Synchronous Transfer Of Safe Position Values - Siemens SINAMICS S120 Function Manual

Description of Safety Integrated functions
4.3 Safety Integrated Advanced Functions
4.3.4.2

Synchronous transfer of safe position values

For axes that have to transfer their position values synchronously due to their application,
proceed as follows:
Selection and enabling
1. For all axes that must transfer their position synchronously at the same time,
parameterize the following:
– Activating synchronous position transmission: p9501.29 = 1
– Enabling SP via PROFIsafe: p9501.25 = 1
2. Set the same fieldbus cycle (DP/PN cycle) and the same SI Motion monitoring cycle (t
for all relevant axes.
The DP/PN cycle must be an even multiple of the SI Motion monitoring cycle. Example for
setting the cycles:
● Activate clock synchronized PROFIdrive communication for all affected axes.
Note
Acceptance test required
If you change the fieldbus cycle after safety acceptance has already taken place, you must
carry out a new safety acceptance test.
Activation
The synchronous transmission of safe positions function is always active after release. An
selection/deselection, e.g. via the cyclic PROFIsafe control word, is not necessary.
Status feedback
The drive gives a cyclic status feedback "SP valid" in the status word S_ZSW2.22.
This bit is also cleared during parameterization of the synchronous position transfer if the
position cannot be synchronous to the other axes.
188
Current controller cycle
(p115[0])
SI Motion actual value acqui-
sition cycle (p9511)
SI Motion monitoring cycle
(p9500)
Fieldbus-cycle (DP/PN cycle) = 4.0 ms
= 0.125 ms
= 1.0 ms
= 2.0 ms
Function Manual, 12/2018, 6SL3097-5AR00-0BP1
)
SI
Safety Integrated