Siemens SINAMICS S210 - SI Motion Non Safety-Relevant Measuring Steps POS1; SI Motion Encoder Coarse Position Value Configuration; SI Motion Encoder Configuration Safety Functions

Note
SS1: Safe Stop 1 (corresponds to Stop Category 1 acc. to EN60204)
SS1E: Safe Stop 1 external (Safe Stop 1 with external stop)
For bit 00:
When the function is activated, a safety-relevant acknowledgment (internal event acknowledge) can be performed by
selecting/deselecting STO.
For bit 01:
When the function is activated, the active setpoint velocity limit (CO: r9733) is set to zero when STOP F is active.
For bit 03:
When the bit is activated – when selecting function SS1 or activating a STOP B – an SS1E or a STOP B with Stop,
which should be externally initiated, is triggered instead of SS1 with a drive-based braking response. As a
consequence, brake monitoring (SBR, SAM) is deactivated.
p9513 SI Motion non safety-relevant measuring steps POS1
Changeable: C2(95) Data type: Unsigned32 P group: Safety Integrated
Min: 0 Max: 4294967295 Def: 22000
Description: Sets the non safety-relevant measuring steps of position value POS1.
The encoder that is used for the safe motion monitoring function must be parameterized in this parameter.
Dependency: See also: F01670
Note
For safe functions that are not enabled (p9501 = 0), the following applies:
- p9513 is automatically set when the system powers up.
For safety functions that are enabled (p9501 > 0), the following applies:
- p9513 is checked to see that it matches the encoder.
p9515 SI Motion encoder coarse position value configuration
Changeable: C2(95) Data type: Unsigned32 P group: Safety Integrated
Min: - Max: - Def: 0000 0000 0000 0000 0000 0000
0000 0000 bin
Description: Sets the encoder configuration for the redundant coarse position value.
The encoder that is used for the safe motion monitoring function must be parameterized in this parameter.
Bit field: Bit Signal name 1 signal 0 signal FP
00 Incrementer Yes No -
01 Encoder CRC least significant byte first Yes No -
02 Redundant coarse position val. most significant bit left-alignedYes No -
04 Binary comparison not possible Yes No -
05 Single-channel encoder Yes No -
16 DRIVE-CLiQ encoder Yes No -
Note
- after starting the copy function (p9700 = 57 hex), p9515.0...5 are set according to the encoder.
For safe functions that are not enabled (p9501 = 0), the following applies:
- p9515.16 is automatically set when the system powers up.
For safety functions that are enabled (p9501 > 0), the following applies:
- p9515.16 is checked to see that it matches the encoder.
p9516 SI Motion encoder configuration safety functions
Changeable: C2(95) Data type: Unsigned16 P group: Safety Integrated
Min: - Max: - Def: 0000 0000 bin
Description: Sets the configuration for the motor encoder and position actual value.
The encoder that is used for the safe motion monitoring function must be parameterized in this parameter.
Bit field: Bit Signal name 1 signal 0 signal FP
Parameters
12.2 List of parameters
SINAMICS S210 servo drive system
264 Operating Instructions, 12/2017, A5E41702836B AA