Note
Setpoint speed limit and SLS
● When parameterizing SLS, it also makes sense to configure the setpoint speed limiting. This
is done in a higher-level controller that evaluates the safety information channel, for
example, or by wiring r9733[0/1] to the speed limits of the ramp-function generator (p1051/
p1052).
● It does not make sense to use the positive and negative setpoint limiting for SLS in
conjunction with standard telegram 105 and others: With this combination, the velocity
setpoint of the standard telegram is only effective after the setpoint limiting.
4.10.1.1 Connection to the motion control in the NC
The following status bits or values from the SIC/SCC send data are linked to the NC so that for
safety functions integrated in the drive, subsequent responses or alarms do not occur in the NC:
● SI Motion Safety Info Channel status word: S_ZSW1B (Page 375)
– Bit 4 SLS_ACTIVE (SLS active)
– Bit 6 SLS_SELECTED (SLS selected)
● Speed setpoint limit in 32-bit resolution with sign bit: S_V_LIMIT_B (Page 378)
If the SLS function is selected or is active, then the corresponding bits are set in S_ZSW1B. The
currently selected velocity limit value of the SLS function integrated in the drive is then entered
in S_V_LIMIT_B.
After rescaling, S_V_LIMIT_B is multiplied with the value from MD36933
$MA_SAFE_DES_VELO_LIMIT[0...3], and is transferred to the motion control in the NC as
setpoint speed limit.
If a value of 0% or 100% is entered in MD36933, then the value from S_V_LIMIT_B is
transferred as speed setpoint limit.
When SOS or a STOP A to F is selected, then S_V_LIMIT_B contains a setpoint of 0. When the
"SLS" or "SOS" function is not selected in the drive, then the velocity/speed limit value in
S_V_LIMIT_B corresponds to the value for the maximum velocity/maximum speed (Vmax).
4.10.1.2 Safely Limited Speed (SLS)
Features
● When SLS is selected, the monitoring only takes effect after the configured delay time has
expired (p9551). Within this time, the actual speed must be below the (selected) limit. The
delay time is not effective when SLS is deselected.
● After switching to a lower limit value (p9531), the actual speed of the drive must have
dropped below the new limit within the delay time (p9551). The existing limit remains active
during the delay time. The lower limit value becomes active after the delay time expires. This
also applies to a reduction of the limit value via PROFIsafe.
Safety functions integrated in the drive
4.10 SLS
Safety Integrated (with SINAMICS S120)
Commissioning Manual, 02/2020, A5E46305916B AB 139
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