Siemens SINAMICS SIMOTICS S200 PROFINET User Manual

10.4.6.3 Control and status word for encoder1.............................................................................. 349
10.4.6.4 Control word for block selection ...................................................................................... 350
10.4.6.5 Control word for MDI mode.............................................................................................. 351
10.4.6.6 Control and status word 1 for the positioner..................................................................... 352
10.4.6.7 Control and status word 2 for the positioner..................................................................... 354
10.4.6.8 Message word ................................................................................................................. 356
10.5 General functions ............................................................................................................ 357
10.5.1 Stopping method at servo-o󹪜...........................................................................................
357
10.5.2 Speed limit ...................................................................................................................... 358
10.5.3 Torque limit ..................................................................................................................... 360
10.5.4 Vertical axis ..................................................................................................................... 361
10.5.5 PTO function (for S200PN only)....................................................................................... 362
10.5.6 Ramp-function generator................................................................................................. 364
10.5.7 Setting motor overload protection in accordance with UL 61800-5-1 Ed.2......................... 367
10.6 Basic positioner (EPOS) .................................................................................................... 368
10.6.1 Mechanical system........................................................................................................... 369
10.6.1.1 Axis type.......................................................................................................................... 369
10.6.1.2 Units of measurement...................................................................................................... 370
10.6.1.3 Setting the backlash......................................................................................................... 371
10.6.2 Limits .............................................................................................................................. 373
10.6.2.1 Limiting the traversing range ........................................................................................... 373
10.6.2.2 Limiting the traversing pro󹪝les ......................................................................................... 374
10.6.3 Position monitoring ......................................................................................................... 374
10.6.3.1 Positioning and standstill monitoring ............................................................................... 374
10.6.3.2 Following error monitoring .............................................................................................. 375
10.6.4 Homing ........................................................................................................................... 376
10.6.4.1 Terms for homing ............................................................................................................ 377
10.6.4.2 Active homing ................................................................................................................. 378
10.6.4.3 Passive homing................................................................................................................ 381
10.6.4.4 Absolute encoder adjustment........................................................................................... 382
10.6.4.5 Setting the home position................................................................................................ 383
10.6.5 Traversing blocks ............................................................................................................. 383
10.6.5.1 Traversing block tasks ...................................................................................................... 383
10.6.5.2 Travel to 󹪝xed stop ........................................................................................................... 389
10.6.6 Direct setpoint input (MDI)............................................................................................... 390
10.6.7 Jog .................................................................................................................................. 394
10.6.8 Measuring probe evaluation and homing mark search ...................................................... 396
10.7 Safety Integrated (for S200 PN only)................................................................................. 398
10.7.1 Safety Integrated Functions.............................................................................................. 399
10.7.2 Certi󹪝cation..................................................................................................................... 400
10.7.3 PFH values....................................................................................................................... 400
10.7.4 Usage time ...................................................................................................................... 401
10.7.5 Stop functions ................................................................................................................. 401
10.7.5.1 Safe Torque O󹪜 (STO)....................................................................................................... 401
10.7.5.2 Functional features of STO ............................................................................................... 403
10.7.5.3 Discrepancy time ............................................................................................................. 404
10.7.5.4 Input 󹪝lter........................................................................................................................ 405
10.7.5.5 Self-test of the fail-safe digital input (F-DI)........................................................................ 405
10.7.6 Safety Integrated function status/diagnostics.................................................................... 406
10.7.7 Responses to safety messages .......................................................................................... 406
10.7.7.1 Stop responses................................................................................................................. 406
Table of contents
SINAMICS S200 PROFINET servo drive system with SIMOTICS S-1FL2
10 Operating Instructions, 11/2023, FW V6.3, A5E51646752B AB

Siemens SINAMICS SIMOTICS S200 PROFINET Specifications

General

Brand	Siemens
Model	SINAMICS SIMOTICS S200 PROFINET
Category	Servo Drives
Language	English