Siemens Sinamics S120 Function Manual page 128

Description of Safety Integrated functions
4.2 Safety Integrated Extended Functions
Referencing types
SINAMICS distinguishes between 2 types of referencing:
● Initial referencing
For initial safe referencing, or in the event of a fault during a subsequent referencing, the
following steps are necessary:
– The reference position determined by the controller is entered in parameter p9572 and
– Referencing has been correctly implemented (r9723.17 = 1)
– Confirm the actual position value: Within 2 s, set parameters p9726 = p9740 = AChex
No aut omatic user agreement permitted
Please note that the operator must be capable of assigning the determined position to the
real position of the axis before setting the user agreement. This can be performed, for
example, by a visual inspection of the axis position. Under no circumstances must these
parameters ever be set fully automatically by a control system without agreement by the
user. This would only be permitted if the reference position can be safely sensed by means
of a safe sensor.
● 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".
– The position determined by the controller is entered in parameter p9572 and is
– After the drive has been referenced, Safety Integrated automatically performs a
– If the deviation between the actual absolute position and the previous standstill
Ov erview of important parameters (see SINAMICS S120/S150 List Manual)
• p9572
• p9573
• r9708[0...5]
• r9713[0...5]
• r9722.0...31
• r9723.0...17
• p9726
• p9740
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is declared to be valid with p9573 = 89. This step is not required for closed-loop
position control with EPOS.
If both parameters are not set within the 2 seconds, the converter outputs the
messages C01711 (value: 1002).
After this "user agreement", the drive is "safely referenced" (r9722.23 = 1)
declared to be valid with p9573 = 89. This step is not required for closed-loop position
control with EPOS and use of an absolute encoder.
plausibility check.
position saved from Safety Integrated in the NVRAM is within the tolerance p9544,
then the drive goes into the state "safely referenced" (r9722.23 = 1).
SI Motion reference position (Control Unit)
Accept SI Motion reference position (Control Unit)
SI Motion diagnostics safe position
CO: SI Motion diagnostics actual position value load side
CO/BO: SI Motion drive integrated status signals (Control Unit)
CO/BO: SI Motion diagnostics signals integrated in the drive
SI motion, user agreement, select/deselect
SI motion, user agreement, select/deselect MM
Function Manual, (FHS), 07/2016, 6SL3097-4AR00-0BP6
Safety Integrated