page 203: ...toring required is generated and a status bit is set which can be transferred to an output or to a PZD bit via BICO This alarm does not affect machine operation 4 21 1 Examples for when the forced checking procedure is carried out When the appropriate safety devices are implemented e g protective doors it can be assumed that running machinery will not pose any risk to personnel For this reason an ...

Page 204: ... Controlled via SCC external drives programmed in the application You can perform the test stop via SCC programmed in the application itself The following parameters are relevant p9559 SI Motion Forced checking procedure timer Control Unit p9705 BI SI Motion Test stop signal source r9723 0 CO BO SI Motion diagnostics signals integrated in the drive See Safety Info Channel and Safety Control Channe...

Page 205: ...ic Functions Extended Functions Telegrams to control process data via PROFIsafe and SIC SCC PROFIdrive See Overview of telegram process data Page 206 Control via PROFIsafe Page 208 SIC SCC Page 212 Yes Yes Controlling via terminals on the Control Unit and on the Motor Power Module See Control via terminals on the Control Unit and Motor Power Module Page 214 Yes No Safety Integrated with SINAMICS S...

Page 206: ... position value SIEMENS telegram 903 Extended manufacturer specific telegram with 32 bit Safe Cam S_ZSW_CAM1 Default setting for internal NC drives SIEMENS telegram 701 Manufacturer specific telegram for SIC SCC communication With SINUMERIK SIC SCC communication only takes place via telegram 701 The following overview shows which process data is transferred in which telegram types Controlling safe...

Page 207: ...e 16 bits S_XIST16 Page 371 PZD5 Actual position value 32 bits S_XIST32 Page 371 PZD5 6 Safe Cam status word S_ZSW_CAM1 Page 372 PZD3 4 Table 5 3 Process data from SIEMENS telegram 701 SIC SCC Telegram Process data 701 Safety Control Channel control word 1 S_STW1B Page 374 PZD1 SI Motion Safety Info Channel status word S_ZSW1B Page 375 PZD1 Safety Info Channel status word 2 S_ZSW2B Page 376 PZD2 S...

Page 208: ...tions via onboard terminals permissible for r9771 4 1 p9601 0 1 Enable STO SH via terminals CU Comment Safety Integrated Basic Functions via PROFIsafe and via ter minals Control of the Basic Functions via terminals on the Control Unit and on the Motor Power Module parameters p9601 0 1 may be enabled in parallel In order to be able to select SS1 an SS1 delay time p9652 0 must be configured With PRO...

Page 209: ...d PROFIsafe telegram with 32 bit position value Structure of telegram 902 Page 357 901 PROFIsafe SIEMENS telegram 901 PZD 3 5 Extended PROFIsafe telegram with 16 bit position value Structure of telegram 901 Page 356 31 PROFIsafe standard telegram 31 PZD 2 2 Extended standard PROFIsafe telegram Structure of telegram 31 Page 355 30 PROFIsafe standard telegram 30 PZD 1 1 Standard PROFIsafe telegram S...

Page 210: ...y realized if as SLS response a STOP with delayed pulse cancellation when the bus fails has been parameterized p9563 0 3 10 If p9580 0 and SDI is active in the event of communication failure the parameterized ESR reaction is only realized if as SDI response a STOP with delayed pulse cancellation when the bus fails has been parameterized p9566 0 3 10 If p9580 0 and SLP is active in the event of com...

Page 211: ...9563 0 3 SI Motion SLS SG specific stop response Control Unit p9566 SI Motion SDI stop response Control Unit p9580 SI Motion STO delay bus failure Control Unit p9601 SI enable functions integrated in the drive Control Unit p9610 SI PROFIsafe address Control Unit p9611 SI PROFIsafe telegram selection Control Unit p60022 Selecting a PROFIsafe telegram Controlling safety functions integrated in the d...

Page 212: ... SINUMERIK ONE Commissioning Tool The SIC SCC signals are mapped in the PLC user interface and can therefore be accessed via axis DBs See PLC user interface of the axis spindle signals LBP_Axis1 LBP_Axis8 Page 213 Interface signals Axis spindle signals Page 379 Note SIC and SCC must always be jointly configured and or parameterized 5 5 2 Safety Info Channel SIC Status information of the Safety Int...

Page 213: ...mportant parameters see SINAMICS S120 S150 List Manual r9733 0 2 CO SI Motion setpoint speed limit effective r9734 0 15 CO BO SI Safety Info Channel status word S_ZSW1B r9743 4 15 CO BO SI Safety Info Channel status word S_ZSW2B r10231 SI Motion SBT control word diagnostics r10234 0 15 CO BO SI Safety Info Channel status word S_ZSW3B p10235 CI SI Safety Control Channel control word S_STW3B p10250 ...

Page 214: ...erent terminal designations for the inputs of the safety functions These are shown in the following table Table 5 6 Inputs for safety functions Component 1st switch off signal path p9620 0 2nd switch off signal path EP terminals CU320 2 Control Unit X122 1 6 X132 1 6DI 0 7 16 17 20 21 Single Motor Module Booksize Booksize Compact X122 1 6 X132 1 6DI 0 7 16 17 20 21 EP terminals X21 3 and X21 4 on ...

Page 215: ...850 Page 216 otherwise a fault is output 5 6 4 Grouping drives To ensure that the safety function for several drives can be initiated simultaneously you must group the terminals for the corresponding drives Note Response of the STO safety function when grouping If a fault in a drive results in a Safe Torque Off STO this does not automatically mean that the other drives in the same group also switc...

Page 216: ...XS ULYH ULYH ULYH URXS URXS ULYH ULYH ULYH ULYH LQH 0RGXOH 6LQJOH 0RWRU 0RGXOH RXEOH 0RWRU 0RGXOH 6LQJOH 0RWRU 0RGXOH O O U U 0 3 0 3 0 3 0 3 0 0 S S S S 8 Figure 5 1 Example Grouping the terminals for Motor Modules booksize format 5 6 5 Simultaneity and tolerance time of the two monitoring channels The Safe Torque Off STO safety function must be selected deselected simultaneously in both monitori...

Page 217: ... the tolerance time this is detected by the cross comparison and fault F01611 STOP F is output In this case the pulses have already been canceled as a result of the selection of Safe Torque Off on one channel Note Timing between the switching operations Message F01611 with fault value 1000 indicates that the switching operations occur too frequently STO is being permanently initiated via PROFIsafe...

Page 218: ...IXQFWLRQ FWLYH QDFWLYH DXOW LW SDWWHUQ WHVW W W W Figure 5 2 Converter response to a bit pattern test Note Debounce time for unwanted triggering of Safety Integrated Functions If the test pulses cause an unwanted triggering of the Safety Integrated Functions these test pulses can be suppressed with the aid of the F DI input filter p9651 To do this a value must be entered in p9651 that is greater t...

Page 219: ...ons integrated in the drive Page 266 6 Configuring machine data Page 304 7 Finalizing commissioning Page 306 Detailed action overviews can found in the linked sections Note Deviating commissioning sequence of a SINUMERIK MC with a SINAMICS S210 drive If you use a SINUMERIK MC in conjunction with a SINAMICS S210 drive then you cannot use the commissioning sequence explained above S210 drives cannot...

Page 220: ...ety relevant components have been configured The SINUMERIK MC is inserted SINUMERIK PLC basic program and standard PLC user program exist in a project The interfaces are networked with one another via the required PROFINET interfaces Example handling overview Step Description 1 Loading the configuration into the controller Page 221 2 Allocating and assigning a PROFINET device name Page 222 3 Assig...

Page 221: ...guration The Extended download dialog opens 2 Select the PG PC interface type the network card being used e g Intel R Ethernet Connection I217 V 3 Select the slot for the connection with interface subnet The following slots are available 1x150 1x160 2x130 2x127 4 Click Start search A search is made for the target devices and they are displayed in the dialog 5 Select the appropriate target device e...

Page 222: ...ion The PROFINET IO device can be accessed in the network Procedure In order to assign a device name to a PROFINET IO device proceed as follows 1 In the device properties in field Name enter the required device name 2 Click in the network view right click on the device and select command Assign name Commissioning and configuring 6 2 Configuring safety relevant components Safety Integrated with SIN...

Page 223: ...ion The list of accessible nodes is updated in the dialog Figure 6 1 Dialog Assigning a PROFINET device name 4 Select the appropriate target device e g based on the device type and IP address and confirm with Name Commissioning and configuring 6 2 Configuring safety relevant components Safety Integrated with SINAMICS S120 Commissioning Manual 02 2020 A5E46305916B AB 223 ...

Page 224: ...d by the SIMATIC Safety F safety Completeness and correctness of the hardware configuration 6 2 5 Assigning F destination addresses address type 2 For the F I O of PROFIsafe address type 2 you can adapt the F destination address in the module properties and then use command Assign F destination address Unique PROFIsafe addresses To ensure safe communication unique PROFIsafe addresses are required ...

Page 225: ...tification select how you wish to identify the F modules By flashing the LEDs This is the default setting During identification the STATUS LEDs of the F modules to be identified flash Using the serial number If you cannot see the F modules clearly you can identify them by the serial number of the interface module Note The displayed serial number may have a year number added to it compared with the...

Page 226: ...e CPU and in the network As a consequence the safety functions can act in a way that was not intended which in turn can result in death and serious injury For PROFIsafe address type 1 uniquely address the F destination address of the F I O Ensure that the F destination address of the F I O the drive units in this case is unique for the entire failsafe I O throughout the network and the CPU system ...

Page 227: ...t menu Print 3 In the print dialog select a printer or a PDF application and confirm with OK The safety printout is generated 4 In the safety printout or in the PDF check the PROFIsafe addresses listed Compare the F destination addresses of the drive objects of the SINAMICS drive with the values of drive parameter p9610 In the safety printout compare the F destination addresses of the individual m...

Page 228: ...st stop Page 241 9 Programming the wiring test Page 241 6 3 2 Creating F capable PLC variables To enable you to access the required drive data symbolically in the safety program create PLC variables with the corresponding drive addresses in the TIA Portal You can create all the PLC variables required before you start programming or you can always add your PLC variables if you wish to access new dr...

