Using parameter r9733, the safety functions offer EPOS setpoint limiting values, which when
taken into account, prevent the safety limit value being violated.
In order to prevent a safety limit violation by the EPOS setpoint specification, you must transfer
the setpoint limit value (r9733) as follows to the maximum speed setpoint of EPOS (p2594):
● r9733[0] = p2594[1]
● r9733[1] = p2594[2]
In this regard you must set the delay time for SLS/SOS (p9551), so that the relevant safety
monitoring function only becomes active after the maximum required time for the speed to be
reduced below the limit. This required braking time is determined by the current speed, the jerk
limit in p2574 and the maximum delay in p2573.
Overview of important parameters (see SINAMICS S120/S150 List Manual)
● p2573 EPOS maximum delay
● p2574 EPOS jerk limitation
● p2593 CI: EPOS LU/revolution LU/mm
● p2594[0...2] CI: EPOS maximum speed, externally limited
● p9551 SI Motion SLS(SG) switchover/SOS(SBH) delay time (CU)
● r9733[0...2] CO: SI Motion speed setpoint limit active
Safety functions integrated in the drive
4.10 SLS
Safety Integrated (with SINAMICS S120)
146 Commissioning Manual, 02/2020, A5E46305916B AB
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