Siemens AG SINAMICS S120 Supplement to the Function Manual (FHS), 04/2014, 6SL3097-4AR00-0BP5

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1 Siemens AG SINAMICS S120 Supplement to the Manual (FHS), 04/2014, 6SL3097-4AR00-0BP5 9.5 Response times The Basic s are executed in the monitoring cycle (p9780). PROFIsafe telegrams are evaluated in the PROFIsafe scan cycle, which corresponds to twice the monitoring clock cycle (PROFIsafe scan cycle = 2 r9780). Note Actual value of the monitoring cycle (r9780) You can only see the actual value of the monitoring cycle (r9780) if you are connected ONLINE with the drive. However, you can use the following values to roughly calculate the response times: p0115[0] = µs or 62.5 µs or 125 µs p0115[0] = 250 µs p0115[0] = 400 µs or 500 µs r9780 = 4 ms r9780 = 8 ms r9780 = 16 ms Note for understanding the tables The drive system is the component that provides the safety functions. The designation "faultfree drive system" means that the component that provides the safety functions does not have a defect itself: a fault-free drive system For faults outside the drive system, such as e.g. faulty setpoint input from a control system, limit value violations as a result of the behavior of the motor, closed-loop control, load, etc., the " a fault-free drive system" response time is guaranteed. Worst case when a fault exists For a single fault within the drive system, such as a defect in a switch-off signal path of the power unit, a defect in an encoder actual value measurement, a defect in a microprocessor (Control Unit or Motor Module) etc., the "Worst case when a fault exists" response time is guaranteed. Supplement to the Manual (FHS), 04/2014, 6SL3097-4AR00-0BP5 1

2 9.5.1 Control of Basic s via terminals on the Control Unit and Motor Module (CU310-2 und CU320- The following table lists the response times from the control via terminals until the response actually occurs. Table 9-1 Response times for control via terminals on the Control Unit and the Motor Module. STO 2 x r t_e 3 x r t_e SBC 4 x r t_e 8 x r t_e SS1/SS1E (time-controlled) Selection until STO is initiated 2 x r t_e + p x r t_e + p9652 SS1/SS1E (time-controlled) Selection until SBC is initiated 4 x r t_e + p x r t_e + p9652 SS1 (time-controlled) Selection until braking is initiated 3 x r t_e + 2 ms 4 x r t_e + 2 ms The following applies for t_e (debounce time of the digital input being used): p9651 = 0 p t_e = 2 p0799 (default = 4 ms) t_e = p p ms The minimum time for t_e is t_e_min = 2 ms. 2 Supplement to the Manual (FHS), 04/2014, 6SL3097-4AR00-0BP5

3 9.5.2 Control of Basic s via PROFIsafe (CU310-2 and CU320- The following table lists the response times from receiving the PROFIsafe telegram at the Control Unit up to initiating the particular response. Table 9-2 Response times when controlling via PROFIsafe STO 5 x r t_k 5 x r t_k SBC 6 x r t_k 10 x r t_k SS1/SS1E (time-controlled) Selection until STO is initiated 5 x r p t_k 5 x r p t_k SS1/SS1E (time-controlled) Selection until SBC is initiated 6 x r p t_k 10 x r p t_k SS1 (time-controlled) Selection until braking is initiated 5 x r ms + t_k 5 x r ms + t_k The specified response times involve internal SINAMICS response times. Program run times in the F-host and the transmission time via PROFIBUS or PROFINET are not taken into account. When calculating the response times between the F-CPU and the converter, you must take into account that faults in the communication can result in a safety function only being selected after the PROFIsafe monitoring time (F_WD_Time) has expired. The PROFIsafe monitoring time (F_WD_Time) must also be included in the calculation when an error occurs. t_k is the time for internal communication within the SINAMICS module; t_k can be determined as follows: For PROFIsafe via PROFIBUS For PROFIsafe via PROFINET For isochronous communication For non-isochronous communication For isochronous communication For non-isochronous communication via the integrated PROFINET interface For non-isochronous communication via the CBE20 option module t_k = To (for To, see parameter r2064[4]) t_k = 4 ms t_k = value from p2048 (for modules on which parameter p2048 exists) t_k = To (for To, see parameter r2064[4]) t_k = 4 ms t_k = value from p2048 t_k = PROFINET bus cycle time + 4 ms t_k = PROFINET bus cycle time + value from p2048 Supplement to the Manual (FHS), 04/2014, 6SL3097-4AR00-0BP5 3

