Note
For the commissioning tool, after changing over the axis type, the units dependent on the axis type are only updated
after a project upload.
A change only becomes effective after a POWER ON.
p9505 SI Motion SP modulo value is
Changeable: C2(95) Data type: FloatingPoint32 P group: Safety Integrated
Min: 0 [°] Max: 737280 [°] Def: 0 [°]
Description: Sets the modulo value in degrees for rotary axes of the "Safe position" function.
This modulo value is taken into account when safely referencing as well as when transferring the safe position via
PROFIsafe when the absolute position is enabled.
The value should be set, so that it is precisely at 2^n revolutions, so that when the range that can be represented
(+/-2048) overflows, this does not cause the position actual value to jump.
The modulo function is deactivated for a value = 0.
Dependency: See also: p9501
See also: F01681
NOTICE
When the "SLP" function is activated, the modulo function must be deactivated as otherwise fault F01681 will be
output.
If the absolute position is not enabled, then the parameterized modulo value is not taken into account.
Note
SLP: Safely Limited Position
SP: Safe Position
p9506 SI Motion function specification
Changeable: C2(95) Data type: Integer16 P group: Safety Integrated
Min: 0 Max: 2 Def: 0
Description: Sets the function specification for the safe motion monitoring.
Value: 0: Safety with encoder and accel_monitoring (SAM) / delay time
2: Safety with encoder with brake ramp (SBR)
Dependency: See also: C01711
Note
A change only becomes effective after a POWER ON.
p9507 SI Motion function configuration
Changeable: C2(95) Data type: Unsigned32 P group: Safety Integrated
Min: - Max: - Def: 0100 0001 bin
Description: Sets the function configuration for the safe motion monitoring functions.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Extended message acknowledgment Yes No -
01 Setpoint velocity limit for STOP F No Yes -
03 SS1 with OFF3 (brake response) SS1E external stop SS1 with OFF3 -
Dependency: See also: C01711
Parameters
12.2 List of parameters
SINAMICS S210 servo drive system
Operating Instructions, 12/2017, A5E41702836B AA 263
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