Initiating Esr For A Communication Failure - Siemens Sinamics S120 Function Manual

5.5.2

Initiating ESR for a communication failure

If, braking the axis along the braking ramp for a communication failure can result in
subsequent damage, the braking operation can be delayed by a maximum of 800 ms. During
this delay time, the converter can suitably stop the axis using the "Extended stop and retract
(ESR)" function.
If communication to the higher-level motion control is still available (e.g. when the TM54F
fails or the SIMATIC F-CPU fails for separate motion control), then the control system can
control the retraction during this delay time. This assumes that retraction has been
configured on the control side, see S_ZSW1B, bit 14 (r9734.14) "ESR retraction requested".
Requirement
The following preconditions apply to the drive response subsequently described:
● You have enabled Safety Integrated Extended Functions.
● The function module "Extended stop and retract" is activated and enabled.
Communication failure
In this context, communication failure can mean the following:
● Interruption or disturbance in PROFIsafe communication
● The higher-level controller (SIMATIC F-CPU) is in the STOP state
● Interruption of disturbance in the DRIVE-CLiQ communication for control via TM54F
Drive response
For a communication failure, the converter responds corresponding to the settings of the
ESR function module.
For communication failure, a maximum delay time of (p9580) 800 ms can be set. The
converter activates the "Safe Torque Off" function after this time expires.
Depending on the particular setting, stop responses or safety functions can prevent the ESR
response. You must set the safety functions as follows in order that you do not influence the
ESR response:
Sa fety function Pre condition for the ESR response after communication failure
SLP As SLP response, a STOP is parameterized with delayed pulse cancellation
when the bus fails
SLS As SLS response, a STOP is parameterized with delayed pulse cancellation
when the bus fails
SDI As SDI response, a STOP is parameterized with delayed pulse cancellation
when the bus fails
--- Adequate STOP F to STOP B transition time if additional faults occur when
the communication fails
--- Adequate STOP F to STOP A transition time if additional faults occur when
the communication fails
--- Check whether the effective setpoint speed limiting (CO: r9733) is set to zero
when STOP F is active.
Safety Integrated
Function Manual, (FHS), 07/2016, 6SL3097-4AR00-0BP6
5.5 Response for a communication failure via PROFIsafe or to the TM54F
Control of the safety functions
Se tting
p9562[0...1] ≥ 10
p9563[0...3] ≥ 10
p9566[0...3] ≥ 10
p9555 ≥ p9580
p9658 ≥ p9580
p9507.1
197