Page 229: ...e project navigation below PLC data types double click on the entry Add new data type Dialog Add new PLC data type opens Figure 6 3 New data type 2 Enter a descriptive name in the name field for the new data type e g SafePLCDataType Commissioning and configuring 6 3 Generating a safety program Safety Integrated with SINAMICS S120 Commissioning Manual 02 2020 A5E46305916B AB 229 ...

Page 230: ...ess for a specific drive telegram in the telegram configuration of the SINUMERIK ONE Commissioning Tool Refer to the telegram structure to identify the PZD range within the telegram in which the required drive data is contained For data type Bool or when you address a bit specify in addition the bit number that you take from the process data description Accessible writa ble visible set ting value ...

Page 231: ...e telegram start address and the PZD range within the telegram where the process data starts You can see the start address for a specific drive telegram in the telegram configuration of the SINUMERIK ONE Commissioning Tool Refer to the telegram structure Page 355 to identify in which PZD range 1 PZD 1 word 2 byte within the telegram the required drive data is con tained For data type Bool or when ...

Page 232: ..._Safety FB1010 Main_Safety_DB DB1010 You can adapt the default settings of the F runtime group and the associated blocks as described here Optionally you can also create a second F runtime group for example to organize safety relevant program sections that are executed quickly in their own dedicated F runtime group Precondition Safety Integrated is active Commissioning and configuring 6 3 Generati...

Page 233: ... permissible for the particular event class Cycle time Select a cycle time that is less than the Maximum cycle time of the F runtime group and less than the Warning limit cycle time of the F runtime group The cycle time replaces the execution time Phase offset Select a phase offset that is less than the cycle time Priority If possible select a priority that is higher than the priority of all other...

Page 234: ... If only one person is authorized to change both the standard user program and the safety program then the protection level Write protection or Read write protection should be configured so that other persons are only given a restricted or no access to the complete user program standard and safety program For additional information refer to the Access protection chapter in the SIMATIC Safety Confi...

Page 235: ...red ACK 1 acknowledgment TIME_DEL Delay time Q Output 1 enable Q_DELAY Enabling of the OFF delay for F I O The enabling signal Q_DELAY is reset to 0 after the delay time has been set at the TIME_DEL input Do not use Q_DELAY for drive components instead use the corre sponding setting of the relevant drive integrated safety function ACK_REQ 1 acknowledgment required DIAG Non fail safe service inform...

Page 236: ...on Reintegration Communication All channels of the module After a communication error user acknowledg ment is always required F I O or Drive dependent on the F I O DB parameter ACK_NEC 1 user acknowledgment required ACK_NEC 0 automatic reintegration Channel Depending on F parameter Be havior after channel fault of the module Passivation of the channel Passivation of the complete module You impleme...

Page 237: ... reinte gration for F I O channel faults You can parameterize the F I O DB tag ACK_NEC if after an F I O channel fault automatic reintegration should take place without user acknowledgment ACK_NEC 1 start value User acknowledgment required ACK_NEC 0 Automatic reintegration A user acknowledgment is always required after a communication error Parameterizing tags ACK_NEC 0 is only permitted if from a...

Page 238: ...SET acknowledgment then the part program is not canceled and is continued with the acknowledgment When the machine restarts unexpectedly this can put people in dangerous situations or cause material damage In the safety program logically combine safe acknowledgment PROFIsafe IEACK with a RESET at the machine control panel PROFIdrive RESET Precondition PLC tags for the Internal Event ACK signal are...

Page 239: ...ag Example drive1InternalEventAck Assign the logic operation result to the corre sponding PLC tag that you created for the Internal Event ACK signal of the appropri ate drive 3 Branch If you are using several safety relevant drive objects for each drive object insert a branch together with the operation see 3a 3a Assignment PLC tag Example drive2InternalEventAck Assign the logic operation result t...

Page 240: ...ion_ safety function Example deselectionSs1 or Drive I O address with ZSW bit Address the PLC tag Deselection_ safety function or the drive I O address which transfers the associated bit of the safety con trol word 2 Assignment DR_ drive number _ safety function Example drive1Ss1Disable or Drive I O address with STW bit Assign the logic operation result to the safety function in the drive involved...

Page 241: ... in order to trigger the forced check procedure during run up of the controller 6 3 10 Programming the wiring test Basic procedure You must program a wiring test in order that your F I O devices can be correctly addressed For the wiring test use a tag QBAD of the F I O DB of the corresponding F I O You can perform a wiring test jointly for all F I O modules of an F runtime group Therefore configur...

Page 242: ... for the PLC and the complete configuration can be closed Preconditions The hardware configuration is compiled Page 45 A communication connection Page 45 exists between the PG PC TIA Portal and the SINUMERIK MC Commissioning and configuring 6 4 Load the configuration into the control system Safety Integrated with SINAMICS S120 242 Commissioning Manual 02 2020 A5E46305916B AB ...

Page 243: ...f the data to be loaded Alternatively you can select one of the other commands to load additional data to the SINUMERIK MC in this operation See TIA Portal help keyword General information on downloading The Extended download dialog opens Figure 6 7 Extended download Commissioning and configuring 6 4 Load the configuration into the control system Safety Integrated with SINAMICS S120 Commissioning ...

Page 244: ... preview opens Figure 6 8 Load preview Note Consistency check Before the loading the consistency of the download is checked This means that a check is performed as to whether the parameterized hardware of the TIA Portal project matches the hardware that has actually been installed Note Adapt the IP address If the IP address of your PG PC is located in a different subnet than the PLC a dialog box i...

Page 245: ...aded the project data to the correct PLC 1 Call menu Safety administration in the TIA Portal To the right in the secondary navigation select menu General 2 In the SINUMERIK ONE Commissioning Tool call screen form SI checksums overview for the selected PLC MENU SELECT Diagnostics Menu forward key Safety SI checksums global checksums 3 Compare the F collective signature in the TIA Portal PG PC with ...

Page 246: ...PC interface Network card used e g Intel R Ethernet Connection I217 V Connection with interface subnet Specific interface on IPC or Try all interfaces 4 Click on Start search and then select the IPC that was found from Compatible nodes in the target subnet Alternatively you can specify an IP address directly in the Compatible nodes in the target subnet list in the Address column Commissioning and ...

Page 247: ...ress If the IP address of your PG PC is located in a different subnet than the IPC a dialog box is displayed indicating whether the IP address in the PG PC should be adapted 6 Check the settings in dialog Load preview To confirm the entry click on Load Result The software configuration is loaded to the IPC The Results of the loading action dialog opens and displays the status of the loading action...

Page 248: ...ntegrated mode from the configuration has been completed Possible sequence 1 Setting software options Page 249 2 Activating the safety commissioning mode Page 249 3 Selecting the safety functional scope Page 251 4 Parameterizing the setpoint speed limiting Page 252 5 Parameterizing reaction of the stop response Page 254 6 Parameterizing an encoder Page 255 or Configuring encoderless operation Page...

Page 249: ... required you can order additional licen ses For every license that is ordered you re ceive a Certificate of Licenses which you can then use to obtain licenses from the license da tabase via the WEB License Manager Note Only for SINAMICS are the Safety Integrated Functions SP SLP and SCA classified as Ad vanced Functions They require a different type of license than the Extended Functions Result T...

Page 250: ...ECT Commissioning Menu forward key Safety Figure 6 11 Activating the Safety Integrated commissioning mode for individual drives Note Activating the Safety Integrated commissioning mode for individual drives To activate the mode for an individual drive only instead switch to MENU SELECT Commissioning Menu forward key Safety Settings Options 2 Click on softkey Set SI Commissioning then Activate deac...

Page 251: ...LECT Commissioning Menu forward key Safety Settings Options 2 Switch to the corresponding drive e g using softkey Select a drive 3 Select the functional scope under Select safety function Basic Functions via onboard terminals Basic Functions via PROFIsafe Basic Functions via PROFIsafe and onboard terminals Extended Functions via PROFIsafe Extended Functions via PROFIsafe and Basic Functions via on...

Page 252: ...ation factors of the NC to define the setpoint limits 1 In the SINUMERIK ONE Commissioning Tool go to the safety settings of the drive via MENU SELECT Commissioning Menu forward key Safety Settings Options 2 Switch to the corresponding drive e g using softkey Select a drive The parameter assignment is displayed for the selected drive Figure 6 12 Commissioning screen form Settings options Commissio...

Page 253: ... set this MD it is possible that several changes must be made in order to take into account the dynamic response of the drives You can use 80 as recommended value for example 5 Reset the operator panel Result The evaluation factors of the NC were parameterized and are active after the operator panel is reset During the runtime the setpoint speed limiting of the drive p9533 is evaluated with the se...

Page 254: ... SINUMERIK ONE Commissioning Tool go to the safety settings of the drive via MENU SELECT Commissioning Menu forward key Safety Settings Options 2 Switch to the corresponding drive e g using softkey Select a drive The parameter assignment is displayed for the selected drive Figure 6 13 Commissioning screen form Settings options 3 Select the reaction to the stop response On all axes in the channel V...

Page 255: ...all the Encoder parameterization startup screen form MENU SELECT Commissioning Menu forward key Safety Settings Encoder parameterization Figure 6 14 Commissioning screen form Settings encoder parameterization Commissioning and configuring 6 5 Configuring NC and drive specific safety settings Safety Integrated with SINAMICS S120 Commissioning Manual 02 2020 A5E46305916B AB 255 ...

Page 256: ...ropriate softkey before configuring Drive Select a drive Recommended val ues You can automatically assign defaults to the encoder settings of the specific drive using the Recommended values softkey Check the individual suggested values Commissioning and configuring 6 5 Configuring NC and drive specific safety settings Safety Integrated with SINAMICS S120 256 Commissioning Manual 02 2020 A5E4630591...

