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SINUMERIK 840D sl. Service - Configuring Commissioning. Manual (2011-2020) - page 88

Safety functions integrated in the drive

5.5 SS2

5.5

SS2

Definition according to EN 61800-5-2:

Y

SOS

The SS2 function brings the motor to a standstill with

subsequent safe monitoring of the standstill position.

When SS2-r is selected, the drive brakes the motor

along a braking ramp. The following variants are pos-

sible:

● SS1-a with acceleration monitoring (SAM)

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● SS1-r with braking ramp monitoring (SBR)

● Manually set delay time until SOS is activated.

Select SS2

This function corresponds to stop category 2 to

EN 60204-1.

Example of how the function can be used

Example

Solution

A protective door must only be opened if a motor is in

● Select SS2 in the converter via a terminal or

the safe standstill state.

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

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With SS2, braking is monitored on the

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If you are operating the motor with closed-loop torque control, the converter switches to the

closed-loop speed control mode when SS2 is selected.

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Safety functions integrated in the drive

5.5 SS2

How does SS2 function in detail?

The failsafe logic (e.g. F-PLC) selects the SS2 safety function via a failsafe input or via the

PROFIsafe safe communication.

● If, when selecting SS2, the motor is already at a standstill, after a delay time, the converter

activates the Safe Operating Stop function (SOS).

● If the drive is not at standstill when SS2 is selected, it is braked along the OFF3 ramp.

Braking is monitored with one of the following functions, depending on the setting in p9506:

- Safe Acceleration Monitor (SAM)

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

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Braking behavior and diagnostics (example for SS2 with SAM)

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Safety functions integrated in the drive

5.5 SS2

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Figure 5-7

Selecting function SS2E

With external stop, "Safe Stop 2" functions in principle exactly the same way as described in the

previous sections. Note, however, the following differences:

Differences between "Safe Stop 2 with OFF3" and "SS2 with external stop (SS2E)"

● When SS2 is selected with external stop, the drive does not automatically brake the motor,

but instead, follows the specified speed setpoint.

● During delay time p9553, the brake ramp (SBR) and the acceleration (SAM) are not

monitored and there is no standstill detection.

● SOS becomes active after the delay time p9553 expires.

P9553 must be set in such a way that the axes are braked to a standstill with the set

dynamics.

● 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 r9722.28.

In the "Safety Info Channel", status word S_ZSW3B.11 indicates whether function SS2E is

active. The associated diagnostics parameter is r10234.11.

Diagnostic parameters p9722.28 and p10234.11 are also set during an internal STOP D.

Deselecting function SS2E while SS2E is active

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Figure 5-8

Deselecting function SS2E while SS2E is active

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Safety functions integrated in the drive

5.5 SS2

After the function has been selected, the delay time starts to expire - even if the function is

deselected during this time. In this case, after the delay time has expired, the SOS function is

briefly active. Afterwards, the drive may accelerate the motor back to the speed setpoint.

Interruption of the active SS2E function by functions SS1 and SS2

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Figure 5-9

Interruption of function SS2E by functions SS1 (shown 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 the SAM function. 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.

5.5.1.2

Dynamic response adaptation for SS2E

For axes, the acceleration characteristic is adapted dynamically so that the axes stop within the

time saved in p9553 "SI Motion transition time STOP D to SOS". Therefore, ensuring stopping

with low associated stress on the machine.

In order that the stop D time, parameterized in p9553, is used as basis to determine the braking

time and possibly 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 transition times in the braking response (MD37950.2

$MA_SAFE_INFO_ENABLE) is set, the control system checks whether the braking time set in

p9553 is sufficient for the active acceleration characteristic of the axis. When violated,

suppressible alarm 22001 "Channel %1 block %2 axis %3: braking time %6 [s] longer than the

stop D time. Reason: %5" is output.

If the acceleration/deceleration behavior is changed, the axes brake for STOP D with the

shortest transition time of all path axes. It is recommended that the transition times are set the

same in p9553 for all axes of an interpolation group.

For spindles, the actual acceleration characteristic is not adapted. The control checks whether

the braking time set in p9553 is sufficient for all spindle operating modes and configured gear

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Safety functions integrated in the drive

5.5 SS2

stages. When violated, suppressible alarm 22002 "Channel %1 Spindle %2: Braking time %6

[s] longer than the stop D time gearbox stage %3. Reason: %5" is output.

