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

Commissioning and configuring

7.5 Configuring NC and drive-specific safety settings

Precondition

● The commissioning of the (non-safety-relevant) standard drive functions must have been

completed.

● The configuration (hardware and software) has been loaded to the NCU (Page 236).

● Transferring the Safety Integrated mode from the configuration has been completed

(Page 237).

Procedure

Proceed as follows to activate the Safety Integrated commissioning mode for all drives:

1. In SINUMERIK Operate, go to "MENU SELECT > Commissioning > Menu forward key >

Safety".

Figure 7-10

Activating the Safety Integrated commissioning mode for individual drives

Note

Activating the Safety Integrated commissioning mode for individual drives

To activate the mode for an individual drive only, instead, switch to "MENU SELECT >

Commissioning > Menu forward key > Safety > Settings > Options".

2. Select the softkey "Set SI Commissioning", then "Activate/deactivate drive commissioning"

and confirm with "Yes".

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7.5 Configuring NC and drive-specific safety settings

7.5.4

Selecting the safety functional scope

Before you parameterize the various safety functions of the drive, make the following basic

settings for the corresponding drives:

● Scope of the safety functions used (Basic or Extended)

● Control (PROFIsafe, terminals, without selection)

● Use of a safety-relevant encoder

You must make these settings one after the other for each drive where you wish to use the drive-

integrated safety functions.

Precondition

● The commissioning of the (non-safety-relevant) standard drive functions must have been

completed.

● The configuration (hardware and software) has been loaded to the NCU (Page 236).

● Transferring the Safety Integrated mode from the configuration has been completed

(Page 237).

● The safety commissioning mode is activated for the drive to be configured (Page 240).

Procedure

Proceed as follows to set the safety functional scope for a drive:

1. In SINUMERIK Operate, switch to the safety settings of the drive via "MENU SELECT >

Commissioning > Menu forward key > Safety > Settings > Options".

2. Switch to the corresponding drive, e.g. using softkey "Select a drive".

3. Under "Select safety function" select the functional scope:

- Basic Functions via onboard terminals

- Basic Functions via PROFIsafe

- Basic Functions via PROFIsafe and onboard terminals

- Extended Functions via PROFIsafe

- Extended Functions via PROFIsafe and Basic Functions via onboard terminals

- Extended Functions without selection

- Extended Functions without selection and Basic Functions via onboard terminals

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7.5 Configuring NC and drive-specific safety settings

4. Make additional settings, when using the extended functional scope:

- Safety with encoder and acceleration monitoring (SAM)

- Safety without encoder with braking ramp (SBR) - can only be set for induction motors

- Safety without encoder with acceleration monitoring (SAMR) - can only be set for

induction motors

See also: Supported axis types (Page 34), Overview of safety functions integrated in the

drive (Page 25), Control options (Page 197)

5. Press softkey "OK".

Note

When the selected safety function is saved, the enable signal for referencing via SIC/SCC

(p9501.27) is automatically set via SINUMERIK Operate.

7.5.5

Parameterizing the setpoint speed limiting

During the runtime, the setpoint speed limiting of the drive (p9533) is evaluated with the

selected evaluation factor of the NC, and issued to the interpolator as setpoint limit.

Precondition

● The safety functional scope of the drive has been selected. (Page 242)

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7.5 Configuring NC and drive-specific safety settings

Procedure

Proceed as follows, to parameterize the evaluation factors of the NC to define the setpoint limits:

1. In SINUMERIK Operate, switch to the safety settings of the drive via "MENU SELECT >

Commissioning > Menu forward key > Safety > Settings > Options".

2. Switch to the corresponding drive, e.g. using softkey "Select a drive".

The parameterization is displayed for the selected drive.

3. Parameterize 4 evaluation factors for defining the setpoint limits

MD36933 $MA_SAFE_DES_VELO_LIMIT includes 4 values (indices 0…3). Using the axis-

specific PLC user interface, in the PLC program you can select which of these values is

active (DBX34.0…DBX34.1 in axis1 [DB31]…axis31[DB61]).

Bit 0

Bit 1

active setpoint limiting factor

= 0

SAFE_DES_VELO_LIMIT[0]

= 1

= 0

SAFE_DES_VELO_LIMIT[1]

= 1

SAFE_DES_VELO_LIMIT[2]

= 1

SAFE_DES_VELO_LIMIT[3]

Select the active setpoint limiting factor using DBX34.0..DBX34.1 in axis1 [DB31]…axis31[DB61]

4. Enter the 4 required evaluation factors.

To optimally set this MD, it is possible that several changes must be made in order to take

into account the dynamic response of the drives.

You can use 80% as recommended value, for example.

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7.5 Configuring NC and drive-specific safety settings

Result

The evaluation factors of the NC were parameterized, and are active after an operator panel

reset.

During the runtime, the setpoint speed limiting of the drive (p9533) is evaluated with the

selected (in the PLC user program) evaluation factor of the NC, and issued to the interpolator

as setpoint limit.

The value in MD36933[0] becomes active if a specific value is not selected in the PLC user

program.

7.5.6

Parameterizing reaction of the stop response

If a stop response is initiated, then this has effects on all of the other axes in the channel. The

effect on the other axes in the channel can be influenced using MD36964

$MA_SAFE_IPO_STOP_GROUP. This allows, for example, the pulses of the spindle to be

safely cancelled. This means that the spindle can be manually rotated and the axes can still be

safely monitored while it is moving.

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7.5 Configuring NC and drive-specific safety settings

Procedure

Proceed as follows to assign parameters for the reaction of the stop response:

1. In SINUMERIK Operate, go to the safety settings of the drive via "MENU SELECT >

Commissioning > Menu forward key > Safety > Settings > Options".

2. Go to the corresponding drive, for example, using the "Select drive" softkey.

The parameter assignment is displayed for the selected drive.

3. Select one of the following options as desirable reaction to the stop response:

- On all axes in the channel

- Via the triggered safety alarms only on axes that interpolate with the current axis.

The reaction to the stop response is saved in MD36964 $MA_SAFE_IPO_STOP_GROUP.

7.5.7

Parameterizing an encoder

Precondition

● The SI commissioning mode (Page 240) is active for the drive to be configured.

● The drive is configured for operation with an encoder.

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7.5 Configuring NC and drive-specific safety settings

Softkey

Purpose

Drive +

The settings are specific to a certain drive. Switch to the corresponding drive

using the appropriate softkey before configuring.

Drive -

Select a drive

Recommended val-

You can automatically assign defaults to the encoder settings of the specific

ues

drive using the "Recommended values" softkey. Check the individual suggested

values.

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7.5 Configuring NC and drive-specific safety settings

Making the settings

Table 7-1

Parameterizing an encoder (setting - encoder parameterization)

Setting

Meaning

Axis type

Sets the axis type (linear axis or rotary axis/spindle).

SP modulo value

Sets the modulo value in degrees for rotary axes for the "Safe position"

function.

This modulo value is taken into account for safe referencing and for the

transfer of the safe position via PROFIsafe when absolute position is en-

abled. The value should be set so that it lies precisely at 2^n revolutions,

so that when the range that can be represented overflows (+/-2048), then

the position actual value does not exhibit a step (jump).

The modulo function is deactivated for a value = 0.

Encoder selection 2nd

Selects a configured encoder as the encoder that is used by the second

monitoring channel

channel (control, Motor Module) for safe motion monitoring.

Table 7-2

Encoder-monitoring channel (settings - encoder parameterization)

Setting

Meaning

Encoder type

Sets the motor encoder as either rotary or linear encoder.

Invert position actual value

Activates/deactivates the inversion of the position actual value (sign

change).

Encoder pulses

Displays the number of encoder pulses per revolution for rotary encoders.

Fine resolution X_IST2

Displays the fine resolution for G1_XIST1 in bits.

Leadscrew pitch

Sets the ratio between the encoder and load in mm/revolutions for a linear

axis with rotary encoder.

Table 7-3

Actual value synchronization (settings - encoder parameterization)

Setting

Meaning

Enable

Enables/inhibits actual value synchronization.

It is not permissible to enable actual value synchronization and SLP/SP for

the same drive.

Actual value tolerance

Sets the tolerance for the crosswise comparison of the actual position

between the two monitoring channels.

Additional actual value tol-

Displays the maximum additional difference between the load-side actual

erance

position value on the Control Unit and the load-side actual position value

on the second channel, which can occur due to the delay of the actual

value acquisition in the EnDat 2.2 converter.

Maximum actual value tol-

Displays the maximum difference between the load-side position actual

erance

value on the Control Unit and the load-side position actual value on the

second channel.

