Page 1 Diagnostics Acceptance test in the SINUMERIK ONE Commissioning Tool Component replacement (software/hardware) Data descriptions System features Appendix Valid for: SINUMERIK MC with SINAMICS S120 CNC software V1.13 SINUMERIK TIA Portal V16 SINUMERIK MC STEP 7 Toolbox V16 02/2020 A5E46305916B AB...
Page 2 Note the following: WARNING Siemens products may only be used for the applications described in the catalog and in the relevant technical documentation. If products and components from other manufacturers are used, these must be recommended or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance are required to ensure that the products operate safely and without any problems.
Page 3: Preface
Siemens' content, and adapt it for your own machine documentation. Training At the following address (http://www.siemens.com/sitrain), you can find information about SITRAIN (Siemens training on products, systems and solutions for automation and drives). FAQs You can find Frequently Asked Questions in the Service&Support pages under Product Support (https://support.industry.siemens.com/cs/de/en/ps/faq).
Page 4 Note regarding the General Data Protection Regulation Siemens observes standard data protection principles, in particular the principle of privacy by design. That means that this product does not process / store any personal data, only technical functional data (e.g. time stamps).
Page 5 "failsafe user program", "F-program", etc. To make a differentiation, the non-safety- relevant part of the user program is called "Standard user program". Note Term "Control Unit" in this documentation In this documentation, the term "Control Unit" designates the SINUMERIK MC. Notations for SINAMICS parameters (examples): ● p0918 Adjustable parameter 918 ●...
Page 6 Operate for SINUMERIK MC in the same way using the "SINUMERIK ONE Commissioning Tool" If you use SINUMERIK MC in conjunction with a SINAMICS S120 drive, then with SINUMERIK ONE Commissioning Tool you can also commission and parameterize the Safety Integrated Functions integrated in the drive.
Page 7 – Configuring and programming failsafe systems with SIMATIC Safety – Configuring and programming with SINUMERIK hardware and the SINUMERIK PLC basic program ● Commissioning SINUMERIK MC using the TIA Portal. ● Commissioning the Safety Integrated Functions of the S120 drive in the SINUMERIK ONE Commissioning Tool.
Page 8 Preface Safety Integrated (with SINAMICS S120) Commissioning Manual, 02/2020, A5E46305916B AB...
Page 9: Table Of Contents
Configuring the PC system ....................39 2.8.7 Inserting and networking a SINAMICS drive................40 2.8.8 Setting up the communication....................42 2.8.8.1 Configuring PROFINET for SINUMERIK MC.................42 2.8.8.2 Configuring PROFINET on the PC system ................44 2.8.8.3 Compile hardware configuration ....................45 2.8.8.4 Establish the communication connection ................45 2.8.9...
Page 10 Table of contents Fail-Safe Blocks ........................59 Safety Administration Editor....................60 Restrictions in the programming languages FBD/LAD............63 F-conform PLC data types (UDT) ..................69 3.6.1 Grouping PLC variables for inputs and outputs of F-I/O in structures (S7-1500)....70 Instructions for the safety program..................71 F-runtime groups........................73 3.8.1 Rules for F-Runtime Groups of the Safety Program ..............73 3.8.2...
Page 11 Table of contents 4.6.1.2 Safe Stop 2 Extended Stop and Retract (SS2ESR).............122 SOS............................125 4.7.1 Details and parameterization ....................126 SAM .............................128 SBR............................130 4.9.1 Overview of important parameters (see SINAMICS S120/S150 List Manual) .....132 4.10 SLS ............................133 4.10.1 Details and parameterization ....................138 4.10.1.1 Connection to the motion control in the NC .................139 4.10.1.2...
Page 12 Table of contents 4.18 Safe referencing........................189 4.19 Safe actual value acquisition....................191 4.19.1 Reliable actual value acquisition with encoder system ............191 4.19.2 Overview of important parameters ..................197 4.20 Safe gearbox stage switchover ....................198 4.21 Forced checking procedure/test stop ...................203 4.21.1 Examples for when the forced checking procedure is carried out........203 4.21.2 Options and control ......................204 Controlling safety functions integrated in the drive...................205...
Page 13 Table of contents 6.3.5 Parameterizing EMERGENCY STOP ..................235 6.3.6 Implementing user acknowledgment for global reintegration..........236 6.3.7 Acknowledging messages related to safety functions integrated in the drive ......237 6.3.8 Deselecting safety functions integrated in the drive.............240 6.3.9 Initiate a forced checking procedure (test stop) ..............241 6.3.10 Programming the wiring test ....................241 Load the configuration into the control system..............242...
Page 14 Table of contents System alarms ........................311 Diagnostic functions in the SINUMERIK ONE Commissioning Tool........314 7.4.1 Safety Integrated diagnostics overview................314 7.4.2 SI drives status........................315 7.4.3 SI telegrams overview......................317 7.4.4 SI telegrams PROFIsafe ......................318 7.4.5 PROFIdrive SI telegrams .....................319 7.4.6 SI checksums........................320 7.4.7 SI alarms ..........................322 7.4.8...
Page 15 Standard telegram start addresses ..................354 10.4 Telegram structure and data ....................355 10.4.1 PROFIsafe telegram 30 .......................355 10.4.2 PROFIsafe telegram 31 .......................355 10.4.3 SIEMENS telegram 701 .......................355 10.4.4 SIEMENS telegram 901 .......................356 10.4.5 SIEMENS telegram 902 .......................357 10.4.6 SIEMENS telegram 903 .......................357 10.5 Process data ........................358...
Page 16 Table of contents Data backup and archiving in the SINUMERIK ONE Commissioning Tool ......393 Creating a PLC commissioning archive of a SINUMERIK MC..........396 Exporting PLC alarms and text lists from the TIA Portal ............398 Importing SINUMERIK-PLC alarm texts into the TIA Portal..........400 Additional information on safety topics.................402...
Page 17: Fundamental Safety Instructions
Fundamental safety instructions General safety instructions WARNING Danger to life if the safety instructions and residual risks are not observed If the safety instructions and residual risks in the associated hardware documentation are not observed, accidents involving severe injuries or death can occur. ●...
Page 18: Warranty And Liability For Application Examples
Fundamental safety instructions 1.2 Warranty and liability for application examples Warranty and liability for application examples Application examples are not binding and do not claim to be complete regarding configuration, equipment or any eventuality which may arise. Application examples do not represent specific customer solutions, but are only intended to provide support for typical tasks.
Page 19: Security Information
Siemens’ products and solutions undergo continuous development to make them more secure. Siemens strongly recommends that product updates are applied as soon as they are available and that the latest product versions are used. Use of product versions that are no longer supported, and failure to apply the latest updates may increase customer’s exposure to cyber...
Page 20 Fundamental safety instructions 1.3 Security information Safety Integrated (with SINAMICS S120) Commissioning Manual, 02/2020, A5E46305916B AB...
Page 21: Fundamentals
Fundamentals Introduction The Safety Integrated safety solution combines various safety functions in the SINUMERIK control system: ● F-I/O are connected via the F-capable PLC of the SINUMERIK control system ● Programming F-blocks with F-logic using the editors for F-FBD or F-LAD ●...
Page 22: Configuring Sinumerik Mc
Fundamentals 2.2 Configuring SINUMERIK MC Configuring SINUMERIK MC SINUMERIK MC configuration with SINAMICS S120 Figure 2-1 Example: Simplified schematic of a SINUMERIK MC configuration Safety Integrated (with SINAMICS S120) Commissioning Manual, 02/2020, A5E46305916B AB...
Page 23: Safety Functions Of The F-Plc
Fundamentals 2.3 Safety functions of the F-PLC Safety functions of the F-PLC The safety functions of the F-PLC are predominantly implemented in the software. The safety functions are executed by the F-system to bring the system into a safe state if a hazardous event takes place –...
Page 24: Safety Functions Integrated In The Drive
Fundamentals 2.4 Safety functions integrated in the drive Safety functions integrated in the drive Via the networked SINAMICS S120 drive, Safety Integrated supports SINAMICS Safety Integrated Functions (Page 93). These safety functions integrated in the drive can communicate with the process via safety-relevant input/output signals. They can be implemented for each individual axis and spindle.
Page 25 Fundamentals 2.4 Safety functions integrated in the drive Safety function Scope Brief description Configuration via Safe Stop 2 with ex‐ Extended The 'Safe Stop 2 with external stop' (SS2E) safety function is used to SS2E (Page 118) ternal stop (SS2E) brake the motor safely.
Page 26 Fundamentals 2.4 Safety functions integrated in the drive Note In SINAMICS as "Advanced" The 3 position monitoring functions in SINUMERIK belong to the Extended Functions. However, in SINAMICS they are encrypted and belong there to the Advanced Functions (which require their own license). For reasons of transparency, in this manual they are still called Extended Functions.
Page 27: Approvals
Information about the maximum safety requirements that can be achieved for the individual safety-relevant components is provided in the relevant documentation. ● Programming and Operating Manual - SIMATIC Safety - Configuring and Programming (https://support.industry.siemens.com/cs/ww/en/view/54110126) ● SINAMICS S120 Safety Integrated Function Manual (https://support.industry.siemens.com/...
Page 28: Safety-Relevant Processing Using Mc Components
PROFINET interface from the PLC to the SINAMICS S drive for this purpose. Status and control information is transferred between the integrated subcomponents of the SINUMERIK MC (PLC, NC) using SIC/SCC (Safety Info Channel/Safety Control Channel). PROFIsafe communication is only possible between F-components. As a consequence, for...
Page 29 PROFINET/ PROFIsafe Figure 2-2 Component diagram for processing safety-relevant information and data Table 2-4 Subcomponents of SINUMERIK MC F-PLC ● Processing safety-relevant internal and external signals in the safety-relevant user program (safety program). PROFIsafe host See: Safety program of the F-PLC (Page 53) ●...
Page 30 Fundamentals 2.6 Safety-relevant processing using MC components Table 2-5 I/O and drives F-I/O ● The F‑I/O ensure the safe processing of field information (sensors: e.g. EMERGENCY STOP pushbuttons, light barriers; actuators, e.g. motor con‐ PROFIsafe slave trols). The safety function for the process itself can be implemented using a user safety function - or a fault response function.
Page 31: Structure Of The Project View In The Tia Portal
This also applies to the SINUMERIK components: ● SINUMERIK MC As the PLC subcomponent supports Safety Integrated Functions, the higher-level SINUMERIK MC is marked as safety-relevant resource. ● Integrated PLC Safety Integrated (with SINAMICS S120) Commissioning Manual, 02/2020, A5E46305916B AB...
Page 32 ① The project tree shows which components of your project are F-components. ② In the network view, device view or topology view, the Safety Integrated marking is on the SINUMERIK MC, represen‐ tative for the integrated components. ③ Safety-related settings are marked in the "Properties" inspector window.
Page 33: Device Configuration
Some of the safety settings required can also be made via an external SINAMICS drive. In addition to the complete SINUMERIK MC, this is why it is also recommended to always simultaneously create a drive and to connect it to SINUMERIK MC via PROFINET.
Page 34 ● CP ● NC These subcomponents are always a fixed component of a SINUMERIK MC, and can only be handled in combination with the MC. Subcomponents cannot be individually pasted, copied or moved in the project or across projects (e.g. in libraries).
Page 35: Starting The Tia Portal
Call the start menu "All programs > Siemens Automation > TIA Portal V16". Result The TIA Portal opens. The functions of a SINUMERIK MC are now available in the TIA Portal. Safety Integrated (with SINAMICS S120) Commissioning Manual, 02/2020, A5E46305916B AB...
Page 36: Creating A Project
Fundamentals 2.8 Device configuration 2.8.4 Creating a project Description You create a new project in the following. Within a project, all of the automation tasks required, for example the hardware configuration and the PLC programming, are performed. Precondition ● The TIA Portal has been started. Procedure 1.
Page 37: Inserting Sinumerik Mc
A SINUMERIK MC comprises an open-loop control-specific part (PLC, CP, NC) and a PC- specific part (PC system). When creating a SINUMERIK MC in the TIA Portal, all subcomponents and the PC system are simultaneously created. PROFINET is used for the internal communication between the various components.
Page 38 4. Confirm your selection with "OK". Result The SINUMERIK MC is created as new device in the project network view. The PC system is also created, and is automatically connected to the CP via the PN/IE interface (this can be identified at the two interfaces shown in green at both CP components).
Page 39: Configuring The Pc System
Configuring the PC system Description When creating a SINUMERIK MC in the TIA Portal, all subcomponents and the PC system are simultaneously created. Install the WinCC RT Advanced that has been provided on the PC system if you wish to use the PC system for using the customized user interfaces.
Page 40: Inserting And Networking A Sinamics Drive
Preconditions ● A project is open in the TIA Portal. ● A SINUMERIK MC has been created. ● The device view is active. Inserting a drive Proceed as follows to insert a SINAMICS S drive: 1.
Page 41 Figure 2-9 S120 drive created Networking the drive with the SINUMERIK MC Proceed as follows to establish the connection between the SINUMERIK MC and the SINAMICS drive: 1. In the working area, open the network view instead of the device view.
Page 42: Setting Up The Communication
Fundamentals 2.8 Device configuration Figure 2-10 SINUMERIK MC connected with SINAMICS S120 2.8.8 Setting up the communication 2.8.8.1 Configuring PROFINET for SINUMERIK MC Description Internal and external communication between the devices involved is established via the PROFINET interfaces. In order that PROFINET participants can be correctly addressed, the configured addresses must be set at the various participants.
Page 43 Proceed as follows to configure the PROFINET interface of the SINUMERIK MC: 1. In the network view, click the PLC in the basic rack of the SINUMERIK MC. 2. In the secondary navigation of the inspector window, select menu "Properties > General".
Page 44: Configuring Profinet On The Pc System
Configuring PROFINET on the PC system Procedure 1. In the network view, click on the PC system in the basic rack of the SINUMERIK MC. 2. In the secondary navigation of the inspector window, select menu "Properties > General". You can configure the IP addresses of the various PROFINET interfaces in the associated properties: –...
Page 45: Compile Hardware Configuration
2.8 Device configuration 2.8.8.3 Compile hardware configuration Description For a SINUMERIK MC and the associated PC system, you compile and load separately and in any sequence. Procedure To compile the configured hardware configuration, proceed as follows: 1. In the project navigation, select the SINUMERIK MC.
Page 46 Fundamentals 2.8 Device configuration Procedure To establish a communication connection between two devices, proceed as follows: 1. Call menu "Online > Accessible nodes". 2. In the drop-down lists "Type of PG/PC interface" and "PG/PC interface", select the interface used. If no devices are accessible at an interface, the connecting line between the PG/PC and the device is interrupted.
Page 47: F-I/O For Profinet Io
Fundamentals 2.8 Device configuration 3. If you have connected a new device in the meantime, click the "Refresh" button to refresh the list of accessible devices. 4. Click on "Display" to transfer the device found into the project navigation in folder "Online accesses".
Page 48: Interconnecting Drive-Cliq Components
For Safety Integrated Functions, the general DRIVE-CLiQ rules apply as a basic principle. You will find these rules in Chapter "Rules for connection with DRIVE-CLiQ" in the following Manual: ● "SINAMICS S120 Drive Functions" Function Manual (https://support.industry.siemens.com/ cs/ww/en/view/109771805) Beyond this, the following rules also apply to Safety Integrated: Rules for Safety Integrated Basic Functions ●...
Page 49 Fundamentals 2.8 Device configuration The safety functions integrated in the drive that are actually supported depends on the drive components used (drive and axis type, and whether a safety-relevant encoder is used). Table 2-7 Safety Integrated Functions in operation with or without encoder Function Basic Exten‐...
