Technical data

Safety Integrated Functions
8.5 Safety Integrated Extended Functions
Function Manual
384 Function Manual, 06/2012, 6SL3097-4AB10-0BP4
8.5.6.4 EPOS and Safely-Limited Speed
If safe speed monitoring (SLS) is also to be used at the same time as the EPOS positioning
function , EPOS must be informed of the activated speed monitoring limit. Otherwise the
speed monitoring limit can be violated by the EPOS setpoint input. Through the SLS
monitoring, this violation leads to the drive being stopped and so abandoning the planned
movement sequences. Here the relevant safety faults are output first of all and only then the
sequential faults created by EPOS.
With its parameter r9733, the SLS function provides a setpoint limit value which, when taken
into account, prevents the SLS limit value from being violated.
This means that the setpoint limit value in r9733 must therefore be transferred to the input for
the maximum setpoint speed/velocity of EPOS (p2594), to prevent an SLS limit value
violation as a result of the EPOS setpoint input. You need to set the delay time for SLS/SOS
(p9551/p9351) so that the SLS only becomes active after the maximum required time for the
speed to be reduced below the SLS 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 S110 List Manual)
● p2573 EPOS maximum deceleration
● p2574 EPOS jerk limitation
● p2593 CI: EPOS LU/revolution LU/mm
● p2594 CI: EPOS maximum speed externally limited
● p9351 SI Motion SLS changeover delay time (CPU 2)
● p9551 SI Motion SLS changeover delay time (CPU 1)
● r9733(0,1) CO: SI Motion speed setpoint limit active