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7.5 Configuring NC and drive-specific safety settings

Table 7-4

Mechanical configuration (settings - encoder parameterization)

Setting

Gearbox stage switchover

Enables/inhibits safety-relevant gearbox stage switchover.

When enabled, you can parameterize up to 8 ratios, and switchover the

active gearbox stage via PROFIsafe.

Position tolerance

Sets the factor to increase the tolerance for the crosswise data comparison

of the actual position between the two monitoring channels while the gear-

box stage is being switched over.

This factor is active when actual value synchronization is both activated as

well as also deactivated.

It is obtained, depending on the following tolerance:

● Actual value synchronization activated: p9549 * position tolerance

● Actual value synchronization deactivated: Actual value tolerance * po-

sition tolerance

Active position tolerance

Displays the active position tolerance. (product from the position tolerance

and actual value tolerance or velocity tolerance)

Number of load revolutions

Sets the denominator for the gearbox between the encoder and load.

Number of encoder revolu-

Sets the numerator for the gearbox between the encoder and load.

tions

Direction reversal

Activates/deactivates the direction of reversal for the gearbox.

7.5.8

Configuring encoderless operation

Precondition

● The SI commissioning mode (Page 240) is active for the drive to be configured.

● The drive is configured for operation without an encoder.

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7.5 Configuring NC and drive-specific safety settings

Softkey

Purpose

Drive +

The settings are specific to a certain drive. Switch to the corresponding drive

using the appropriate softkey before configuring.

Drive -

Select a drive

Recommended val-

Using softkey "Recommended values", you can automatically preassign the

ues

values of the particular startup screen form. Check the individual suggested

values.

Adapting settings

Table 7-5

(Settings - mechanical configuration/actual value sensing)

Setting

Meaning

Leadscrew pitch

Sets the ratio between the encoder and load in mm/revolutions for a linear

axis with rotary encoder.

Actual value tolerance

Sets the tolerance for the crosswise comparison of the actual position

between the two monitoring channels.

The tolerance must be set higher (e.g. 12 degrees rotary and 1 mm linear)

for encoderless motion monitoring functions.

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Table 7-6

Gearbox stages switchover (Settings - mechanical configuration/actual value sensing)

Setting

Meaning

Gearbox stage switchover

Enables/inhibits safety-relevant gearbox stage switchover.

When enabled, you can parameterize up to 8 ratios, and switchover the

active gearbox stage via PROFIsafe.

Number of load revolutions

Sets the denominator for the gearbox between the motor and load. The

active gearbox stage can be switched over via PROFIsafe.

Number of encoder revolu-

Sets the denominator for the gearbox between the motor and load. The

tions

active gearbox stage can be switched over via PROFIsafe.

For encoderless monitoring functions, the numerator of the gear ratio must

be multiplied by the number of pole pairs (see below).

Example:

Gearbox ratio 1:4, number of pole pairs = 2

Number of load revolutions = 1, number of encoder revolutions = 8 (4 x 2)

Direction reversal

Activates/deactivates the direction of reversal for the gearbox.

Motor pole pair number

Displays the number of motor pole pairs.

Table 7-7

Actual value sensing (Settings - mechanical configuration/actual value sensing)

Setting

Meaning

Delay time actual value

Sets the delay time for evaluating the encoderless actual value sensing

sensing

after the pulses have been enabled.

The value should be greater than or equal to the magnetization time of the

motor (p0346).

The set time is internally rounded off to an integer multiple of the monitoring

clock cycle.

Caution: The safety functions are not fully effective until this time has

elapsed.

Notice: Reducing this value can have a negative impact on the actual value

acquisition and plausibility check - and result in safety message C01711

with message value 1041 or 1042.

Dependencies: C01711

Filter time actual value

Sets the filter time for the actual value smoothing for actual value acquis-

sensing

ition without encoder.

Notice: A higher filter time results in a longer response time.

The smoothing is realized using a 1st order lowpass filter.

For a minimum value, the filter is deactivated.

The set time is internally rounded off to an integer multiple of the monitoring

clock cycle.

Pulse enable

Display: Enable power

Actual value sensing sup-

Display: Actual value sensing supplies valid actual value

plies valid actual value

Actual speed value

Displays actual speed values for motion monitoring on the Control Unit.

Index [0] = load side actual speed value on the Control Unit

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7.5 Configuring NC and drive-specific safety settings

Setting

Meaning

Fault tolerance

Setting of the plausibility monitoring tolerance for the current and the volt-

age angle.

A higher value makes the drive more stable when it is reversing at low

speeds - or when the load changes abruptly in the field-weakening range.

An increase brings advantages when the current or voltage at the motor

becomes small.

Increasing the value results in a longer evaluation delay - and to a higher

speed tolerance (see below).

Notice: Reducing this value can have a negative impact on the actual value

acquisition and the plausibility check.

For synchronous motors, the value must be set to 4.

For value = -1:

- for synchronous motors, the calculation automatically uses a value of 4

- for induction motors, the calculation automatically uses a value of 0 (if the

code number of the power unit p0201[0] is < 14000, otherwise a value of

2 is used).

Dependencies: F01681, C01711

Speed tolerance

Displays the actual speed deviation for encoderless actual value acquisi-

tion.

This value is calculated when setting the error tolerance (see above).

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7.5 Configuring NC and drive-specific safety settings

Setting

Meaning

Minimum actual current

Sets the minimum current for encoderless actual value acquisition referred

evaluation

to 1 A (i.e. 1 % = 10 mA).

● The value must be increased if C01711 is output with message value

1042.

● The value must be decreased if C01711 is output with message value

1041.

For synchronous motors, the following condition must be satisfied:

|p0305 x p9783| >= minimum current actual value acquisition x 1.2

Recommendation: If necessary, to determine the correct value, the mini-

mum motor current must be measured.

Notice: An excessive reduction of this percentage value can result in a

safety message and in an inaccurate actual value.

Dependencies: r9785, C01711

Acceleration voltage toler-

Sets the acceleration limit to filter discontinuities in the speed/velocity. The

ance

filter is deactivated when setting the maximum value.

An increase in this percentage value means that velocity peaks can occur

when accelerating, which do not reflect the real velocity characteristic.

A decrease in this value dampens velocity peaks when accelerating.

● The value must be increased if message C01711 is output with the

value 1043.

● The value must be decreased if acceleration has resulted in an exces-

sive safety actual velocity.

Recommendation: This parameter setting depends on the motor and

closed-loop control, and must be redetermined for each configuration.

To do this, a measurement must be made while the actual value is chang-

ing (step function/jump), and the limit should be set so low in r9785[0] via

p9589 that it is not exceeded more than four times per second by the value

set in r9785[1]. At this point in time, the actual value correction filter inter-

venes. The step is no longer so drastic.

Dependencies: r9784, C01711

See also

Selecting the safety functional scope (Page 242)

7.5.9

Configuring telegrams

Precondition

● The SI commissioning mode (Page 240) is active for the drive to be configured.

● Extended Functions or Basic Functions via PROFIsafe are set (Page 242) for the drive to be

configured.

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7.5 Configuring NC and drive-specific safety settings

Call up "Telegram configuration" commissioning screen

MENU SELECT > Commissioning > Menu forward key > Safety > Settings > Telegram

configuration

Softkey

Purpose

Drive +

The settings are specific to a certain drive. Switch to the corresponding drive using the appro-

priate softkey before configuring.

Drive -

Select a drive

Recommended values

Using softkey "Recommended values", you can automatically preassign the values of the par-

ticular startup screen form.

For example, in the startup screen form "Telegram configuration", the telegram types from the

configuration belong to the settings that can be assigned as default.

Check the individual suggested values.

Making the settings

Table 7-8

SIC/SCC telegram settings (Settings - telegram configuration)

Setting

Meaning

Enable SIC/SCC

Enables/inhibits the evaluation of the Safety Info Channel / Safety Control

Channel (SCC/SIC).

SIC/SCC module number

Sets the SIC/SCC module number.

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7.5 Configuring NC and drive-specific safety settings

Setting

Meaning

Telegram configuration

Sets the telegram type for the Safety Info Channel (SIC)/Safety Control

Channel (SCC)

Takes into account the

Activates the adaptation of the braking ramp for stop D/SS2E

stop D/SS2E transition

time in the braking re-

sponse

Table 7-9

PROFIsafe telegram settings (Settings - telegram configuration)

Setting

Meaning

Enable PROFIsafe

Enables/inhibits PROFIsafe communication between F-PLC and drive

PROFIsafe address

Sets the PROFIsafe address for the Control Unit.

PROFIsafe module num-

Sets the PROFIsafe module number.

ber

Telegram configuration

Sets the PROFIsafe telegram type.