If the spindle is in axis operation, then it behaves just like an axis.

For an active axis or spindle coupling (with the exception of the synchronous spindle coupling),

the coupling is no longer taken into consideration, if synchronous stopping of the coupled group

is no longer safely possible within the time parameterized in p9553. For a coupled group, this

is the reason why a STOP D must be set for all axes of the coupled group.

For the synchronous spindle coupling, when synchronous operation is reached, the coupling is

always maintained. The coupling group is always braked via the leading spindle. If the following

spindle requires a longer braking time than the leading spindle, then p9553 must be

appropriately increased for the leading spindle.

When a synchronous spindle is active, STOP D should also be initiated for the leading and

following spindle.

Endlessly rotating axes are braked at the acceleration limit.

The SOS function is automatically activated after the time set in p9553 expires.

When Alarm 22001/22002 is output, the following formulas are applied:

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 additional

component:

2 * MAX_AX_ACCEL / MAX_AX_JERK

The check is made for NEWCONF, RESET, unparking an axis and for programming ACC or

JERKLIM.

The MD names contained in the formulas must, corresponding to the alarm situation (the alarm

occurs when parameterizing or when programming), be replaced by other values when

required.

MD

Alternative MD

Gearbox stage-specific MD spindle

Program

command

MAX_AX_VELO

min(JOG_VELO, JOG_VELO_RAPID)

$MA_GEAR_STEP_MAX_VELO_LIMIT[0…

-

max]

$MA_GEAR_STEP_PC_MAX_VELO_LIM-

IT[0…max]

MAX_AX_ACCEL

MAX_AX_ACCEL

$MA_GEAR_STEP_SPEEDCTRL_AC-

ACC

CEL[0…max]

$MA_GEAR_STEP_POSCTRL_ACCEL[0…

max]

MAX_AX_JERK

JOG_AND_POS_MAX_JERK

JERKLIM

Comment regarding INCH-METRIC switchover:

The calculated value should be rounded off to one decimal place so that for an INCH-METRIC

switchover, internal rounding effects can be compensated and no undesirable alarms are

initiated.

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Safety functions integrated in the drive

5.5 SS2

With the parameterization of the STOP D braking time in p9553 via the HMI IBN screen forms

and subsequent update by means of the operator panel reset, alarm 22001 or 22002 is

triggered when the specified calculation rules are violated.

Alarms 22001/22002 can be suppressed via MD 11415 bit 13. The dynamic response is

adapted as described.

5.5.1.3

Safe Stop 2 Extended Stop and Retract (SS2ESR)

WARNING

Unexpected axis motion

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 principle, Safe Stop 2 Extended Stop and Retract (SS2ESR) functions in exactly the same

way as SS2 described in the previous sections. Note, however, the following differences:

Select SS2ESR

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Figure 5-10

Selecting function SS2ESR

Differences between "Safe Stop 2 with OFF3" and SS2ESR

● If SS2ESR with external stop is selected, the drive does not brake the motor automatically,

but instead, follows the defined speed setpoint: This can also result in fast retraction motion.

● During the delay time p9554, the brake ramp (SBR) and the acceleration (SAM) are not

monitored, and there is no standstill detection.

● SOS becomes active after the delay time p9554 has expired. If function SS2ESR is active,

the higher-level control system must define the speed setpoint such that the motor is

stopped no later than after the delay time p9554 has expired.

● To enable SS2ESR, set p9501.4 = 1.

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Safety functions integrated in the drive

5.5 SS2

Interrupting active SS2ESR with SS1 and SS2

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Figure 5-12

Interrupting function SS2ESR by functions SS1 (shown 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.

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Safety functions integrated in the drive

5.6 SOS

5.6

SOS

Definition according to EN 61800-5-2:

[

SOS

"This SOS function is used for safe monitor-

ing of the standstill position of a drive."

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SOS selection

Example of how the function can be used

Example

Possible solution

A protective door must only be opened if a motor is in

● Select SOS

the safe standstill state.

● A higher-level controller brakes the axis (e.g.

position-controlled) down to standstill within

the configured time between the selection of

SOS and when it becomes active.

● Standstill is then safely monitored via the

SOS function.

5.6.1

Safe Operating Stop (SOS)

The protected machine areas can be entered without having to shut down the machine as long

as SOS is active.

