● Recommendation
The SAM tolerance value entered should be approx. 20% higher than the calculated value.
● You set the tolerance such that the "overshoot" is tolerated that necessarily occurs when
standstill is reached after braking along the OFF3 ramp. However, it cannot be calculated
as to just how high this is.
Note
First monitoring cycle
For SAM, in the first "SI Motion monitoring cycle" (p9500) a higher SAM tolerance is taken into
account in order to compensate for possible settling operations without resulting in an incorrect
initiation. The increase factor is calculated as follows:
SI Motion monitoring cycle (p9500) / SI Motion actual value acquisition cycle (p9511)
Example:
SI Motion monitoring cycle (p9500) = 12 ms
SI Motion actual value acquisition cycle (p9511) = 1 ms
SAM tolerance (p9548) = 300 rpm
Actual speed = 250
Rotary axis
In the first cycle after activation of the monitoring, the SAM limit value is therefore:
Actual speed + SAM tolerance · (12 ms/1 ms) =
250 rpm + 300 rpm · 12 =
approx. 3850 rpm
Responses
● Speed limit violated (SAM):
– STOP A
– Safety message C01706
● System fault:
– STOP F with subsequent STOP A
– Safety message C01711
Overview of important parameters (see SINAMICS S120/S150 List Manual)
● p9546 SI Motion SSM (SGA n < nx) speed limit (CU)
● p9548 SI Motion SAM actual speed tolerance (Control Unit)
● p9568 SI Motion SAM speed limit (Control Unit)
Safety functions integrated in the drive
4.8 SAM
Safety Integrated (with SINAMICS S120)
Commissioning Manual, 02/2020, A5E46305916B AB 129
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