4 9.5.3 Control of Basic s via TM54F The following table lists the response times from the control via TM54F until the response actually occurs. Table 9-3 Response times for control via terminals on the Control Unit and the Motor Module. STO t_e + 3 x r9780 t_e + 3 x r9780 SBC t_e + 4 x r9780 t_e + 8 x r9780 SS1/SS1E (time-controlled) Selection until STO is initiated t_e + 3 x r p9652 t_e + 3 x r p9652 SS1/SS1E (time-controlled) Selection until SBC is initiated SS1 (time-controlled) Selection until braking is initiated t_e + 4 x r p9652 t_e + 3 x r ms The following applies for t_e (debounce time of the digital input being used): t_e + 8 x r p9652 t_e + 3 x r ms p10017 = 0 p t_e = 3 ms t_e = p ms 4 Supplement to the Manual (FHS), 04/2014, 6SL3097-4AR00-0BP5

5 9.5.4 Control of Extended s with encoder via PROFIsafe (CU310-2 and CU320- The following table lists the response times from receiving the PROFIsafe telegram at the Control Unit up to initiating the particular response. Table 9-4 Response times when controlling via PROFIsafe STO 5 x p r t_k 3) 5 x p x r t_k 3) SBC 5 x p x r t_k 3) 5 x p x r t_k 3) SS1 (time and acceleration controlled), SS1E (tme controlled), SS2 selection until braking is initiated 5 x p ms + t_k 3) 5 x p ms + t_k 3) SAM response of the Safe Acceleration Monitoring 2 x p ms 2.5 x p r t_act 4) SOS standstill tolerance window violated 1.5 x p ms 3 x p t_act 4) + 2 ms SLS speed limit violated 3) 2 x p ms 3.5 x p t_act 4) + 2 ms SSM 4) 4 x p x p t_act 4) SDI (limit value violation until braking is initiated) 1.5 x p ms 3 x p t_act 4) + 2 ms SLP (limit value violation until a response is initiated) 1.5 x p ms 3 x p t_act 4) + 2 ms The specified response times are valid for Extended s with and without selection! The specified response times involve internal SINAMICS response times. Program run times in the F-host and the transmission time via PROFIBUS or PROFINET are not taken into account. When calculating the response times between the F-CPU and the converter, you must take into account that faults in the communication can result in a safety function only being selected after the PROFIsafe monitoring time (F_WD_Time) has expired. The PROFIsafe monitoring time (F_WD_Time) must also be included in the calculation when an error occurs. 3) t_k is the time for internal communication within the SINAMICS module; t_k can be determined as follows: For PROFIsafe via PROFIBUS For PROFIsafe via PROFINET 4) t_act: For isochronous communication For non-isochronous communication For isochronous communication For non-isochronous communication via the integrated PROFINET interface For non-isochronous communication via the CBE20 option module t_k = To (for To, see parameter r2064[4]) t_k = 4 ms t_k = value from p2048 t_k = To (for To, see parameter r2064[4]) t_k = 4 ms t_k = value from p2048 t_k = PROFINET bus cycle time + 4 ms t_k = PROFINET bus cycle time + value from p2048 Supplement to the Manual (FHS), 04/2014, 6SL3097-4AR00-0BP5 5

6 For p t_act = p9511 For p9511 = 0 If an isochronous PROFIBUS master is available: t_act = PROFIBUS cycle Otherwise: t_act = 1 ms 6 Supplement to the Manual (FHS), 04/2014, 6SL3097-4AR00-0BP5

7 9.5.5 Control of Extended s with encoder via TM54F (CU310-2 and CU320- The table below shows the response times from the occurence of a signal at the terminals until the response is initiated. Table 9-5 Response times for control via TM54F STO 3.5 x p r t_e 5) 4 x p x r t_e 5) SBC 3.5 x p x r t_e 5) 4 x p x r t_e 5) SS1 (time and acceleration controlled), SS1E (tme controlled), SS2 selection until braking is initiated 3.5 x p t_e 5) + 2 ms 4 x p t_e 5) + 2 ms SAM response of the Safe Acceleration Monitoring 2 x p ms 2.5 x p r t_act 4) SOS standstill tolerance window violated 1.5 x p ms 3 x p t_act 4) + 2 ms SLS speed limit violated 2 x p ms 3.5 x p t_act 4) + 2 ms SSM 3) 3 x p x p t_act 4) SDI (limit value violation until braking is initiated) 1.5 x p ms 3 x p t_act 4) + 2 ms SLP (limit value violation until a response is initiated) 1.5 x p ms 3 x p t_act 4) + 2 ms The specified response times are valid for Extended s with and without selection! SLS: Specification of the response time required to initiate a braking response in the drive - or for the output of the "SOS selected" message to the motion control system. 3) SSM: The data corresponds to the times between the limit value being fallen below up to sending the information via PROFIsafe. 4) For t_act, the following applies: For p t_act = p9511 For p9511 = 0 If an isochronous PROFIBUS master is available: t_act = PROFIBUS cycle Otherwise: t_act = 1 ms 5) For t_e, the following applies: p10017 = 0 p t_e = 2 p0799 t_e = p p ms Supplement to the Manual (FHS), 04/2014, 6SL3097-4AR00-0BP5 7