Safety parameter assign-

Sets the PROFIsafe telegram type for the Control Unit.

ment

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7.6 Configuring safety functions integrated in the drive

7.6

Configuring safety functions integrated in the drive

7.6.1

Overview

SINUMERIK Operate screen forms and settings to commission the various safety functions are

described in this chapter.

Basic procedure

Call the appropriate startup screen forms in SINUMERIK Operate and configure the safety

functions for the individual drives.

Table 7-10

Startup screen forms and function descriptions

Startup screen form

Detailed function description

STO/SS1 Basic (Page 259)

Safe Torque Off (Page 91) / Safe Stop 1 (Page 80)

STO Extended (Page 260)

Safe Torque Off (Page 91)

SBC (Page 262)

Safe Brake Control (Page 97)

SS1 Extended (Page 263)

Safe Stop 1 (Page 84)

SS2/SOS (Page 265)

Safe Stop 2 (Page 104) / Safe Operating Stop (Page 114)

SLS (Page 271)

Safely-Limited Speed (Page 117)

SSM (Page 274)

Safe Speed Monitor (Page 131)

SAM (Page 267)

Safe Acceleration Monitor (Page 137)

SBR (Page 270)

Safe Brake Ramp (Page 139)

SDI (Page 276)

Safe Direction (Page 142)

SLP/SP (Page 278)

Safely-Limited Position (Page 150) / Safe Position (Page 155)

SBT (Page 281)

Safe Brake Test (Page 160)

SCA (Page 284)

Safe Cam (Page 172)

You can find additional information on the function sequence of parameterization in the

Function Description.

In many cases, using the "Recommended values" softkey, you can automatically preassign the

values of the particular startup screen form.

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7.6 Configuring safety functions integrated in the drive

Alternative to the commissioning screen forms, you can switch to "Parameter list", where all of

the parameters are listed in tabular form that are relevant for the particular safety function.

7.6.2

STO/SS1 Basic

Precondition

● The SI commissioning mode (Page 240) is active for the drive to be configured.

● One of the basis functions (Page 242) is is selected.

Displaying the "Safe torque off - STO/SS1 Basic" commissioning screen

MENU SELECT > Commissioning > Menu forward key > Safety > Functions > STO/SS1 Basic

Figure 7-11

Safe Torque Off - Safe Stop 1 - STO/SS1 Basic

Status information

For the following parameters, the status symbols indicate the actual state (blue = active; gray

= inactive):

Status

Meaning

STO selected (r9772.0)

"STO selected in the drive" setting

No text (brake reaction) (r9773.2)

Setting "SS1 Delay time active in the drive"

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Status

Meaning

Pulse inhibit channel 1 active (r9772.1)

Setting "STO or safe pulse cancellation active on the CU"

Pulse inhibit channel 2 active (r9872.1)

Setting "STO on Motor Module active"

STO active (r9773.1)

Setting "STO active in the drive"

Switch-off signal paths must be tested

Setting "Switch-off signal paths must be tested"

(r9773.31)

Settings

Setting

Meaning

Control Unit terminal (p9620[0])

Sets the signal source for the STO, SBC and SS1 functions of the Control

Unit.

This is only relevant if a basic function via terminal is set in the options.

Otherwise, the input field is deactivated.

SS1 delay time (p9652)

Sets the delay time of the pulse cancellation in seconds for the function "Safe

Stop 1" (SS1) on the Control Unit to brake along the OFF3 down ramp

(p1135).

Braking response for SS1 (p9653)

Select a predefined braking response below the input field "SS1 delay time".

Parameter p9653 is preassigned depending on the selected braking re-

sponse.

F-DI input filter (p9651)

Setting the debounce time in ms for the failsafe digital inputs to control STO/

SBC/SS1.

Simultaneity monitoring (p9650)

Sets the discrepancy time in ms for the switchover of the safety-relevant

inputs (SGE) on the Control Unit.

Delay time STOP F -> STOP A (p9658)

Sets the transition time from STOP F to STOP A in ms on the Control Unit.

Forced checking procedure of the switch-off

Sets the time interval in hours for carrying out the forced checking procedure

signal paths (p9659)

and testing the switch-off signal paths.

Switch-off signal paths must be tested

To evaluate whether the switch-off signal paths must be tested, the status of

(r9773.31)

r9773.31 “Switch-off signal path must be tested" can be interconnected with

a parameter via the BICO editor.

7.6.3

STO Extended

Precondition

● The SI commissioning mode (Page 240) is active for the drive to be configured.

● The drive is configured for operation with an encoder and Extended Functions.

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7.6 Configuring safety functions integrated in the drive

Settings

Setting

Meaning

Forced checking procedure of the switch-off

Sets the time interval for performing the forced checking procedure and

signal paths

testing the safety switch-off signal paths. Within the parameterized time,

STO must have been deselected at least once. The monitoring time is reset

p9659

at every STO deselection.

7.6.4

SBC

Precondition

● The SI commissioning mode (Page 240) is active for the drive to be configured.

● At least one safety monitoring function is enabled for the drive.

● A motor holding brake has been configured for the drive.

Display "Safe brake control - SBC" commissioning screen

MENU SELECT > Commissioning > Menu forward key > Safety > Functions > SBC

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7.6 Configuring safety functions integrated in the drive

Status information

Status

Meaning

STO selected

Display and BICO output for the status of Safety Integrated on the drive

(Control Unit + Motor Module):

r9773.0

STO selected in the drive

Switching element

See "Safe brake control" setting

Safe brake close active

Display and BICO output for the status of Safety Integrated on the drive

(Control Unit + Motor Module):

r9773.4

SBC requested

Close brake selected

Display and BICO output for the status word of the sequence control:

r0899.13

Command, close holding brake

Settings

Setting

Meaning

Safe brake control

Sets the enable signal for the "Safe brake control" (SBC) function on the

Control Unit.

p9602

●

[0] Inhibit SBC

●

[1] Enable SBC

7.6.5

SS1 Extended

Precondition

● The SI commissioning mode (Page 240) is active for the drive to be configured.

● The drive is configured for operation with an encoder and Extended Functions.

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7.6 Configuring safety functions integrated in the drive

Display "Safe Stop 1 - SS1 Extended" commissioning screen

MENU SELECT > Commissioning > Menu forward key > Safety > Functions > SS1 Extended

Status information

Status

Meaning

SS1 active

Status signals for the safety motion monitoring functions integrated in the

drive on monitoring channel 1.

r9722.1

STO active

r9722.0

Velocity resolution

Displays the safe velocity resolution (load side). Velocity limits that are

specified - or parameter changes for velocities below this threshold - have no

Load side

effect.

r9732[0]

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7.6 Configuring safety functions integrated in the drive

Settings

Setting

Meaning

Delay time STOP F -> STOP B

Sets the transition time from STOP F to STOP B

p9555

The set time is internally rounded off to an integer multiple of the monitoring

clock cycle.

SS1 monitoring

Selects the stop response, which is initiated when selecting function SS1 or

activating a STOP B.

p9507.3=0

● SS1 with OFF3

SS1 with OFF3 braking response integrated in the drive

● SS1E external stop

Stop to be externally initiated. Braking monitoring (SBR, SAM) is deac-

tivated.

Delay time, SS1/STOP B -> STO active

Sets the delay time for STOP A to STOP B.

p9556

The set time is internally rounded off to an integer multiple of the monitoring

clock cycle.

Shutdown speed SS1

Sets the shutdown velocity for activating STO. "Standstill" is assumed below

this velocity, and for STOP B / SS1, an STO is selected.

p9560

In the case of encoderless motion monitoring functions, this parameter must

be > 0 (10 is recommended).

(only for SS1 with OFF3)

Note: The shutdown velocity has no effect for a value = 0.

7.6.6

SS2/SOS

Precondition

● The SI commissioning mode (Page 240) is active for the drive to be configured.

● The drive is configured for operation with an encoder and Extended Functions.

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Settings

Setting

Meaning

Delay time for SS2/STOP C -> SOS active

Sets the transition time from STOP C to "Safe Operating Stop" (SOS).

p9552

Delay time, SLS/SOS - SLS/SOS active

Sets the delay time for the SLS changeover and for the activation of SOS for

the functions "Safely-Limited Speed"(SLS) and "Safe operating stop" (SOS).

p9551

When transitioning from a higher to a lower Safely-Limited Speed stage and

when activating a Safe Operating Stop (SOS), the "old" speed stage remains

active for this delay time. A delay is also occurred when activating SLS from

the "SOS and SLS inactive" state - and when activating SOS from the "SOS

inactive" state.

