② Activation of SDI+
• After the SDI delay time has expired, the converter monitors the
direction of motion of the motor.
• The converter reports the status "SDI positive active"
(r9722.12).
• The converter continuously calculates the position of the motor.
• As soon as the motor moves in the inhibited direction, the con‐
verter stores the current position and monitors the discrepancy
between the current position and the stored position.
• The converter sets r9733[1] = 0 (setpoint speed limitation neg‐
ative).
2)
③ SDI tolerance exceeded
• If the discrepancy between the current position and the stored
position is greater than the SDI tolerance p9564, the converter
brakes the motor with the set stop response (p9566) and out‐
puts a safety message
1)
.
④ Deselection of SDI+
• The converter detects deselection of SDI+.
• The converter stops monitoring the motion direction.
• The motor can now be moved in both directions.
1)
The following steps are required to acknowledge the safety message:
- Deselect SDI and select it again
- Safe acknowledgment
2)
If signal c1052 is interconnected with r9733[1], then the converter automatically brakes the motor.
Parameters
The following list contains the parameters of the "Safe Direction (SDI)" function.
Number Name Unit
p9564 SI SDI tolerance [mm]
p9564 SI SDI tolerance [°]
p9565 SI SDI delay time [ms]
p9566 SI SDI stop response
p9603.0...1 SI control
p9604.0...30 SI enable
r9720.0...15 SI control word
r9722.0...15 SI status signals
r9733[0...2] SI eective setpoint velocity limiting [rpm]
c10030 SI SDI positive input terminal
c10031 SI SDI negative input terminal
r10360.0...1 SI SDI positive select cause
r10361.0...1 SI SDI negative select cause
14.12.5.6 Limitation of the speed setpoint for SDI
Overview
For Safe Direction (SDI) it makes sense to limit the speed setpoint with the higher-level control.
Functions
14.12Safety Integrated
SINAMICS G220 converter
Operating Instructions, 04/2024, FW V6.2, A5E51781573B AB 677
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