9.5.4 Position monitoring function............................................................................................ 246
9.5.5 Smoothing function......................................................................................................... 250
9.5.6 Electronic gear ratio......................................................................................................... 251
9.5.7 Inhibiting pulse train input setpoint (P-TRG)...................................................................... 254
9.5.8 Clearing droop pulses (CLR).............................................................................................. 254
9.5.9 Speed limit ...................................................................................................................... 256
9.5.10 Torque limit ..................................................................................................................... 258
9.5.11 Torque overload monitoring............................................................................................. 260
9.6 Speed control (S) (for S200 PTI only) ................................................................................ 261
9.6.1 Speed setpoint................................................................................................................. 261
9.6.2 Direction and stop............................................................................................................ 262
9.6.3 Speed limit ...................................................................................................................... 263
9.6.4 Speed reached monitoring ............................................................................................... 265
9.6.5 Torque limit ..................................................................................................................... 266
9.6.6 Torque overload monitoring............................................................................................. 268
9.6.7 Zero speed clamp............................................................................................................. 269
9.6.8 Ramp-function generator................................................................................................. 269
9.7 Torque control (T) (for S200 PTI only) ............................................................................... 273
9.7.1 Torque setpoint................................................................................................................ 273
9.7.2 Direction and stop............................................................................................................ 274
9.7.3 Speed limit ...................................................................................................................... 275
9.7.4 Torque limit ..................................................................................................................... 277
9.7.5 Torque overload monitoring............................................................................................. 279
9.7.6 Protective speed limit....................................................................................................... 280
9.8 Safety Integrated (for S200 PTI only) ................................................................................ 282
9.8.1 Safety Integrated Functions.............................................................................................. 283
9.8.2 Certication..................................................................................................................... 284
9.8.3 PFH values....................................................................................................................... 284
9.8.4 Usage time ...................................................................................................................... 285
9.8.5 Stop functions ................................................................................................................. 285
9.8.5.1 Safe Torque O (STO)....................................................................................................... 285
9.8.5.2
Functional features of STO ............................................................................................... 287
9.8.5.3 Discrepancy time ............................................................................................................. 288
9.8.5.4 Input lter........................................................................................................................ 289
9.8.5.5 Self-test of the fail-safe digital input (F-DI)........................................................................ 289
9.8.6 Safety Integrated function status/diagnostics.................................................................... 290
9.8.7 Responses to safety messages .......................................................................................... 290
9.8.7.1 Stop responses................................................................................................................. 290
9.8.7.2 Fail-safe acknowledgement of safety messages ................................................................ 291
9.8.8 Response time ................................................................................................................. 292
9.8.9 Functional safety ............................................................................................................. 292
9.8.10 Machinery Directive ......................................................................................................... 293
10 Tuning ................................................................................................................................................ 295
10.1 Tuning workow.............................................................................................................. 295
10.2 Autotuning ...................................................................................................................... 296
10.2.1 One Button Tuning........................................................................................................... 297
10.2.2 Real Time Tuning (Online Tuning)..................................................................................... 298
10.3 Manual tuning ................................................................................................................. 299
10.3.1 Control loops ................................................................................................................... 299
Table of contents
SINAMICS S200 pulse train servo drive system with SIMOTICS S-1FL2
8 Operating Instructions, 11/2023, FW V6.3, A5E51646767B AA
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