Siemens SINAMICS S120 - Advanced Functions; Safe Homing (Advanced Functions)

Commissioning
4.10 Safety Integrated commissioning
Commissioning with Startdrive
Commissioning Manual, 11/2017, 6SL3097-4AA10-0BP1
269
4.10.5
Advanced Functions
4.10.5.1
Safe homing (Advanced Functions)
The "Safe referencing/homing" function allows a safe absolute position to be defined. This
safe position is required for the following safety functions:
● Safely-Limited Position (SLP)
● Safe Position (SP)
● Safe Cam (SCA)
Performing homing
In most cases, an external controller performs the homing to an absolute position. The
converter only performs this task in special cases (e.g. EPOS).
● Homing by an external controller
Requirement: No movement of the drive
The home position determined by the controller is entered in parameter p9572 and is
declared to be valid using p9573 = 89.
● Homing by EPOS
The SINAMICS EPOS function transfers, when homing, the determined position directly
to Safety Integrated. This can also take place during motion.
● User agreement
The user agreement must be set (p9726 = p9740 = AC hex) within 2 seconds after
homing.
Safety Integrated only evaluates the home position if this is required by a function that has
been enabled (e.g. SLP). Using diagnostics bit r9723.17, Safety Integrated indicates whether
the drive has been homed. Safety Integrated indicates the position of the drive in diagnostic
parameters r9708 and r9713. Bit r9722.23 is set when the axis is safely homed.