After SOS has been selected it becomes active after the parameterizable 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 is stopped with SS1 when the standstill tolerance window is violated.

Note

Contrary to SS1 and SS2, SOS does not automatically brake the drive

The control still enters the setpoint.

This means that in the user program of the control system, the system must respond to the

"SOS selected" bit so that the control system brings the drive to a standstill within the delay time.

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5.6 SOS

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Standstill tolerance

5.6.2

Details and parameterization

WARNING

Drive can be forced out of the SOS position by mechanical forces

A drive in position control can be forced out of the "Safe Operating Stop" (SOS, stop Category

2 according to 60204-1) position by mechanical forces that are greater than the maximum

torque 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 97)).

This function serves for failsafe monitoring of the standstill position of a drive.

● Drive stopping is monitored using an SOS tolerance window (p9530).

● Effect on "Setpoint speed limit effective" (r9733[0...2]):

If SOS is selected, setpoint 0 is specified in r9733[0...2].

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Safety functions integrated in the drive

5.7 SLS

5.7

SLS

Definition according to EN 61800-5-2:

Y

"The SLS function prevents the motor from

SLS

exceeding the specified speed limit."

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Select SLS

Examples of how the function can be used

Example

Possible solution

After opening a protective door, the machine opera-

● Select SLS in the converter via a fail-safe

tor must enter the machine and in the hazardous

input or PROFIsafe .

zone, operate a horizontal conveyor belt running at a

● The converter limits and monitors the veloci-

slow speed using an acknowledgment button.

ty of the horizontal conveyor.

A spindle drive, depending on the selection of the

● Select SLS and the corresponding SLSlevel

cutting tool, must not exceed a specific maximum

in the converter via PROFIsafe.

velocity.

How does SLS function in detail?

Overview

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1. The inverter recognizes the

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input or via the PROFIsafe

safe communication.

2. SLS allows a motor to reduce

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speed within a defined time.

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3. SLS monitors the absolute

value of the actual velocity.

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The SLS setpoint limit can be

transferred to the F-PLC,

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the setpoint limit provided by

SLS as maximum speed in

the ramp-function generator.

In this case, SLS limits the

speed setpoint.

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Safety functions integrated in the drive

5.7 SLS

With braking ramp monitoring¹⁾

Without braking ramp monitoring

(only without encoder)

(with or without encoder)

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● After the adjustable "delay time for the braking

● The converter monitors the load velocity after

ramp", using the SBR (Safe Brake Ramp) func-

the "delay time for SLS switchover" has ex-

tion, the converter monitors whether the veloc-

pired.

ity decreases.

● The converter switches from SBR to SLS as

soon as one of the following two conditions is

fulfilled:

- The SBR monitoring ramp has reached the

value of the SLS monitoring.

This case is shown 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.

Advantages:

Advantage:

● Already when braking, the converter detects as

● Commissioning is simplified, because instead

to whether the load velocity decreases too

of the subfunction SBR or SAM of the alterna-

slowly.

tive brake ramp monitoring, you only have to

set the delay time.

● The feedback signal "SLS active" generally

comes earlier than without acceleration moni-

toring.

1)

The automatic reduction of the speed only takes effect when the ramp-function generator is

interconnected to the speed setpoint limitation.

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Safety functions integrated in the drive

5.7 SLS

Selecting SLS at low velocities

If the motor velocity when selecting SLS is less than the SLSlimit, then the drive responds as

follows:

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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.

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5.7 SLS

Switching to a lower speed level

With braking ramp monitoring¹⁾

Without braking ramp monitoring

(only without encoder)

(with or without encoder)

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●

Once the "delay time for braking ramp" has

● The converter monitors the velocity with the

elapsed, the converter monitors the motor ve-

lower SLS level after the "delay time for SLS

locity using the function SBR (Safe Brake

changeover" has expired (this is the same de-

Ramp).

lay time that applies after selecting the function

SLS).

●

The converter switches over from SBR moni-

toring to level 2 of SLS monitoring as soon as

one of the following conditions 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.

1)

The automatic reduction of the speed only takes effect when the ramp-function generator is

interconnected to the speed setpoint limitation.

Switching to a higher speed level

If you switch over from a lower to a higher speed level, the converter immediately monitors the

actual velocity against the higher velocity.

