Safety Integrated Functions
8.5 Safety Integrated Extended Functions
Function Manual
376 Function Manual, 01/2011, 6SL3097-4AB10-0BP3
By contrast to SLS limit parameters, this parameter specifies limits on the motor side instead
of limits on the load side.
● r9733[0] = p9531[x] * p9533; x = selected SLS stage
● r9733[1] = - p9531[x] * p9533; x = selected SLS stage
r9733 is used, for example, for transmitting values to a higher-level control, which can then,
for example, adjust traversing speeds to the SLS levels. r9733 is a part of the Safety Info
Channel (SIC).
Changeover of SLS limits
The changeover is controlled binary-coded via two F-DIs or two PROFIsafe control bits. The
speed selection status can be checked using the r9720.9/r9720.10 parameters. Parameters
r9722.9 and r9722.10 indicate the actual speed limit, bit r9722.4 must carry a "1" signal.
Table 8- 10 Changeover of speed limits:
F-DI for bit 1 (r9720.10) F-DI for bit 0 (r9720.9) Speed limit
0 0 p9331[0]/p9531[0]
0 1 p9331[1]/p9531[1]
1 0 p9331[2]/p9531[2]
1 1 p9331[3]/p9531[3]
The changeover from a lower to a higher speed limit takes effect without any delay.
The changeover from a higher to a lower limit triggers a delay time which can be set at the
corresponding parameter (p9351 and p9551).
CAUTION
SLS level 1 must be defined as the lowest speed limit.
SLS level 1 is activated after two unacknowledged discrepancy errors; in other words, 0 is
the failsafe value for the two F-DIs for speed level selection. The SLS levels to be switched
between must, therefore, always be parameterized in ascending order, i.e. with SLS level 1
as the lowest speed and SLS level 4 as the highest.
Responses
Speed limit exceeded:
● Configured subsequent stop STOP A / B / C / D by means of p9363/p9563
● Safety message C01714/C30714
System errors:
● STOP F
● Safety messages C01711/C30711
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