Delay time, STOP D -> SOS active

Sets the transition time from STOP D to "Safe Operating Stop" (SOS)

p9553

Delay time, STOP E -> SOS active

Sets the transition time from STOP E to "Safe Operating Stop" (SOS)

p9554

Standstill tolerance SOS

Sets the tolerance for the "Safe operating stop" function (SOS).

p9530

7.6.7

SAM

Precondition

● The SI commissioning mode (Page 240) is active for the drive to be configured.

● The drive is configured for operation with an encoder and Extended Functions.

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Settings

Setting

Meaning

Velocity tolerance

p9548

During the down ramp, the converter continually adds the speed tolerance to

the actual speed. The converter reduces the monitoring threshold until the

"Shutdown speed" has been reached.

● If the speed temporarily increases, the monitoring threshold remains at

the last value.

● If the drive accelerates by the velocity tolerance, then SAM identifies this,

and a STOP A is initiated.

Calculation

● The following applies when parameterizing the SAM tolerance:

- The maximum speed increase after SS1 or SS2 is triggered results

from the effective acceleration (a) and the duration of the acceleration

phase.

- The duration of the acceleration phase is equivalent to one monitor-

ing clock cycle (delay from detecting an SS1/SS2 until n_set = 0):

● Calculating the velocity tolerance:

Actual speed for SAM = acceleration × acceleration duration

The following setting rule is obtained:

- For linear axes:

SAM tolerance [mm/min] = a [m/s²] x MC [s] x 1000 [mm/m] x 60 [s/

min]

- For rotary axes:

SAM tolerance [rpm] = a [rev/s²] x MC [s] x 60 [s/min]

● Recommendation

The SAM tolerance value entered should be approx. 20 % higher than

the calculated value.

● With the tolerance, the "overshoot", which is automatically obtained

when reaching standstill when braking along the OFF3 ramp, must be

tolerated. However, it cannot be calculated as to just how high this is.

Shutdown speed acceleration monitoring

Sets the speed limit for the "SAM" and "SBR" functions.

p9568

SAM is deactivated once the set velocity limit has been fallen below. SBR is

deactivated if the safe braking ramp falls below the set speed limit.

Ramp-down time (OFF3)

Sets the ramp down time from the maximum velocity or maximum speed to

standstill for the OFF3 command.

p1135[0]

This time can be exceeded if the maximum the DC link voltage is reached.

Maximum velocity or maximum speed

Sets the highest possible velocity or speed.

(linear axis or rotary axis/spindle)

p1082[0]

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7.6.8

SBR

Precondition

● The SI commissioning mode (Page 240) is active for the drive to be configured.

● The drive is configured for operation without an encoder and Extended Functions.

● Safety function SS1 with stop response OFF3 is configured for the drive.

Displaying the "Safe brake ramp - SBR" startup screen form

MENU SELECT > Commissioning > Menu forward key > Safety > Functions > SBR

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Settings

Setting

Meaning

Delay time

Set the delay time for monitoring the braking ramp.

p9582

Time that lapses after initiating SS1, selecting SLS or SLS level changeover

and the start of brake ramp monitoring.

The delay time has a minimum value of 2 safety monitoring clock cycles. (if

the parameterized delay time is less than 2 safety monitoring clock cycles,

then internally, a delay time of 2x monitoring clock cycles is used.)

Monitoring time

Sets the monitoring time to determine the braking ramp.

p9583

The gradient of the braking ramp depends on the reference velocity (refer-

ence value) and the monitoring time.

Reference velocity

Sets the reference value to determine the braking ramp.

p9581

The gradient of the braking ramp depends on the reference velocity (refer-

ence value) and the monitoring time.

Ramp-down time (OFF3)

Sets the ramp down time from the maximum velocity or maximum speed to

standstill for the OFF3 command.

p1135[0]

This time can be exceeded if the maximum the DC link voltage is reached.

Maximum velocity or maximum speed

Sets the highest possible velocity or speed.

(linear axis or rotary axis/spindle)

p1082[0]

7.6.9

SLS

Precondition

● The SI commissioning mode (Page 240) is active for the drive to be configured.

● The drive is configured for operation with an encoder and Extended Functions.

Note

Transmitting process data for SLS in SIEMENS telegram 903

PROFIsafe telegram 903 - set as default setting for SINUMERIK - is optimized for the use of

SCA (Safe Cam), and only includes restricted process data for SLS. On the other hand,

SIEMENS telegram 902 includes all of the process data for SLS.

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Display "Safely Limited Speed - SLS" commissioning screen

MENU SELECT > Commissioning > Menu forward key > Safety > Functions > SLS

Status information

Status

Meaning

Velocity level selected

Indicates which parameterized velocity level is currently selected.

Level 1: r9720.9=0 and r9720.10=0

Level 2: r9720.9=1 and r9720.10=0

Level 3: r9720.9=0 and r9720.10=1

Level 4: r9720.9=1 and r9720.10=1

Velocity level active

If one of the velocity levels is currently active, then this is displayed in the

corresponding column.

Level 1: r9722.9=0 and r9722.10=0

Level 2: r9722.9=1 and r9722.10=0

Level 3: r9722.9=0 and r9722.10=1

Level 4: r9722.9=1 and r9722.10=1

Active SLS limit value

Displays the load-side velocity actual value of the CU.

r9714.0

The display is updated in the safety monitoring cycle clock.

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Settings

Setting

Meaning

Delay time when selecting SLS -> SLS active

Sets the delay time for SLS switchover.

p9551

This delay time is active in the following cases:

● Selecting SLS:

Monitoring only becomes active after the configurable delay time has

elapsed. Within this time, the actual velocity must be below the (selected)

limit.

● This delay time is also incurred when activating SLS from the "SOS and

SLS in active" state.

● Reducing the 1st limit value via PROFIsafe - or switching over to a lower

maximum velocity level:

The actual velocity of the drive must have dropped below the new limit

within the delay time. The existing limit remains active during the delay

time. The lower limit value becomes active after the delay time has ex-

pired.

The delay time is not active in the following cases:

● Deselecting SLS

● Switching over to a higher limit value:

The higher limit value immediately becomes active.

In operation, the parameterized delay time cannot be changed. If you require

various delay times in your application, then you must realize this using a

time-delayed transfer of the SLS limit value using the F-PLC.

Maximum velocity (V_max) level 1

Up to 4 parameterizable SLS velocity limit values must be specified based on

the results of the risk analysis. Also when SLS is activated, these limit values

p9531[0]

can be toggled between.

Maximum velocity (V_max) level 2

Depending on the particular situation, when switching over the "Delay time,

p9531[1]

selecting SLS -> SLS active" is active (see above).

Maximum velocity (V_max) level 3

Switchover between these 4 values

p9531[2]

The value of a selected maximum velocity level 1 is transferred via PROFI-

Maximum velocity (V_max) level 4

safe if check box "SLS limit via PROFIsafe for SLS level 1" is active.

p9531[3]

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Setting

Meaning

Stop response level 1

Sets the specific stop response for the appropriate maximum velocity level:

p9563[0]

● STOP A

Stop response level 2

● STOP B

p9563[1]

● STOP C

Stop response level 3

● STOP D

p9563[2]

● STOP E

Stop response level 4

● STOP A with delayed STO when the bus fails

p9563[3]

● STOP B with delayed STO when the bus fails

● STOP C with delayed STO when the bus fails

● STOP D with delayed STO when the bus fails

● STOP E with delayed STO when the bus fails

Using the settings without delayed STO, when the bus fails, protection for

persons can be implemented - with delayed STO, when the bus fails, pro-

tection for machinery can be implemented.

Here, in a wider sense, bus failure should be understood as a communica-

tion error relating to the signals that are used to control the safety functions

(e.g. via PROFIsafe).

SLS limit value via PROFIsafe for SLS level 1

Setting to transfer the maximum velocity level 1 via PROFIsafe.

The transfer of maximum velocity level 1 via PROFIsafe can also be used to

parameterize (fixed) maximum velocity levels 2, 3 and 4.

When activated, the value is transferred using PROFIsafe in control

word S_SLS_LIMIT_A (Page 362), assuming that level 1 is currently selec-

ted. S_SLS_LIMIT_A has the value range 1 ... 32767; where the following

applies:

●

32767 ≙ 100 % of the 1st SLS level

● The actually monitored limit value is calculated as follows:

SLS limit value = (S_SLS_LIMIT_A/32767) × "maximum velocity level 1"

If an incorrect SLS limit value is transferred, then the converter responds with

the parameterized "Stop response level 1".

7.6.10

SSM

Precondition

● The SI commissioning mode (Page 240) is active for the drive to be configured.

● The drive is configured for operation with Extended Functions.