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Safety functions integrated in the drive

5.7 SLS

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Switching to a higher speed level

5.7.1

Details and parameterization

The Safely Limited Speed (SLS) function is used to protect a drive against unintentionally high

speeds in both directions of rotation. This is achieved by monitoring the current drive speed up

to a speed limit.

Safely Limited Speed prevents a parameterized speed limit from being exceeded. Limits must

be specified based on results of the risk analysis. Up to four different SLS speed limits can be

parameterized using 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) of the speed values.

Note

Response in the event of a communication error

If p9580 ≠ 0 and SLS is active, in the event of communication failure, the parameterized ESR

reaction is only realized if, as SLS response, a STOP with delayed pulse cancellation when the

bus fails has been parameterized (p9563[0...3] ≥ 10).

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5.7 SLS

Configuring the limits

● The speed limits for Safely-Limited Speed without encoder are configured in exactly the

same way as described for Safely-Limited Speed with encoder.

● Only STOP A and STOP B may be configured as stop responses for "Safely-Limited Speed"

(SLS) without encoder.

Restart after OFF2/STO

If the drive has been switched off via STO, the following steps need to be carried out before a

restart can be performed:

1. Case

●

State after switching on

● SLS selected

● 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

● Traversing to standstill with SLS selected

● OFF1 is initiated, pulse cancellation becomes active (internal 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

STO activated internally via pulse suppression: This activation must be undone by se-

lecting/deselecting SLS.

●

Select SLS

The drive enable must be issued within 5 seconds via a positive edge at OFF1, otherwise

STO is reactivated.

4. Case

●

Situation

● All Safety Integrated functions are deselected.

●

After this the drive enable must be given by a positive edge at OFF1.

●

In this case, the motor is not started safely.

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Safety functions integrated in the drive

5.7 SLS

5.7.1.4

Safely-Limited Speed without selection

Differences between Safely-Limited Speed with and without selection

● As an alternative to controlling via terminals and/or PROFIsafe, there is also the option to

parameterize the SLS function without selection.

● The function "SLS without selection" is selected with p9512.4 = 1.

● For "SLS without selection", only one SLS limit value can be parameterized (p9531[0]).

● The stop response is parameterized with p9563[0].

● For Safely-Limited Speed without selection there is no delay time. The function is always

active (with encoder), or it becomes active when switching on (without encoder).

Switching the motor on and off (without encoder)

The time response and diagnostic options are as follows in this SLS version:

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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 in accordance with the removed signal (OFF1, OFF2 or

OFF3).

● The "safe pulse cancellation" becomes active after the standstill limit is undershot. If a brake

has been parameterized, it is also closed.

● After the ON command, the converter cancels the "safe pulse cancellation" state and the

start procedure is initiated.

● If the minimum current has not been reached after 5 s, the converter returns into the "safe

pulse suppression" state and initiates alarm C01711.

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Safety functions integrated in the drive

5.8 SSM

5.8

SSM

Definition according to EN 61800-5-2:

Y

"The SSM function supplies a safe out-

put signal to indicate whether the motor

speed is below a specified limit value."

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Example of how the function can be used

Example

Possible solution

A centrifuge may only be filled below a velocity de-

● SSM is active through the configuration of

fined by the user.

the Safety Integrated Extended Functions.

● The converter safely monitors the centrifuge

speed and enables the process to advance

to the next step 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.

5.8.1

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. for zero speed detection. A

failsafe output signal is available for further processing.

Features

● Safety-relevant monitoring of the specified speed limit

● Parameterizable hysteresis

● Adjustable filter time (PT1 filter)

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Safety functions integrated in the drive

5.8 SSM

● Safe output signal

● No stop response

Note

Unexpected response of STOP F for SSM

A STOP F is indicated by safety message 201711. STOP F only results in the subsequent

response STOP B / STOP A if one of the safety functions is active. If only the SSM function

without hysteresis (that is, p9501.16 = 0) is active, a STOP F cross-checking error does not

result in a STOP B / STOP A follow-up response.

● SSM is only considered to be an active monitoring function if "SSM with hysteresis" has

been activated.

How does SSMfunction in detail?

Requirements

The safety function SSM cannot be 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.

Parameterizable hysteresis

The parameterizable hysteresis ensures that the SSM output signal does not jump between the

values "0" and "1" in the limit range.