Page 50: Induction Motors And Synchronous Motors
Approved encoders Motors with sin/cos encoder and encoder evaluation with DRIVE-CLiQ interface or via Sensor Module SMC20, SME20/25/120/125. A list of approved encoders is provided in Siemens Industry Online Support under Entry ID 33512621 (https://support.industry.siemens.com/cs/document/33512621?dti=0&dl=en). Safety Integrated (with SINAMICS S120)
Page 51: Safety Components And Licensing
This option package is integrated in the package "SIMATIC STEP 7 Professional (TIA Portal) V16". Engineering system: ● SIMATIC STEP 7 Professional V16 – SIMATIC STEP 7 Safety Advanced V16 ● SINUMERIK MC STEP 7 Toolbox V16 ● Startdrive V16 ● SINAMICS firmware V5.2 CNC software: ● SINUMERIK CNC software V1.13 ●...
Page 52: Licensing Axes/Spindles And F-Plc
Depending on the functions used, you must license the appropriate software options and set in the machine data: ● MD19500 $MN_SAFE_PLC_LOGIC: Safety Integrated/F-PLC basic option Additional licensing information: You can find additional information about licensing in: Commissioning Manual MCU: NC, PLC, Drive (https:// support.industry.siemens.com/cs/de/en/view/109769920) Safety Integrated (with SINAMICS S120) Commissioning Manual, 02/2020, A5E46305916B AB...
Page 53: Safety Program Of The F-Plc
Therefore, when configuring these safety programs, it is crucial that you carefully follow the information provided in the TIA Portal help on SIMATIC Safety or in manual "SIMATIC Safety - Configuring and Programming (https://support.industry.siemens.com/cs/ww/en/view/ 54110126)". Principle of operation of the F-PLC safety functions The safety functions of the F-PLC are mainly implemented in the software.
Page 54 Safety program of the F-PLC 3.1 Overview Safety program For a SINUMERIK MC, the F-capability of the PLC is permanently activated, and as a consequence, an F-runtime group created. The F-runtime group, together with the associated F-blocks, is known as the safety program.
Page 55: Program Structure Of The Safety Program (S7-1500)
Safety program of the F-PLC 3.2 Program structure of the safety program (S7-1500) Program structure of the safety program (S7-1500) Representation of program structure For structuring purposes, a safety program consists of one or two F-runtime groups. Each F-runtime group contains: ●...
Page 56 Safety program of the F-PLC 3.2 Program structure of the safety program (S7-1500) Figure 3-1 Schematic structure of a safety program and/or an F-runtime group for an F-CPU S7-1500 Main safety block The main safety block is the first F-block of the safety program that you program yourself. You must assign an F-runtime group to the main safety block.
Page 57 Safety program of the F-PLC 3.2 Program structure of the safety program (S7-1500) Figure 3-2 Calling the main safety block F-runtime groups To improve handling, a safety program consists of one or two "F-runtime groups". An F-runtime group is a logical construct of several related F-blocks that is formed internally by the F-system. An F-runtime group consists of the following: ●...
Page 58 Safety program of the F-PLC 3.2 Program structure of the safety program (S7-1500) Note Basic setting: Create failsafe program as default In the STEP 7 safety settings you can define whether a safety program should be automatically created: Procedure when specifying an F-runtime group (Page 74) Safety Integrated (with SINAMICS S120) Commissioning Manual, 02/2020, A5E46305916B AB...
Page 59: Fail-Safe Blocks
Safety program of the F-PLC 3.3 Fail-Safe Blocks Fail-Safe Blocks F-blocks of an F-runtime group The following table shows the F-blocks that you use in an F-runtime group: F-block Function Main safety block The first step in programming of the safety program is the main safety block. In F‑CPU S7‑1500, the main safety block is an F‑FC or F‑FB (with instance‑DB), which is called by the F‑OB.
Page 60: Safety Administration Editor
Safety program of the F-PLC 3.4 Safety Administration Editor Safety Administration Editor Function "Safety Administration Editor" is available in the project navigation. Figure 3-3 Safety Administration Editor The Safety Administration Editor supports you when carrying out the following tasks: ● Display of the safety program status ●...
Page 61 Safety program of the F-PLC 3.4 Safety Administration Editor ● Web server F-admins ● Settings Further information Further information is provided in the help for SIMATIC STEP 7 Safety Advanced in Chapter "Safety Administration Editor". Defining names for the F-I/O DBs You can define whether the names of the F-I/O DBs are displayed with or without prefix (address of the I/O / of the module).
Page 62 Safety program of the F-PLC 3.4 Safety Administration Editor Further information Further information is provided in the help for SIMATIC STEP 7 Safety Advanced in Chapter "Safety Administration Editor". Safety Integrated (with SINAMICS S120) Commissioning Manual, 02/2020, A5E46305916B AB...
Page 63: Restrictions In The Programming Languages Fbd/Lad
Safety program of the F-PLC 3.5 Restrictions in the programming languages FBD/LAD Restrictions in the programming languages FBD/LAD LAD and FBD programming languages The user program in the F-CPU typically consists of a standard user program and a safety program. The standard user program is created using standard programming languages such as SCL, STL, LAD, or FBD.
Page 64 Safety program of the F-PLC 3.5 Restrictions in the programming languages FBD/LAD ● ARRAY, ARRAY[*] when using instructions RD_ARRAY_I (read value from INT F-array) and RD_ARRAY_DI (read value from DINT F-array). Restrictions: – ARRAY only in F-global DBs – ARRAY limits: 0 up to max. 10000 –...
Page 65 Safety program of the F-PLC 3.5 Restrictions in the programming languages FBD/LAD Supported operand areas The system memory of an F-CPU is divided into the same operand areas as the system memory of a standard CPU. You can access the operand areas listed in the table below from within the safety program.
Page 66 Safety program of the F-PLC 3.5 Restrictions in the programming languages FBD/LAD Operand area Description ● F-DB Data blocks store information for the program. They can either be de‐ fined as global data blocks such that all F-FBs, F-FCs, or main safety blocks can access them or assigned to a particular F-FB or main safety block (instance DB).
Page 67 Safety program of the F-PLC 3.5 Restrictions in the programming languages FBD/LAD Boolean constants "0" or "FALSE" and "1" or "TRUE" (S7-1500) For F-CPUs S7-1500, Boolean constants "0" or "FALSE" and "1" or "TRUE" are available to supply parameters for block calls. You can also create "1"...
Page 68 Safety program of the F-PLC 3.5 Restrictions in the programming languages FBD/LAD Example of "fully qualified DB access": Assign a name for the F-DB, e.g. "FData1". Use the names assigned in the declaration of the F-DB instead of the absolute addresses. Figure 3-7 Example with fully-qualified access Access to instance DBs...
Page 69: F-Conform Plc Data Types (Udt)
Safety program of the F-PLC 3.6 F-conform PLC data types (UDT) F-conform PLC data types (UDT) Introduction You declare and use F-conform PLC data types (UDT) as you would standard PLC data types (UDT). You can use F-conform PLC data types (UDT) in the safety program as well as in the standard user program.
Page 70: Grouping Plc Variables For Inputs And Outputs Of F-I/O In Structures (S7-1500)
Safety program of the F-PLC 3.6 F-conform PLC data types (UDT) 3.6.1 Grouping PLC variables for inputs and outputs of F-I/O in structures (S7-1500) You group PLC tags for inputs and outputs of F-I/O in structures (structured PLC tag) as you would for inputs and outputs of standard I/O.
Page 71: Instructions For The Safety Program
A detailed description of the instructions for the safety program provided in the Programming and Operating Manual SIMATIC Safety - Configuring and Programming (https:// support.industry.siemens.com/cs/ww/en/view/54110126). Alternatively, you can call up these descriptions directly in the TIA Portal by moving the tooltip over a specific instruction.
Page 72 Safety program of the F-PLC 3.7 Instructions for the safety program Figure 3-9 Tooltip of an instruction Safety Integrated (with SINAMICS S120) Commissioning Manual, 02/2020, A5E46305916B AB...
Page 73: F-Runtime Groups
Safety program of the F-PLC 3.8 F-runtime groups F-runtime groups 3.8.1 Rules for F-Runtime Groups of the Safety Program Rules Note the following: ● The channels (channel values and value status) of an F-I/O can only be accessed from a single F-runtime group.
Page 74: Procedure When Specifying An F-Runtime Group
Safety program of the F-PLC 3.8 F-runtime groups Note You can improve performance by writing sections of the program that are not required for the safety function in the standard user program. When determining which elements to include in the standard user program and which to include in the safety program, you should keep in mind that the standard user program can be modified and downloaded to the F-CPU more easily.
Page 75 Safety program of the F-PLC 3.8 F-runtime groups Figure 3-11 Display work cell F-runtime group Safety Integrated (with SINAMICS S120) Commissioning Manual, 02/2020, A5E46305916B AB...
Page 76 Safety program of the F-PLC 3.8 F-runtime groups "F-runtime group" work cell Figure 3-12 Safety Administration Editor - work cell F-runtime group ① Failsafe organization block (F-OB) 1. Under "F-OB" assign a name for the F-OB; the default value is "FOB_RTG1". 2.
Page 77 Safety program of the F-PLC 3.8 F-runtime groups 3. If necessary, you can manually change the F-OB number that the system suggests. When doing this, observe the number ranges permissible for the particular event class. 4. For F-OBs with event class "Cyclic interrupt", parameterize cycle time, phase shift and priority.
Page 78 Safety program of the F-PLC 3.8 F-runtime groups ③ Runtime group parameters 1. The F-CPU monitors the F-cycle time of the F-runtime group. Two parameters are available to do this. – If the "Warning limit cycle time of the F-runtime group" is exceeded, then an entry is written to the diagnostics buffer of the F-CPU.
Page 79: F-Runtime Group Information Db
Safety program of the F-PLC 3.8 F-runtime groups 3.8.3 F-runtime group information DB Introduction The F-runtime group information DB provides key information on the corresponding F-runtime group and on the safety program as a whole. The F-runtime group information DB is generated automatically when an F-runtime group is created.
Page 80: Creating F-Blocks
Safety program of the F-PLC 3.9 Creating F-blocks Creating F-blocks Introduction In order to create F-FBs, F-FCs, and F-DBs for the safety program, you should follow the same basic procedure as for standard blocks. In the following, only the deviations from the procedure for standard blocks are presented.
Page 81 Safety program of the F-PLC 3.9 Creating F-blocks Copying/pasting F-blocks You can copy F-FBs, F-FCs, and F-DBs in exactly the same was as blocks of the standard user program. Exception: You must not copy blocks from the folder "Program blocks > System blocks". Nesting depth for F‑FBs and F‑FCs We recommend that you do not exceed a nesting depth of 8 levels.
Page 82: Using Libraries
Safety program of the F-PLC 3.10 Using libraries 3.10 Using libraries Introduction As with standard blocks, you have the option of storing F-blocks which you wish to reuse as master copy or types in global libraries or in the project library. Additional information can be found in the help for STEP 7 under "Using libraries".
Page 83: Safety-Relevant Communication
Safety program of the F-PLC 3.11 Safety-relevant communication 3.11 Safety-relevant communication Introduction Here, you can obtain an overview of the possibilities of safety-related communication in SIMATIC Safety F-systems. Options for safety-related communication Safety-related communication On subnet Additional hardware required Safety-related CPU-CPU communication: IO controller-IO controller communica‐...
Page 84: Access To Safety Integrated Drives And F-I/O
Safety program of the F-PLC 3.12 Access to Safety Integrated drives and F-I/O 3.12 Access to Safety Integrated drives and F-I/O Overview A description is subsequently provided as to how you can address F-I/O and safety-related drive telegrams in the safety program - and which rules you must observe. Addressing via the process image You address F-I/O and safety-related drive telegrams just the same as for standard I/O using the process image (PAE and PAA).
Page 85 Safety program of the F-PLC 3.12 Access to Safety Integrated drives and F-I/O ● Channels can be deactivated for certain F-I/O (e.g. failsafe modules ET 200SP or failsafe modules S7-1500/ET 200MP). Only address channels (channel value and value status) that are activated in the hardware configuration.
Page 86: Programming Startup Protection
Safety program of the F-PLC 3.13 Programming startup protection 3.13 Programming startup protection Introduction Initiating a STOP state, e.g. using PG/PC operator action, mode switch, communication function or "STP" instruction - as well as maintaining a STOP state - are not safety relevant. This STOP state can be very simply (also inadvertently) withdrawn, e.g.
Page 87: Implementing A User Acknowledgment
Safety program of the F-PLC 3.14 Implementing a user acknowledgment 3.14 Implementing a user acknowledgment Send data must be reintegrated after communication, channel and F-I/O faults. The existing operations provide the following options: ● Parameter "ACK_REI": Special acknowledgment for the reintegration for each F-I/O ●...
Page 88: 3.15 Data Exchange Between The Standard User Program And Safety Program
Safety program of the F-PLC 3.15 Data exchange between the standard user program and safety program 3.15 Data exchange between the standard user program and safety program You have the option of transferring data between the safety program and the standard user program.
Page 89: Data Transfer From The Safety Program To The Standard User Program
Safety program of the F-PLC 3.15 Data exchange between the standard user program and safety program 3.15.1 Data transfer from the safety program to the standard user program Overview The standard user program can read out all data of the safety program, e.g. using symbolic (fully qualified) access operations to: ●...
Page 90: Data Transfer From Standard User Program To The Safety Program
Safety program of the F-PLC 3.15 Data exchange between the standard user program and safety program 3.15.2 Data transfer from standard user program to the safety program Overview It is only permissible that fail-safe data or fail-safe signals from the F-I/O and other safety programs (in other F-CPUs) are processed in the safety program, as all variables from the standard program are not secured.
Page 91 Safety program of the F-PLC 3.15 Data exchange between the standard user program and safety program Data block In order to process tags of the standard user program in the safety program, you can read tags from data blocks of the standard user program in the safety program. However, a read tag must not be written in the safety program itself.
Page 92 Safety program of the F-PLC 3.15 Data exchange between the standard user program and safety program Also note that the clock memory, which you defined under tab "Properties" when configuring the F-CPU, can change during the runtime of the F-runtime group. This is because the clock memory runs asynchronously to the F-CPU cycle.
Page 93: Safety Functions Integrated In The Drive
Safety functions integrated in the drive Introduction to Safety Integrated Functions This chapter provides the following information on the individual safety functions integrated in the drive: ● Basic principle of operation ● Example of how they are used ● Details and parameterization required, for example when commissioning using the parameter list.
Page 94: Ss1 Basic
Safety functions integrated in the drive 4.2 SS1 Basic: SS1 Basic: Definition according to EN 61800-5-2: "The SS1 function brakes the motor and in‐ itiates the STO function after a delay time." Select SS1 Example of how the function can be used Example Possible solution A central Emergency Stop button ensures that sev‐...
Page 95: Details And Parameterization
Safety functions integrated in the drive 4.2 SS1 Basic: 4.2.1 Details and parameterization 4.2.1.1 SS1 with OFF3 The "Safe Stop 1" (SS1) function allows the drive to be stopped in accordance with EN 60204-1, Stop Category 1. The drive decelerates with the OFF3 ramp (p1135) once "Safe Stop 1" is selected and switches to "Safe Torque Off"...
Page 96: Ss1 With External Stop (Ss1E)
Safety functions integrated in the drive 4.2 SS1 Basic: ● The timer (p9652) after whose expiration STO is activated, is implemented with two channels, although deceleration along the OFF3 ramp is only one channel. ● Effect on "Setpoint speed limit effective" (r9733[0...2]): For SS1 (≙...
