Commissioning
4.10 Safety Integrated commissioning
Commissioning with Startdrive
Commissioning Manual, 11/2017, 6SL3097-4AA10-0BP1
275
Note
The smallest possible tolerance band should be selected for the SCA function
(<
5 ... 10 mm). It makes sense to parameterize the cam tolerance to be greater than or
equal to the actual value tolerance.
2. You define the cam positions that you want to monitor in the list at the bottom of the
screen form.
– Choose and activate the cam in the list (= Enable).
– In the same row of the list, enter the minus cam position and the plus cam position in
the input fields.
Note that the defined output cams must have a certain minimum length: plus cam
position - minus cam position ≥ hysteresis + actual value comparison tolerance
(p9542).
If you violate this rule, the drive will output the message F01686 ("SI Motion: Output
cam position parameterization not permissible").
3. Home the axis using the "Safe homing" function.
– To do this, click the
icon and, in dialog box "Safe homing", acquire the required
position values (see Chapter "Safe homing (Advanced Functions) (Page 269)").
The enabled output cam signals are output immediately after POWER ON. This
output is, however, only safe after safe homing; i.e. the output cams are only
considered safe when safe homing has also been performed.
• Home the axis using the "Safe homing" function.
1. To select the function "SCA", click the button (control).
The "Control" screen form opens.
2. Now select one of the telegrams (31, 901, 902, and 903) that contains the PROFIsafe
control word S_STW2.2.
Click the
icon to open telegram configuration and select control word S_STW2.
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