System Features
3.5 Response times
Safety Integrated
50 Function Manual, 05/2010, A5E03264275A
3.5.3 Response times for Safety Integrated Extended Functions without encoder
Control of Extended Functions without encoder via PROFIsafe
The following table lists the response times from receiving the PROFIsafe telegram on the
Control Unit up to initiating the response.
Table 3- 5 Response times when controlling via PROFIsafe
Function Typical Worst case
STO 4 x p9500 + r9780 4 x p9500 + 3 x r9780
SBC
5)
4 x p9500 + 2 x r9780 4 x p9500 + 6 x r9780
SS1 (time and acceleration controlled) 4 x p9500 + 2 ms 5 x p9500 + 2 ms
SBR, safe acceleration monitoring responds 3 x p9500 + 31 ms 3.5 x p9500 + r9780 + 57 ms
SLS speed limit violated
2)
3 x p9500 + 31 ms 4.5 x p9500 + r9780 + 57 ms
The specified response times involve internal SINAMICS response times. Program run times
in the F host and the transmission time via PROFIBUS or PROFINET are not taken into
account.
Activation of Extended Functions without encoder via TM54F
The following table lists the response times between a signal occurring at the terminals up to
the initiation of the response.
Table 3- 6 Response times with control via TM54F
Function typical Worst case
STO 2.5 x p9500 + r9780 + 1.5 ms 3 x p9500 + 3 x r9780 + 2 ms
SBC
5)
2.5 x p9500 + 2 x r9780 + 1 ms 3 x p9500 + 6 x r9780 + 2 ms
SS1 (time and acceleration controlled) 2.5 x p9500 + 3 ms 4 x p9500 + 4 ms
SBR, safe acceleration monitoring responds 3 x p9500 + 31 ms 3.5 x p9500 + r9780 + 57 ms
SLS speed limit violated
2)
3 x p9500 + 31 ms 4.5 x p9500 + r9780 + 57 ms
Information on the tables:
1)
t_DP = PROFIBUS cycle with isochronous PROFIBUS master, otherwise 1 ms
2)
SLS: Specification of the response time required for initiation of a braking reaction in the
drive, or for the output of the "SOS selected" message to the motion control system.
3)
SSM: The data corresponds to the times between the limit value being undershot up to
sending the information via PROFIsafe.
4)
SSM: The data corresponds to the times between the limit value being undershot up to
output of the information via the TM54F terminals.
5)
SBC:The data correspond to the times for brake activation without additional hardware
(Safe Brake Adapter).
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