Page 257: ...coder pulses Displays the number of encoder pulses per revolution for rotary encoders Fine resolution X_IST2 Displays the fine resolution for G1_XIST1 in bits Leadscrew pitch Sets the ratio between the encoder and load in mm revolutions for a linear axis with rotary encoder Table 6 3 Actual value synchronization settings encoder parameterization Setting Meaning Enable Enables inhibits actual value...

Page 258: ...ned depending on the following tolerance Actual value synchronization activated p9549 position tolerance Actual value synchronization deactivated Actual value tolerance po sition tolerance Active position tolerance Displays the active position tolerance product from the position tolerance and actual value tolerance or velocity tolerance Number of load revolutions Sets the denominator for the gearb...

Page 259: ...iguration mechanical actual value sensing MENU SELECT Commissioning Menu forward key Safety Settings Mechanical actual value sensing Figure 6 16 Commissioning screen form Settings configuration mechanical system actual value sensing Mechanical system Commissioning and configuring 6 5 Configuring NC and drive specific safety settings Safety Integrated with SINAMICS S120 Commissioning Manual 02 2020...

Page 260: ... suggested values Adapting settings Table 6 5 Settings mechanical configuration actual value sensing Setting Meaning Leadscrew pitch Sets the ratio between the encoder and load in mm revolutions for a linear axis with rotary encoder Actual value tolerance Sets the tolerance for the crosswise comparison of the actual position between the two monitoring channels The tolerance must be set higher e g ...

Page 261: ...erless actual value sensing after the pulses have been enabled The value should be greater than or equal to the magnetization time of the motor p0346 The set time is internally rounded off to an integer multiple of the monitoring clock cycle Caution The safety functions are not fully effective until this time has elapsed Notice Reducing this value can have a negative impact on the actual value acq...

Page 262: ...n the actual value acquisition and the plausibility check For synchronous motors the value must be set to 4 For value 1 for synchronous motors the calculation automatically uses a value of 4 for induction motors the calculation automatically uses a value of 0 if the code number of the power unit p0201 0 is 14000 otherwise a value of 2 is used Dependencies F01681 C01711 Speed tolerance Displays the...

Page 263: ...se in this percentage value means that velocity peaks can occur when accelerating which do not reflect the real velocity characteristic A decrease in this value dampens velocity peaks when accelerating The value must be increased if message C01711 is output with the value 1043 The value must be decreased if acceleration has resulted in an exces sive safety actual velocity Recommendation This param...

Page 264: ...r the drive to be configured Call up Telegram configuration commissioning screen MENU SELECT Commissioning Menu forward key Safety Settings Telegram configuration Figure 6 18 Commissioning screen form Settings telegram configuration Commissioning and configuring 6 5 Configuring NC and drive specific safety settings Safety Integrated with SINAMICS S120 264 Commissioning Manual 02 2020 A5E46305916B ...

Page 265: ...Info Channel Safety Control Channel SIC SCC This option is automatically activated when setting the function scope Page 251 SIC SCC module number Sets the SIC SCC module number Telegram configuration Sets the telegram type for the Safety Info Channel SIC Safety Control Channel SCC Table 6 9 PROFIsafe telegram settings Settings telegram configuration Setting Meaning PROFIsafe address Sets the PROFI...

Page 266: ... Safe Stop 1 Page 98 SS2 SOS Page 276 Safe Stop 2 Page 115 Safe Operating Stop Page 125 SLS Page 282 Safely Limited Speed Page 133 SSM Page 286 Safe Speed Monitor Page 147 SAM Page 278 Safe Acceleration Monitor Page 128 SBR Page 280 Safe Brake Ramp Page 130 SDI Page 288 Safe Direction Page 153 SLP SP Page 290 Safely Limited Position Page 161 Safe Position Page 166 SBT Page 293 Safe Brake Test Page...

Page 267: ...ues of the particular startup screen form Alternative to the commissioning screen forms you can switch to Parameter list where all of the parameters are listed in tabular form that are relevant for the particular safety function Commissioning and configuring 6 6 Configuring safety functions integrated in the drive Safety Integrated with SINAMICS S120 Commissioning Manual 02 2020 A5E46305916B AB 26...

Page 268: ...1 Basic Figure 6 19 Safe Torque Off Safe Stop 1 STO SS1 Basic Status information For the following parameters the status symbols indicate the actual state blue active gray inactive Status Meaning STO selected r9772 0 STO selected in the drive setting no text brake response r9773 2 Setting SS1 Delay time active in the drive Commissioning and configuring 6 6 Configuring safety functions integrated i...

Page 269: ...ut field SS1 delay time Parameter p9653 is preassigned depending on the selected braking re sponse F DI input filter p9651 Setting the debounce time in ms for the Failsafe Digital Inputs to control STO SBC SS1 Simultaneity monitoring p9650 Sets the discrepancy time in ms for the switchover of the safety relevant inputs SGE on the Control Unit STOP F STOP A delay time p9658 Sets the transition time...

Page 270: ...off STO Extended MENU SELECT Commissioning Menu forward key Safety Functions STO Extended Figure 6 20 Safe torque off STO Extended Status information Status Meaning STO active r9773 1 Safety Integrated status of the drive Control Unit and MM Test stop required r9773 31 Commissioning and configuring 6 6 Configuring safety functions integrated in the drive Safety Integrated with SINAMICS S120 270 Co...

Page 271: ...dure and testing the safety switch off signal paths Within the parameterized time STO must have been deselected at least once The monitoring time is reset at every STO deselection Commissioning and configuring 6 6 Configuring safety functions integrated in the drive Safety Integrated with SINAMICS S120 Commissioning Manual 02 2020 A5E46305916B AB 271 ...

Page 272: ...ELECT Commissioning Menu forward key Safety Functions SBC Figure 6 21 Safe brake control SBC Status information Status Meaning STO selected r9773 0 Display and BICO output for the status of Safety Integrated on the drive Control Unit Motor Module STO selected in the drive Switching element See Safe brake control setting Commissioning and configuring 6 6 Configuring safety functions integrated in t...

Page 273: ...utput for the status word of the sequence control Command close holding brake Settings Setting Meaning Safe brake control p9602 Sets the enable signal for the Safe brake control SBC function on the Control Unit 0 Inhibit SBC 1 Enable SBC Commissioning and configuring 6 6 Configuring safety functions integrated in the drive Safety Integrated with SINAMICS S120 Commissioning Manual 02 2020 A5E463059...

Page 274: ...n encoder and Extended Functions Display Safe Stop 1 SS1 Extended commissioning screen MENU SELECT Commissioning Menu forward key Safety Functions SS1 Extended Figure 6 22 Safe Stop 1 SS1 Extended Commissioning and configuring 6 6 Configuring safety functions integrated in the drive Safety Integrated with SINAMICS S120 274 Commissioning Manual 02 2020 A5E46305916B AB ...

Page 275: ...SS1 or activating a STOP B SS1 with OFF3 SS1 with OFF3 braking response integrated in the drive SS1E external stop Stop to be externally initiated Braking monitoring SBR SAM is deac tivated Delay time SS1 STOP B STO active p9556 Sets the delay time for STOP A to STOP B The set time is internally rounded off to an integer multiple of the monitoring clock cycle Shutdown speed SS1 p9560 only for SS1 ...

Page 276: ...NU SELECT Commissioning Menu forward key Safety Functions SS2 SOS Figure 6 23 Safe Stop 2 Safe Operating Stop SS2 SOS Status information Status Meaning SS2 active r9722 2 Status signals for the safety motion monitoring functions integrated in the drive on monitoring channel 1 SOS active r9722 3 Commissioning and configuring 6 6 Configuring safety functions integrated in the drive Safety Integrated...

Page 277: ... speed stage remains active for this delay time A delay is also occurred when activating SLS from the SOS and SLS inactive state and when activating SOS from the SOS inactive state Delay time STOP D SOS active p9553 Sets the transition time from STOP D to Safe Operating Stop SOS Delay time STOP E SOS active p9554 Sets the transition time from STOP E to Safe Operating Stop SOS Standstill tolerance ...

Page 278: ...and Extended Functions Display Safe Acceleration Monitoring SAM commissioning screen MENU SELECT Commissioning Menu forward key Safety Functions SAM SBR Figure 6 24 Safe acceleration monitoring SAM Commissioning and configuring 6 6 Configuring safety functions integrated in the drive Safety Integrated with SINAMICS S120 278 Commissioning Manual 02 2020 A5E46305916B AB ...

Page 279: ...m s2 x MC s x 1000 mm m x 60 s min For rotary axes SAM tolerance rpm a rev s2 x MC s x 60 s min Recommendation The SAM tolerance value entered should be approx 20 higher than the calculated value With the tolerance the overshoot which is automatically obtained when reaching standstill when braking along the OFF3 ramp must be tolerated However it cannot be calculated as to just how high this is Shu...

Page 280: ...afety function SS1 with stop response OFF3 is configured for the drive Displaying the Safe brake ramp SBR startup screen form MENU SELECT Commissioning Menu forward key Safety Functions SBR Figure 6 25 Safe braking ramp SBR Commissioning and configuring 6 6 Configuring safety functions integrated in the drive Safety Integrated with SINAMICS S120 280 Commissioning Manual 02 2020 A5E46305916B AB ...

Page 281: ...the reference velocity refer ence value and the monitoring time Reference velocity p9581 Sets the reference value to determine the braking ramp The gradient of the braking ramp depends on the reference velocity refer ence value and the monitoring time Ramp down time OFF3 p1135 0 Sets the ramp down time from the maximum velocity or maximum speed to standstill for the OFF3 command This time can be e...

Page 282: ...INUMERIK is optimized for the use of SCA Safe Cam and only includes restricted process data for SLS On the other hand SIEMENS telegram 902 includes all of the process data for SLS Display Safely Limited Speed SLS commissioning screen MENU SELECT Commissioning Menu forward key Safety Functions SLS Figure 6 26 Safely Limited Speed SLS Commissioning and configuring 6 6 Configuring safety functions in...