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Display "Safe Speed Monitoring - SSM" commissioning screen

MENU SELECT > Commissioning > Menu forward key > Safety > Functions > SSM

Status information

Status

Meaning

Switching element (SSM with hysteresis)

Indicates whether the "Hysteresis" and "Filter time" functions are active.

p9501.16

Speed below SSM limit value

Indicates whether the current velocity is below the parameterized velocity

limit.

r9722.15

Settings

Setting

Meaning

SSM with hysteresis

Activates the "Hysteresis" and "Filter time" functions for SSM.

p9501.16

If the "SSM with hysteresis" function is enabled, the SSM function is evalu-

ated as an active monitoring function, and after a STOP F, also results in a

subsequent STOP B / STOP A response.

Filter time

Sets a filter time (PT1 filter) to smooth the output signal for SSM.

p9545

As filtering characteristic, for output signal SSM, a time-delayed SSM feed-

back signal occurs for the axes.

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Setting

Meaning

Hysteresis

Parameterizing hysteresis for SSM

p9547

In this way, a more stable SSM signal characteristic can be achieved at

velocities close to the "Velocity limit" (monitoring threshold).

The velocity (or speed) determined by both channels may differ as a maxi-

mum by the difference between "Velocity/speed limit" and "Hysteresis". Oth-

erwise, it would be theoretically possible that for SSM one channel returns a

HIGH signal and the other a LOW signal.

Take into account the following rule when parameterizing:

● Hysteresis p9547 ≤ 0.75 · velocity limit p9546

If actual value synchronization is enabled (Settings - encoder parameteriza-

tion (Page 246)), then you must also comply with the following rule:

● "SI Motion slip velocity tolerance" (p9549) ≤ hysteresis

Velocity limit

Sets the velocity limit for the SSM feedback signal to detect standstill (n < nx).

p9546

If the velocity limit is fallen below, then the signal "Safe Speed Monitor feed-

back signal active" (SGA n < n_x) is set.

The abbreviation SGA n < nx stands for the safety function required for

determining an output signal when a parameterizable velocity limit has been

undershot.

This value is also active for safety function SAM as "Shutdown velocity ac-

celeration monitoring" - assuming that this shutdown velocity is parameter-

ized with "0". In this case, the effects of Safe Acceleration Monitoring are

therefore restricted if a relatively high SSM velocity limit is set when using the

SS1 and SS2 stop functions.

Feedback signal SSM active for pulse inhibit

Sets the response during pulse cancellation in encoderless operation.

(only in encoderless operation)

For Safe Speed Monitor without encoder, after pulse suppression the drive

is unable to determine the current velocity. 2 responses can be selected for

p9509.0

this operating state:

● The status signal (SSM feedback signal) indicates "0" (factory setting).

● The status signal (SSM feedback signal) is frozen. "Safe Torque Off"

(STO) is selected internally.

See also: Signal characteristic for setting "Feedback signal SSM for pulse

inhibit " (Page 134)

7.6.11

SDI

Precondition

● The SI commissioning mode (Page 240) is active for the drive to be configured.

● The drive is configured for operation with Extended Functions.

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7.6 Configuring safety functions integrated in the drive

Display "Safe Direction - SDI" commissioning screen

MENU SELECT > Commissioning > Menu forward key > Safety > Functions > Menu forward

key > SDI

Status information

Status

Meaning

for positive direction

Status signals for the safety motion monitoring functions integrated in the

drive on monitoring channel 1.

r9722.12

for negative direction

r9722.13

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7.6 Configuring safety functions integrated in the drive

Settings

Setting

Meaning

SDI

Activating/deactivating (enable) SDI.

p9501.17

Delay time, selection SDI -> SDI active

Sets the delay time.

p9565

After selecting function SDI, motion in the monitored direction is permissible,

as a maximum for this time. Therefore, this time can be used to brake active

motion.

Tolerance

Sets the tolerance.

p9564

This motion is still permissible in the monitored direction before safety mes-

sage C01716 is initiated.

Stop response

Sets the stop response. This setting applies to both directions of motion.

p9566

●

[0] STOP A

●

[1] STOP B

●

[2] STOP C

●

[3] STOP D

●

[4] STOP E

●

[10] STOP A with delayed stop response when the bus fails

●

[11] STOP B with delayed stop response when the bus fails

●

[12] STOP C with delayed stop response when the bus fails

●

[13] STOP D with delayed stop response when the bus fails

●

[14] STOP E with delayed stop response when the bus fails

In encoderless operation, only settings "[0] STOP A" and "[1] STOP B" can

be selected.

Feedback signal SDI active for pulse inhibit

Activates/deactivates SDI during pulse cancellation in encoderless opera-

tion.

p9509.8

(only in encoderless operation)

7.6.12

SLP/SP

Precondition

● The SI commissioning mode (Page 240) is active for the drive to be configured.

● The drive is configured for operation with an encoder and Extended Functions.

● Telegram 902 (using SLP/SP) or telegram 903 (using only SLP) is set

● Actual value synchronization is not enabled (p9501.3 != 0).

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Display "Safe Limit Positions - Safe Position - SLP/SP" commissioning screen

MENU SELECT > Commissioning > Menu forward key > Safety > Functions > Menu forward

key > SLP/SP

Figure 7-12

Example of the "SLP" commissioning screen, that is, with telegram 903 being set

Status information

Status

Meaning

Positioning range selected

Displays whether positioning range 1 or 2 is currently selected.

Range 1: r9720.19=0 & r9720.6=0

Range 2: r9720.19=1 & r9720.6=0

Positioning range active

Displays whether positioning range 1 or 2 is currently active.

Range 1: r9722.19=0 & r9722.6=1

Range 2: r9722.19=1 & r9722.6=1

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Status

Meaning

Actual position value

Displays the actual load-side actual value via PROFIsafe.

r9708[4]

(only PROFIsafe)

Safety-relevant position valid

Status signals for the safety motion monitoring functions integrated in the

drive on monitoring channel 1.

r9722.22

SP valid

Safety reference position confirmed

Displays the internal status of the user agreement

r9727

Drive reference.

Display: Position referenced

r9723.17

Safely ref.

Display: SP valid

r9722.23

Settings

Setting

Meaning

SLP

Enable/inhibit SLP.

p9501.1

P min [mm]

Sets the lower and upper limit values for position range 1 or 2 of the SLP

function.

Range 1: p9535[0]

For the setting, these limit values apply:

Range 2: p9535[1]

● P max > P min

P min [mm]

Range 1: p9534[0]

● The limit values must lie in the valid traversing range (-737280 …

737280).

Range 2: p9534[1]

See also: C01715

Stop response

Sets the stop response for position range 1 or 2 of the SLP function.

Range 1: p9562[0]

●

[0] STOP A

Range 2: p9562[1]

●

[1] STOP B

●

[2] STOP C

●

[3] STOP D

●

[4] STOP E

●

[10] STOP A with delayed stop response when the bus fails

●

[11] STOP B with delayed stop response when the bus fails

●

[12] STOP C with delayed stop response when the bus fails

●

[13] STOP D with delayed stop response when the bus fails

●

[14] STOP E with delayed stop response when the bus fails

Safe position

Enables/inhibits the transfer of the safe position via PROFIsafe

p9501.25

(only for telegram 902)

(only for PROFIsafe)

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Setting

Meaning

Safe absolute position

Enables/inhibits the safe absolute position.

p9501.27

(only for telegram 902)

(only for PROFIsafe)

SP scaling

Sets the scaling factor to transfer the safe position via PROFIsafe in the 16-

bit format. The parameter is only active when PROFIsafe telegram 901 is

p9574

selected, see S_XIST16: Current actual position value (16 bits) (Page 363).

(only for telegram 902)

Scaling is realized by dividing the 32-bit position actual value r9713[0] with

(only for PROFIsafe)

this scaling factor. If, during operation, a position actual value is determined

that cannot be scaled, then this results in message C0711 with value 7001

- as well as STOP F.

Tolerance of the position actual values (refer-

Sets the tolerance for checking the actual values.

encing)

For an incremental encoder, the actual values are checked after referencing,

p9544

for an absolute encoder, when switching on.

(only for telegram 902)

7.6.13

SBT

Precondition

● The SI commissioning mode (Page 240) is active for the drive to be configured.

● The drive is configured for operation with Extended Functions.

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7.6 Configuring safety functions integrated in the drive

Display "Safe Brake Test - SBT" commissioning screen

MENU SELECT > Commissioning > Menu forward key > Safety > Functions > Menu forward

key > SBT

Note

Additional commissioning support

The following SINUMERIK Operate screen forms are available to commission SBT:

● "Graphic" softkey: Displays a torque-time diagram or a force-time diagram

● "Trace" softkey: Starts a drive trace session with various options.