Page 97: Function Diagrams And Parameters
Safety functions integrated in the drive 4.2 SS1 Basic: Differences between "SS1 with OFF3" and "SS1 with external stop" "SS1 with OFF3" and "SS1 with external stop" have the following differences: ● In order to activate "Safe Stop 1 with external stop", additionally set p9653 to 1. ●...
Page 98 Safety functions integrated in the drive 4.3 SS1 Definition according to EN 61800-5-2: The "SS1" function causes the motor to brake (this function is integrated in the drive) and ini‐ tiates the "Safe Torque Off" (STO) function after a predefined time interval has elapsed. The fol‐ lowing variants are possible: ●...
Page 99 Safety functions integrated in the drive 4.3 SS1 Monitoring modes ● For the Extended Functions with or without encoder, you can choose between 2 different monitoring modes of the function SS1: – Safe Brake Ramp (SBR) – Safe Acceleration Monitor (SAM) Brake ramp monitoring Acceleration monitoring (with or without encoder)
Page 100: Details And Parameterization
Safety functions integrated in the drive 4.3 SS1 Note SS1 with external stop (SS1E) If you use "SS1 with external stop", neither of the two monitoring functions (SBR, SAM) is active. For SS1E, the drive must be stopped within the delay time, for example via the PLC program.
Page 101: Safe Stop 1 Without Encoder
Safety functions integrated in the drive 4.3 SS1 To enable the drive to brake to standstill after selection, the time in p9556 must be selected to be long enough for the drive to be able to brake along the OFF3 ramp (p1135) from any speed of the underlying process to below the shutdown speed (p9560).
Page 102 Safety functions integrated in the drive 4.3 SS1 Figure 4-1 Sequence for "Safe Stop 1" without encoder with SBR monitoring (p9506 = 1) Functional feature of Safe Stop 1 without encoder ● Selection and monitoring of the brake ramp (SBR) or the acceleration (SAM) are implemented in two channels, however braking at the OFF3 ramp is only through one channel.
Page 103: Ss1 (Extended Functions) With External Stop
Safety functions integrated in the drive 4.3 SS1 4.3.1.3 SS1 (Extended Functions) with external stop General description WARNING Unexpected axis motion when the SS1E function is active When the SS1E function is active, during the monitored delay time, axis motion that is not monitored can occur.
Page 104 Safety functions integrated in the drive 4.3 SS1 Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1135[0...n] OFF3 ramp-down time ● p9501 SI Motion enable safety functions (Control Unit) ● p9506 SI Motion function specification (Control Unit) ● p9556 SI Motion STOP A delay time (Control Unit) ●...
Page 105: Sto (Basic/Extended)
Safety functions integrated in the drive 4.4 STO (Basic/Extended) STO (Basic/Extended) Definition according to EN 61800-5-2: "The STO function prevents energy from being supplied to the motor, which can generate a tor‐ que." Select STO Examples of how the function can be used Example Possible solution It is only permissible to open a protective door if the...
Page 106 Safety functions integrated in the drive 4.4 STO (Basic/Extended) Functional features of "Safe Torque Off" ● The function is completely integrated in the drive. It can be selected via terminals or PROFIsafe from an external source. ● The function is drive-specific, i.e. it is available for each drive and must be individually commissioned.
Page 107 Safety functions integrated in the drive 4.4 STO (Basic/Extended) The maximum movement can involve: ● Synchronous rotary motors: Max. movement = 180° / no. of pole pairs ● Synchronous linear motors: Max. movement = pole width Enabling the "Safe Torque Off" function The "Safe Torque Off"...
Page 108 Safety functions integrated in the drive 4.4 STO (Basic/Extended) Status for "Safe Torque Off" You can check the status in the SI diagnostics screens via "MENU SELECT > Diagnostics > Menu forward key > Safety". Internal armature short-circuit with the "Safe Torque Off" function The function "internal armature short-circuit"...
Page 109: Sbc (Basic/Extended)
Safety functions integrated in the drive 4.5 SBC (Basic/Extended) SBC (Basic/Extended) Definition according to EN 61800-5-2: "The SBC function supplies a safe output signal to control a holding brake." Safe Brake Control (SBC) Example of how the function can be used Example Possible solution The safe control of a motor holding brake must be...
Page 110 Safety functions integrated in the drive 4.5 SBC (Basic/Extended) The opening and closing of the brake is controlled by the Motor Module / Power Module. Terminals are available for this on the device in booksize format. A Safe Brake Relay is also required for the "Safe Brake Control"...
Page 111: Sbc For Motor Modules In The Chassis Format
Safety functions integrated in the drive 4.5 SBC (Basic/Extended) Two-channel brake control Note Connecting the brake The brake cannot be directly connected to the Motor Module in chassis format: A Safe Brake Adapter is also required. The brake is controlled from the Control Unit. Two signal paths are available for applying the brake.
Page 112 Safety functions integrated in the drive 4.5 SBC (Basic/Extended) Further functionality and the activation of the brake, i.e. reaching the safe status, are in this case the same as the above described procedure for booksize devices. Safe Brake Control with power units in a parallel connection Note SBC for parallel connection of power units Safe Brake Control with power units in a parallel connection is available if r9771.14 = 1.
Page 113: Function Diagrams And Parameters
Safety functions integrated in the drive 4.5 SBC (Basic/Extended) 4.5.1.2 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) ● 2814 SI Basic Functions - SBC (Safe Brake Control), SBA (Safe Brake Adapt‐ Overview of important parameters (see SINAMICS S120/S150 List Manual) ●...
Page 114 Safety functions integrated in the drive 4.5 SBC (Basic/Extended) The brake cannot be directly connected to the Motor Module in the chassis format. The connection terminals are only designed for 24 VDC with 150 mA; the Safe Brake Adapter is required for higher currents and voltages.
Page 115 Safety functions integrated in the drive 4.6 SS2 Definition according to EN 61800-5-2: 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: ●...
Page 116 Safety functions integrated in the drive 4.6 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).
Page 117: Details And Parameterization
Safety functions integrated in the drive 4.6 SS2 Note SS2 with external stop (SS2E) If you use SS2E, neither of the two monitoring functions (SBR, SAM) is active. The drive is decelerated by interpolation (SIC/SCC is required for this). SOS becomes active after the delay time expires.
Page 118: Ss2 With External Stop (Ss2E)
Safety functions integrated in the drive 4.6 SS2 Responses ● Speed limit violated (SAM): – STOP A – Safety message C01706 ● Standstill tolerance violated in p9530 (SOS): – STOP B with subsequent STOP A – Safety message C01707 ● System fault: –...
Page 119 Safety functions integrated in the drive 4.6 SS2 Figure 4-6 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)" ●...
Page 120 Safety functions integrated in the drive 4.6 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.
Page 121 Safety functions integrated in the drive 4.6 SS2 configured gear stages. If the set braking time is too short, then alarm 22002 "Channel %1 block %2 axis %3: braking time %6 [s] longer than the stop D time. Reason: %5" is output. If the spindle is in axis operation, then it behaves just like an axis.
Page 122: Safe Stop 2 Extended Stop And Retract (Ss2Esr)
Safety functions integrated in the drive 4.6 SS2 Notes: ● For an INCH-METRIC switchover, it makes sense to round off the calculated value to one decimal place. This compensates for internal rounding effects, and ensures an alarm is not triggered. ●...
Page 123 Safety functions integrated in the drive 4.6 SS2 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. ●...
Page 124 Safety functions integrated in the drive 4.6 SS2 Interrupting active SS2ESR with SS1 and SS2 Figure 4-11 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.
Page 125: Sos
Safety functions integrated in the drive 4.7 SOS Definition according to EN 61800-5-2: "This SOS function is used for safe monitor‐ ing of the standstill position of a drive." 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 ●...
Page 126: Details And Parameterization
Safety functions integrated in the drive 4.7 SOS Figure 4-12 Standstill tolerance 4.7.1 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.
Page 127 Safety functions integrated in the drive 4.7 SOS Note Size of the tolerance window The size of the tolerance window should be slightly above the standard standstill monitoring limit, otherwise the standard monitoring functions will no longer be effective. Parameter r9731 indicates the safe position accuracy (load side) that can be achieved as a maximum, based on the acquisition of the actual value for the safe motion monitoring functions.
Page 128: Sam
Safety functions integrated in the drive 4.8 SAM The "Safe Acceleration Monitor" (SAM) function is used to safety monitor braking along the OFF3 ramp. The function is active for SS1, SS2 or STOP B and STOP C. Features As long as the speed is less, the converter continuously adds the adjustable tolerance p9548 to the actual speed so that the monitoring tracks the speed.
Page 129 Safety functions integrated in the drive 4.8 SAM ● Recommendation The SAM tolerance value entered should be approx. 20% higher than the calculated value. ● You set the tolerance such that the "overshoot" is tolerated that necessarily occurs when standstill is reached after braking along the OFF3 ramp. However, it cannot be calculated as to just how high this is.
Page 130: Sbr
Safety functions integrated in the drive 4.9 SBR The Safe Brake Ramp (SBR) function provides a safe method for monitoring the brake ramp. The Safe Brake Ramp function is used to monitor braking for functions "SS1 with/without encoder," "SLS without encoder" - as well as for STOP B / STOP C (for Safety with encoder). For SLS, the setpoint limiting of the Safety Integrated Functions (r9733) must be connected to the ramp-function generator (p1051/p1052).
Page 131 Safety functions integrated in the drive 4.9 SBR Figure 4-13 Safe Brake Ramp without encoder (for SLS) Safety Integrated (with SINAMICS S120) Commissioning Manual, 02/2020, A5E46305916B AB...
Page 132: Overview Of Important Parameters (See Sinamics S120/S150 List Manual)
Safety functions integrated in the drive 4.9 SBR Parameterization of the brake ramp p9581 (SI Motion braking ramp reference value) and p9583 (SI Motion brake ramp monitoring time) are used to set the gradient of the brake ramp. Parameter p9581 determine the reference speed and parameter p9583 define the ramp-down time.
Page 133: Sls
Safety functions integrated in the drive 4.10 SLS 4.10 Definition according to EN 61800-5-2: "The SLS function prevents the motor from exceeding the specified speed limit." Select SLS Examples of how the function can be used Example Possible solution After opening a protective door, the machine opera‐ ●...
Page 134 Safety functions integrated in the drive 4.10 SLS Note SLS without selection As an alternative to controlling via terminals and/or PROFIsafe, there is also the option to parameterize the SLS function without selection. In this case, the SLS function is permanently active after POWER ON.
Page 135 Safety functions integrated in the drive 4.10 SLS With braking ramp monitoring Without braking ramp monitoring (only without encoder) (with or without encoder) ● After the adjustable "delay time for the braking ● The converter monitors the load velocity after ramp", using the SBR (Safe Brake Ramp) func‐...
Page 136 Safety functions integrated in the drive 4.10 SLS Selecting SLS at low velocities If the motor velocity when selecting SLS is less than the SLSlimit, then the drive responds as follows: Figure 4-14 Selecting SLS at low velocities Deselecting SLS If the higher-level controller deselects SLS , then the converter deactivates limiting and monitoring.
Page 137 Safety functions integrated in the drive 4.10 SLS Switching to a lower speed level With braking ramp monitoring Without braking ramp monitoring (only without encoder) (with or without encoder) ● Once the "delay time for braking ramp" has ● The converter monitors the velocity with the elapsed, the converter monitors the motor ve‐...
Page 138: Details And Parameterization
Safety functions integrated in the drive 4.10 SLS Figure 4-15 Switching to a higher speed level 4.10.1 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.
Page 139: Connection To The Motion Control In The Nc
Safety functions integrated in the drive 4.10 SLS Note Setpoint speed limit and SLS ● When parameterizing SLS, it also makes sense to configure the setpoint speed limiting. This is done in a higher-level controller that evaluates the safety information channel, for example, or by wiring r9733[0/1] to the speed limits of the ramp-function generator (p1051/ p1052).
Page 140 Safety functions integrated in the drive 4.10 SLS ● After the delay time has elapsed, if the actual speed of the drive is higher than the new Safely-Limited Speed limit then a message is generated with the parameterized stop response. ●...
Page 141 ● STOP F ● Safety messages C01711 Transferring the first limit value via SIEMENS telegram 901, 902 or 903 You have the option of influencing the first SLS limit value via PROFIsafe: ● The transfer of the first SLS limit value via PROFIsafe is active if the speed level 1 in the PROFIsafe telegram is selected and the bit "Enable transfer SLS (SG) limit via PROFIsafe"...
Page 142: Safely Limited Speed Without Encoder
Safety functions integrated in the drive 4.10 SLS 4.10.1.3 Safely Limited Speed without encoder Functions 2 different encoderless Safely-Limited Speed monitoring functions can be set with parameter p9506: ● p9506 = 3: Safe monitoring of acceleration (SAM) / delay time The function is identical to "Safely-Limited Speed with encoder"...
Page 143 Safety functions integrated in the drive 4.10 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.
Page 144: Safely-Limited Speed Without Selection
Safety functions integrated in the drive 4.10 SLS 4.10.1.4 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. ●...
Page 145: Function Diagrams And Parameters
Safety functions integrated in the drive 4.10 SLS 4.10.1.5 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) ● 2820 SI Extended Functions - SLS (Safely-Limited Speed) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p9501.0 SI Motion enable safety functions (Control Unit) ●...
Page 146 Safety functions integrated in the drive 4.10 SLS Using parameter r9733, the safety functions offer EPOS setpoint limiting values, which when taken into account, prevent the safety limit value being violated. In order to prevent a safety limit violation by the EPOS setpoint specification, you must transfer the setpoint limit value (r9733) as follows to the maximum speed setpoint of EPOS (p2594): ●...
Page 147: Ssm
Safety functions integrated in the drive 4.11 SSM 4.11 Definition according to EN 61800-5-2: "The SSM function supplies a safe out‐ put signal to indicate whether the motor speed is below a specified limit value." Example of how the function can be used Example Possible solution A centrifuge may only be filled below a velocity de‐...
Page 148 Safety functions integrated in the drive 4.11 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.
Page 149: Signal Characteristic (With Encoder)
Safety functions integrated in the drive 4.11 SSM Figure 4-17 Time response of the safety function SSM (Safe Speed Monitor) 4.11.1.1 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).
Page 150: Signal Characteristic (Without Encoder)
Safety functions integrated in the drive 4.11 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.
Page 151: Function Diagrams And Parameters
Safety functions integrated in the drive 4.11 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.
Page 152 Safety functions integrated in the drive 4.11 SSM Overview of important parameters (see SINAMICS S120/S150 List Manual) 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) –...
Page 153: Sdi
Safety functions integrated in the drive 4.12 SDI 4.12 Definition according to EN 61800-5-2: "The SDI function prevents the motor shaft mov‐ ing in the wrong direction." Select SDI Examples of how the function can be used Example Possible solution A protective door must only be opened if a drive ●...
Page 154 Safety functions integrated in the drive 4.12 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.
Page 155: Details And Parameterization
Safety functions integrated in the drive 4.12 SDI 4.12.1 Details and parameterization Note Response to bus failure If p9580 ≠ 0 and SDI is active, in the event of communication failure, the parameterized ESR reaction is only realized if, as SDI response, a STOP with delayed pulse cancellation when the bus fails has been parameterized (p9566[0...3] ≥...
Page 156: Safe Direction Without Encoder
Safety functions integrated in the drive 4.12 SDI Enabling the Safe Direction function The "Safe Direction" function is enabled with p9501.17 = 1. Figure 4-21 Functional principle SDI with encoder 4.12.1.2 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 251).
Page 157 Safety functions integrated in the drive 4.12 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.
