Function diagrams (see SINAMICS S120/S150 List Manual)
● 2821 SI Extended Functions - Safe referencing
Overview of important parameters (see SINAMICS S120/S150 List Manual)
● p9572 SI Motion reference position (Control Unit)
● p9573 Accept SI Motion reference position (Control Unit)
● r9708[0...5] SI Motion diagnostics safe position
● r9713[0...5] CO: SI Motion diagnostics actual position value load side
● r9722.0...31 CO/BO: SI Motion drive-integrated status signals (Control Unit)
● r9723.0...17 CO/BO: SI Motion diagnostics signals integrated in the drive
● p9726 SI motion, user agreement, select/deselect
● p9740 SI motion, user agreement, select/deselect MM
Safety functions integrated in the drive
4.18 Safe referencing
Safety Integrated (with SINAMICS S120)
190 Commissioning Manual, 02/2020, A5E46305916B AB
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