8 9.5.6 Control of Extended s with encoder via terminals (only CU310- The table below shows the response times from the occurence of a signal at the terminals until the response is initiated. Table 9-6 Response times when controlling the Extended s with encoder via safe onboard terminals (only CU310- STO 3.5 x p r t_e 5) 4 x p x r t_e 5) SBC 3.5 x p x r t_e 5) 4 x p x r t_e 5) SS1 (time and acceleration controlled), SS1E (tme controlled), SS2 selection until braking is initiated 3.5 x p t_e 5) + 2 ms 4 x p t_e 5) + 2 ms SAM SBR response of Safe Brake Ramp monitoring 2 x p ms 2.5 x p r t_act 4) SOS standstill tolerance window violated 1.5 x p ms 3 x p t_act 4) + 2 ms SLS speed limit violated 2 x p ms 3.5 x p t_act 4) + 2 ms SSM 3) 3 x p x p t_act 4) SDI (limit value violation until braking is initiated) 1.5 x p ms 3 x p t_act 4) + 2 ms SLP (limit value violation until a response is initiated) 1.5 x p ms 3 x p t_act 4) + 2 ms The specified response times are valid for Extended s with and without selection! SLS: Specification of the response time required to initiate a braking response in the drive - or for the output of the "SOS selected" message to the motion control system. 3) SSM: The data corresponds to the times between the limit value being fallen below up to output of the information via the TM54F terminals. 4) t_act: For p t_act = p9511 For p9511 = 0 If an isochronous PROFIBUS master is available: t_act = PROFIBUS cycle Otherwise: t_act = 1 ms 5) For t_e, the following applies: p10017 = 0 p t_e = 2 p0799 t_e = p p ms 8 Supplement to the Manual (FHS), 04/2014, 6SL3097-4AR00-0BP5

9 9.5.7 Control of Extended s without encoder via PROFIsafe (CU310-2 and CU320- The following table lists the response times from receiving the PROFIsafe telegram at the Control Unit up to initiating the particular response. Table 9-7 Response times when controlling via PROFIsafe STO 5 x p r t_k 4) 5 x p x r t_k 4) SBC 5 x p x r t_k 4) 5 x p x r t_k 4) SS1 (speed controlled/time and acceleration controlled), SS1E (time controlled) 5 x p ms + t_k 4) 5 x p ms + t_k 4) SBR response of Safe Brake Ramp monitoring or SAM response of the Safe Acceleration Monitoring 3 x p p ms 3.5 x p r p SLS speed limit violated 3) Standard 3) 3 x p p ms 4.5 x p r p Start phase 3) 3 x p p ms + p9586 3) 4.5 x p r p p9586 3) SSM 6 x p p ms 6.5 x p p SDI (limit value violation until braking is initiated) Standard 3) 2.5 x p p ms 4 x p r p Start phase 3) 2.5 x p p ms + p9586 3) 4 x p r p p9586 3) The specified response times are valid for Extended s with and without selection! The specified response times involve internal SINAMICS response times. Program run times in the F-host and the transmission time via PROFIBUS or PROFINET are not taken into account. When calculating the response times between the F-CPU and the converter, you must take into account that faults in the communication can result in a safety function only being selected after the PROFIsafe monitoring time (F_WD_Time) has expired. The PROFIsafe monitoring time (F_WD_Time) must also be included in the calculation when an error occurs. 3) Start phase: This describes the behavior after switching on (ON command with previously deleted pulses). Standard: This behavior applies when the pulses have already been enabled. There is a different behavior, because with the aid of p9586, the encoderless actual value acquisition after pulse enable can only be activated with a delay. 4) t_k is the time for internal communication within the SINAMICS module; t_k can be determined as follows: For PROFIsafe via PROFIBUS For PROFIsafe via PROFINET For isochronous communication For non-isochronous communication For isochronous communication For non-isochronous communication via the integrated PROFINET interface t_k = To (for To, see parameter r2064[4]) t_k = 4 ms t_k = value from p2048 t_k = To (for To, see parameter r2064[4]) t_k = 4 ms t_k = value from p2048 Supplement to the Manual (FHS), 04/2014, 6SL3097-4AR00-0BP5 9