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5.8 SSM

Figure 5-17

Time response of the safety function SSM (Safe Speed Monitor)

5.8.1.1

Signal characteristic (with encoder)

Functional features of "Safe Speed Monitor" with encoder

A hysteresis can be configured for the SSM function using (p9547). In this way, a more stable

signal characteristic of SSM can be achieved at velocities close to the velocity limit (p9546).

The following diagram shows the characteristic of the safe output signal SSM when the

hysteresis is active:

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Figure 5-18

Safe output signal for SSM with hysteresis

5.8.1.2

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 Monitor without encoder, after pulse suppression the drive is unable to

determine the current speed. For this operating state, the additional setting "Feedback

signal SSM for pulse inhibit" is available (see below)

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Safety functions integrated in the drive

5.8 SSM

Note

Setting of the OFF1 or OFF3 ramp-down time

If the OFF1 or OFF3 ramp-down time is too short or the difference between the SSM limit speed

and the shutdown speed is too small, the "speed below limit value" signal may not change to

1, because no actual speed value could be determined below the SSM limit before pulse

suppression occurred. In this case, the OFF1 or OFF3 ramp-down time or the margin between

SSM speed limit and shutdown speed should be increased.

5.8.1.3

Signal characteristic (without encoder)

Procedure when the "Feedback signal SSM for pulse inhibit" setting is activated

The following diagram shows the signal characteristic if the property "Feedback signal SSM for

pulse inhibit"is activated. (p9509.0 = 0)

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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 is the

reason that status signal "SSM (Speed below limit value)" goes to 1 (r9722.15 = 1). After the

command for pulse suppression, the motor speed drops. The internal STO is set when the

speed drops below the zero speed detection level.

In this case, the SSM status signal remains HIGH; it is frozen. The drive cannot accelerate

again, due to the internal STO selection.

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5.8 SSM

To restart the motor safely, the STO must be selected manually and deselected once more.

After the STO has been deselected, a 5 second time window is opened. If the pulse enable

takes place within this time window, the motor starts. If the pulse enable does not take place

within this 5 second time window, the internal STO becomes active once more.

Procedure when the "Feedback signal SSM for pulse inhibit" setting is deactivated

When the property "Feedback signal SSM for pulse inhibit" is de-activated (p9509.0 = 1), then

SSM the monitoring is exited after the pulses have been canceled. Status signal "SSM (Speed

below limit value)" goes to 0 (r9722.15 = 0). The SSM monitoring is only reactivated after a new

pulse enable. In this case, STO must not be selected and deselected to start the drive.

Restart after pulse cancellation 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 are suppressed

● 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 reactivated.

5.8.1.4

Function diagrams and parameters

Function diagrams

●

2823

SI Extended Functions - SSM (Safe Speed Monitor)

●

2840

SI Extended Functions - SI Motion drive-integrated control signals/status

signals

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Safety functions integrated in the drive

5.8 SSM

Overview of important parameters

Parameters

Parameter name or signal name

Designation in the function-specific

screen form

p9501

SI Motion enable safety functions (Control

-

Unit)

p9501.16

Enable SSM (n < nx) hysteresis and filtering

SSM with hysteresis

p9506

SI Motion function specification (Control Unit)

-

p9509

SI Motion behavior during pulse suppression

-

(Control Unit)

p9509.1

SSM during pulse cancellation and with no

Feedback signal SSM active for pulse

encoder

inhibit

p9545

SI Motion SSM (SGA n < nx) filter time (Con-

Filter time

trol Unit)

p9546

SI Motion SSM (SGA n < nx) speed limit (CU)

Speed limit

p9547

SI Motion SSM (SGA n < nx) speed hystere-

Hysteresis

sis n_x (CU)

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 239) - or can only be configured using the expert list. The expert list can be reached in

the function-specific screen forms of the safety functions by pressing softkey "Parameter list".

Additional information

You can find a complete description of all SINAMICS parameters - as well as the associated

function diagrams - in the SINAMICS S120/S150 List Manual.

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Safety functions integrated in the drive

5.10 SBR

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Safe Brake Ramp without encoder (for SLS)

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Safety functions integrated in the drive

5.11 SDI

5.11

SDI

Definition according to EN 61800-5-2:

Y

"The SDI function prevents the motor shaft mov-

ing in the wrong direction."

