10.2 System variables..................................................................................................................352
10.2.1 Overview ..............................................................................................................................352
10.2.2 $VA_STOPSI - actual STOP................................................................................................353
10.2.3 $A_STOPESI - actual STOP E ............................................................................................353
10.2.4 $VA_SAFE_TYPE - axial Safety Integrated operating mode ...............................................353
10.3 Standard telegram start addresses ......................................................................................354
10.4 Telegram structure and data ................................................................................................355
10.4.1 PROFIsafe telegram 30 .......................................................................................................355
10.4.2 PROFIsafe telegram 31 .......................................................................................................355
10.4.3 SIEMENS telegram 701 .......................................................................................................355
10.4.4 SIEMENS telegram 901 .......................................................................................................356
10.4.5 SIEMENS telegram 902 .......................................................................................................357
10.4.6 SIEMENS telegram 903 .......................................................................................................357
10.5 Process data ........................................................................................................................358
10.5.1 Overview: Process data in telegrams...................................................................................358
10.5.2 PROFIsafe process data......................................................................................................359
10.5.2.1 Note......................................................................................................................................359
10.5.2.2 S_STW1: Safety control word 1 ...........................................................................................360
10.5.2.3 S_ZSW1: Safety status word 1 ............................................................................................362
10.5.2.4 S_STW2: Safety control word 2 ...........................................................................................364
10.5.2.5 S_ZSW2: Safety status word 2 ............................................................................................366
10.5.2.6 S_SLS_LIMIT_A: SLS limit value input ................................................................................370
10.5.2.7 S_SLS_LIMIT_A_ACTIVE: Active SLS limit value................................................................370
10.5.2.8 S_CYCLE_COUNT: Counter for the safety cycle.................................................................371
10.5.2.9 S_XIST16: Current actual position value (16 bits) ...............................................................371
10.5.2.10 S_XIST32: Current actual position value (32 bits) ...............................................................371
10.5.2.11 S_ZSW_CAM1 .....................................................................................................................372
10.5.3 SIC/SCC (PROFIdrive) process data...................................................................................374
10.5.3.1 S_STW1B: Safety Control Channel control word 1..............................................................374
10.5.3.2 S_ZSW1B: SI Motion / Safety Info Channel status word .....................................................375
10.5.3.3 S_ZSW2B: Safety Info Channel status word 2.....................................................................376
10.5.3.4 S_STW3B: Safety Control Channel control word 3..............................................................376
10.5.3.5 S_ZSW3B: Safety Info Channel status word 3.....................................................................377
10.5.3.6 S_V_LIMIT_B: Safety Info Channel setpoint velocity limiting ...............................................378
10.6 Interface signals: Axis/spindle signals..................................................................................379
10.6.1 Interface signals: Axis/spindle signals..................................................................................379
11 System features........................................................................................................................................381
11.1 Latest information.................................................................................................................381
11.2 Response times ...................................................................................................................383
11.2.1 Controlling Basic Functions via terminals on the Control Unit and Motor Module ...............383
11.2.2 Controlling the Basic Functions via PROFIsafe ...................................................................384
11.2.3 Control of the Extended/Advanced Functions via PROFIsafe .............................................384
A Appendix...................................................................................................................................................387
A.1 MC documentation overview................................................................................................387
A.2 Abbreviations .......................................................................................................................388
A.3 Information about third-party software used.........................................................................391
Table of contents
Safety Integrated (with SINAMICS S120)
Commissioning Manual, 02/2020, A5E46305916B AB 15
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