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Status information

Status

Meaning

Actual holding torque or force

Displays the torque actual value or force actual value (unsmoothed).

r0080

SBT state

Displays the current status of the Safe Brake Test.

r10242

SBT load torque or force

Displays the load torque or the load force for the Safe Brake Test. This load

torque or this load force is available at the drive when initializing the brake

r10241

test. The displayed value is kept until the brake test is deselected.

SBT test torque or force

Displays the maximum test force or the maximum test torque available on

the motor side. The displayed value remains until the start of the next test

r10240

sequence.

Settings

Setting

Meaning

SBT enable

Enables/inhibits SBT.

p10201.0

SBT motor type

Selects the motor type for the Safe Brake Test.

p10204

●

0: Rotary

●

1: Linear

SBT selection

Selects the control type

p10203

●

0: SBT via SCC (p10235)

●

1: SBT via BICO (p10230)

●

2: SBT for test stop selection (p9705/p10250.8)

For integrated drives (CU_I, CU_NX), only "SBT via SCC" is permissible.

Brake test

Selects the brakes to be tested.

Brake 1: p10202[0]

●

0: Inhibit

Brake 2: p10202[1]

●

1: Test motor holding brake

●

2: Test external brake

It is not possible to test two motor holding brakes.

Actual holding torque or force

Sets the effective holding torque or holding force of the brakes to be tested

on the motor side.

Brake 1: p10209[0]

Brake 2: p10209[1]

Establish the test torque or test force

Sets the time during which the test torque or the test force is ramped up

against the closed brake. After the Safe Brake Test, the test torque or the test

Brake 1: p10208[0]

force is ramped-down again.

Brake 2: p10208[1]

Test torque factor or test force factor

Sets the factor for the test torque or the test force of test sequence 1 or 2 for

the Safe Brake Test. The factor is referred to the brake holding torque or the

Test sequence 1, brake 1: p10210[0]

brake holding force (see above, p10209).

Test sequence 1, brake 2: p10210[1]

Test sequence 2, brake 1: p10220[0]

Test sequence 2, brake 2: p10220[1]

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Setting

Meaning

Position tolerance

Sets the tolerated position deviation for test sequence 1 or 2 for the Safe

Brake Test.

Test sequence 1, brake 1: p10212[0]

Test sequence 1, brake 2: p10212[1]

Test sequence 2, brake 1: p10222[0]

Test sequence 2, brake 2: p10222[1]

Test duration

Sets the test duration for test sequence 1 or 2 for the Safe Brake Test. The

test torque or the test force is applied to the closed brake for this time.

Test sequence 1, brake 1: p10211[0]

Test sequence 1, brake 2: p10211[1]

Test sequence 2, brake 1: p10221[0]

Test sequence 2, brake 2: p10221[1]

Note

Using MD36968.2 to select the parameter assignment behavior at the end of SBT

You can parameterize the positioning behavior after the brake test via the expert list using

MD36968.2 $MA_SAFE_BRAKETEST_CONTROL, bit 2:

●

0: Positioning at the actual axis position

To conclude the brake test, the actual axis position for the next path motion is used.

(MD36968 $MA_SAFE_BRAKETEST_CONTROL bit 2 = 0). This results in motion to the

last programmed axis position on the path.

●

1: Positioning to the last programmed axis position

Acceptance of the actual axis position is not carried out. After the axis has been pressed

against the brake, the closed-loop position controller withdraws the axis to the last

programmed position.

Vertical axes can thus be prevented from sagging as a result of a repeated brake test. It is

also possible to briefly exceed the software limit switch while pressing against the brake

without initiating an alarm.

7.6.14

SCA

Precondition

● The SI commissioning mode (Page 240) is active for the drive to be configured.

● The drive is configured for operation with an encoder and Extended Functions.

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7.6 Configuring safety functions integrated in the drive

Display "SI Safe Cams" commissioning screen

MENU SELECT > Commissioning > Menu forward key > Safety > Functions > SCA

Settings

Setting

Meaning

Modulo value SP

Sets the modulo value in degrees for rotary axes for the "Safe position"

function.

p9505

This modulo value is taken into account for safe referencing and for the

transfer of the safe position via PROFIsafe when absolute position is ena-

bled.

SCA function

Inhibits or enables the SCA function throughout.

Hysteresis

Specifies the hysteresis value.

Inhibits/enable individual Safe Cams of the SCA function.

9503.0 ... 29

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Setting

Meaning

Displays the cam identifier. Default setting, "Cam 1" … "Cam 30".

The cam identifiers are defined in the associated TS files depending on the

language, and can be freely defined by copying and adapting the files:

● Template for the TS file: /card/siemens/sinumerik/hmi/template/lng/

oem_scam_names_deu.ts

● Archive path for user-defined TS file: /card/oem/sinumerik/hmi/lng/

oem_scam_names_<Sprachkennung>.ts

Minus cams position

Sets the minus cam position in ° or mm.

p9537[0...29]

Plus cam position

Sets the plus cam position in ° or mm.

p9536[0...29]

7.6.15

SS2E

Precondition

● The Safety Integrated commissioning mode (Page 240) is active for the drive to be

configured.

● The drive is configured for operation with an encoder and Extended Functions.

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Display commissioning screen "Safe Stop 2 with external stop - SS2E"

MENU SELECT > Commissioning > Menu forward key > Safety > Functions > Menu forward

key > SS2E

Figure 7-13

Safe Stop 2 with external stop - SS2E

Status information

Status

Meaning

Status control signals:

Status - control and status signals for the safety motion monitoring functions

integrated in the drive on monitoring channel 1.

Select SS2E

r9720.28

Select SOS

r9720.3

Status signals:

SS2E active

r9722.28

SOS active

r9722.3

STOP C active

r9721.13

STOP D active

r9721.14

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7.6 Configuring safety functions integrated in the drive

Settings

Setting

Meaning

Enable SS2E

SS2E enable is activated via the parameter.

p9501.18

Delay time, STOP D -> SOS active

Sets the transition time from STOP D to "Safe Operating Stop" (SOS) in ms.

p9553

7.6.16

SS2ESR

Precondition

● The Safety Integrated commissioning mode (Page 240) is active for the drive to be

configured.

● The drive is configured for operation with an encoder and Extended Functions.

Display commissioning screen "Safe Stop 2 Extended Stop and Retract (SS2ESR)"

MENU SELECT > Commissioning > Menu forward key > Safety > Functions > Menu forward

key > SS2ESR

Figure 7-14

Safe Stop2 Extended Stop and Retract (SS2ESR)

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7.6 Configuring safety functions integrated in the drive

Status information

Status

Meaning

Status control signals:

Status - control and status signals for the safety motion monitoring functions

integrated in the drive on monitoring channel 1.

Select SS2ESR

r9720.29

Select SOS

r9720.3

Status signals:

SS2ESR active

r9722.27

STOP E active

r9721.15

STOP C active

r9721.13

STOP D active

r9721.14

SOS active

r9722.3

Settings

Setting

Meaning

Enable SS2ESR

SS2ESR enable is activated via the parameter.

p9501.04

Delay time SS2ESR/STOP E -> SOS active

Sets the transition time from STOP D to "Safe Operating Stop" (SOS) in ms.

p9554

7.6.17

Safe referencing

Precondition

● The Safety Integrated commissioning mode (Page 240) is active for the drive to be

configured.

● Access rights of access level 2 (service) are available in SINUMERIK Commissioning.

● The drive is configured for operation with an encoder and Extended Functions.

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7.6 Configuring safety functions integrated in the drive

Display "Safe referencing" commissioning screen

MENU SELECT > Commissioning > Menu forward key > Safety > Functions > Menu forward

key > Safe referencing

Figure 7-15

Safe referencing

Status information

Status

Meaning

Safety reference position confirmed

Displays the internal status of the user agreement

r9727

Drive reference.

Display: Position referenced

r9723.17

Safely ref.

Display: Safely referenced

r9722.23

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7.6 Configuring safety functions integrated in the drive

Settings

Setting

Meaning

Enable referencing via SCC

Sets the enable signals for the safety-related motion monitoring functions.

p9501.27

SI Motion, user agreement, select/deselect

User agreement Safe Position

p9726

(is only displayed if functions with Safe Position evaluation are activated)

Tolerance of the position actual values (refer-

Sets the tolerance for checking the actual values.

encing)

For an incremental encoder, the actual values are checked after referencing,

p9544

for an absolute encoder, when switching on.