Page 158: Safe Direction Without Selection
Safety functions integrated in the drive 4.12 SDI 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. When acknowledging SDI with STOP C, you must maintain the following sequence: 1.
Page 159: Function Diagrams And Parameters
Safety functions integrated in the drive 4.12 SDI Switching the motor on and off (without encoder) The time response and diagnostic options are as follows in this SDI version: Figure 4-22 Time response of SDI without selection (example: Switching the motor on and off (without encoder)) "SDI without selection"...
Page 160 Safety functions integrated in the drive 4.12 SDI ● p9501.17 SI Motion enable safety functions (Control Unit): Enable SDI ● p9506 SI Motion function specification (Control Unit) ● p9509 SI Motion behavior during pulse suppression (Control Unit) ● p9564 SI Motion SDI tolerance (Control Unit) ●...
Page 161: Slp
Safety functions integrated in the drive 4.13 SLP 4.13 Definition according to EN 61800-5-2: "The SLP function prevents the motor shaft from exceeding the specified position limit(s)." Examples of how the function can be used Example Possible solution It is not permissible that the drive exits the specified ●...
Page 162 Safety functions integrated in the drive 4.13 SLP A description of safe referencing is provided in Chapter "Safe referencing (Page 189)". Principle of operation As soon as SLP is active, maintaining the limits of the active positioning range is safely monitored.
Page 163 Safety functions integrated in the drive 4.13 SLP Control and status signals from the SLP Selecting SLP and switching over between the position ranges is performed via a PROFIsafe control bit. SLP selection can be checked using parameter r9720.6. The selected position range can be checked using parameter r9720.19.
Page 164: Retraction
Safety functions integrated in the drive 4.13 SLP Note Restrictions for PROFIsafe telegram 30 The use of PROFIsafe telegram 30 (with 16-bit words S_STW1 and S_ZSW1) has the following restrictions: ● Only position range 1 is available. ● A switchover to position range 2 is not possible. ●...
Page 165: Function Diagrams And Parameters
Note FAQ retraction A description of how retraction can be implemented via a failsafe control and PROFIsafe communication is provided in the Internet at: FAQ retraction (https://support.industry.siemens.com/cs/ww/en/view/65128501) 4.13.1.2 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) ● 2822 SI Extended Functions - SLP (Safely-Limited Position) ●...
Page 166: Details And Parameterization
Safety functions integrated in the drive 4.14 SP 4.14 The "Safe Position (SP)" function enables you to transfer safe position values to the F-CPU via PROFIsafe (telegram 901 or 902). From the position change over a specific time, the F-PLC can also calculate the actual velocity. In telegram 902, the values are transferred in 32- bit format, in telegram 901, in 16-bit format.
Page 167 Safety functions integrated in the drive 4.14 SP Enabling the "Transfer safe position values" function The following steps are required to enable the "Transfer safe position values" function: ● Enable the Safety Integrated Extended Functions – p9601 = 12 = C hex (≙ Extended Functions via PROFIsafe) –...
Page 168 Safety functions integrated in the drive 4.14 SP Setting the modulo value for rotary axes ● p9505 is used to define the modulo range of a safety rotary axis (p9502 = 1) when the transfer of a safe absolute position (p9501.2 = 1 and p9501.25 = 1) is enabled. Parameterizing the modulo value can result in a jump in the position actual value if the range that can be represented overflows.
Page 169 Safety functions integrated in the drive 4.14 SP Value range r9708 The diagnostics information in parameter r9708 is displayed with the following properties: Table 4-3 Value range and resolution (32 bits) Linear axis Rotary axis Position values ±737280000 ±737280000 Unit 1 μm 0.001 °...
Page 170: Sbt
Safety functions integrated in the drive 4.15 SBT 4.15 The diagnostic function "Safe Brake Test" function (SBT) checks the required hold‐ ing torque of a brake (operating or holding brake). You can test linear and rotary brakes. The drive purposely generates a force/torque against the applied brake.
Page 171: Details And Parameterization
Safety functions integrated in the drive 4.15 SBT The SBT function integrated in the drive does not require a setpoint from the PLC or NC - but only an enable signal from the NC, and control via PLC user program. The relevant signals when executing the brake test (SBT) are communicated between the PLC and drive via the Safety Info Channel and the Safety Control Channel (SIC/SCC).
Page 172: Handling Overview
Safety functions integrated in the drive 4.15 SBT ● Safety Integrated Extended Functions with encoder have been enabled. You can find information about possible encoder concepts in Chapter "Safe actual value acquisition (Page 191)". Note SBT only with encoder The "Safe Brake Test" (SBT) diagnostic function can only be used with an encoder. ●...
Page 173: Enabling The Function
Safety functions integrated in the drive 4.15 SBT Table 4-5 Deselecting SBT Step Procedure Select SBT via SCC by setting bit 0 "SELECTION_SBT" to 0 in STW3 (signal edge 1 => 0). See also: Selection (Page 176) → DRV initiates the de-selection process, and then in ZSW3 bit 1 "SETPOINT_SET‐ TING_DRIVE"...
Page 174 Safety functions integrated in the drive 4.15 SBT p10203 Selects SBT Via SCC Via BICO For test stop / forced checking procedure ● Check the motor type; the following must apply: p10204 = r0108.12 For testing brake 1 [index 0] or 2 [index 1], initially, those values must be entered, which apply to both test sequences: ●...
Page 175 Safety functions integrated in the drive 4.15 SBT You can parameterize 2 test sequences for each brake. Each test sequence is characterized by the following setting values: ● Brake test sequence 1 p10210[0,1] Test torque to be generated in % of the brake holding torque p10211[0,1] Test duration in ms p10212[0,1]...
Page 176: Selection
Safety functions integrated in the drive 4.15 SBT 4.15.1.4 Selection You have the following options for the selection of the Safe Brake Test: ● Safety Control Channel (SCC) via PROFINET (external drives) Using SCC, the SBT function can be directly controlled from a higher-level control system. Select the brake test sequence with a 0/1 edge in S_STW3B bit 0 See also: Safety Info Channel and Safety Control Channel (SIC/SCC) (Page 212), SBT: Communication via SIC/SCC (Page 179)
Page 177: Sequence
Safety functions integrated in the drive 4.15 SBT 4.15.1.6 Sequence SBT has the following basic sequence: Figure 4-23 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.
Page 178: Cancellation/Deselection And Acknowledgment (Sbt)
Safety functions integrated in the drive 4.15 SBT ● After deselection of the test sequence (test sequence is switched off), another test sequence can be started, e.g. with a different brake in a different direction, assuming that the brake test is still selected. ●...
Page 179: Communication Via Sic/Scc
Safety functions integrated in the drive 4.15 SBT 4.15.1.8 Communication via SIC/SCC Test of a motor holding brake The following figure shows the communication via SIC and SCC during the test of a motor holding brake: Figure 4-24 Testing a motor holding brake Safety Integrated (with SINAMICS S120) Commissioning Manual, 02/2020, A5E46305916B AB...
Page 180: Function Diagrams And Parameters
Safety functions integrated in the drive 4.15 SBT Test of an external brake The following figure shows the communication via SIC and SCC during the test of an external brake: Figure 4-25 Testing an external brake 4.15.1.9 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) ●...
Page 181 Safety functions integrated in the drive 4.15 SBT Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1215 Motor holding brake configuration ● p1216 Motor holding brake opening time ● p1217 Motor holding brake closing time ● p9501 SI Motion enable safety functions (Control Unit) ●...
Page 182: Sca
Safety functions integrated in the drive 4.16 SCA 4.16 Definition according to EN 61800-5-2: SCA 3 The function "Safe Cam" (SCA) safe SCA 2 supplies a safety-related output sig‐ SCA 1 nal to indicate whether the motor shaft position is within a defined range.
Page 183 Safety functions integrated in the drive 4.16 SCA Defining the output cam positions ● You define the output cam positions to be monitored using the parameters p9536[x] and p9537[x] (where x = 0 ... 29). Note that the defined output cams must have a certain minimum length: p9536[x] - p9537[x] ≥...
Page 184 Safety functions integrated in the drive 4.16 SCA Select SCA Select the SCA function using the PROFIsafe control word S_STW2.23. For SCA, you must use telegram 903, in which control word S_STW2 and status word S_ZSW_CAM1 are available for SCA. Cam synchronization For transmission of the cam status word via PROFIsafe to the F host, the cam signals of the two monitoring channels are synchronized.
Page 185: Sla
Safety functions integrated in the drive 4.17 SLA 4.17 Definition according to EN 61800-5-2: "The SLA function prevents the motor from exceeding the defined acceleration limit." Examples of how the function can be used Example Possible solution In the setup mode, it is not permissible that the drive ●...
Page 186 Safety functions integrated in the drive 4.17 SLA Once selected, the SLA function becomes immediately active without any delay. You can use telegrams 30, 31, 901, 902 and 903 for SLA. These telegrams contain the control words S_STW1.8 and S_STW2.8 and status words S_ZSW1.8 and S_ZSW2.8 for SLA. Acceleration limit ●...
Page 187: Details And Parameterization
Safety functions integrated in the drive 4.17 SLA 4.17.1 Details and parameterization Principle of operation The following diagram shows the principle of operation of SLA: Figure 4-27 Safely-Limited Acceleration (SLA): Principle Transmission via PROFIsafe Once SLA has been parameterized and selected, the monitoring results are transmitted in status words S_ZSW1.8 or S_ZSW2.8.
Page 188 Safety functions integrated in the drive 4.17 SLA Function diagrams (see SINAMICS S120/S150 List Manual) ● 2838 SLA (Safely-Limited Acceleration) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p9501 SI Motion enable safety functions (Control Unit) ● p9576 SI Motion SLA filter time (CU) ●...
Page 189: Safe Referencing
User agreement Note For SINUMERIK MC, the options relating to user agreement known from SINUMERIK can neither be used in the "Machine" area nor via commissioning screen forms. OEMs must provide the appropriate options so that users can set their user agreement signal.
Page 190 Safety functions integrated in the drive 4.18 Safe referencing Function diagrams (see SINAMICS S120/S150 List Manual) ● 2821 SI Extended Functions - Safe referencing Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p9572 SI Motion reference position (Control Unit) ●...
Page 191: Safe Actual Value Acquisition
Safety functions integrated in the drive 4.19 Safe actual value acquisition 4.19 Safe actual value acquisition 4.19.1 Reliable actual value acquisition with encoder system Supported encoder systems The following encoder systems can in principle be used for safety-relevant speed/position acquisition: ●...
Page 192 Safety functions integrated in the drive 4.19 Safe actual value acquisition Special feature in the case of linear motors The motor encoder (linear scale) of linear motors also acts as load measuring system. Only one measuring system is required for this reason. The system is connected by means of a Sensor Module or directly via DRIVE-CLiQ.
Page 193 Safety functions integrated in the drive 4.19 Safe actual value acquisition Figure 4-30 Example of a 2-encoder system on a rotary axis When parameterizing a 2-encoder system with Safety Integrated, you must align parameters p9315 to p9329 with parameters r0401 to r0474. Note Assignment of the encoder parameters Parameters p95xx are assigned to the 1st encoder;...
Page 194 Safety functions integrated in the drive 4.19 Safe actual value acquisition Safety parameters Designation Encoder parameters p9319/p9519 SI Motion fine resolution G1_XIST1 p0418 p9320/p9520 SI Motion leadscrew pitch Encoder parameterizing screen form p9321/p9521 SI Motion gearbox encoder Encoder parameterizing screen form p9322/p9522 SI Motion gearbox encoder Encoder parameterizing...
Page 195 The FMEA must be created by the machine manufacturer. Information about Siemens motors with and without DRIVE-CLiQ connection, which can be used for Safety Integrated Functions, is available in the SIOS Portal: Suitable motors and encoders (https://support.industry.siemens.com/cs/ww/en/view/...
Page 196 Safety functions integrated in the drive 4.19 Safe actual value acquisition Actual value synchronization This deviation cannot be larger than the position difference that can occur at maximum slip (p9549) during a cross-check cycle (r9724). Figure 4-31 Example diagram of actual value synchronization The mean value of the actual values of both channels is calculated cyclically after actual value synchronization (p9301.3 = 1) has been activated, for example, for systems or machines with slip.
Page 197: Overview Of Important Parameters
Safety functions integrated in the drive 4.19 Safe actual value acquisition 4.19.2 Overview of important parameters Overview of important parameters - with encoder system (see SINAMICS S120/S150 List Manual) ● p9501.3 SI Motion enable safety functions (Control Unit), enable actual value synchronization ●...
Page 198: Safe Gearbox Stage Switchover
Safety functions integrated in the drive 4.20 Safe gearbox stage switchover 4.20 Safe gearbox stage switchover "Safe gearbox switchover" allows you to switch between 8 gearbox ratios in operation. Switchover between gearbox ratios is only possible via PROFIBUS (p9601.3 = 1). Parameterization Before you can use "Safe gearbox switchover", you must parameterize the following values: ●...
Page 199 Safety functions integrated in the drive 4.20 Safe gearbox stage switchover Gearbox switchover without increased position tolerance In order to switch over the gearbox stage, where no increased tolerance is required for the crosswise comparison of the actual positions, proceed as follows: ●...
Page 200 Safety functions integrated in the drive 4.20 Safe gearbox stage switchover Gearbox switchover with increased position tolerance In order to switch over the gearbox stage, where increased tolerance is required for the crosswise comparison of the actual positions, proceed as follows: Note Maximum duration of the increased position tolerance It is not permissible that the increased position tolerance is set for longer than 2 min.
Page 201 Safety functions integrated in the drive 4.20 Safe gearbox stage switchover Figure 4-33 Gearbox switchover with increased position tolerance Diagnostics The selected gearbox stage is displayed for diagnostic purposes in parameter r9720, bits 24 to The selected gearbox stage is displayed for diagnostic purposes in parameter r9720, bit 27. "Safe gearbox switchover"...
Page 202 Safety functions integrated in the drive 4.20 Safe gearbox stage switchover Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p9501.26 SI Motion enable safety functions (Control Unit): Enable reliable gear‐ box switchover ● p9521[0...7] SI Motion gearbox encoder (motor)/load denominator (Control Unit) ●...
Page 203: Forced Checking Procedure/Test Stop
Safety functions integrated in the drive 4.21 Forced checking procedure/test stop 4.21 Forced checking procedure/test stop The functions and switch-off signal paths must be tested at least once within a defined period to establish whether they are working properly in order to meet the requirements of EN ISO 13849-1 and IEC 61508 in terms of timely error detection.
Page 204: Options And Control
Safety functions integrated in the drive 4.21 Forced checking procedure/test stop 4.21.2 Options and control Note Requirements STO is triggered when a test stop is carried out for the Safety Integrated Functions. It is not permissible that STO is selected before selecting the test stop. When blocksize Power Modules are used, the test stop must be triggered under controlled standstill conditions (speed setpoint setting of 0, current is flowing through the motor).
Page 205: Controlling Safety Functions Integrated In The Drive
Controlling safety functions integrated in the drive Control possibilities The following options are available for controlling safety functions integrated in the drive: Table 5-1 Controlling the Safety Integrated Functions Scope Basic Functions Extended Functions Control type Telegrams to control process data via PROFIsafe and SIC/SCC (PROFIdrive) See: ●...
Page 206: Overview Of Telegrams
● PROFIsafe telegram 30 PROFIsafe standard telegram ● PROFIsafe telegram 31 Extended PROFIsafe standard telegram ● SIEMENS telegram 901 Extended manufacturer-specific telegram with 16-bit position value. ● SIEMENS telegram 902 Extended manufacturer-specific telegram with 32-bit position value. ● SIEMENS telegram 903 Extended manufacturer-specific telegram with 32-bit Safe Cam (S_ZSW_CAM1).