10 For non-isochronous communication via the CBE20 option module t_k = PROFINET bus cycle time + 4 ms t_k = PROFINET bus cycle time + value from p Supplement to the Manual (FHS), 04/2014, 6SL3097-4AR00-0BP5

11 9.5.8 Control of Extended s without encoder via terminals (only CU310- The table below shows the response times from the occurence of a signal at the terminals until the response is initiated. Table 9-8 Response times for control of the Extended s without encoder via terminals (only CU310- STO 3.5 x p r t_e 3) 4 x p x r t_e 3) SBC 3.5 x p x r t_e 3) 4 x p x r t_e 3) SS1 (speed controlled/time and acceleration controlled), SS1E (time controlled) 3.5 x p t_e 3) + 2 ms 4 x p t_e 3) + 2 ms SBR response of Safe Brake Ramp monitoring or SAM response of the Safe Acceleration Monitoring 3 x p ms 3.5 x p r ms SLS speed limit violated 3) Standard 3 x p ms 4.5 x p r ms Start phase 3 x p ms + p x p r ms + p9586 SSM 4 x p p ms 4.5 x p p SDI (limit value violation until braking is initiated) Standard 2.5 x p p ms 4 x p r p Start phase 2.5 x p p ms + p x p r p p9586 The specified response times are valid for Extended s with and without selection! Start phase: This describes the behavior after switching on (ON command with previously deleted pulses). Standard: This behavior applies when the pulses have already been enabled. There is a different behavior, because with the aid of p9586, the encoderless actual value acquisition after pulse enable can only be activated with a delay. 3) For t_e, the following applies: p10017 = 0 p t_e = 2 p0799 t_e = p p ms CAUTION Extension of the response times for SLS without encoder or SDI without encoder under certain circumstances If the safety functions SLS without encoder or SDI without encoder are already selected when the gating pulses for the Power Module are enabled, then during the starting phase, it is absolutely imperative that you take into account the response times when limit values are violated and for system errors in order to extend the time value set in parameter p9586 with respect to the standard values (see the table above). After the time interval set in p9586, the standard response times apply (see table above). Supplement to the Manual (FHS), 04/2014, 6SL3097-4AR00-0BP5 11

12 9.5.9 Control of Extended s without encoder via TM54F (CU310-2 and CU320- The table below shows the response times from the occurence of a signal at the terminals until the response is initiated. Table 9-9 Response times for control via TM54F STO 3.5 x p r t_e 3) 4 x p x r t_e 3) SBC 3.5 x p x r t_e 3) 4 x p x r t_e 3) SS1 (speed controlled/time and acceleration controlled), SS1E (time controlled) 3.5 x p t_e 3) + 2 ms 4 x p t_e 3) + 2 ms SBR response of Safe Brake Ramp monitoring or SAM response of the Safe Acceleration Monitoring 3 x p p ms 3.5 x p r p SLS speed limit violated 3) Standard 3 x p p ms 4.5 x p r p Start phase 3 x p p ms + p x p r p p9586 SSM 4 x p p ms 4.5 x p p SDI (limit value violation until braking is initiated) Standard 2.5 x p p ms 4 x p r p Start phase 2.5 x p p ms + p x p r p p9586 The specified response times are valid for Extended s with and without selection! Start phase: This describes the behavior after switching on (ON command with previously deleted pulses). Standard: This behavior applies when the pulses have already been enabled. There is a different behavior, because with the aid of p9586, the encoderless actual value acquisition after pulse enable can only be activated with a delay. 3) For t_e, the following applies: p10017 = 0 p t_e = 2 p0799 t_e = p p ms CAUTION Extension of the response times for SLS without encoder or SDI without encoder under certain circumstances If the safety functions SLS without encoder or SDI without encoder are already selected when the gating pulses for the Power Module are enabled, then during the starting phase, it is absolutely imperative that you take into account the response times when limit values are violated and for system errors in order to extend the time value set in parameter p9586 with respect to the standard values (see the table above). After the time interval set in parameter p9586, the standard response times apply (see table above). SDI (limit value violation until braking is initiated) 12 Supplement to the Manual (FHS), 04/2014, 6SL3097-4AR00-0BP5

0.75 kw to 7.5 kw (1.0 hp to 10 hp)

0.75 kw to 7.5 kw (1.0 hp to 10 hp) SAMICS G120D distributed inverters Design supply PROFIBUS ADDRESS DIP switch (1) (2) (4) () (16) (32) (64) supply PROFIBUS ADDRESS DIP switch (1) (2) (4) () (16) (32) (64) Bit 0 Bit 1 Bit 2 Bit 3 Bit 4