7.6.18

Further safety functions

In addition to the described safety functions that are configured using commissioning screens,

the following drive-integrated safety functions can be configured in the expert list, that is, by

directly entering the parameters:

● SS2e - SS2 with external stop (Page 107)

● Homing via SIC/SCC (Page 179)

● Cancellation of the stop transition times

● Automatic SLS (Page 117)/SOS (Page 114) deselection when STO active

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7.7 Finalizing commissioning

7.7

Finalizing commissioning

7.7.1

Confirming settings

After parameterization, the Safety Integrated commissioning mode must be deactivated and

the actual checksums must be transferred into the reference checksums.

Precondition

● The NC and drive-specific settings have been correctly configured for all safety-relevant

drives and for all F-I/O devices.

● The safety functions integrated in the drive are configured.

● The safety commissioning mode is activated (Page 240).

Procedure

Proceed as follows to confirm the drive-specific safety settings that have been made:

1. In SINUMERIK Operate, switch to "MENU SELECT > Commissioning > Menu forward key

> Safety".

2. Using the menu forward key, switch to the 2nd Level of the vertical softkey bar.

3. Press softkey "Copy SI data" and confirm with "OK".

The safety settings are copied from the 1st into the 2nd monitoring channel.

4. Press softkey "Confirm SI data" and confirm with "OK".

5. Press softkey "Save all drive objects" and confirm with "OK".

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7.7 Finalizing commissioning

7.7.2

Assigning a Safety Integrated password

In SINUMERIK Operate, commissioning data is generally stored in various access levels. You

protect the safety-related drive parameterization additionally with the Safety Integrated

password. This password is stored in the drive data so that it can be changed only by authorized

persons who know the password.

Note

The SINAMICS safety password must be used for SINUMERIK Safety Integrated

The assigning of the Safety Integrated password using the SINUMERIK operate screen is

supported as of V4.8 SP2 HF1.

Alternatively, assign the password as follows via the expert list as in SINAMICS Safety

Integrated:

● p0010 = 95 Commissioning mode

● p9761 = enter "Old safety password". Default setting for p9761 = 0.

● p9762 = enter "new password".

● p9763 = confirm "new password"

● p0977 = 1; "Copy from RAM to ROM"

The new and confirmed safety password is valid immediately.

Procedure

To assign the Safety Integrated password for all axes/drives, proceed as follows:

1. IN SINUMERIK Operate, go to "MENU SELECT > Commissioning > Menu forward key >

Safety".

2. Press softkey "SI password".

3. Select the check box for the all "axes/drives".

4. Assign a password and confirm by clicking on "OK".

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7.8 Series commissioning

7.8

Series commissioning

7.8.1

General information about series commissioning

A project that has been loaded and commissioned, can be loaded to another NCU, keeping the

safety parameterization. However, observe the following information:

● Different component checksums as a result of series commissioning with Safety Integrated

functionality (Page 339)

● Safety message for series commissioning with third-party motor (Page 294)

For series commissioning, for each NCU, you must carry out an acceptance test (Page 331).

7.8.2

Series commissioning with third-party motor

If you are using third-party motors with absolute encoders, then safety message/signal can

block commissioning.

Possible cause:

A different serial number of the absolute encoder is saved on the memory card other that in the

Control Unit that is to be commissioned.

Remedy:

Correct the serial number of the absolute encoder (e.g. with SINUMERIK Operate) before you

acknowledge the safety messages. Then continue with commissioning.

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If you are looking for a description of the diagnostic functionality, then in this Chapter you can

find a Diagnostics guide (Page 296) and descriptions relating to the safety diagnostic

functionality (Page 300) with SINUMERIK Operate.

These diagnostic functions are possible in the following software depending on the particular

component:

Table 8-1

Diagnostic functionality depending on the components

Component

SINUMERIK Operate

TIA Portal

F-PLC

Operating area "Diagnostics"

See the help for SIMATIC Safe-

F-I/O

Operating area "Diagnostics"

See the help for SIMATIC Safe-

Safety program

See the help for SIMATIC Safe-

(F-program)

Checksums

Master checksums and SI-

Signatures of F-I/O, the safety

NAMICS checksums in operat-

program and checksums of the

ing area "Diagnostics"

F-PLC.

See the help for SIMATIC Safe-

Status of safety-relevant drives

Operating area "Diagnostics"

Telegram diagnostics

Operating area "Diagnostics"

SCA diagnostics

Operating area "Diagnostics"

Status and diagnostic information

Operating area "Startup"

about specific safety functions

(without activating the commis-

sioning mode)

You will also find general descriptions and backg65round information about diagnostics using

SINUMERIK Operate in this chapter:

● General information about displaying and evaluating diagnostic information (Page 313)

● Checksums (Page 314)

● Stop responses (Page 317)

● Using the fault buffer and safety message buffer (Page 324)

● Acknowledgment (Page 327)

Information about replacing components (software or hardware components) is provided in a

separate chapter (Page 333).

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8.1 Diagnostics guide

8.1

Diagnostics guide

Table 8-2

Steps for evaluating diagnostic capabilities

Step

Procedure

Reference

Evaluate LEDs on the hardware (F-CPU, F-I/O):

Equipment Manual SINUMERIK

840D sl NCU 7x0.3

● SF, DP, DP/MPI and PN-LEDs of the F-CPU flash for a communication

error at the PROFIBUS DP/PROFINET IO, per channel;

Manuals for the F-I/O

SF-LED is lit, if OB 85 and OB 121 are programmed, for a programming

error (e.g. instance DB not loaded)

● STOP LED on the F-CPU: illuminates when the F-CPU is in STOP mode

● Fault LEDs on the F-I/O: e.g. SF-LED (group error LED) on if any fault

occurs in the individual F-I/O

Evaluate diagnostic buffer of the modules:

Help on STEP 7 and manuals for

the F-CPU and F-I/O

You read the diagnostic buffer of a module (F-CPU, F-I/O, CP) in its online

and diagnostic view in the "Diagnostic buffer" group under the "Online & Di-

agnostics" folder.

Evaluate stacks of the F-CPU:

Help on STEP 7

when the F-CPU is in STOP mode, read the following successively:

● Block stack: Check whether STOP mode of the F-CPU was triggered by

an F-block of the safety program

● Interruption stack

● Local data stack

Evaluate diagnostic tag of the F-I/O DB using testing and commissioning

F-I/O access (Page 70) or help re-

functions, by means of an operator control and monitoring system, or in the

lating to SIMATIC Safety

standard user program:

Evaluate the DIAG tag in the F-I/O DB

Evaluate diagnostic outputs of the instance DBs of instructions using testing

Operations (Page 58) or help relat-

and commissioning functions, using an operator control and monitoring sys-

ing to SIMATIC Safety

tem, or in the standard user program:

● For MUTING, EV1oo2DI, TWO_H_EN, MUT_P, ESTOP1, FDBBACK,

SFDOOR, evaluate in the assigned instance:

- Output DIAG

● Evaluate the following for SENDDP or RCVDP in the assigned instance

DB:

- Output RET_DPRD/RET_DPWR

- Output DIAG

● Evaluate the following for SENDS7 or RCVS7 in the assigned instance

DB:

- Output STAT_RCV

- Output STAT_SND

- Output DIAG

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8.1 Diagnostics guide

Tip on RET_DPRD/RET_DPWR

The diagnostic information of the RET_DPRD/RET_DPWR parameters correspond to the

diagnostic information of the RETVAL parameter of the "DPRD_DAT" and "DPWR_DAT"

instructions. You can find the description in the help on STEP 7 for the "DPRD_DAT" and

"DPWR_DAT" instructions.

Tip: STAT_RCV and STAT_SND

The diagnostic information of the parameter STAT_RCV corresponds to the diagnostic

information of the parameter STATUS of the instruction "URCV". The diagnostic information of

the parameter STAT_SND corresponds to the diagnostic information of the parameter

STATUS of the instruction "USEND". You can find the description in the help on STEP 7 for the

instruction "UCRV" or "USEND" .

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8.2 System alarms and diagnostic screens for F-PLC and F-I/O.

8.2

System alarms and diagnostic screens for F-PLC and F-I/O.

The diagnosis of faults of F-I/O or F-PLC is supported in SINUMERIK Operate via specific

system alarms (number ranges 4300XX and 43100X) as well as own diagnostics screens

(Page 300).

To use this functionality, the configuration must be properly completed and loaded:

● The configured NCU must have firmware version ≥V4.8 and Safety Integrated plus (F-PLC)

must be activated.

● Hardware and software must be consistently compiled and loaded.

With such a correct configuration, SI_DiagDB [DB1009] is automatically generated during the

compilation and transferred to the NCU during loading.

Details on internal processing of the F-PLC / F-I/O system alarms

The system alarms for the diagnostics of the F-PLC and F-I/O are formed based on the status

information of the safety program and collected and processed by the basic PLC program.