Page 207: Overview: Process Data In Telegrams
Safe Cam status word PZD3…4 – – – – S_ZSW_CAM1 (Page 372) Table 5-3 Process data from SIEMENS telegram 701 (SIC/SCC) Telegram Process data Safety Control Channel control word 1 PZD1 S_STW1B (Page 374) SI Motion Safety Info Channel status word PZD1...
Page 208: Control Via Profisafe
Controlling safety functions integrated in the drive 5.4 Control via PROFIsafe Control via PROFIsafe 5.4.1 Enabling PROFIsafe control Control via PROFIsafe is available for both Safety Integrated Basic Functions and Safety Integrated Extended Functions, and must be enabled in p9601 Table 5-4 Parameter to enable the PROFIsafe control Parameters Name...
Page 209: Selecting The Profisafe Telegram
You can use telegrams 903, 902, 901, 31 or 30 for PROFIsafe communication via PROFINET. SIEMENS telegram 903 is the default setting for internal NC drives. You make the settings for the F-PLC (F-host) in the TIA Portal; the settings for the individual drives (F-slaves or F-devices), using the SINUMERIK ONE Commissioning Tool (p60022, p9611, p9811).
Page 210: Esr Response In The Event Of A Communication Error
Controlling safety functions integrated in the drive 5.4 Control via PROFIsafe 5.4.3 ESR response in the event of a communication error The response of the SINAMICS S120 drive in the case of a communication error when the "Extended stop and retract (ESR)" function module is simultaneously enabled is described in the following.
Page 211: Parameters And Function Diagrams
Controlling safety functions integrated in the drive 5.4 Control via PROFIsafe 5.4.4 Parameters and function diagrams Function diagrams (see SINAMICS S120/S150 List Manual) ● 2840 SI Extended Functions - SI Motion drive-integrated control signals/status sig‐ nals ● 2858 SI Extended Functions - control via PROFIsafe (p9601.2 = p9601.3 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) ●...
Page 212: Safety Info Channel And Safety Control Channel (Sic/Scc)
Controlling safety functions integrated in the drive 5.5 Safety Info Channel and Safety Control Channel (SIC/SCC) Safety Info Channel and Safety Control Channel (SIC/SCC) 5.5.1 Introduction The status and control signals of the drive-based motion monitoring functions are connected to the PLC and NC: ●...
Page 213: Plc User Interface Of The Axis/Spindle Signals (Lbp_Axis1
Controlling safety functions integrated in the drive 5.5 Safety Info Channel and Safety Control Channel (SIC/SCC) If another telegram is configured for SIC/SCC, then cyclic SIC/SCC communication is inhibited, and Alarm 27811 is output. 5.5.5 PLC user interface of the axis/spindle signals (LBP_Axis1 ... LBP_Axis8) In the Safety Integrated mode, additional axis-specific data from the axis DB (LBP_Axis1 ...
Page 214: Control Via Terminals On The Control Unit And Motor/Power Module
Controlling safety functions integrated in the drive 5.6 Control via terminals on the Control Unit and Motor/Power Module Control via terminals on the Control Unit and Motor/Power Module 5.6.1 Features ● Control via terminals is only available for Basic Functions. ●...
Page 215: Terminals For Sto, Ss1 (Time-Controlled), Sbc
Controlling safety functions integrated in the drive 5.6 Control via terminals on the Control Unit and Motor/Power Module 5.6.3 Terminals for STO, SS1 (time-controlled), SBC Safety functions STO, SS1 (time-controlled) and SBC are selected/deselected separately for each drive using 2 terminals. Basic procedure The functions are separately selected/deselected for each drive using two terminals.
Page 216: Simultaneity And Tolerance Time Of The Two Monitoring Channels
Controlling safety functions integrated in the drive 5.6 Control via terminals on the Control Unit and Motor/Power Module Note Parameterization of the grouping The grouping must be set the same in both monitoring channels. The assignment is checked during the test for the switch-off signal paths. The operator selects the STO safety function for each group.
Page 217 Controlling safety functions integrated in the drive 5.6 Control via terminals on the Control Unit and Motor/Power Module Parameterization of the tolerance time Even when simultaneously selecting/deselecting, a certain time delay cannot be avoided, e.g. as a result of mechanical switching operations. Therefore, in the following parameters, define the tolerance times, within which selection/deselection in both monitoring channels is considered to be simultaneously valid.
Page 218: Bit Pattern Test
Controlling safety functions integrated in the drive 5.6 Control via terminals on the Control Unit and Motor/Power Module 5.6.6 Bit pattern test Bit pattern test of failsafe outputs The converter normally responds immediately to signal changes in its failsafe inputs. This is not desired in the following case: Several control modules test their failsafe outputs using bit pattern tests (on/off tests), in order to identify faults due to either short-circuit or cross-circuit faults.
Page 219: Commissioning And Configuring
Deviating commissioning sequence of a SINUMERIK MC with a SINAMICS S210 drive If you use a SINUMERIK MC in conjunction with a SINAMICS S210 drive, then you cannot use the commissioning sequence explained above. S210 drives cannot be configured using the SINUMERIK ONE Commissioning Tool (Page 3).
Page 220: Configuring Safety-Relevant Components
Overview The following handling overview (as example) and the associated descriptions illustrate the special issues when configuring Safety Integrated with a SINUMERIK MC compared to a CPU S7-1500. Consequently, the overview serves only as an introduction to the configuring and programming of STEP 7 Safety Advanced with SINUMERIK.
Page 221: Loading The Configuration Into The Controller
● A network connection exists between the PG/PC and the SINUMERIK MC. Procedure Proceed as follows to load the hardware configuration into the SINUMERIK MC: 1. Select SINUMERIK MC in the project navigation and call shortcut menu "Load to device > Hardware configuration". The "Extended download" dialog opens.
Page 222: Allocating And Assigning A Profinet Device Name
Commissioning and configuring 6.2 Configuring safety-relevant components 6.2.3 Allocating and assigning a PROFINET device name Before a PROFINET IO device can be addressed by an I/O controller, it must have a device name. Additional general information about PROFINET device names is provided in the TIA Portal online help.
Page 223 Commissioning and configuring 6.2 Configuring safety-relevant components 3. Make the following settings in dialog "Assign PROFINET device name": – PG/PC interface type: PN/IE – PG/PC interface: Network card used, e.g. "Intel(R) 82579V Gigabit Network Connection" The list of accessible nodes is updated in the dialog. Figure 6-1 Dialog "Assigning a PROFINET device name"...
Page 224: Assigning F-Destination Addresses, Address Type 1
Commissioning and configuring 6.2 Configuring safety-relevant components 6.2.4 Assigning F-destination addresses, address type 1 The F-target addresses of the F-I/O from PROFIsafe address type 1 are assigned to the module using a DIL switch. Information on how you can set the F-destination address for F-I/O using DIL switches is provided in the documentation for the F-I/O.
Page 225 Commissioning and configuring 6.2 Configuring safety-relevant components See the help for SIMATIC Safety at: ● Special considerations when configuring the F-system ● Recommendation for allocating PROFIsafe addresses ● PROFIsafe addresses for F-I/O, PROFIsafe address type 2 ● Configurations supported by the SIMATIC Safety F-safety ●...
Page 226: Checking The Profisafe Address
Commissioning and configuring 6.2 Configuring safety-relevant components 6. Confirm successfully identified F-modules in the "Confirm" column of the table. 7. Using button "Assign F-destination address" assign the configured F-destination addresses to the F-modules, and confirm dialog "Acknowledge assignment" (within 60 seconds). 8.
Page 227 Commissioning and configuring 6.2 Configuring safety-relevant components Precondition ● F-destination addresses have been configured and assigned. ● Hardware and software have been compiled. Procedure Proceed as follows to check PROFIsafe addresses: 1. Select the message regarding "Correctness and uniqueness of the PROFIsafe address" in the message list (example, the diagram above).
Page 228: Generating A Safety Program
Commissioning and configuring 6.3 Generating a safety program Generating a safety program 6.3.1 Overview Precondition ● Safety Integrated is active ● The F-components have been configured and parameterized. Example of a handling overview Step Description Creating F-capable PLC variables (Page 228) Adapting the settings of the F-runtime group (optional) (Page 232) Setting up access protection (Page 234) Parameterizing EMERGENCY STOP (Page 235)
Page 229 Commissioning and configuring 6.3 Generating a safety program Creating an F-capable PLC data type An F-capable PLC data type must be used as basis for an F-capable PLC variable. Proceed as follows to create and F-capable PLC data type: 1. In the project navigation below "PLC data types" double-click on the entry "Add new data type".
Page 230 Commissioning and configuring 6.3 Generating a safety program 3. Activate option "Create F-suitable PLC data type" and confirm the settings with "OK" The new PLC data type is created in the project navigation. You can now configure the data type properties to the right in the work area. 4.
Page 231 Commissioning and configuring 6.3 Generating a safety program 3. Double-click on the new variable table to open it. 4. In the "Name" column, click on "Add" and enter the variable properties: Property Meaning Name Enter a meaningful name, e.g. <drive name>-<process data>-<where relevant, bit identifier>.
Page 232: Adapting The Settings Of The F-Runtime Group (Optional)
Commissioning and configuring 6.3 Generating a safety program Result The F-capable PLC variables have been created. Figure 6-4 Example: Variable table 6.3.3 Adapting the settings of the F-runtime group (optional) You can find the associated F-blocks of an F-runtime group in folder "Program blocks" or in the Safety Administration Editor under "F-blocks": ●...
Page 233 Commissioning and configuring 6.3 Generating a safety program Procedure Proceed as follows to view the settings of an F-runtime group - or to adapt them: 1. In the project navigation, double-click below the PLC involved on "Safety Administration", e.g. "CNC_1 > PLC_1 > Safety Administration". 2.
Page 234: Setting Up Access Protection
(standard and safety program). For additional information, refer to the "Access protection" chapter in the SIMATIC Safety - Configuring and Programming (https://support.industry.siemens.com/cs/products? search=SIMATIC%20Safety&dtp=Manual&pnid=24471) Manual. Procedure To set up access protection for productive operation, follow these steps: 1.
Page 235: Parameterizing Emergency Stop
Commissioning and configuring 6.3 Generating a safety program Result Two different access protection types are setup: ● Protection of the safety program ● Protection of the F-CPU 6.3.5 Parameterizing EMERGENCY STOP Instruction "ESTOP1" implements an EMERGENCY STOP shutdown with acknowledgment for stop Categories 0 and 1.
Page 236: Implementing User Acknowledgment For Global Reintegration
Commissioning and configuring 6.3 Generating a safety program 6.3.6 Implementing user acknowledgment for global reintegration If an F-I/O error is detected by the fail-safe system, the affected F-I/O and/or drive components are passivated. With the passivation of a failsafe component, for the components involved, substitute values are provided or are transferred instead of the active process values or output values.
Page 237: Acknowledging Messages Related To Safety Functions Integrated In The Drive
Commissioning and configuring 6.3 Generating a safety program Procedure Proceed as follows to implement a user acknowledgment for global reintegration: 1. Insert operation "ACK_GL" in that F-runtime group, whose F-I/O should be globally acknowledged by the user acknowledgment. 2. In operation "ACK_GL", assign input "ACK_GLOB" to the input of the acknowledgment button.
Page 238 Commissioning and configuring 6.3 Generating a safety program In the safety program, logically combine all channel reset signals of channels that contain drive objects with safety functions, with the "Internal Event ACK" signal for each drive object involved. WARNING Unexpected restart for safety-related acknowledgment without MCP reset! If a STOP response is acknowledged in a safety-related fashion by the machine operator, but without PROFIdrive RESET acknowledgment, then the part program is not canceled and is continued with the acknowledgment.
Page 239 Commissioning and configuring 6.3 Generating a safety program Procedure In order to logically combine the reset signal of the machine control panel with the safety- relevant acknowledgment in the safety program for a channel, proceed as follows: 1. Open the corresponding F-runtime group, e.g. Main_Safety_RTG1 [FB1010]. 2.
Page 240: Deselecting Safety Functions Integrated In The Drive
Commissioning and configuring 6.3 Generating a safety program 6.3.8 Deselecting safety functions integrated in the drive You deselect safety functions integrated in the drive by accessing the corresponding drive addresses in the safety program and then set/reset the relevant bits. Precondition ●...
Page 241: Initiate A Forced Checking Procedure (Test Stop)
Commissioning and configuring 6.3 Generating a safety program 6.3.9 Initiate a forced checking procedure (test stop) Basic procedure Functions and switch-off signal paths must be regularly tested using the forced checking procedure (test stop). The forced checking procedure should be performed each time that the control system runs up and must, however, be performed at least once a year.
Page 242: Load The Configuration Into The Control System
Preconditions ● The hardware configuration is compiled (Page 45). ● A communication connection (Page 45) exists between the PG/PC (TIA Portal) and the SINUMERIK MC. Safety Integrated (with SINAMICS S120) Commissioning Manual, 02/2020, A5E46305916B AB...
Page 243 6.4 Load the configuration into the control system Procedure Proceed as follows to load the configured hardware configuration into the SINUMERIK MC: 1. In the project navigation, select a device name, e.g. "PLC_1". 2. In shortcut menu, select "Load to device > Hardware configuration".
Page 244 3. Make the following settings in the "Extended load" dialog: – PG/PC interface: Network card used, e.g. "Intel[R] Ethernet Connection I217-V" – Connection with interface/subnet: Specific interface on the SINUMERIK MC or "Try all interfaces" 4. Click on "Start search" and then select the PLC that was found from "Compatible nodes in the target subnet".
Page 245: Checking The Load Operation
Commissioning and configuring 6.4 Load the configuration into the control system Result The PLC is stopped and the configuration is loaded to the PLC. The "Results of the loading action" dialog opens and displays the status of the loading action. The dialog restarts the PLC after completion, provided the "Start"...
Page 246 Commissioning and configuring 6.4 Load the configuration into the control system Procedure Proceed as follows to load the configured hardware configuration to the PC system: 1. In the project navigation, select a device name, e.g. "MCU_PC_1". 2. In shortcut menu, select "Load to device > Hardware configuration". The "Extended download"...
Page 247 Commissioning and configuring 6.4 Load the configuration into the control system 5. Click on "Load" to confirm the load operation. Dialog "Load preview" opens. Figure 6-10 Load preview IPC Note Consistency check Before the loading, the consistency of the download is checked. This means that a check is performed as to whether the parameterized hardware of the TIA Portal project matches the hardware that has actually been installed.
Page 248: Configuring Nc And Drive-Specific Safety Settings
Commissioning and configuring 6.5 Configuring NC and drive-specific safety settings Configuring NC and drive-specific safety settings 6.5.1 Overview This chapter describes higher-level safety settings that you specifically configure for each drive. Precondition ● Access rights for access level 2 (service) are available in the SINUMERIK ONE Commissioning Tool.
Page 249: Setting Software Options
Result The software options were set. The individual software options to be licensed for the machine can be displayed using softkey "Missing licenses/options", which you can then order, e.g. through the Siemens Industry Mall. 6.5.3 Activating the safety commissioning mode Changes to the safety-relevant drive parameterization are only possible if the corresponding drive is in the Safety Integrated commissioning mode.
Page 250 Commissioning and configuring 6.5 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 (Page 245). ● The transfer of the Safety Integrated mode from the configuration has been completed. Procedure Proceed as follows to activate the Safety Integrated commissioning mode for all drives: 1.
Page 251: Selecting The Safety Functional Scope
Commissioning and configuring 6.5 Configuring NC and drive-specific safety settings 6.5.4 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) ●...