Page 283: ...vel 2 r9722 9 1 and r9722 10 0 Level 3 r9722 9 0 and r9722 10 1 Level 4 r9722 9 1 and r9722 10 1 If one of the velocity levels is currently active then this is displayed in the corresponding column Active SLS limit value r9714 0 Displays the load side velocity actual value of the CU The display is updated in the safety monitoring cycle clock Commissioning and configuring 6 6 Configuring safety fun...

Page 284: ...r limit value immediately becomes active In operation the parameterized delay time cannot be changed If you require various delay times in your application then you must realize this using a time delayed transfer of the SLS limit value using the F PLC Maximum velocity V_max level 1 p9531 0 Up to 4 parameterizable SLS velocity limit values must be specified based on the results of the risk analysis...

Page 285: ...63 1 Stop response level 3 p9563 2 Stop response level 4 p9563 3 SLS limit value via PROFIsafe for SLS level 1 Setting to transfer the maximum velocity level 1 via PROFIsafe The transfer of maximum speed level 1 via PROFIsafe can also be used to parameterize fixed maximum speed levels 2 3 and 4 When activated the value is transferred using PROFIsafe in control word S_SLS_LIMIT_A Page 370 assuming ...

Page 286: ...tions SSM Figure 6 27 Safe Speed Monitor SSM Status information Status Meaning Switching element SSM with hysteresis p9501 16 Indicates whether the Hysteresis and Filter time functions are active Speed below SSM limit value r9722 15 Indicates whether the current velocity is below the parameterized velocity limit Commissioning and configuring 6 6 Configuring safety functions integrated in the drive...

Page 287: ...9546 Sets the velocity limit for the SSM feedback signal to detect standstill n nx If the velocity limit is fallen below then the signal Safe Speed Monitor feed back signal active SGA n n_x is set The abbreviation SGA n nx stands for the safety function required for determining an output signal when a parameterizable velocity limit has been undershot This value is also active for safety function S...

Page 288: ...forward key Safety Functions Menu forward key SDI Figure 6 28 Safe Direction SDI Status information Status Meaning for positive direction r9722 12 Status signals for the safety motion monitoring functions integrated in the drive on monitoring channel 1 for negative direction r9722 13 Commissioning and configuring 6 6 Configuring safety functions integrated in the drive Safety Integrated with SINAM...

Page 289: ...0 STOP A 1 STOP B 2 STOP C 3 STOP D 4 STOP E 10 STOP A with delayed stop response when the bus fails 11 STOP B with delayed stop response when the bus fails 12 STOP C with delayed stop response when the bus fails 13 STOP D with delayed stop response when the bus fails 14 STOP E with delayed stop response when the bus fails In encoderless operation only settings 0 STOP A and 1 STOP B can be selecte...

Page 290: ...ing only SLP is set Actual value synchronization is not enabled p9501 3 0 Display Safe Limit Positions Safe Position SLP SP commissioning screen MENU SELECT Commissioning Menu forward key Safety Functions Menu forward key SLP SP Figure 6 29 Safe Limit Positions SLP SP Commissioning and configuring 6 6 Configuring safety functions integrated in the drive Safety Integrated with SINAMICS S120 290 Com...

Page 291: ...e on monitoring channel 1 SP valid Safety reference position confirmed r9727 Displays the internal status of the user agreement Drive reference r9723 17 Display Position referenced Safely ref r9722 23 Display SP valid Settings Setting Meaning SLP p9501 1 Enable inhibit SLP P min mm Range 1 p9535 0 Range 2 p9535 1 Sets the lower and upper limit values for position range 1 or 2 of the SLP function F...

Page 292: ...y for telegram 902 only for PROFIsafe Sets the scaling factor to transfer the safe position via PROFIsafe in the 16 bit format The parameter is only active when PROFIsafe telegram 901 is selected see S_XIST16 Current actual position value 16 bits Page 371 Scaling is realized by dividing the 32 bit position actual value r9713 0 with this scaling factor If during operation a position actual value is...

Page 293: ...enu forward key SBT Figure 6 30 Safe Brake Test SBT Note Additional commissioning support The following SINUMERIK ONE Commissioning Tool screen forms are available to commission SBT Graphic softkey Displays a torque time diagram or a force time diagram Trace softkey Starts a drive trace session with various options Commissioning and configuring 6 6 Configuring safety functions integrated in the dr...

Page 294: ...ake test Brake 1 p10202 0 Brake 2 p10202 1 Selects the brakes to be tested 0 Inhibit 1 Test motor holding brake 2 Test external brake It is not possible to test two motor holding brakes Actual holding torque or force Brake 1 p10209 0 Brake 2 p10209 1 Sets the effective holding torque or holding force of the brakes to be tested on the motor side Establish the test torque or test force Brake 1 p1020...

Page 295: ...t using MD36968 2 MA_SAFE_BRAKETEST_CONTROL bit 2 0 Positioning at the actual axis position To conclude the brake test the actual axis position for the next path motion is used MD36968 MA_SAFE_BRAKETEST_CONTROL bit 2 0 This results in motion to the last programmed axis position on the path 1 Positioning to the last programmed axis position Acceptance of the actual axis position is not carried out ...

Page 296: ...ms SCA Settings Setting Meaning Modulo value SP p9505 Sets the modulo value in degrees for rotary axes for the Safe position function This modulo value is taken into account for safe referencing and for the transfer of the safe position via PROFIsafe when absolute position is ena bled SCA function Inhibits or enables the SCA function throughout Commissioning and configuring 6 6 Configuring safety ...

Page 297: ...d by copying and adapting the files Template for the TS file card siemens sinumerik hmi template lng oem_scam_names_deu ts Archive path for user defined TS file card oem sinumerik hmi lng oem_scam_names_ Sprachkennung ts Minus cam position p9537 0 29 Sets the minus cam position in or mm Plus cam position p9536 0 29 Sets the plus cam position in or mm Commissioning and configuring 6 6 Configuring s...

Page 298: ...ded Functions Display commissioning screen Safe Stop 2 with external stop SS2E MENU SELECT Commissioning Menu forward key Safety Functions Menu forward key SS2E Figure 6 32 Safe Stop 2 with external stop SS2E Commissioning and configuring 6 6 Configuring safety functions integrated in the drive Safety Integrated with SINAMICS S120 298 Commissioning Manual 02 2020 A5E46305916B AB ...

Page 299: ...tive r9722 28 SOS active r9722 3 STOP C active r9721 13 STOP D active r9721 14 Settings Setting Meaning Enable SS2E p9501 18 SS2E enable is activated via the parameter Delay time STOP D SOS active p9553 Sets the transition time from STOP D to Safe Operating Stop SOS in ms Commissioning and configuring 6 6 Configuring safety functions integrated in the drive Safety Integrated with SINAMICS S120 Com...

Page 300: ...ions Display commissioning screen Safe Stop 2 Extended Stop and Retract SS2ESR MENU SELECT Commissioning Menu forward key Safety Functions Menu forward key SS2ESR Figure 6 33 Safe Stop2 Extended Stop and Retract SS2ESR Commissioning and configuring 6 6 Configuring safety functions integrated in the drive Safety Integrated with SINAMICS S120 300 Commissioning Manual 02 2020 A5E46305916B AB ...

Page 301: ...r9722 27 STOP E active r9721 15 STOP C active r9721 13 STOP D active r9721 14 Settings Setting Meaning Enable SS2ESR p9501 04 SS2ESR enable is activated via the parameter Delay time SS2ESR STOP E SOS active p9554 Sets the transition time from STOP D to Safe Operating Stop SOS in ms Commissioning and configuring 6 6 Configuring safety functions integrated in the drive Safety Integrated with SINAMIC...

Page 302: ...n encoder and Extended Functions Display Safe referencing commissioning screen MENU SELECT Commissioning Menu forward key Safety Functions Menu forward key Safe referencing Figure 6 34 Safe referencing Commissioning and configuring 6 6 Configuring safety functions integrated in the drive Safety Integrated with SINAMICS S120 302 Commissioning Manual 02 2020 A5E46305916B AB ...

Page 303: ...ctions SI Motion user agreement select deselect p9726 User agreement Safe Position is only displayed if functions with Safe Position evaluation are activated Tolerance of the position actual values refer encing p9544 Sets the tolerance for checking the actual values For an incremental encoder the actual values are checked after referencing for an absolute encoder when switching on Commissioning an...

Page 304: ...e data You can change the machine data in the following way 1 Select the type of machine data General MD Channel MD Axis MD 2 Position the cursor on the required machine data 3 Position the cursor on the machine data to be entered and enter the required value 4 Click on Set MD active cf The value is applied Further information Detailed information about parameterizing searching and filtering machi...

Page 305: ... TYPE 0 30 Telegram type that is used for SIC SCC communi cation The default value 701 corresponds to the default in the TIA Portal configuration Table 6 13 Machine data with important settings for alarms messages Number Symbolic name Purpose MD13140 MN_PROFIBUS_ALARM_ACCESS Alarm response of the PROFIBUS PROFINET drives during run up MD13150 MN_SINAMICS_ALARM_MASK Activation deactivation of fault...

Page 306: ...dure Proceed as follows to confirm the NC and drive specific safety settings that have been made 1 In the SINUMERIK ONE Commissioning Tool switch to MENU SELECT Commissioning Menu forward key Safety 2 Using the menu forward key switch to the 2nd Level of the vertical softkey bar 3 Press softkey Copy SI data and confirm with OK The safety settings are copied from the 1st into the 2nd monitoring cha...

Page 307: ... the password as follows via the expert list as in SINAMICS Safety Integrated p0010 95 Commissioning mode p9761 enter Old safety password Default setting for p9761 0 p9762 enter new password p9763 confirm new password p0977 1 Copy from RAM to ROM The new and confirmed Safety Integrated password is valid immediately Procedure To assign the Safety Integrated password for all axes drives proceed as f...

Page 308: ...message for standard commissioning with Safety Integrated Extended Functions If third party motors with absolute encoders are being used a situation may occur where a safety message prevents commissioning One reason for this may be that a different serial number of the absolute encoder is saved on the memory card than that in the Control Unit that is to be commissioned The safety message can only ...

