Technical data

Safety Integrated Functions
8.5 Safety Integrated Extended Functions
Function Manual
392 Function Manual, 06/2012, 6SL3097-4AB10-0BP4
Calculating SAM tolerance of the actual speed
● The following rules are valid for the parameterization of the SAM tolerance:
– The maximum speed increase after SS1 / SS2 is triggered is derived from the
effective acceleration (a) and the duration of the acceleration phase.
– The duration of the acceleration phase is equivalent to one monitoring clock cycle (MC
p9300/p9500) (delay from detecting an SS1 / SS2 until n
set
= 0):
● SAM tolerance
Actual speed SAM = acceleration * acceleration duration
The following setup rule is derived thereof:
– For linear axes:
SAM tolerance [mm/min] = a [m/s
2
] * MC [s] * 1000 [mm/m] * 60 [s/min]
– For rotary axes:
SAM tolerance [rpm] = a [rev/s
2
] * MC [s] * 60 [s/min]
● Recommendation:
The SAM tolerance value entered should be approx. 20% higher than the calculated
value.
Responses
Speed limit violated (SAM):
● STOP A
● Safety message C01706/C30706
System errors:
● STOP F with subsequent STOP A
● Safety message C01711/C30711
Features
● Part of the Safety Integrated Extended functions SS1 and SS2
● Parameterizable minimum shutdown speed to be monitored (p9368/p9568)
Overview of important parameters (see SINAMICS S110 List Manual)
● p9346 SI Motion speed limit n_x (CPU 2)
● p9546 SI Motion speed limit n_x (CPU 1)
● p9348 SI Motion SAM actual speed tolerance (CPU 2)
● p9548 SI Motion SAM actual speed tolerance (CPU 1)
● p9368 SI Motion SAM speed limit (CPU 2)
● p9568 SI Motion SAM speed limit (CPU 1)