Information required for processing is stored in the SI_DiagDB [DB1009] (for example, design

of the safety program and assignment of the F-I/O DBs and F-global DBs). SI_DiagDB

[DB1009] is automatically generated during compilation and transferred to the NCU during

loading, if Safety Integrated plus (F-PLC) is activated and the NCU device version is correctly

configured (≥V4.8). The association between the SI_DiagDB [DB1009] and the safety program

is secured by a checksum (see also Alarm 430000).

Depending on this status information, the corresponding system alarms are triggered and

displayed in SINUMERIK Operate.

Meaning of the "F-PLC/F-I/O system alarms

Note

No simultaneous display of different system alarms with the same alarm number.

If the same error occurs for multiple modules, the respective system alarms are not displayed

at the same time but instead successively. This means that the alarm for the next module is only

displayed if the error has been corrected and/or the first module has been reintegrated.

Table 8-3

General

Meaning

Alarm No.

F-diagnostics: PLC project is inconsistent

430000

The F-diagnostics is not possible because the PLC project is inconsistent (safety program

and SI_DiagDB [DB1009] do not match) or the configured firmware version is not suppor-

ted. The configured NCU firmware version (TIA Portal) must be at least V4.8.

Compile and re-load hardware and software consistently.

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8.2 System alarms and diagnostic screens for F-PLC and F-I/O.

Table 8-4

F-PLC system alarms

Meaning

Alarm No.

Safety mode disabled

431001

The safety mode of the F-PLC has been disabled by the user, fault control measures are

partly deactivated.

Safety mode is reactivated at the next startup of the PLC.

Error detected by fail-safe system

431003

A serious problem was detected in safety mode (group signal); STEP 7 is required for exact

analysis.

Carrying out diagnostics on the diagnostics buffer of the CPU using STEP 7.

Table 8-5

F-I/O system alarms

Meaning

Alarm No.

F-module %1: Timeout detected by F-I/O

430001

The F-I/O has detected a timeout in the PROFIsafe communication.

Correct the displayed cause of the error and, if necessary, reintegrate the module.

F-module %1: Channel fault detected by F-I/O

430002

The F-I/O has detected a channel fault.

Correct the displayed cause of the error and, if necessary, reintegrate the module.

F-module %1: CRC error / sequence number error detected by F-I/O

430003

The F-I/O has detected a CRC error / sequence number error.

Correct the displayed cause of the error and, if necessary, reintegrate the module.

F-module %1: Timeout detected by F-system

430005

The F-system has detected a timeout.

Correct the displayed cause of the error and, if necessary, reintegrate the module.

F-module %1: Sequence number error detected by F-system

430006

The F-system has detected a sequence number error.

Correct the displayed cause of the error and, if necessary, reintegrate the module.

F-module %1: CRC error detected by F-system

430007

The F-system has detected a CRC error.

Correct the displayed cause of the error and, if necessary, reintegrate the module.

F-module %1: Reintegration necessary

430010

The F-module is passivated and has to be reintegrated for further use.

Reintegrate the F-module using the ACK_REI signal.

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8.3 Diagnostic functions in SINUMERIK Operate

8.3

Diagnostic functions in SINUMERIK Operate

You can find the SI-diagnostics overview and more specific diagnostic screens under "MENU

SELECT > Diagnostics > Menu forward key > Safety".

Note

A properly completed and loaded configuration is a requirement for diagnostics functionality.

● The configured NCU must have firmware version ≥V4.8 and Safety Integrated plus (F-PLC)

must be activated.

● Hardware and software must be consistently compiled and loaded.

With such a correct configuration, SI_DiagDB [DB1009] is automatically generated during the

compilation and transferred to the NCU during loading.

8.3.1

Safety Integrated diagnostics overview

The diagnostics overview includes general information about the operating mode used, the

number and type of axes used - as well as status information about the pending alarms and safe

referencing (homing).

Call

MENU SELECT > Diagnostics > Menu forward key > Safety

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8.3 Diagnostic functions in SINUMERIK Operate

Figure 8-1

Safety Integrated diagnostics overview

This screen is simultaneously used as entry to the following diagnostic screens:

● SI drives (Page 301)

● SI telegrams (Page 304)

● SI checksum (Page 306)

● SI alarms (Page 308)

● SI Safe Cams (Page 309) (via menu forward key)

● SI integrated F-PLC (Page 310)

● SI I/O (Page 311)

8.3.2

SI drives status

The configured safety-relevant status and diagnostic information of the selected drive are

displayed in the "SI drive status" diagnostic screen.

Functions, which are not configured for the selected drive, are not displayed on the screen.

Call

MENU SELECT > Diagnostics > Menu forward key > Safety > SI drives

The diagnostic screen "SI drive status" is available for basic functions and for extended

functions.

Call "SI drive status - Basic functions"

MENU SELECT > Diagnostics > Menu forward key > Safety > SI drives > Basic functions

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8.3 Diagnostic functions in SINUMERIK Operate

Figure 8-4

"SI telegrams overview" diagnostic screen

This screen is simultaneously used as entry to the following diagnostic screens:

● SI telegrams PROFIsafe (Page 304)

● PROFIdrive SI telegrams (Page 305)

Additional information

● You will find general information on safety-relevant telegrams in Chapter Controlling safety

functions integrated in the drive (Page 197).

8.3.4

SI telegrams PROFIsafe

The meanings and statuses of the individual bits in the control word and status word are shown

in the "PROFIsafe SI telegrams" diagnostic screen. You can switch between the following

views:

● Status word

● Status word cam (Note: only when the cam function is enabled in SINAMICS)

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8.3 Diagnostic functions in SINUMERIK Operate

Call

MENU SELECT > Diagnostics > Menu forward key > Safety > SI telegrams > PROFIsafe

Figure 8-5

"PROFIsafe SI telegrams" diagnostic screen

The view of all user data of the control word and status word is displayed using the "Details"

softkey.

Additional information

● You can obtain general information about PROFIsafe telegrams in Chapter Controlling via

PROFIsafe (Page 201).

8.3.5

PROFIdrive SI telegrams

The meanings and statuses of the individual bits in the control word and status word are shown

in the "PROFIdrive SI telegrams" diagnostic screen.

Call

MENU SELECT > Diagnostics > Menu forward key > Safety > SI telegrams > SIC/SCC

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8.3 Diagnostic functions in SINUMERIK Operate

Figure 8-6

"SI telegrams PROFIdrive" diagnostic screen

The view of all user data of the control word and status word is displayed using the "Details"

softkey.

Additional information

● You can obtain general information about SIC/SCC telegrams in Chapter Safety Info

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

8.3.6

SI checksums

In the "SI checksums overview" diagnostic screen, all of the safety reference and actual

checksums are displayed for the axes and drives. Status symbols are used to flag differences

between reference and actual checksums

Calling checksums

MENU SELECT > Diagnostics > Menu forward key > Safety > SI checksum

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8.3 Diagnostic functions in SINUMERIK Operate

Figure 8-7

"SI checksums overview" diagnostics screen

Higher-level actual checksums that are calculated from the master checksums (Page 314) are

displayed in the "SI checksums global checksums" diagnostic screen. If you call the diagnostics

screen, then the calculation of the global checksums is started - and after completion, these

actual checksums, along with the calculation date, are displayed.

Calling global checksums

MENU SELECT > Diagnostics > Menu forward key > Safety > SI checksum > Global

checksums

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8.3 Diagnostic functions in SINUMERIK Operate

Figure 8-8

"SI checksums global checksums" diagnostic screen

If, based on these global checksums, you identify some changes in the safety configuration,

then you can switch from diagnostics screen "Global checksums" to the individual axis/drive

checksums in order to identify specific differences.

8.3.7

SI alarms

Active safety-relevant alarms are displayed in diagnostics screen "SI-alarms".

Call

MENU SELECT > Diagnostics > Menu forward key > Safety > SI alarms

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8.3 Diagnostic functions in SINUMERIK Operate

Figure 8-9

"Safety Integrated alarms" diagnostic screen

8.3.8

SI Safe Cams

In the "SI safe cams" diagnostic screen, the following information about the "Safe Cam (SCA)

safety function" of the selected drive is displayed:

● Status of the function (SCA)

For the selected drive, indicates whether the "Safe Cam" (SCA) safety function has been

selected, is active and is valid. The actual position is also displayed (actual value on the load

side on the CU).

Inactive

Active

Invalid. Safe referencing was not carried out.

● Status of the enabled cams

For each configured and enabled cam, displays the identifier, the minus and plus positions

- as well as the validity of the cam position.

Cam position is reached and the cam is invalid.

Cam position is reached and the cam is valid. Safe referencing was carried out.

Call

MENU SELECT > Diagnostics > Menu forward key > Safety > Menu forward key >SI cams

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