Page 309: ... group signature and F signature of the software and hardware See the help for SIMATIC Safe ty Status of safety relevant drives Operating area Diagnostics Telegram diagnostics Operating area Diagnostics SCA diagnostics Operating area Diagnostics Status and diagnostic information about specific safety functions Operating area Startup without activating the commis sioning mode You will also find gen...

Page 310: ...ual Diagnostics http support automation siemens com WW view en 59192926 Note The description in the Function Manual Diagnostics is not specifically intended for SINUMERIK Safety Integrated Diagnostics 7 2 Pathfinder to S7 1500 diagnostics Safety Integrated with SINAMICS S120 310 Commissioning Manual 02 2020 A5E46305916B AB ...

Page 311: ...orting alarm texts from the TIA Portal You must export alarm texts from the TIA Portal in order that alarm texts from the TIA Portal can be displayed in the SINUMERIK ONE Commissioning Tool in the diagnostic screen Messages Diagnostics 7 3 System alarms Safety Integrated with SINAMICS S120 Commissioning Manual 02 2020 A5E46305916B AB 311 ...

Page 312: ...ect navigator click on the SINUMERIK control and select shortcut menu Export alarms and texts for SINUMERIK Operate Figure 7 2 Exporting alarms from the TIA Portal Diagnostics 7 3 System alarms Safety Integrated with SINAMICS S120 312 Commissioning Manual 02 2020 A5E46305916B AB ...

Page 313: ...export files for Operate or in this particular case for the SINUMERIK ONE Commissioning Tool are saved to the specified directory 5 From there copy the files to be exported to directory oem sinumerik hmi lng Diagnostics 7 3 System alarms Safety Integrated with SINAMICS S120 Commissioning Manual 02 2020 A5E46305916B AB 313 ...

Page 314: ...nd safe homing Call MENU SELECT Diagnostics Menu forward key Safety Figure 7 4 Safety Integrated diagnostics overview This screen is simultaneously used as entry to the following diagnostic screens SI drives Page 315 SI telegrams Page 317 SI checksum Page 320 SI alarms Page 322 SI Safe Cams Page 323 via menu forward key Diagnostics 7 4 Diagnostic functions in the SINUMERIK ONE Commissioning Tool S...

Page 315: ... the screen The diagnostic screen SI drive status is available for basic functions and for extended functions Call SI drive status Basic functions MENU SELECT Diagnostics Menu forward key Safety SI drives Basic functions Figure 7 5 Diagnostic screen SI drive status Basic Functions Diagnostics 7 4 Diagnostic functions in the SINUMERIK ONE Commissioning Tool Safety Integrated with SINAMICS S120 Comm...

Page 316: ...rward key Safety SI drives Extended functions Figure 7 6 SI drive status Extended Functions diagnostic screen Diagnostics 7 4 Diagnostic functions in the SINUMERIK ONE Commissioning Tool Safety Integrated with SINAMICS S120 316 Commissioning Manual 02 2020 A5E46305916B AB ...

Page 317: ...c screen This screen is simultaneously used as entry to the following diagnostic screens SI telegrams PROFIsafe Page 318 PROFIdrive SI telegrams Page 319 Additional information You will find general information on safety relevant telegrams in Chapter Controlling safety functions integrated in the drive Page 205 Diagnostics 7 4 Diagnostic functions in the SINUMERIK ONE Commissioning Tool Safety Int...

Page 318: ... SELECT Diagnostics Menu forward key Safety SI telegrams PROFIsafe Figure 7 8 PROFIsafe SI telegrams diagnostic screen The view of all user data of the control word and status word is displayed using the Details softkey Additional information You can obtain general information about PROFIsafe telegrams in Chapter Control via PROFIsafe Page 208 Diagnostics 7 4 Diagnostic functions in the SINUMERIK ...

Page 319: ...ure 7 9 PROFIdrive SI telegrams The view of all user data of the control word and status word is displayed using the Details softkey Additional information You can obtain general information about SIC SCC telegrams in Chapter Safety Info Channel and Safety Control Channel SIC SCC Page 212 Diagnostics 7 4 Diagnostic functions in the SINUMERIK ONE Commissioning Tool Safety Integrated with SINAMICS S...

Page 320: ...ols are used to flag differences between reference and actual checksums Calling checksums MENU SELECT Diagnostics Menu forward key Safety SI checksums Figure 7 10 SI checksums overview diagnostics screen Diagnostics 7 4 Diagnostic functions in the SINUMERIK ONE Commissioning Tool Safety Integrated with SINAMICS S120 320 Commissioning Manual 02 2020 A5E46305916B AB ...

Page 321: ...stics screen then the calculation of the global checksums is started and after completion these actual checksums along with the calculation date are displayed If based on these global checksums you identify some changes in the safety configuration then you can switch from screen Global checksums to the individual axis drive checksums in order to identify specific differences Diagnostics 7 4 Diagno...

Page 322: ...alarms Call MENU SELECT Diagnostics Menu forward key Safety SI alarms Figure 7 12 Safety Integrated alarms diagnostic screen Diagnostics 7 4 Diagnostic functions in the SINUMERIK ONE Commissioning Tool Safety Integrated with SINAMICS S120 322 Commissioning Manual 02 2020 A5E46305916B AB ...

Page 323: ...fe referencing was not carried out Status of the enabled cams For each configured and enabled cam displays the identifier the minus and plus positions as well as the validity of the cam position Cam position is reached and the cam is invalid Cam position is reached and the cam is valid Safe referencing was carried out Call MENU SELECT Diagnostics Menu forward key Safety Menu forward key SI cams Fi...

Page 324: ...Some SIC status information is also saved to NC variables OPI Page 351 SINAMICS S120 drive messages and alarms can be displayed as follows Safety messages of the drive are displayed in the SINUMERIK ONE Commissioning Tool in the alarm lists The standard alarm of a drive can also include safety relevant diagnostic information You must activate the alarm buffer Page 335 so that these are displayed i...

Page 325: ...r CU MM and motion monitoring functions which are checked when the SINAMICS S120 drive runs up SINAMICS alarms 201650 230650 and or 201680 230680 are output if the checksums differ See SINAMICS checksums Page 327 Additional master checksums and global checksums which are calculated from the actual checksums mentioned above are displayed in the SINUMERIK ONE Commissioning Tool SINUMERIK MC does not...

Page 326: ...are enabled in p9601 p9601 SI enable functions integrated in the drive Control Unit SI enable fct CU 0 Table 7 2 Calculating the global checksum and the associated master checksums Global checksum Master checksum Values parameters used for the calculation Global Safety Engineering checksum sum of all master checksums F CPU master checksum Signature of the safety program Hardware checksum of the F ...

Page 327: ...8 SI actual checksum SI parameters Motor Module p9899 SI reference checksum SI parameters Motor Module Extended Functions contain also the following checksum parameters r9398 0 1 SI Motion actual checksum SI parameters Motor Module p9399 0 1 SI Motion reference checksum SI parameters Motor Module r9728 0 2 SI Motion actual checksum SI parameters p9729 0 2 SI Motion reference checksum SI parameters...

Page 328: ...ults associated with Safety Integrated Basic Functions occur the following stop responses can be initiated Table 7 4 Stop responses for Safety Integrated Basic Functions Stop response Triggered Action Effect STOP A cannot be acknowl edged For all Safety faults with pulse suppression that cannot be ac knowledged Trigger safe pulse suppression via the switch off signal path for the relevant monitori...

Page 329: ...P F STOP A is triggered When STOP A is present Safe Torque Off STO is active WARNING Uncontrolled axis motion when a STOP A F is initiated With a vertical axis or pulling load there is a risk of uncontrolled axis movements when STOP A F is triggered If present in the hazardous area this can result in death or severe injury Use the Safe Brake Control SBC and a holding brake not a safety relevant br...

Page 330: ...9562 for SLP Subsequent response of STOP F Configurable subsequent stop p9579 for SLA Immediate input of speed set point 0 and start of timer tB Once tB or nact nshutdown has ex pired STOP A is triggered Effect STOP B with subsequent STOP A The drive decelerates along the OFF3 ramp and then switches to STOP A Note For SS1 with external stop SS1E braking is not along the OFF3 ramp see Section SS1 E...

Page 331: ... Extended Functions No drive response Effect If a safety function SOS SLS has been selected or if SSM with hysteresis has been ena bled transition to STOP A after tF1 Basic Functions has elapsed or STOP B after tF2 Extended Functions has elapsed NC start traversing interlock 1 See also the following note delayed pulse cancellation when the bus fails 2 The behavior of the drive after STOP A is trig...

Page 332: ...ion in the event of bus failure is parameterized as the SLP response p9562 0 1 10 If p9580 0 and SLA is active the parameterized ESR response is only triggered in the event of a communication failure if a STOP with delayed pulse cancellation when the bus fails has been parameterized as the SLA response p9579 10 The delay time p9580 must not exceed 800 ms Note Delay time between STOP F and STOP B A...

Page 333: ...sponses in the NC 7 7 5 Priorities Table 7 6 Priorities of the stop responses Priority classes Stop response Highest priority STOP A STOP B STOP C STOP D STOP E Lowest priority STOP F Priorities between stop responses and Extended Functions The following table lists which stop response or safety function is set if a STOP is initiated when a safety function is active Table 7 7 Priorities between st...

Page 334: ...p responses and safety functions have the same priority STOP A corresponds to selecting STO STOP B corresponds to selecting SS1 STOP C corresponds to selecting SS2 STOP D corresponds to selecting SOS STOP E corresponds to selecting SOS for additional activation of the standard Extended stop and retract ESR function When the SS2 function is active STOP F results in subsequent stop STOP B SS2 remain...

Page 335: ...If the safety message buffer is deactivated then safety relevant messages are saved in the standard fault and or alarm buffer For safety related messages in the fault and alarm buffer in the SINUMERIK ONE Commissioning Tool specific reference is not made to the safety relevant acknowl edgment required Safety relevant alarms are displayed in the SINUMERIK ONE Commissioning Tool in the standard alar...

