Response Times - Siemens Sinamics S120 Function Manual

Safety Integrated basic functions

9.7 Response times

9.7 Response times
The Basic Functions are executed in the monitoring clock cycle (p9780). PROFIsafe
telegrams are evaluated in the PROFIsafe scan cycle, which corresponds to twice the
monitoring clock cycle (PROFIsafe scan cycle = 2 × r9780).
Note
You can only see the actual value of the monitoring clock cycle (r9780), if you are connected
ONLINE with the drive. However, you can use the following values to roughly calculate the
response times:
p0115[0] = 31.25 µs or 62.5 µs or 125 µs
p0115[0] = 250 µs
p0115[0] = 400 µs or 500 µs
Control of the Basic Functions via terminals on the Control Unit and Motor Module (CU310-2 and
CU320-2)
The following table lists the response times from the control via terminals until the response
actually occurs.
Table 9- 2 Response times for control via terminals on the Control Unit and the Motor Module.
Function
STO
SBC
SS1 (time controlled)
Selection up until STO is initiated
SS1 (time controlled)
Selection up until SBC is initiated
SS1 (time controlled)
Selection up until braking is initiated
The following applies for t_E (debounce time of the digital input being used):
p9651 = 0
p9651 ≠ 0
Response time of Power Module PM340 for STO, controlled via terminals:
5 x r9780 + p0799
472
Typical
2 x r9780 + t_E
4 x r9780 + t_E
2 x r9780 + t_E + p9652
4 x r9780 + t_E + p9652
2 x r9780 + t_E + 2 ms
CAUTION
t_E = p0799 (default = 4 ms)
t_E = p9651 + 1 ms
Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2
r9780 = 4 ms
r9780 = 8 ms
r9780 = 16 ms
Worst case
4 x r9780 + t_E
8 x r9780 + t_E
4 x r9780 + t_E + p9652
8 x r9780 + t_E + p9652
4 x r9780 + t_E + 2 ms
Drive functions