Value range r9708
The diagnostics information in parameter r9708 is displayed with the following properties:
Table 4-3 Value range and resolution (32 bits)
Linear axis Rotary axis
Position values ±737280000 ±737280000
Unit 1 μm 0.001 °
Comment Monitoring ±737.280 m
with an accuracy of 1 μm
≙ 2048 revolutions
What is shown in parameter r9713 is identical to the values of r9708; however, in SINAMICS-
internal calculation units.
Speed calculation
The control must calculate the speed from the position change:
● Pos diff = Pos new - Pos old
● Cycle diff = cycle counter new - cycle counter old
● Timediff = Cyclediff × Safetycycle
(If Cyclediff = 0, the speed that was last calculated must be used.)
● v = Pos diff/time diff
● Format v
Acceptance test
An acceptance test is not required for the "Transfer safe position values" function, but the
function that was implemented with the aid of SP must be accepted in the higher-level
controller.
Function diagrams (see SINAMICS S120/S150 List Manual)
● 2840 SI Extended Functions - SI Motion drive-integrated control signals/status sig‐
nals
Overview of important parameters (see SINAMICS S120/S150 List Manual)
● p9501 SI Motion enable safety functions (Control Unit)
● p9505 SI Motion SP modulo value (Control Unit)
● p9542 SI Motion actual value comparison tolerance (crosswise) (Control Unit)
● p9601 SI enable functions integrated in the drive (Control Unit)
● r9708[0...5] SI Motion diagnostics safe position
● r9713[0...5] CO: SI Motion diagnostics actual position value load side
Safety functions integrated in the drive
4.14 SP
Safety Integrated (with SINAMICS S120)
Commissioning Manual, 02/2020, A5E46305916B AB 169
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