Page 336: ... The following drive parameter is relevant p3117 change safety message type Ch SI mess type Setting to re parameterize all safety messages to faults and alarms Precondition Settings for drive parameters are protected with access level 2 service Procedure Proceed as follows to deactivate or activate the safety message buffer 1 In the SINUMERIK ONE Commissioning Tool call the drive parameters via ME...

Page 337: ...age buffer is not supported and must be deactivated Page 336 The acknowledgment options correspond to those of external NC drives see above Depending on what has been configured additional acknowledgments may be necessary If you are using Basic Functions or the safety message buffer is deactivated p3117 1 then you must additionally acknowledge Page 339 all safety messages that are saved in the sta...

Page 338: ...el PROFIdrive RESET In addition to a safety relevant acknowledgment various fault situations also require an acknowledgment using a PROFIdrive RESET This applies to the following STOP responses or safety functions Extended Functions All fault situations or safety functions and STOP responses Basic Functions or inactive safety message buffer Parameterizing SLS with STOP D or STOP E In the case of a...

Page 339: ...ng STO via PROFIsafe If the safety commissioning mode is exited when the safety functions are switched off p0010 95 when p9601 0 then all safety faults can be acknowledged Once safety commissioning mode has been selected again p0010 95 all the faults that were previously present reappear 7 9 6 Additional acknowledgment when the safety message buffer is inactive If you are using Basic Functions or ...

Page 340: ...larm text 201689 SI Motion Axis re configured 201700 SI Motion P1 CU STOP A initiated 201701 SI Motion P1 CU STOP B initiated 201708 SI Motion P1 CU STOP C initiated 201770 SI Motion P1 CU Discrepancy error of the failsafe digital inputs outputs When the safety message buffer is deactivated all of the safety messages listed in the table are saved in the standard alarm buffer Diagnostics 7 9 Acknow...

Page 341: ...out and documenting an acceptance test It is not permissible to use the results of the acceptance test for other purposes The measured values obtained when executing the acceptance test e g distance or time and the system response identified e g initiation of a specific stop are used to check the plausibility of the configured safety functions The values that are measured are typical and are not w...

Page 342: ...761095 Note If the SINUMERIK MC is connected to a SINAMICS S210 drive then the acceptance test just like the safety commissioning must be performed in the TIA Portal Startdrive program An appropriate workflow is discussed in a separate manual Acceptance test in the SINUMERIK ONE Commissioning Tool 8 1 Purpose and requirements Safety Integrated with SINAMICS S120 342 Commissioning Manual 02 2020 A5...

Page 343: ... of the motor until the acceptance test has been successfully completed WARNING Unwanted motion if components are replaced without a function test After a component replacement connections or functions can be defective so that death or serious injury can result if a person enters the danger zone of the motors Perform a POWER ON before resuming operation After component replacement always run a sim...

Page 344: ...m firmware update you must check to see if the CPU operating system you are using is approved for use in an F system The minimum CPU operating system versions with guaranteed F capability are specified in the appendix of the Certificate This information and any notes on the new CPU operating system must be taken into account Firmware update for interface module When using a new operating system fo...

Page 345: ...ure on de mand High demand or continuous mode of operation high demand continuous mode According to IEC 61508 2010 PFH Average frequency of a dangerous failure h 1 2E 05 1E 09 PFD PFH values for safety related communication Below you will find the failure probability values PFDavg PFH values for safety related communication Low demand mode of operation low demand mode According to IEC 61508 2010 P...

Page 346: ...d CRC of the particular hardware component the drive identifies that a component has been replaced You can take the responses of the drive and the actions that have to be carried out from the following table Replaced component Control type Drive re sponse fault User action Diagnostic parameters Fault acknowl edgment re quired1 Acknowledg ment is re quired that the component has been replaced2 Save...

Page 347: ...f the drive objects involved Check whether the following preconditions are fulfilled p0010 0 It is not permissible for a firmware update to be active on the drive object Set p9702 29 1D hex 3 The modified data must be saved after a component has been replaced It is not permissible for a firmware update to be active on the drive object Copy from RAM to ROM If the data is not saved the fault is outp...

Page 348: ...monitoring channel Fault value 1031 Stop response STOP F As a consequence of A01695 a defect is signaled in a mon itoring channel Basic procedure WARNING Unsafe states after a component has been replaced Non safe states are possible after a component has been replaced If persons are in the danger zone accidents causing death or severe injury can occur Before re entering the hazardous area and befo...

Page 349: ...fier Sensor Module channel 1 p9674 SI module identifier Sensor Module channel 2 p9675 SI module identification sensor channel 1 p9676 SI module identification sensor channel 2 p9702 Acknowledge SI component replacement r9776 BO SI diagnostics r9793 0 9 SI diagnostics component replacement Component replacement software hardware 9 5 Important parameters notes regarding component replacement Safety ...

Page 350: ...Component replacement software hardware 9 5 Important parameters notes regarding component replacement Safety Integrated with SINAMICS S120 350 Commissioning Manual 02 2020 A5E46305916B AB ...

Page 351: ...t Effective speed setpoint limit in the NC This is ob tained from a speed setpoint limit in the drive and a possibly active speed setpoint limit in the NC SEMA 277 safeAxisType Type of axis specific safety monitoring functions safety axis operating mode S 358 safeMode Configured Safety Integrated operating mode Further information You can find additional information about SINUMERIK NC variables in...

Page 352: ...de Only variables VA_STOPSI and A_STOPESI listed here are used in both Safety Integrated operating modes All of the other system variables known from the SINUMERIK Safety Integrated mode SPL are not supplied in the Safety Integrated mode Further information Additional information about SINUMERIK system variables is available in the 840D sl List Manual System Variables https support industry siemen...

Page 353: ...dicates that a STOP E is active for a particular axis 10 2 4 VA_SAFE_TYPE axial Safety Integrated operating mode System variable VA_SAFE_TYPE Axis specific system variable It indicates whether Safety Integrated motion monitoring is active for the active axis if yes whether it involves motion monitoring integrated in the NC or drive based motion monitoring Data descriptions 10 2 System variables Sa...

Page 354: ...MENS telegram 902 903 6716 Drive axis_3 SIEMENS telegram 701 5832 13374 2 SIEMENS telegram 902 903 6732 Drive axis_4 SIEMENS telegram 701 5848 13374 3 SIEMENS telegram 902 903 6748 Drive axis_5 SIEMENS telegram 701 5864 13374 4 SIEMENS telegram 902 903 6764 Drive axis_6 SIEMENS telegram 701 5880 13374 5 SIEMENS telegram 902 903 6780 Data descriptions 10 3 Standard telegram start addresses Safety I...

Page 355: ...FIsafe telegram 31 telegram structure Output data Input data PZD1 S_STW2 Page 364 S_ZSW2 Page 366 PZD2 10 4 3 SIEMENS telegram 701 Telegram 701 The predefined PROFIdrive telegram 701 is available for the transfer of the SIC and the SCC Table 10 5 SIEMENS telegram 701 telegram structure Receive data Parameter Send data Parameter PZD1 S_STW1B Page 374 p10250 S_ZSW1B Page 375 r9734 PZD2 S_STW3B Page ...

Page 356: ...1 transfers the S_STW2 the variable SLS limit S_SLS_LIMIT_A the S_ZSW2 the active SLS value of level 1 S_SLS_LIMIT_A_ACTIVE a counter value S_CYCLE_COUNT and the safe position value in 16 bit format S_XIST16 as user data Table 10 6 SIEMENS telegram 901 telegram structure Output data Input data PZD1 S_STW2 Page 364 S_ZSW2 Page 366 PZD2 PZD3 S_SLS_LIMIT_A Page 370 S_SLS_LIMIT_A_ACTIVE Page 370 PZD4 ...

Page 357: ...D2 PZD3 S_SLS_LIMIT_A Page 370 S_SLS_LIMIT_A_ACTIVE Page 370 PZD4 S_CYCLE_COUNT Page 371 PZD5 S_XIST32 Page 371 PZD6 10 4 6 SIEMENS telegram 903 Structure of telegram 903 Telegram 903 transmits the following user data S_STW2 S_SLS_LIMIT_A S_ZSW2 S_ZSW_CAM1 and S_SLS_LIMIT_A_ACTIVE Output data Input data PZD1 S_STW2 Page 364 S_ZSW2 Page 366 PZD2 PZD3 S_SLS_LIMIT_A Page 370 S_ZSW_CAM1 Page 372 PZD4 ...

Page 358: ... PZD5 PZD3 PZD3 Counter for the safety cycle S_CYCLE_COUNT Page 371 PZD4 PZD4 Actual position value 16 bits S_XIST16 Page 371 PZD5 Actual position value 32 bits S_XIST32 Page 371 PZD5 6 Safe Cam status word S_ZSW_CAM1 Page 372 PZD3 4 Table 10 9 Process data from SIEMENS telegram 701 SIC SCC Telegram Process data 701 Safety Control Channel control word 1 S_STW1B Page 374 PZD1 SI Motion Safety Info ...

Page 359: ... a function block diagram You can find the function block diagram mentioned in the SINAMICS S120 S150 List Manual Note Reserved control status bits A series of control and or status bits are listed as reserved in the following tables The reason for this is that various Safety Integrated Functions will only be implemented at a later point in time The bits are reserved for future functions Data desc...

Page 360: ... STO 1 SS1 1 Deselect SS1 0 Select SS1 2 SS2 0 1 3 SOS 0 1 4 SLS 0 1 5 Reserved 6 SLP 0 1 7 Internal Event ACK 1 0 Acknowledgment 0 No acknowledgment 1 0 SLA 0 1 1 Select SLS bit 0 0 1 2 Select SLS bit 1 0 3 Reserved 4 SDI positive 0 1 5 SDI negative 0 6 7 Reserved 1 Signals not relevant for Basic Functions Should be set to 0 Data descriptions 10 5 Process data Safety Integrated with SINAMICS S120...