Page 252: Parameterizing The Setpoint Speed Limiting
Commissioning and configuring 6.5 Configuring NC and drive-specific safety settings 6.5.5 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 ●...
Page 253 Commissioning and configuring 6.5 Configuring NC and drive-specific safety settings 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]).
Page 254: Parameterizing Reaction Of The Stop Response
Commissioning and configuring 6.5 Configuring NC and drive-specific safety settings 6.5.6 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.
Page 255: Parameterizing An Encoder
Commissioning and configuring 6.5 Configuring NC and drive-specific safety settings 6.5.7 Parameterizing an encoder Precondition ● The SI commissioning mode (Page 249) is active for the drive to be configured. ● The drive is configured for operation with an encoder. Call the "Encoder parameterization"...
Page 256 Commissioning and configuring 6.5 Configuring NC and drive-specific safety settings Figure 6-15 Commissioning screen form "Settings - encoder parameterization mechanical system" 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‐...
Page 257 Commissioning and configuring 6.5 Configuring NC and drive-specific safety settings Making the settings Table 6-1 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.
Page 258 Commissioning and configuring 6.5 Configuring NC and drive-specific safety settings Table 6-4 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‐...
Page 259: Configuring Encoderless Operation
Commissioning and configuring 6.5 Configuring NC and drive-specific safety settings 6.5.8 Configuring encoderless operation Precondition ● The SI commissioning mode (Page 249) is active for the drive to be configured. ● The drive is configured for operation without an encoder. Call the startup screen form "Configuration mechanical/actual value sensing"...
Page 260 Commissioning and configuring 6.5 Configuring NC and drive-specific safety settings Figure 6-17 Commissioning screen form "Settings - configuration mechanical system/actual value sensing: Actual value sensing" Softkey Purpose Drive + The settings are specific to a certain drive. Switch to the corresponding drive using the appropriate softkey before configuring.
Page 261 Commissioning and configuring 6.5 Configuring NC and drive-specific safety settings Table 6-6 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.
Page 262 Commissioning and configuring 6.5 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.
Page 263 Commissioning and configuring 6.5 Configuring NC and drive-specific safety settings Setting Meaning Minimum actual current Sets the minimum current for encoderless actual value acquisition referred sensing to 1 A (i.e. 1 % = 10 mA). ● The value must be increased if C01711 is output with message value 1042.
Page 264: Configuring Telegrams
Commissioning and configuring 6.5 Configuring NC and drive-specific safety settings 6.5.9 Configuring telegrams Precondition ● The Safety Integrated commissioning mode has been activated for the drive to be configured. ● Extended Functions or Basic Functions via PROFIsafe have been set for the drive to be configured.
Page 265 Commissioning and configuring 6.5 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 appro‐ priate softkey before configuring. Drive - Select a drive Recommended values Using softkey "Recommended values", you can automatically preassign the values of the par‐...
Page 266: Configuring Safety Functions Integrated In The Drive
Commissioning and configuring 6.6 Configuring safety functions integrated in the drive Configuring safety functions integrated in the drive The screen forms of the SINUMERIK ONE Commissioning Tool and the settings for commissioning the various safety functions are described in this chapter. Basic procedure Call the appropriate commissioning screens in the SINUMERIK ONE Commissioning Tool and configure the safety functions for the individual drives.
Page 267 Commissioning and configuring 6.6 Configuring safety functions integrated in the drive 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. 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.
Page 268: Sto/Ss1 Basic
Commissioning and configuring 6.6 Configuring safety functions integrated in the drive 6.6.1 STO/SS1 Basic Precondition ● The Safety Integrated commissioning mode (Page 249) is active for the drive to be configured. ● One of the basic functions is selected. Displaying the "Safe torque off - STO/SS1 Basic" commissioning screen MENU SELECT >...
Page 269 Commissioning and configuring 6.6 Configuring safety functions integrated in the drive Status Meaning Pulse inhibit channel 1 active Setting "STO or safe pulse cancellation active on the CU" r9772.1 Pulse inhibit channel 2 active Setting "STO on Motor Module active" r9872.1 STO active Setting "STO active in the drive"...
Page 270: Sto Extended
Commissioning and configuring 6.6 Configuring safety functions integrated in the drive 6.6.2 STO Extended Precondition ● The Safety Integrated commissioning mode (Page 249) is active for the drive to be configured. ● The drive is configured for operation with an encoder and Extended Functions. Display commissioning screen "Safe torque off - STO Extended"...
Page 271 Commissioning and configuring 6.6 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.
Page 272: Sbc
Commissioning and configuring 6.6 Configuring safety functions integrated in the drive 6.6.3 Precondition ● The Safety Integrated commissioning mode (Page 249) is active for the drive to be configured. ● At least one safety monitoring function is enabled for the drive. ●...
Page 273 Commissioning and configuring 6.6 Configuring safety functions integrated in the drive Status Meaning 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...
Page 274: Ss1 Extended
Commissioning and configuring 6.6 Configuring safety functions integrated in the drive 6.6.4 SS1 Extended Precondition ● The Safety Integrated commissioning mode (Page 249) is active for the drive to be configured. ● The drive is configured for operation with an encoder and Extended Functions. Display "Safe Stop 1 - SS1 Extended"...
Page 275 Commissioning and configuring 6.6 Configuring safety functions integrated in the drive 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.
Page 276: Ss2/Sos
Commissioning and configuring 6.6 Configuring safety functions integrated in the drive 6.6.5 SS2/SOS Precondition ● The Safety Integrated commissioning mode (Page 249) is active for the drive to be configured. ● The drive is configured for operation with an encoder and Extended Functions. Display "Safe Stop 2 - Safe Operating Stop - SS2/SOS"...
Page 277 Commissioning and configuring 6.6 Configuring safety functions integrated in the drive 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"...
Page 278: Sam
Commissioning and configuring 6.6 Configuring safety functions integrated in the drive 6.6.6 Precondition ● The Safety Integrated commissioning mode (Page 249) is active for the drive to be configured. ● The drive is configured for operation with an encoder and Extended Functions. Display "Safe Acceleration Monitoring - SAM"...
Page 279 Commissioning and configuring 6.6 Configuring safety functions integrated in the drive Settings Setting Meaning Velocity tolerance During the down ramp, the converter continually adds the speed tolerance to the actual speed. The converter reduces the monitoring threshold until the p9548 "Shutdown speed"...
Page 280: Sbr
Commissioning and configuring 6.6 Configuring safety functions integrated in the drive 6.6.7 Precondition ● The Safety Integrated commissioning mode (Page 249) is active for the drive to be configured. ● The drive is configured for operation without an encoder and Extended Functions. ●...
Page 281 Commissioning and configuring 6.6 Configuring safety functions integrated in the drive 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.
Page 282: Sls
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. Display "Safely-Limited Speed - SLS" commissioning screen MENU SELECT >...
Page 283 Commissioning and configuring 6.6 Configuring safety functions integrated in the drive 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...
Page 284 Commissioning and configuring 6.6 Configuring safety functions integrated in the drive 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.
Page 285 Commissioning and configuring 6.6 Configuring safety functions integrated in the drive 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] ●...
Page 286: Ssm
Commissioning and configuring 6.6 Configuring safety functions integrated in the drive 6.6.9 Precondition ● The Safety Integrated commissioning mode (Page 249) is active for the drive to be configured. ● The drive is configured for operation with Extended Functions. Display "Safe Speed Monitoring - SSM" commissioning screen MENU SELECT >...
Page 287 Commissioning and configuring 6.6 Configuring safety functions integrated in the drive 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.
Page 288: Sdi
Commissioning and configuring 6.6 Configuring safety functions integrated in the drive 6.6.10 Precondition ● The Safety Integrated commissioning mode (Page 249) is active for the drive to be configured. ● The drive is configured for operation with Extended Functions. Display "Safe Direction - SDI" commissioning screen MENU SELECT >...
Page 289 Commissioning and configuring 6.6 Configuring safety functions integrated in the drive Settings Setting Meaning 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.
Page 290: Slp/Sp
Commissioning and configuring 6.6 Configuring safety functions integrated in the drive 6.6.11 SLP/SP Precondition ● The Safety Integrated commissioning mode (Page 249) is active for the drive to be configured. ● The drive is configured for operation with an encoder and Extended Functions. ●...
Page 291 Commissioning and configuring 6.6 Configuring safety functions integrated in the drive 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.
Page 292 Commissioning and configuring 6.6 Configuring safety functions integrated in the drive Setting Meaning 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 ●...
Page 293: Sbt
Commissioning and configuring 6.6 Configuring safety functions integrated in the drive 6.6.12 Precondition ● The Safety Integrated commissioning mode (Page 249) is active for the drive to be configured. ● The drive is configured for operation with Extended Functions. Display "Safe Brake Test - SBT" commissioning screen MENU SELECT >...
Page 294 Commissioning and configuring 6.6 Configuring safety functions integrated in the drive 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.
Page 295 Commissioning and configuring 6.6 Configuring safety functions integrated in the drive 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...
Page 296: Sca
Commissioning and configuring 6.6 Configuring safety functions integrated in the drive 6.6.13 Precondition ● The Safety Integrated commissioning mode (Page 249) is active for the drive to be configured. ● The drive is configured for operation with an encoder and Extended Functions. Display "SI Safe Cams"...
Page 297 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...
Page 298: Ss2E
Commissioning and configuring 6.6 Configuring safety functions integrated in the drive 6.6.14 SS2E Precondition ● The Safety Integrated commissioning mode (Page 249) 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 with external stop - SS2E"...
Page 299 Commissioning and configuring 6.6 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 SS2E r9720.28 Select SOS r9720.3...
Page 300: Ss2Esr
Commissioning and configuring 6.6 Configuring safety functions integrated in the drive 6.6.15 SS2ESR Precondition ● The Safety Integrated commissioning mode (Page 249) 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)"...
Page 301 Commissioning and configuring 6.6 Configuring safety functions integrated in the drive Status information Status Meaning Status control signals: Status - control and status signals for the safety motion moni‐ toring functions integrated in the drive on monitoring channel 1. Select SS2ESR r9720.29 Select SOS r9720.3...
Page 302: Safe Referencing
Commissioning and configuring 6.6 Configuring safety functions integrated in the drive 6.6.16 Safe referencing Precondition ● The Safety Integrated commissioning mode (Page 249) is active for the drive to be configured. ● The drive is configured for operation with an encoder and Extended Functions. Display "Safe referencing"...
Page 303 Commissioning and configuring 6.6 Configuring safety functions integrated in the drive 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 Settings Setting Meaning...
Page 304: Configuring Machine Data
Detailed information about parameterizing, searching and filtering machine data is provided in Commissioning Manual MCU: NC, PLC, Drive (https://support.industry.siemens.com/cs/de/en/ view/109769920) The descriptions of the machine data, parameters and setting data for SINUMERIK MC are provided in the Safety Integrated (with SINAMICS S120) Commissioning Manual, 02/2020, A5E46305916B AB...
Page 305: Safety Integrated Machine Data
Number Symbolic name Purpose MD13374 $MN_SAFE_INFO_DRIVE_LOGIC_ ADDR[0..30] I/O start address of SIEMENS telegrams 701 (SIC/ SCC) of the corresponding drive object MD13376 $MN_SAFE_INFO_TELEGRAM_ TYPE[0..30] Telegram type that is used for SIC/SCC communi‐ cation. The default value (701) corresponds to the...
Page 306: Finalizing Commissioning
Commissioning and configuring 6.8 Finalizing commissioning Finalizing commissioning 6.8.1 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 drive-specific settings have been correctly configured for all safety-relevant drives and for all F-I/O devices.
Page 307: Assigning A Safety Integrated Password
Commissioning and configuring 6.8 Finalizing commissioning 6.8.2 Assigning a Safety Integrated password Commissioning data is always secured in the SINUMERIK ONE Commissioning Tool using different 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.
Page 308: Series Commissioning
6.9 Series commissioning Series commissioning A loaded project that has been commissioned, can be loaded to another SINUMERIK MC, while still keeping the Safety parameterization. However, observe the following information: ● Different component checksums as a result of series commissioning with Safety Integrated functionality (Page 348) ●...
Page 309: Diagnostics
Diagnostics Overview If you are looking for a description of the diagnostic functionality, then in this chapter you can find a Diagnostics guide (Page 310) and descriptions relating to the safety diagnostic functionality (Page 314) with the SINUMERIK ONE Commissioning Tool (Page 3). These diagnostic functions are possible in the following software depending on the particular component: Table 7-1...
Page 310: Pathfinder To S7-1500 Diagnostics
Diagnostics 7.2 Pathfinder to S7-1500 diagnostics Pathfinder to S7-1500 diagnostics Detailed information about F-CPU S7-1500 diagnostics is available in the Function Manual Diagnostics (http://support.automation.siemens.com/WW/view/en/59192926). Note The description in the Function Manual Diagnostics is not specifically intended for SINUMERIK Safety Integrated.
Page 311: System Alarms
Diagnostics 7.3 System alarms System alarms Display diagnostic screen "Messages" MENU SELECT > Diagnostics > Menu extension > Messages Figure 7-1 Messages - system alarms Exporting alarm texts from the TIA Portal You must export alarm texts from the TIA Portal in order that alarm texts from the TIA Portal can be displayed in the SINUMERIK ONE Commissioning Tool in the diagnostic screen "Messages".
Page 312 Diagnostics 7.3 System alarms Proceed as described below: 1. Open the project in the TIA Portal. 2. In the project navigator, click on the SINUMERIK control and select shortcut menu "Export alarms and texts for SINUMERIK Operate ...". Figure 7-2 Exporting alarms from the TIA Portal Safety Integrated (with SINAMICS S120) Commissioning Manual, 02/2020, A5E46305916B AB...
Page 313 Diagnostics 7.3 System alarms 3. In the following dialog, select the memory path for the export files. Figure 7-3 Export dialog 4. Then click on "Export". The export files for Operate (or in this particular case, for the SINUMERIK ONE Commissioning Tool) are saved to the specified directory.
Page 314: Diagnostic Functions In The Sinumerik One Commissioning Tool
Diagnostics 7.4 Diagnostic functions in the SINUMERIK ONE Commissioning Tool Diagnostic functions in the SINUMERIK ONE Commissioning Tool 7.4.1 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 homing.
Page 315: Drives Status
Diagnostics 7.4 Diagnostic functions in the SINUMERIK ONE Commissioning Tool 7.4.2 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. The diagnostic screen "SI drive status"...
Page 316 Diagnostics 7.4 Diagnostic functions in the SINUMERIK ONE Commissioning Tool Call "SI drive status - Extended functions" MENU SELECT > Diagnostics > Menu forward key > Safety > SI drives > Extended functions Figure 7-6 "SI drive status - Extended Functions" diagnostic screen Safety Integrated (with SINAMICS S120) Commissioning Manual, 02/2020, A5E46305916B AB...
Page 317: Si Telegrams Overview
Diagnostics 7.4 Diagnostic functions in the SINUMERIK ONE Commissioning Tool 7.4.3 SI telegrams overview The telegram types for PROFIsafe and SIC/SCC for the respective drives/axes are displayed in the "SI telegrams overview" diagnostic screen. Call MENU SELECT > Diagnostics > Menu forward key > Safety > SI telegrams Figure 7-7 "SI telegrams overview"...
Page 318: Telegrams Profisafe
Diagnostics 7.4 Diagnostic functions in the SINUMERIK ONE Commissioning Tool 7.4.4 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: ●...
Page 319: Profidrive Si Telegrams
Diagnostics 7.4 Diagnostic functions in the SINUMERIK ONE Commissioning Tool 7.4.5 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 Figure 7-9 PROFIdrive SI telegrams The view of all user data of the control word and status word is displayed using the "Details"...
