Siemens SINAMICS S120 - Page 270

Commissioning
4.10 Safety Integrated commissioning
Commissioning with Startdrive
270 Commissioning Manual, 11/2017, 6SL3097-4AA10-0BP1
Homing types
SINAMICS distinguishes between two types of homing:
● Initial homing
For initial safe homing, or in the event of a fault during a subsequent homing, the
following steps are necessary:
– The home position determined by the controller is entered in parameter p9572 and is
declared to be valid with p9573 = 89. This step is not required for position control with
EPOS.
– Homing has been performed correctly (r9723.17 = 1)
– Confirm the actual position value by clicking "Confirm the actual position value": Within
2 s, set parameters p9726 = p9740 = AC hex
If both parameters are not set within the 2 s, the converter outputs the messages
C01711 (value: 1002).
After this "user agreement", the drive is "safely homed" (r9722.23 = 1)
Note
No automatic user agreement permissible
Please note that the operator must be capable of assigning the
determined position to
the real position of the axis before setting the user agreement. This can be performed,
for example, by a visual inspection of the axis position. Under no circumstances must
these parameters ever be set fully automatically by a cont
roller without agreement by
the user. This would only be permissible if the home position can be safely sensed by
means of a safe sensor.
● Subsequent homing
Subsequent homing involves homing with a safe history (i.e. with an internally battery-
backed user agreement) after a POWER ON or after deselecting "parking axis."
– The position determined by the controller is entered in parameter p9572 and is
declared to be valid with p9573 = 89. This step is not required for position control with
EPOS and use of an absolute encoder.
– After the drive has been homed, Safety Integrated automatically performs a plausibility
check.
– If the deviation between the current absolute position and the previous standstill
position saved by Safety Integrated in the NVRAM is within the tolerance p9544, then
the drive goes into the "safely homed" state (r9722.23 = 1).