Page 361: ...Reserved 6 SLP1 1 Deselect SLP 0 Select SLP 7 Internal Event ACK 1 0 Acknowledgment 0 No acknowledgment 1 0 SLA 1 Deselect SLA 0 Select SLA 1 Select SLS bit 0 Selection of the speed limit for SLS 2 bits 2 Select SLS bit 1 3 Reserved 4 SDI positive 1 Deselect SDI positive 0 Select SDI positive 5 SDI negative 1 Deselect SDI negative 0 Select SDI negative 6 7 Reserved 1 Signals not relevant for Exten...

Page 362: ...S2 active 0 1 3 SOS active 0 1 4 SLS active 0 1 5 Reserved 6 SLP active 0 1 7 Internal Event 1 Internal event 0 No internal event 1 0 SLA active 0 1 1 Active SLS level bit 0 0 1 2 Active SLS level bit 1 0 3 SOS selected 0 1 4 SDI positive active 0 1 5 SDI negative active 0 1 6 Reserved 7 SSM speed below limit value 0 1 1 Signals not relevant for Basic Functions Must not be evaluated Data descripti...

Page 363: ...but is the AND logic operation of SLP active r9722 6 and safely referenced r9722 23 7 Internal Event 1 Internal event 0 No internal event 1 0 SLA active 1 SLA active 0 SLA not active 1 Active SLS level bit 0 Display of the speed limit for SLS 2 bits 2 Active SLS level bit 1 3 SOS selected 1 SOS selected 0 SOS deselected 4 SDI positive active 1 SDI positive active 0 SDI positive not active 5 SDI ne...

Page 364: ...edgment 0 No acknowledgment 1 0 SLA active 0 1 1 Select SLS bit 0 0 1 2 Select SLS bit 1 0 3 Reserved 4 SDI positive 0 1 5 SDI negative 0 1 6 7 Reserved 2 0 2 Reserved 3 Select SLP position range 0 1 4 6 Reserved 7 SCA 0 1 3 0 Select gearbox stage bit 0 0 1 1 Select gearbox stage bit 1 0 1 2 Select gearbox stage bit 2 0 1 3 Gearbox stage switchover 0 1 4 SS2E 0 1 5 SS2ESR 0 1 6 7 Reserved 1 Signal...

Page 365: ...ect SLP 7 Internal Event ACK 1 0 Acknowledgment 0 No acknowledgment 1 0 SLA 1 Deselect SLA 0 Select SLA 1 Select SLS bit 0 Selection of the speed limit for SLS 2 bits 2 Select SLS bit 1 3 Reserved 4 SDI positive 1 Deselect SDI positive 0 Select SDI positive 5 SDI negative 1 Deselect SDI negative 0 Select SDI negative 6 7 Reserved 2 0 2 Reserved 3 Select SLP position range1 1 Select SLP area 2 SLP2...

Page 366: ...ns Must not be evaluated 10 5 2 5 S_ZSW2 Safety status word 2 S_ZSW2 Basic Functions Safety status word 2 S_ZSW2 S_ZSW2 input signals see function diagram 2806 Table 10 16 Description of safety status word 2 S_ZSW2 Byte Bit Meaning Remarks 0 0 STO active 1 STO active 0 STO not active 1 SS1 active 1 SS1 active 0 SS1 not active 2 SS2 active 0 1 3 SOS active 0 1 4 SLS active 0 1 5 Reserved 6 SLP acti...

Page 367: ... range 0 1 4 5 Reserved 6 Safe position valid 0 1 7 Safely referenced 0 1 3 0 2 F DI 0 22 0 1 3 SS2ESR active 0 1 4 SS2E active 0 1 5 SOS selected 0 1 6 SLP upper limit maintained 0 1 7 SLP lower limit maintained 0 1 1 Signals not relevant for Basic Functions Must not be evaluated 2 Only valid for CU310 2 Data descriptions 10 5 Process data Safety Integrated with SINAMICS S120 Commissioning Manual...

Page 368: ...he same as the diagnostic signal SLP active r9722 6 but is the AND logic operation of SLP active r9722 6 and safely referenced r9722 23 7 Internal Event 1 Internal event 0 No internal event 1 0 SLA active 1 SLA active 0 SLA not active 1 Active SLS level bit 0 Display of the speed limit for SLS 2 bits 2 Active SLS level bit 1 3 Reserved 4 SDI positive active 1 SDI positive active 0 SDI positive not...

Page 369: ...position range r9722 19 4 5 Reserved 6 Safe position valid 1 Safe position valid 0 Safe position invalid 7 Safely referenced 1 Safe position is applicable as safely referenced 0 Safe position is not applicable as safely refer enced 1 Signals not relevant for Extended Functions Must not be evaluated Data descriptions 10 5 Process data Safety Integrated with SINAMICS S120 Commissioning Manual 02 202...

Page 370: ...imit maintained 1 SLP Lower limit maintained 0 SLP Lower limit not maintained The status signal lower SLP limit maintained always corresponds to the diagnostic signal low er SLP limit maintained r9722 31 1 Signals not relevant for Extended Functions Must not be evaluated 2 Only valid for CU310 2 10 5 2 6 S_SLS_LIMIT_A SLS limit value input S_SLS_LIMIT_A PZD3 in telegrams 901 and 902 output signals...

Page 371: ...e range that can be represented This is the reason that the safe position value of the drive r9713 0 can be allocated a scaling factor The position value is divided by this factor before transfer As a consequence a wider value range can be transferred with a reduced accuracy Example For a position of 29 999 mm signaled in r9708 0 and r9708 1 and a scaling factor of p9x74 1000 a numerical value of ...

Page 372: ...m 1 1 Position at cam 2 1 Position is at cam 2 0 Position is not at cam 2 2 Position at cam 3 1 Position is at cam 3 0 Position is not at cam 3 3 Position at cam 4 1 Position is at cam 4 0 Position is not at cam 4 4 Position at cam 5 1 Position is at cam 5 0 Position is not at cam 5 5 Position at cam 6 1 Position is at cam 6 0 Position is not at cam 6 6 Position at cam 7 1 Position is at cam 7 0 P...

Page 373: ... Position is at cam 16 0 Position is not at cam 16 2 0 Position at cam 17 1 Position is at cam 17 0 Position is not at cam 17 1 Position at cam 18 1 Position is at cam 18 0 Position is not at cam 18 2 Position at cam 19 1 Position is at cam 19 0 Position is not at cam 19 3 Position at cam 20 1 Position is at cam 20 0 Position is not at cam 20 4 Position at cam 21 1 Position is at cam 21 0 Position...

Page 374: ...Cam is active 0 Safe Cam is not active 7 Validity of the values of Safe Cam 1 Values of Safe Cam apply 0 Values of Safe Cam do not apply 10 5 3 SIC SCC PROFIdrive process data 10 5 3 1 S_STW1B Safety Control Channel control word 1 S_STW1B Safety Control Channel control word 1 Table 10 19 Description of S_STW1B Bit Meaning Remarks Parameter 0 7 Reserved 8 Extended Functions test stop forced checkin...

Page 375: ...S deselected 7 Internal event 1 Internal event r9734 7 0 No internal event 8 SLA selected 1 SLA selected r9734 8 0 SLA deselected 9 Active SLS level bit 0 Display of the velocity limit for SLS 2 bits r9734 9 10 Active SLS level bit 1 r9734 10 11 Reserved 12 SDI positive selected 1 SDI positive selected r9734 12 0 SDI positive deselected 13 SDI negative selected 1 SDI negative selected r9734 13 0 S...

Page 376: ...1 Test stop active r9743 12 0 Test stop not active 13 Test stop required 1 Test stop required r0743 13 0 Test stop not required 14 15 Reserved 10 5 3 4 S_STW3B Safety Control Channel control word 3 S_STW3B Safety Control Channel control word 3 Table 10 22 Description of S_STW3B Bit Meaning Remarks Parameter 0 Select brake test 1 Brake test selected r10231 0 0 Brake test deselected 1 Start brake te...

Page 377: ...4 Brake test result 1 Test successful r10234 4 0 Test error 5 Brake test completed 1 Test run r10234 5 0 Test incomplete 6 External brake request 1 Close brake r10234 6 0 Open brake 7 Current load sign 1 Negative sign r10234 7 0 Positive sign 8 10 Reserved 11 SS2E active 1 SS2E active r10234 11 0 SS2E inactive 12 SS2ESR active 1 SS2ESR active r10234 12 0 SS2ESR inactive 13 Reserved 14 Acceptance t...

Page 378: ... bit resolution with sign bit Table 10 24 Description S_V_LIMIT_B Parameter Meaning r9733 2 SLS speed limit p2000 Scaling of the SLS speed limit S_V_LIMIT_B 4000 0000 hex speed in p2000 Data descriptions 10 5 Process data Safety Integrated with SINAMICS S120 378 Commissioning Manual 02 2020 A5E46305916B AB ...

Page 379: ...Safety Control Channel SCC This means for example that you can perform the brake test Page 293 via the PLC user program Further information Additional information on the PLC user interface can be found in the Function Manual SINUMERIK MC PLC https support industry siemens com cs ww en view 109767477 Data descriptions 10 6 Interface signals Axis spindle signals Safety Integrated with SINAMICS S120 ...

Page 380: ...Data descriptions 10 6 Interface signals Axis spindle signals Safety Integrated with SINAMICS S120 380 Commissioning Manual 02 2020 A5E46305916B AB ...

Page 381: ...tter in order to obtain the latest information and to allow you to modify your equipment accordingly Subscribing to the Safety Newsletter 1 Go to the following Internet address in your browser All Newsletters https www industry siemens com newsletter public AllNewsletters aspx 2 Select the desired language for the Web page 3 You have to register and log in if you want to subscribe to any newslette...