Page 320: Checksums
Diagnostics 7.4 Diagnostic functions in the SINUMERIK ONE Commissioning Tool 7.4.6 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"...
Page 321 Diagnostics 7.4 Diagnostic functions in the SINUMERIK ONE Commissioning Tool Calling "global checksums" MENU SELECT > Diagnostics > Menu forward key > Safety > SI checksum > Global checksums Figure 7-11 "SI checksums global checksums" diagnostic screen Higher-level actual checksums that are calculated from the master checksums (Page 326) are displayed in the "SI checksums global checksums"...
Page 322: Alarms
Diagnostics 7.4 Diagnostic functions in the SINUMERIK ONE Commissioning Tool 7.4.7 SI alarms Active safety-relevant alarms are displayed in diagnostics screen "SI-alarms". Call MENU SELECT > Diagnostics > Menu forward key > Safety > SI alarms Figure 7-12 "Safety Integrated alarms" diagnostic screen Safety Integrated (with SINAMICS S120) Commissioning Manual, 02/2020, A5E46305916B AB...
Page 323: Si Safe Cams
Diagnostics 7.4 Diagnostic functions in the SINUMERIK ONE Commissioning Tool 7.4.8 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"...
Page 324: Display And Evaluation Of Diagnostic Information
● The status and control information (SIC/SCC) (Page 212) of the drive are transferred between the integrated subcomponents of the SINUMERIK MC: – As a consequence, the motion control in the NC is also linked (Page 333) to the Safety Integrated Functions integrated in the drive, therefore avoiding unnecessary follow-on responses in the NC.
Page 325: Checksums
● Additional master checksums and global checksums, which are calculated from the actual checksums mentioned above, are displayed in the SINUMERIK ONE Commissioning Tool. SINUMERIK MC does not compare these higher-level checksums with reference checksums - and also does not save them.
Page 326: Calculating The Global Checksums/Master Checksums
SINUMERIK ONE Commissioning Tool, global checksums and master checksums are displayed, which are calculated from various actual checksums from the F-PLC and SINAMICS S120 drive. SINUMERIK MC does not compare these higher-level actual checksums with reference checksums - and also does not save them.
Page 327: Sinamics Checksums
Diagnostics 7.6 Checksums 7.6.3 SINAMICS checksums For each monitoring channel, the safety parameters include 2 parameters for the reference and actual checksum. During commissioning, the actual checksum must be transferred to the corresponding parameter for the reference checksum. This can be done for all checksums of a drive object simultaneously using parameter p9701 or using the corresponding function in the SINUMERIK ONE Commissioning Tool.
Page 328: Stop Responses
Diagnostics 7.7 Stop responses Stop responses 7.7.1 Overview The stop responses that can be initiated depend on the scope of the Safety Integrated Functions used: ● Stop responses that can be initiated for faults involving Safety Integrated Basic Functions (Page 328) ●...
Page 329 Diagnostics 7.7 Stop responses Stop response Triggered ... Action Effect STOP F If an error occurs in the cross‐ Transition to STOP A. Follow-up response STOP A wise data comparison. with adjustable delay (factory setting without delay) if one of the safety functions is selected STOP F is permanently assigned to the crosswise data comparison (CDC).
Page 330: Extended Functions
Diagnostics 7.7 Stop responses 7.7.3 Extended Functions Faults involving Safety Integrated Extended Functions and violation of limits can trigger the following stop responses: Table 7-5 Stop responses for Safety Integrated Extended Functions Stop response Triggered ... Response of the initiating axis Response of other axes or NC re‐...
Page 331 Diagnostics 7.7 Stop responses Stop response Triggered ... Response of the initiating axis Response of other axes or NC re‐ or DRV response sponse STOP D Timer t is started. Braking along the path (interpolatory ● Configurable subsequent braking) stop p9563 for SLS No drive-integrated response, but an NC response (see right).
Page 332 Diagnostics 7.7 Stop responses Note Delayed pulse cancellation when the bus fails For SLS, SDI, SLP and SLA, the stop responses are also available with delayed pulse cancellation when the bus fails (to prevent the drive from immediately responding with pulse cancellation when a communication error occurs): ●...
Page 333: Definitions And Effects In The Nc
Diagnostics 7.7 Stop responses 7.7.4 Definitions and effects in the NC The motion control in the NC is linked to the Safety Integrated Functions in the drive via the SIC status signals. This avoids that subsequent responses are initiated in the NC as a result of safety stops in the drive.
Page 334 Diagnostics 7.7 Stop responses STOP A STOP B STOP E/SOS STOP B Lowest STOP A STOP B STOP C STOP D STOP E STOP B priority The SOS monitoring function remains active, although the fault response in the event of a fault can no longer be triggered because it is already present.
Page 335: Configuring The Fault, Message And Alarm Buffer
Diagnostics 7.8 Configuring the fault, message and alarm buffer Configuring the fault, message and alarm buffer 7.8.1 General information on the fault buffer and safety message buffer In addition to the standard fault buffer and the standard alarm buffer, a SINAMICS S120 drive has its own safety message buffer for safety-related messages for Safety Integrated Extended Functions: ●...
Page 336: Configuring The Safety Alarm Buffer
Diagnostics 7.8 Configuring the fault, message and alarm buffer The activation is entered in the following machine data: ● MD13150 $MN_SINAMICS_ALARM_MASK – "bit 2: output faults of the drive controls" – "bit 10: output alarms of the drive controls" Alarms/warnings have to be evaluated. Optionally, you can set additional bits in order to output faults or alarms of other DO groups.
Page 337: Acknowledging
Diagnostics 7.9 Acknowledging Acknowledging 7.9.1 Overview Most safety messages require safety-relevant acknowledgment. Safety-relevant acknowledgment involves deleting safety-relevant messages of the drive- integrated monitoring functions via safety-relevant communication. With the safety-related acknowledgment, the fault case in the drive is marked as having been resolved (gone). Safety-relevant acknowledgment is independent of the scope of the Safety Integrated Functions used (Basic or Extended) - and is required in addition to actually removing the cause of the fault.
Page 338: Acknowledgment Via Profisafe
Diagnostics 7.9 Acknowledging 7.9.2 Acknowledgment via PROFIsafe You program a PROFIsafe acknowledgment in the safety program of the F-PLC by setting signal "Internal Event ACK" separately for each drive object using the PROFIsafe telegram (STW bit 7). Faults in the drive objects (DOs) cannot be acknowledged by the F-PLC in the line-up, but must instead be acknowledged separately for each individual drive object.
Page 339: Acknowledgment Using Power On
Diagnostics 7.9 Acknowledging 7.9.4 Acknowledgment using POWER ON Safety faults can also be acknowledged (as with all other faults) by switching the drive unit off and then on again (POWER ON). If this action has not eliminated the fault cause, the fault is displayed again immediately after power-up.
Page 340 Diagnostics 7.9 Acknowledging When the safety message buffer is deactivated, the following safety messages are saved in the fault buffer, and therefore also additionally required a PROFIdrive RESET: Table 7-9 Saving safety-relevant messages in the the fault buffer (when the safety message buffer is deactivated) Alarm number Alarm text...
Page 341: Acceptance Test In The Sinumerik One Commissioning Tool
Acceptance test in the SINUMERIK ONE Commissioning Tool The acceptance test for a SINUMERIK MC can be carried out in the SINUMERIK ONE Commissioning Tool. The precondition to do this is that a SINAMICS S120 drive is being used.
Page 342 Note If the SINUMERIK MC is connected to a SINAMICS S210 drive, then the acceptance test (just like the safety commissioning) must be performed in the TIA Portal "Startdrive" program. An appropriate workflow is discussed in a separate manual.
Page 343: Component Replacement (Software/Hardware)
Component replacement (software/hardware) Safety instructions WARNING Unsafe operating state after POWER ON After a firmware update, the system generally requests a POWER ON. After a POWER ON, an unsafe operating state can occur - and if persons are in the hazardous area, this can result in death or severe injury.
Page 344: Software, F-Cpu, F-I/O
Component replacement (software/hardware) 9.2 Software, F-CPU, F-I/O Software, F-CPU, F-I/O Replacement of software components When replacing software components on your PG/PC, e.g. when installing a new version of STEP 7, you must carefully observe the notes regarding upward and downward compatibility in the documentation and in the readme files provided with these products.
Page 345 Component replacement (software/hardware) 9.2 Software, F-CPU, F-I/O Preventive maintenance (proof test) The probability values for the certified F-system components guarantee a proof-test interval of 20 years for ordinary configurations. Proof test for complex electronic components generally means replacement with unused components.
Page 346: Motors, Cu Sinamics S120
Component replacement (software/hardware) 9.3 Motors, CU SINAMICS S120 Motors, CU SINAMICS S120 Note Note additional safety instructions Observe the instructions with regard to changing or replacing software components in Section "Safety instructions (Page 343)"! Overview The faulty component was replaced according to safety regulations. The information relevant from the perspective of Safety Integrated is provided in the following.
Page 347 Component replacement (software/hardware) 9.3 Motors, CU SINAMICS S120 Replaced Control type Drive re‐ User action Diagnostic component sponse parameters Fault acknowl‐ Acknowledg‐ Save (fault) edgment re‐ ment is re‐ quired quired that the component has been replaced Extended Control Unit F01641.0 = 1 r9776.2 = 1 Functions...
Page 348: Messages When Components Are Replaced After Safety Integrated Has Been Commissioned
Component replacement (software/hardware) 9.4 Messages when components are replaced after Safety Integrated has been commissioned Messages when components are replaced after Safety Integrated has been commissioned Safety-relevant components are assigned a CRC checksum, which can be used to identify if the hardware was changed: ●...
Page 349: Important Parameters - Notes Regarding Component Replacement
Component replacement (software/hardware) 9.5 Important parameters - notes regarding component replacement Important parameters - notes regarding component replacement Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p9670 SI module identifier Control Unit ● p9671[0...n] SI module identifier, Motor Module ●...
Page 350 Component replacement (software/hardware) 9.5 Important parameters - notes regarding component replacement Safety Integrated (with SINAMICS S120) Commissioning Manual, 02/2020, A5E46305916B AB...
Page 351: Data Descriptions
(safety axis operating mode). safeMode Configured Safety Integrated operating mode. Further information You can find additional information about SINUMERIK NC variables in the: (840D sl) List Manual NC Variables (https://support.industry.siemens.com/cs/ww/en/view/ 109769139) Safety Integrated (with SINAMICS S120) Commissioning Manual, 02/2020, A5E46305916B AB...
Page 352: System Variables
Safety Integrated mode (SPL)" are not supplied in the "Safety Integrated" mode. Further information Additional information about SINUMERIK system variables is available in the: (840D sl) List Manual System Variables (https://support.industry.siemens.com/cs/ww/en/view/ 109769180) Safety Integrated (with SINAMICS S120) Commissioning Manual, 02/2020, A5E46305916B AB...
Page 353: Va_Stopsi - Actual Stop
Data descriptions 10.2 System variables 10.2.2 $VA_STOPSI - actual STOP System variable $VA_STOPSI Axis-specific system variable that contains the present stop. For a value of 4, a STOP E is active for this axis. 10.2.3 $A_STOPESI - actual STOP E System variable $A_STOPESI Global system variable that with a value not equal to 0 indicates that a STOP E is active for a particular axis.
Page 354: Standard Telegram Start Addresses
10.3 Standard telegram start addresses Table 10-2 I/O addresses of PROFIsafe/PROFIdrive telegrams Drive Telegram type I/O start address Machine data Drive axis_1 SIEMENS telegram 701 5800 13374[0] SIEMENS telegram 902/903 6700 Drive axis_2 SIEMENS telegram 701 5816 13374[1] SIEMENS telegram 902/903...
Page 355: Telegram Structure And Data
S_ZSW2 (Page 366) PZD2 10.4.3 SIEMENS telegram 701 Telegram 701 The predefined PROFIdrive telegram 701 is available for the transfer of the SIC and the SCC: Table 10-5 SIEMENS telegram 701 (telegram structure) Receive data Parameter Send data Parameter PZD1 S_STW1B...
Page 356: Siemens Telegram 901
Telegram 901 transfers the S_STW2, the variable SLS limit (S_SLS_LIMIT_A), the S_ZSW2, the active SLS value of level 1 (S_SLS_LIMIT_A_ACTIVE), a counter value (S_CYCLE_COUNT) and the safe position value in 16-bit format (S_XIST16) as user data. Table 10-6 SIEMENS telegram 901 (telegram structure) Output data Input data PZD1...
Page 357: Siemens Telegram 902
Telegram 902 transfers as user data S_STW2, the variable SLS limit (S_SLS_LIMIT_A), the S_ZSW2, the active SLS value of level 1 (S_SLS_LIMIT_A_ACTIVE), a counter value (S_CYCLE_COUNT) and the safe position value in 32-bit format (S_XIST32). Table 10-7 SIEMENS telegram 902 (telegram structure) Output data Input data PZD1...
Page 358: Process Data
Safe Cam status word PZD3…4 – – – – S_ZSW_CAM1 (Page 372) Table 10-9 Process data from SIEMENS telegram 701 (SIC/SCC) Telegram Process data Safety Control Channel control word 1 PZD1 S_STW1B (Page 374) SI Motion Safety Info Channel status word PZD1...
Page 359: Profisafe Process Data
Data descriptions 10.5 Process data Telegram Process data SLS setpoint speed limiting (32 bit) PZD3…4 S_V_LIMIT_B (Page 378) Safety Info Channel status word 3 PZD5 S_ZSW3B (Page 377) 10.5.2 PROFIsafe process data 10.5.2.1 Note Note Additional information in the function block diagrams Generally, for the subsequent descriptions, reference is made to a function block diagram.
Page 360: S_Stw1: Safety Control Word 1
Data descriptions 10.5 Process data 10.5.2.2 S_STW1: Safety control word 1 S_STW1 (Basic Functions) Safety control word 1 (S_STW1) S_STW1, output signals see function chart [2806]. Table 10-10 Description of safety-control word1 (S_STW1) Byte Meaning Remarks Deselect STO Select STO Deselect SS1 Select SS1 –...
Page 361 Data descriptions 10.5 Process data S_STW1 (Extended Functions) Safety control word 1 (S_STW1) S_STW1, output signals see function chart [2842]. Table 10-11 Description of safety-control word1 (S_STW1) Byte Meaning Remarks Deselect STO Select STO Deselect SS1 Select SS1 Deselect SS2 Select SS2 Deselect SOS Select SOS...
Page 362: S_Zsw1: Safety Status Word 1
Data descriptions 10.5 Process data 10.5.2.3 S_ZSW1: Safety status word 1 S_ZSW1 (Basic Functions) Safety status word 1 (S_ZSW1) S_ZSW1, input signals see function diagram [2806]. Table 10-12 Description of safety status word 1 (S_ZSW1) Byte Meaning Remarks STO active STO active STO not active SS1 active...
Page 363 Data descriptions 10.5 Process data S_ZSW1 (Extended Functions) Safety status word 1 (S_ZSW1) S_ZSW1, input signals see function diagram [2842]. Table 10-13 Description of safety status word 1 (S_ZSW1) Byte Meaning Remarks STO active STO active STO not active SS1 active SS1 active SS1 not active SS2 active...
Page 364: S_Stw2: Safety Control Word 2
Data descriptions 10.5 Process data 10.5.2.4 S_STW2: Safety control word 2 S_STW2 (Basic Functions) Safety control word 2 (S_STW2) S_STW2, output signals see function diagram [2806]. Table 10-14 Description of safety-control word 2 (S_STW2) Byte Meaning Remarks Deselect STO Select STO Deselect SS1 Select SS1 –...
