4.10.1.3 Safely Limited Speed without encoder
Functions
2 different encoderless Safely-Limited Speed monitoring functions can be set with parameter
p9506:
● p9506 = 3: Safe monitoring of acceleration (SAM) / delay time
The function is identical to "Safely-Limited Speed with encoder" which was described in the
previous section.
● p9506 = 1: Safe brake ramp monitoring (SBR)
Note
Defaults
● When commissioning, also note the description provided in the SINAMICS Safety
Integrated Function Manual, Chapter "Default settings for commissioning Safety Integrated
Functions without encoder".
● Information about setting the SBR monitoring function can be found in Chapter "SBR
(Page 130)".
Monitoring the brake ramp
● If the speed setpoint limitation (r9733) was connected to the setpoint channel (p1051/
p1052) and then SLS was selected – or if you change over to a lower SLS level – the motor
is decelerated from the actual speed to below the value defined with r9733 along the OFF3
ramp. In this case, the drive may no longer follow the setpoint of the higher-level motion
controller.
● Parameter p9582 is used to set the delay time for the braking ramp monitoring.
● Monitoring of the brake ramp is activated once the delay time in p9582 has elapsed. If the
actual speed of the drive violates the brake ramp (SBR) during braking, safety message
C01706 is output and the drive is stopped with STOP A.
● The newly selected SLS limit value is also taken over as the new limit speed, if either
– The SBR ramp has reached the new SLS limit value, or
– The actual speed of the drive was below the new SLS limit value for at least the time set
in p9582.
● The "Safely-Limited Speed without encoder" function then monitors whether the actual
speed remains below the newly selected SLS limit value.
● The parameterized stop response (p9563[x]) is initiated if the SLS limit value is exceeded.
Safety functions integrated in the drive
4.10 SLS
Safety Integrated (with SINAMICS S120)
142 Commissioning Manual, 02/2020, A5E46305916B AB
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