Page 382: ...ewsletter by clicking on the Subscribe entry If you require more detailed information on the newsletters then please use the supplementary function on the website Figure 11 1 Ordering the newsletter 6 Subscribe to the Safety Integrated Internal News Newsletter System features 11 1 Latest information Safety Integrated with SINAMICS S120 382 Commissioning Manual 02 2020 A5E46305916B AB ...

Page 383: ...urement a defect in a microprocessor Control Unit or Motor Module etc the Worst case when a fault exists response time is guaranteed 11 2 1 Controlling Basic Functions via terminals on the Control Unit and Motor Module The following table lists the response times from the control via terminals until the response actually occurs Table 11 1 Response times for control via terminals on the Control Uni...

Page 384: ...uded in the calculation when an error occurs 2 t_K is the time for internal communication within the SINAMICS module t_K can be determined as follows t_K To for To see parameter r2064 4 11 2 3 Control of the Extended Advanced Functions via PROFIsafe The following table lists the response times1 2 from receiving the PROFIsafe Telegram in the drive up to initiating the particular response Table 11 3...

Page 385: ...g selected after the PROFIsafe monitoring time F_WD_Time has expired The PROFIsafe monitoring time F_WD_Time must also be included in the calculation when an error occurs 3 SLS Specification of the response time required to initiate a braking response in the drive or for the output of the SOS selected message to the motion control system 4 SSM The data corresponds to the times between the limit va...

Page 386: ...System features 11 2 Response times Safety Integrated with SINAMICS S120 386 Commissioning Manual 02 2020 A5E46305916B AB ...

Page 387: ...iew https support industry siemens com cs ww en view 109771043 You can display documents or download them in PDF and HTML5 format The documentation is divided into the following categories User Operating User Programming Manufacturer Service Commissioning Manufacturer Service Functions Safety Integrated Safety Integrated with SINAMICS S120 Commissioning Manual 02 2020 A5E46305916B AB 387 ...

Page 388: ...O Digital Output Digital output DO Drive Object Drive object DRAM Dynamic Random Access Memory Dynamic Random Access Memory DRIVE CLiQ Drive Component Link with IQ Drive Component Link with IQ DSC Dynamic Servo Control Dynamic Servo Control EGB Elektronisch gefährdete Baugruppen Electrostatic Sensitive Device EMV Elektromagnetische Verträglichkeit Electromagnetic compatibility EN Europäische Norm ...

Page 389: ...on Safely Limited Acceleration SLM Smart Line Module Smart Line Module SLP Safe Limited Position Safely Limited Position SLS Safely Limited Speed Safely limited speed SM Sensor Module Sensor Module SMC Sensor Module Cabinet Sensor Module Cabinet SME Sensor Module External Sensor Module External SMI Sensor Module Integrated Sensor Module Integrated SOS Safe Operating Stop Safe operating stop SP Saf...

Page 390: ... drives STW Steuerwort Control word TM54F Terminal Module 54 F Terminal expansion module 54 F UL Underwriters Laboratories Inc Underwriters Laboratories Inc UPS Uninterruptible Power Supply Uninterruptible power supply ZK Zwischenkreis DC link ZM Zero Mark Zero mark ZSW Zustandswort Status Word Appendix A 2 Abbreviations Safety Integrated with SINAMICS S120 390 Commissioning Manual 02 2020 A5E4630...

Page 391: ...ation for the LICENSED PRODUCT LICENSED PRODUCT IS PROVIDED AS IS WITH NO WARRANTIES OF ANY KIND INCLUDING THE WARRANTIES OF DESIGN MERCHANTIBILITY AND FITNESS FOR A PARTICULAR PURPOSE NONINFRINGEMENT OR ARISING FROM A COURSE OF DEALING USAGE OR TRADE PRACTICE LICENSED PRODUCT IS PROVIDED WITH NO SUPPORT AND WITHOUT ANY OBLIGATION ON THE PART OF SUN OR ANY OF ITS SUBSIDIARIES OR AFFILIATES TO ASSI...

Page 392: ...HE MERCHANTABILITY OF THIS SOFTWARE OR ITS FITNESS FOR ANY PARTICULAR PURPOSE This product includes software developed by the University of California Berkeley and its contributors QLocale s data is based on Common Locale Data Repository v1 6 1 Note You can find additional information on the product DVD in the Readme_OSS file about the third party software used Appendix A 3 Information about third...

Page 393: ...eated The Manufacturer access level is required to read in a backup file on another control The Manufacturer access level is always required to read in a setup file You can find an overview in the section Archiving options Note Restriction Only components NC PLC drives and local data can be backed up via commissioning archives in SINUMERIK MC Time of the data backup The following times are recomme...

Page 394: ...r is required Create and import the archive for the machine factory setting Original Access level Manufacturer is required Note If you transfer the commissioning archives to another system the Manufacturer access level is required to read in the data Note A commissioning archive is saved in the dsf format Archive files can be imported in the dsf and arc formats Storage locations The following dire...

Page 395: ...eloa ded into the same control Axis optimization data AST Compile cycles PLC data PLC project Remanence data Drive data Drive data archiving Programs on a local drive NCextend Programs contained in the user memory area Note Because the user data can become very large the created archive file may require more storage The content is only backed up if it does not exceed 1 GB 1 For NC data only the de...

Page 396: ...e folder structure of the project See TIA Portal help under TIA Portal project archive Unlike TIA Portal project archives zap SINUMERIK PLC archives dsf contain precompiled commissioning data that you can directly read into the SINUMERIK MC The following data is included in a PLC commissioning archive of a SINUMERIK MC Hardware data SDB of the PLC Program blocks of the PLC Version for actual hardw...

Page 397: ...port an archive To specify the default setting for the data export in the settings switch to General General Data exchange Storage location for data export in the settings Created by Name of the author or a person responsible for the project The default setting corresponds to the setting of the user name in the TIA Portal under Extras Settings General General settings User name Comment Input of a ...

Page 398: ...ostics process diagnostics alarms e g Program_Alarm programming blocks with block related alarms step chains If changes are made to the data after export the procedure must be repeated Hardware and software are completely compiled Note Import any customized alarm texts before exporting If you have defined customized SINUMERIK user alarm texts or DB2 alarm texts import them into the TIA Portal Page...

Page 399: ...s xml alarms and PLCTextLists xml text lists are saved in a subfolder by the export process 2 If necessary change the target folder in the Path field and confirm with Export Result The alarms PLCAlarms xml and text lists PLCTextLists xml are stored in the defined target folder The following target folder is pre selected storage location for data export project name _ device name Example C Users Ad...

Page 400: ... files have been fully translated and match each other this means that the same number of alarms are imported and the same alarm numbers are used for each of the various languages Procedure To import SINUMERIK user alarm texts into the TIA Portal proceed as follows 1 In the Project tree right click the PLC or the device proxy then select Import SINUMERIK PLC alarm texts in the shortcut menu The Im...

Page 401: ...d files 5 Confirm the selection with Import Result The SINUMERIK user alarm texts have been imported Only the alarm texts of the alarm numbers 5xx xxx 9xx xxx relevant in the TIA Portal are taken into account here Note that the imported texts are only visible in the TIA Portal if one of the languages is selected as the editing language for which the texts were imported If the SINUMERIK PLC alarm t...

Page 402: ...ling These information sheets issued by specialist committees can be obtained by all interested parties e g to provide support in factories or when regulations or safety related measures for plants and machines are defined These information sheets provide support for the fields of machinery construction production systems and steel construction You can download the information sheets from the Inte...

Page 403: ...grated in the drive 266 Configuring safety settings 248 Configuring safety related components 220 Creating a safety program 228 Loading the configuration to the control system 242 Sequence 219 Series commissioning 308 Communication Establishing 46 Standard user program and safety program 89 90 Communication failure 210 ESR 210 Compiling Hardware configuration in the TIA Portal 45 Component replace...

Page 404: ... 80 F I O Removing and inserting during operation 344 F I O access 84 Via the process image 84 F I O DB 59 File type conversion 66 Filter On off test 218 Filter time Debounce time Firmware update 344 POWER ON and acceptance test 343 F OB 59 Forced checking procedure 203 Extended Functions 203 F runtime group 55 59 232 Rules 73 F runtime group information DB 79 F runtime groups signature 79 F share...

Page 405: ...l words S_STW1 Basic Functions 360 S_STW1 Extended Functions 361 S_STW2 Basic Functions 364 S_STW2 Extended Functions 365 Process data status words S_ZSW_CAM1 Extended Functions 372 S_ZSW1 Basic Functions 362 S_ZSW1 Extended Functions 363 S_ZSW2 Basic Functions 366 S_ZSW2 Extended Functions 368 Process image 84 89 PROFINET interface Configuring for SINUMERIK MC 43 PROFINET onboard Configuring 44 P...

Page 406: ...led 95 With encoder 100 With external stop Extended Functions 103 With OFF3 Basic Functions 95 With OFF3 Extended Functions 100 Without encoder 101 Safe Stop 2 115 117 Extended stop and retract 122 SS2 117 with external stop 119 Safe Torque Off 105 Basic Functions 105 STO 105 Safely Limited Speed 133 138 Safely Limited Acceleration 185 Safely Limited Position 161 Safely Limited Speed With encoder ...

Page 407: ... 144 Software components 344 Software options Licensing 52 SOS 125 Protective door 125 Safe Operating Stop 126 Specifying Motor in the drive configuration 40 SS1 Basic Functions 94 95 98 Brake ramp monitoring 101 Braking behavior 99 Delay 137 Delay time 99 100 Delay time SBR 99 Enable 99 Monitoring mode 99 Principle of operation 94 98 Protective door 105 Safe Stop 1 94 95 98 100 Safe Stop 1 Basic ...

Page 408: ...ses 328 Structure of the safety program 55 Subcomponents MC 34 Switching operation Timing 209 217 Switching over SLS level 136 Switching over the gear ratio Safe 198 System variable Variable Variable 353 T Telegram 30 355 31 355 701 355 901 356 902 357 903 357 Test stop Extended Functions 203 Text lists Exporting 398 TIA Portal Start 35 Time and acceleration controlled 101 Two channel brake contro...

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