Page 365 Data descriptions 10.5 Process data S_STW2 (Extended Functions) Safety control word 2 (S_STW2) S_STW2, output signals see function diagram [2843]. Table 10-15 Description of safety-control word 2 (S_STW2) Byte Meaning Remarks Deselect STO Select STO Deselect SS1 Select SS1 Deselect SS2 Select SS2 Deselect SOS Select SOS...
Page 366: S_Zsw2: Safety Status Word 2
Data descriptions 10.5 Process data Byte Meaning Remarks Select gearbox stage, bit 0 – Select gearbox stage (3 bits) Select gearbox stage, bit 1 – Select gearbox stage, bit 2 – Gearbox stage switchover With increased position tolerance Without increased position tolerance SS2E Deselect SS2E Select SS2E...
Page 367 Data descriptions 10.5 Process data Byte Meaning Remarks SLA active – Active SLS level, bit 0 – Active SLS level, bit 1 Reserved – – SDI positive active – SDI negative active – Reserved – – SSM (speed) – 0 ... 2 Reserved –...
Page 368 Data descriptions 10.5 Process data S_ZSW2 (Extended Functions) Safety status word 2 (S_ZSW2) S_ZSW2, input signals see function diagram [2843]. Table 10-17 Description of safety status word 2 (S_ZSW2) Byte Meaning Remarks STO active STO active STO not active SS1 active SS1 active SS1 not active SS2 active...
Page 369 Data descriptions 10.5 Process data Byte Meaning Remarks 0 ... 2 Reserved – – SLP active position range SLP area 2 (SLP2) active SLP area 1 (SLP1) active The status signal "SLP active position range" al‐ ways corresponds to the diagnostic signal "SLP active position range"...
Page 370: S_Sls_Limit_A: Sls Limit Value Input
Data descriptions 10.5 Process data Byte Meaning Remarks F-DI 0 F-DI 0 inactive F-DI 0 active F-DI 1 F-DI 1 inactive F-DI 1 active F-DI 2 F-DI 2 inactive F-DI 2 active SS2ESR active SS2ESR active SS2ESR not active SS2E active SS2E active SS2E not active SOS selected...
Page 371: S_Cycle_Count: Counter For The Safety Cycle
Data descriptions 10.5 Process data ● Value range 1 ... 32767; 32767 ≙ 100% ● Must only be evaluated if SLS 1 active and p9501.24 = 1. 10.5.2.8 S_CYCLE_COUNT: Counter for the safety cycle S_CYCLE_COUNT ● PZD4 in telegrams 901 and 902, input signals ●...
Page 372: S_Zsw_Cam1
Data descriptions 10.5 Process data ● Unit: 1 μm (linear axis), 0.001 ° (rotary axis) ● May only be evaluated if the transfer of safe position values is active (p9501.25 = 1) and the position value is valid (r9722.22 = r9722.23 = 1). 10.5.2.11 S_ZSW_CAM1 S_ZSW_CAM1...
Page 373 Data descriptions 10.5 Process data Byte Meaning Remarks Position at cam 9 Position is at cam 9 Position is not at cam 9 Position at cam 10 Position is at cam 10 Position is not at cam 10 Position at cam 11 Position is at cam 11 Position is not at cam 11 Position at cam 12...
Page 374: Sic/Scc (Profidrive) Process Data
Data descriptions 10.5 Process data Byte Meaning Remarks Position at cam 25 Position is at cam 25 Position is not at cam 25 Position at cam 26 Position is at cam 26 Position is not at cam 26 Position at cam 27 Position is at cam 27 Position is not at cam 27 Position at cam 28...
Page 375: S_Zsw1B: Si Motion / Safety Info Channel Status Word
Data descriptions 10.5 Process data 10.5.3.2 S_ZSW1B: SI Motion / Safety Info Channel status word S_ZSW1B SI Motion Safety Info Channel status word Table 10-20 Description S_ZSW1B Meaning Remarks Parameter STO active STO active r9734.0 STO not active SS1 active SS1 active r9734.1 SS1 not active...
Page 376: S_Zsw2B: Safety Info Channel Status Word 2
Data descriptions 10.5 Process data 10.5.3.3 S_ZSW2B: Safety Info Channel status word 2 S_ZSW2B Safety Info Channel status word 2 Table 10-21 Description of S_ZSW2B Meaning Remarks Parameter 0...3 Reserved – – – SLP selected position range SLP area 2 selected r9743.4 SLP area 1 selected 5, 6...
Page 377: S_Zsw3B: Safety Info Channel Status Word 3
Data descriptions 10.5 Process data Meaning Remarks Parameter Select test sequence Test sequence 2 selected r10231.4 Test sequence 1 selected Status of external brake External brake closed r10231.5 External brake open 6...15 Reserved – – – 10.5.3.5 S_ZSW3B: Safety Info Channel status word 3 S_ZSW3B Safety Info Channel status word 3 Table 10-23 Description of S_ZSW3B...
Page 378: S_V_Limit_B: Safety Info Channel Setpoint Velocity Limiting
Data descriptions 10.5 Process data 10.5.3.6 S_V_LIMIT_B: Safety Info Channel setpoint velocity limiting S_V_LIMIT_B SLS speed limit with a 32-bit resolution with sign bit. Table 10-24 Description S_V_LIMIT_B Parameter Meaning r9733[2] SLS speed limit p2000 Scaling of the SLS speed limit S_V_LIMIT_B = 4000 0000 hex ≐...
Page 379: Interface Signals: Axis/Spindle Signals
This means, for example, that you can perform the brake test (Page 293) via the PLC user program. Further information Additional information on the PLC user interface can be found in the Function Manual SINUMERIK MC PLC (https://support.industry.siemens.com/cs/ww/en/view/ 109767477). Safety Integrated (with SINAMICS S120)
Page 380 Data descriptions 10.6 Interface signals: Axis/spindle signals Safety Integrated (with SINAMICS S120) Commissioning Manual, 02/2020, A5E46305916B AB...
Page 381: System Features
Subscribing to the Safety Newsletter 1. Go to the following Internet address in your browser: All Newsletters (https://www.industry.siemens.com/newsletter/public/AllNewsletters.aspx) 2. Select the desired language for the Web page. 3. You have to register and log in if you want to subscribe to any newsletters. Please proceed as follows if you have still not registered: –...
Page 382 System features 11.1 Latest information 5. In the list, open the "Products and solutions" topic. You will now be shown which newsletter is available for this particular subject area or topic. You can subscribe to the appropriate newsletter by clicking on the "Subscribe" entry. If you require more detailed information on the newsletters, then please use the supplementary function on the website.
Page 383: Response Times
System features 11.2 Response times 11.2 Response times The Basic Functions are executed in the monitoring cycle (p9780). PROFIsafe telegrams are evaluated in the PROFIsafe scan cycle, which corresponds to twice the monitoring clock cycle (PROFIsafe scan cycle = 2 · r9780). Note for understanding the tables The drive system is the component that provides the safety functions.
Page 384: Controlling The Basic Functions Via Profisafe
System features 11.2 Response times 11.2.2 Controlling the Basic Functions via PROFIsafe The following table lists the response times from receiving the PROFIsafe Telegram in the drive up to initiating the particular response. Table 11-2 Response times when controlling via PROFIsafe Function Worst case for Drive system has no fault...
Page 385 System features 11.2 Response times Function Worst case for Drive system has no fault A fault is present : Selection or deselection 5 · p9500 + t_K 5 · p9500 + t_K 3 · p9500 + 2 ms 4 · p9500 + 2 ms + t_act SLA: Limit value violation SLP (limit value violation until a response is initiated) 1.5 ·...
Page 386 System features 11.2 Response times Safety Integrated (with SINAMICS S120) Commissioning Manual, 02/2020, A5E46305916B AB...
Page 387: Appendix
Appendix MC documentation overview Comprehensive documentation about the functions provided in SINUMERIK MC Version 1.12 and higher is provided in the SINUMERIK MC documentation overview (https:// support.industry.siemens.com/cs/ww/en/view/109771043). You can display documents or download them in PDF and HTML5 format. The documentation is divided into the following categories: ●...
Page 388: Abbreviations
Appendix A.2 Abbreviations Abbreviations The following list of abbreviations includes all of the relevant abbreviations for SINUMERIK Safety Integrated Functions. Abbreviation Source of abbreviation Meaning Active Interface Module Active Interface Module Active Line Module Active Line Module Asynchronmotor Induction motor BERO Contactless proximity switch Binector Input...
Page 389 Appendix A.2 Abbreviations Abbreviation Source of abbreviation Meaning p... ‑ Setting parameters PC Unit Computer unit PELV Protective Extra Low Voltage Safe extra low voltage Programmiergerät Programming device Programmable Logic Control Programmable logic controller PROFINET (Process Field network) Open Ethernet standard for automation Panel Processing Unit Compact control unit Prozessdaten...
Page 390 Appendix A.2 Abbreviations Abbreviation Source of abbreviation Meaning STO, SS1, SS2..Fault responses Fault response: In the event of a fault, the system responds corresponding to the configured fault re‐ sponse. Only applicable for S210 drives. Steuerwort Control word TM54F Terminal Module 54 F Terminal expansion module 54 F Underwriters Laboratories Inc.
Page 391: Information About Third-Party Software Used
Appendix A.3 Information about third-party software used Information about third-party software used Copyright 1995 Sun Microsystems, Inc. Printed in the United States of America. All Rights Reserved. This software product (LICENSED PRODUCT), implementing the Object Management Group's "Internet Inter-ORB Protocol", is protected by copyright and is distributed under the following license restricting its use.
Page 392 Appendix A.3 Information about third-party software used is or includes a copy or modification of this software and in all copies of the supporting documentation for such software. THIS SOFTWARE IS BEING PROVIDED "AS IS", WITHOUT ANY EXPRESS OR IMPLIED WARRANTY.
Page 393: Data Backup And Archiving In The Sinumerik One Commissioning Tool
On the one hand, commissioning archives are used to save a specific control status and to restore it (Backup), on the other hand, they allow you to configure a machine series using the same data (Setup). In SINUMERIK MC, these two archive types are supported with the DSF format (Data Storage Folder).
Page 394 Appendix A.4 Data backup and archiving in the SINUMERIK ONE Commissioning Tool Archive options There are various ways of creating and reloading archives via the SINUMERIK ONE Commissioning Tool user interface. ● Data archive: As usual, data can be selected specifically in the data tree and backed up by pressing the "System data"...
Page 395 Appendix A.4 Data backup and archiving in the SINUMERIK ONE Commissioning Tool Data areas The following data areas are backed up in a commissioning archive: Components Data Backup Setup NC data Machine data ● ● Setting data ● ● Option data ●...
Page 396: Creating A Plc Commissioning Archive Of A Sinumerik Mc
● Commissioning the PLC with the SINUMERIK archive directly on the SINUMERIK MC without using a PG/PC, TIA Portal or STEP 7 ● Transferring the data to the SINUMERIK MC without establishing an online connection to the actual hardware SINUMERIK archives (*.dsf) have nothing in common with TIA Portal project archives (*.zap*).
Page 397 Appendix A.5 Creating a PLC commissioning archive of a SINUMERIK MC Procedure To create a PLC commissioning archive, proceed as follows: 1. In the project tree, right-click the device name, e.g. "MC_1" and select "Create SINUMERIK archive > Hardware and all program blocks" in the shortcut menu.
Page 398: Exporting Plc Alarms And Text Lists From The Tia Portal
Appendix A.6 Exporting PLC alarms and text lists from the TIA Portal Exporting PLC alarms and text lists from the TIA Portal You can display, configure and export PLC messages (program messages and system messages) and the associated text lists in the TIA Portal to use them in the SINUMERIK ONE Commissioning Tool.
Page 399 Appendix A.6 Exporting PLC alarms and text lists from the TIA Portal Procedure To export the PLC alarms and text lists saved in the TIA Portal project, proceed as follows: 1. In the project tree, right-click on the PLC and select "Export alarms and text lists for SINUMERIK Operate"...
Page 400: Importing Sinumerik-Plc Alarm Texts Into The Tia Portal
A.7 Importing SINUMERIK-PLC alarm texts into the TIA Portal Importing SINUMERIK-PLC alarm texts into the TIA Portal Preconditions ● A SINUMERIK MC has been created. ● The languages in which the TS files are available must be archived as project languages in the TIA Portal.
Page 401 3. Select the file formats which you would like to import in the "File type" drop-down list. – TS and CSV files – TS files: Importing DB2 alarm texts that were copied directly from the SINUMERIK MC. – CSV file: Importing of DB2 alarm texts that were converted beforehand into the CSV format, for example with AMM /P2P.
Page 402: Additional Information On Safety Topics
A.8.2 Further information You can find additional information on Safety Integrated in the: ● System Manual Safety Integrated - the safety program for the industries of the world (https:// support.industry.siemens.com/cs/ww/en/view/28813929) Safety Integrated (with SINAMICS S120) Commissioning Manual, 02/2020, A5E46305916B AB...
Page 403: Index
Index 2-encoder system, 191 Checksum, (Checksum) Global checksum, 325 Master checksum, 325 Commissioning Complete, 306 Acceptance test Configuring machine data, 304 Creating, 341 Configuring safety functions integrated in the Acknowledging drive, 266 Messages, 337 Configuring safety settings, 248 Acknowledgment Configuring safety-related components, 220 Extended, 339 Creating a safety program, 228 Extended alarm acknowledgment, 339...
Page 404 Inserting F01611 Motor in the drive configuration, 40 Fault value 1000, 209, 217 SINAMICS drive into the project, 40 Fault reaction function, 53 SINUMERIK MC in the project, 37 Fault response, 330 Instance DB, 68, 80 F-block Instructions Copying, 81...
Page 405 SLS limit value, 140 Programming Startup protection, 86 Validity checks, 90 Project Networking Creating, 36 SINAMICS drive with SINUMERIK MC, 41 Proof test, 344 Operand area Replacing For safety program, 65 Software components, 344 Operating system update, 344 Response times, 383...
Page 406 Index S_STW2 With OFF3 (Extended Functions), 100 Basic Functions, 364 Without encoder, 101 Extended Functions, 365 Safe Stop 2, 115, 117 S_STW3B, 376 Extended stop and retract, 122 S_V_LIMIT_B, 378 SS2, 117 S_XIST16, 371 with external stop, 119 S_XIST32, 371 Safe Torque Off, 105 S_ZSW_CAM1 Basic Functions, 105...
Page 407 Delay, 137 Delay time, 99, 100 see Safety Info Channel, 212 Delay time SBR, 99 SINAMICS drive Enable, 99 Networking with SINUMERIK MC, 41 Monitoring mode, 99 Single-encoder system, 191 Principle of operation, 94, 98 SINUMERIK alarm texts Protective door, 105...
Page 408 Index Standstill monitoring, 99 Start TIA Portal, 35 Startup, 86 User agreement, 189 Startup protection, 86 User safety function, 53 Basic Functions, 105 Internal armature short-circuit, 108 Safe Torque Off, 105 Safe Torque Off (Basic Functions), 105 Variable Select, 105 $A_STOPESI, 353 STOP A, 328, 330 $VA_SAFE_TYPE, 353...

Siemens SINUMERIK MC Commissioning Manual

1 Fundamental Safety Instructions

2 Fundamentals

3 Safety Program of the F-PLC

4 Safety Functions Integrated in the Drive

5 Controlling Safety Functions Integrated in the Drive

6 Commissioning and Configuring

7 Diagnostics

8 Acceptance Test in the SINUMERIK ONE Commissioning Tool

9 Component Replacement (Software/Hardware)

10 Data Descriptions

11 System Features

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