W

SDI

Select SDI

Examples of how the function can be used

Example

Possible solution

A protective door must only be opened if a drive

● Select SDI in the converter using a fail-safe

moves in the safe direction (away from the operator).

input or PROFIsafe .

● Enable the locking mechanism of the protec-

tive doors via the PROFIsafe status bit of the

converter.

When replacing the pressure cylinders of the plates,

● Select SDI in the converter using a fail-safe

the drive must only move in the safe direction of ro-

input or PROFIsafe .

tation.

● In the converter, inhibit the direction of rota-

Once the protection against jamming has been trig-

tion that is not permitted.

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

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You can select to block either the positive or the negative direction of rotation via 2 fail-safe

signals (F-DIs or PROFIsafe).

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Safety functions integrated in the drive

5.11 SDI

Selecting and deselecting SDI

As soon as the converter identifies that SDIhas been selected via a failsafe input or via

PROFIsafe safe communication, the following happens:

●

You can also set a delay time, within which you can ensure that the converter moves in the

enabled (safe) direction.

●

You can also set a tolerance, within which the converter tolerates movement in the direction

that has not been enabled (unsafe). You can avoid the triggering of faults during braking

(overshoot) as well as in controlled standstill.

●

After the delay time has expired, the converter monitors the direction of rotation of the motor.

●

If the drive now moves more than the configured tolerance in the blocked direction, a

message is output and the defined stop response is initiated.

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Time response of the safety function SDI (Safe Direction)

Note

SDI 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. You can find details about this in section "Safe Direction without selection

(Page 147)".

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Safety functions integrated in the drive

5.11 SDI

Enabling the Safe Direction function

The "Safe Direction" function is enabled with p9501.17 = 1.

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Functional principle SDI with encoder

5.11.1.2

Safe Direction without encoder

Note

You can find the parameterization for operation without encoder (p9506 = 1 or p9506 = 3) in

the commissioning screen form for the safety functional scope (Page 242).

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", and the drive takes on the state STO.

● Due to the less precise position recognition, "Safe Direction without encoder" requires a

larger tolerance (p9564) compared with the function with encoder.

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Safety functions integrated in the drive

5.11 SDI

Note

No detection of a change of direction with the aid of p1820 or p1821

If the direction of rotation is reversed via p1820 or p1821, then safe monitoring is still possible:

However, in this case, the setpoint limitation r9733 is calculated with the wrong direction of

rotation. A reversal of the rotational direction with p1820 or p1821 therefore does not make

sense.

Restart after pulse cancellation for p9509.8 = 0

If the drive has been switched off via OFF1/OFF2/STO etc., the following steps need to be

carried out before a restart can be performed:

1. Case

●

State after switching on

● SDI selected

● 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

● 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 reactivated.

3. Case

●

Situation

● Traversing to standstill with SDI selected

● Initiate OFF1

● Pulses are canceled; internal selection STO becomes active

●

Deselect SDI

STO activated internally via pulse suppression: This activation must be undone by de-

selecting SDI.

●

Select SDI

The drive enable must be issued within 5 seconds via a positive edge at OFF1, otherwise

STO is reactivated.

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Safety functions integrated in the drive

5.11 SDI

Switching the motor on and off (without encoder)

The time response and diagnostic options are as follows in this SDI version:

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Time response of SDI without selection (example: Switching the motor on and off (without

encoder))

"SDI without selection" behaves as follows when switching off and switching on again:

● After switch-off, the motor behaves in accordance with the canceled signal (OFF1, OFF2 or

OFF3).

● STO (≙ safe pulse 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).

5.11.1.4

Function diagrams and parameters

Function diagrams (see SINAMICS S120/S150 List Manual)

●

2824

SI Extended Functions - SDI (Safe Direction)

●

2840

SI Extended Functions - SI Motion drive-integrated control signals/status

signals

Overview of important parameters

● p1820[0...n]

Reverse the output phase sequence

● p1821[0...n]

Direction of rotation

● p9501.17

SI Motion enable safety functions (Control Unit): Enable SDI

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5.12 SLP

5.12

SLP

5.12.1

Safely-Limited Position (SLP)

Definition according to EN 61800-5-2:

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Examples of how the function can be used

Example

Possible solution

It is not permissible that the drive exits the specified

● Select SLP in the converter; inhibit the range

position ranges.

that is not permitted.

● After the enabled range has been exited, a

parameterizable stop response is initiated.

The Safely-Limited Position function (SLP) is used to safely monitor the limits of two traversing

and/or positioning ranges, which are toggled between using a safe signal.

Features

● Selection via terminals or PROFIsafe

●

2 position ranges, each defined by a limit switch pair

● Safe 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 153)").

5.12.2

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 Safely-Limited Position function, the following requirements must be met:

● The use of one or two suitable encoders for the extended safety functions with encoder (see

also Section "Safe actual value acquisition (Page 183)").

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Safety functions integrated in the drive

5.14 SBT (diagnostic function)

5.14

SBT (diagnostic function)

The diagnostic function "Safe Brake Test" func-

0 V

tion (SBT) checks the required holding torque of

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a brake (operating or holding brake).

You can test linear and rotary brakes. The drive

purposely generates a force/torque against the

applied brake. If the brake is operating correctly,

the axis motion remains within a parameterized

tolerance. If, however, a larger axis motion is

W

detected, it must be assumed that the braking

force/torque has deteriorated and maintenance

is required.

The "Safe Brake Test" function allows a safe test of up to two brakes:

●

1 motor holding brake and 1 external brake

●

2 external brakes

●

1 motor holding brake

●

1 external brake

The Safe Brake Test (SBT) diagnostic function is suitable for safety functions up to Category 2

according to ISO 13849-1.

5.14.1

Features

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 brakes can be tested:

- A motor holding brake, controlled by the integrated brake control of the SINAMICS, and

in addition, an externally controlled brake.

- Two externally controlled brakes

- A motor holding brake, controlled by the integrated brake control of the SINAMICS.

- One externally controlled brake

● The Safe Brake Test (SBT) diagnostic function is suitable for safety functions up to

Category 2 according to ISO 13849-1.

See also

Safety Info Channel and Safety Control Channel (SIC/SCC) (Page 205)

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Safety functions integrated in the drive

5.14 SBT (diagnostic function)

5.14.3.6

Sequence

SBT has the following basic sequence:

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SBT: Time sequence

● After the user selects the brake test (0/1 edge in r10231.0), the static hanging load is

determined. For this reason, all brakes must be open and the pulses enabled when the

brake test is selected.

- When testing a motor holding brake, which is directly controlled from SINAMICS, the

brake is automatically opened when the pulses are enabled and p1215=1.

- When testing an external brake, via p10234.6 or for SIC/SCC, via S_ZSW3B.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 prompt to close

the external brake. The request to close the brake is again indicated with p10234.6 = 1 or

S_ZSW3B.6 = 1. Also in this case, only a maximum of 11 seconds must elapse, otherwise

a fault is issued.

● The test torque (test torque ± load torque for a vertical axis) is specified during the SBT.

When n = 0 is entered, the controller builds up an appropriate test torque against the closed

brake. The test torque is built up along a ramp. The ramp is defined by the time of p10208.

● At the end of the test sequence, the brake is opened or there is a prompt to open the brake.

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Safety functions integrated in the drive

5.14 SBT (diagnostic function)

5.14.3.8

Communication via SIC/SCC

Testing a motor holding brake

The following figure shows the communication via SIC and SCC during the test of a motor

holding brake:

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Figure 5-25

Testing a motor holding brake

Safety Integrated plus

Commissioning Manual, 12/2019, 6FC5397-1FP40-6BA3

169

Safety functions integrated in the drive

5.14 SBT (diagnostic function)

Test of an external brake

The following figure shows the communication via SIC and SCC during the test of an external

brake:

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Figure 5-26

Testing an external brake

Safety Integrated plus

170

Commissioning Manual, 12/2019, 6FC5397-1FP40-6BA3

Safety functions integrated in the drive

5.15 SCA

5.15

SCA

Definition according to EN

s

61800-5-2:

SCA 3

The function "Safe Cam" (SCA) safe

SCA 2

supplies a safety-related output sig-

SCA 1

t

nal to indicate whether the motor

shaft position is within a defined

1

range.

0

t

The "Safe Cam" function outputs a safe signal if the drive is within a specified position range.

It facilitates the realization of safe range detection for each individual axis.

5.15.1

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 only be used with an encoder.

Safety Integrated plus

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Commissioning Manual, 12/2019, 6FC5397-1FP40-6BA3

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