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浔之漫智控技术（上海）有限公司
主营：西门子低压电器授权代理商,西门子PLC模块总代理商,西门子模块总代理商,西门子中国一级代理商,西门子PLC一级代理商,西门子DP电缆代理商
浔之漫智控技术（上海）有限公司
主营：西门子低压电器授权代理商,西门子PLC模块总代理商,西门子模块总代理商,西门子中国一级代理商,西门子PLC一级代理商,西门子DP电缆代理商
4
西门子PLC模块CPU1211C
西门子PLC模块CPU1211C
Customer benefits
The function monitors for maximum permissible acceleration in setup mode and safe monitoring of the tool center point with different kinematics.
The SLP function monitors the axis to ensure that it remains within the permissible traversing range.
Effect
When SLP is activated, the traversing range limited by the configured software limit switches is safely monitored. If the permitted traversing range is exited, a configurable fault reaction occurs. It is possible to toggle between two traversing ranges, even when the machine is in operation.
Application
SLP is used for applications in which machine operators have to enter a protection area, e.g. for feeding in and removing material. Safe monitoring of the axis position ensures that the axis cannot move into the protection area released for operators and so place them in danger, for example, on storage and retrieval machines, gantry cranes or machining centers.
Customer benefits
SLP can be used for highly-effective protection area monitoring. The function does away with the use of external components such as hardware limit switches and the associated wiring expense. Due to the short reaction time following a limit overshoot, safety clearances can be reduced.
The SP function transfers the actual position values determined safely in the drive over safe PROFIsafe communication to a safety control.
Effect
In contrast to the SLP function that monitors the current actual position value against a limit and, in the case of an overshoot, activates a drive-integrated fault reaction, SP transfers the current actual position values to the safety control. Position monitoring is implemented in the safety program of the control. Extended PROFIsafe telegrams are available for transferring the position values. The position values can be transferred in 16-bit or 32-bit resolution, as required. A time stamp is also transferred with the position values.
Application
Tailor-made safety concepts can be created using the SP function. It is ideal for use on machines that require flexible safety functions. It is extremely versatile and can be used, for example, to implement safe, axis-specific range detection by means of safe cams. The SP function can also be used to implement multi-axis safety concepts, multi-dimensional protection areas and zone concepts.
Customer benefits
Position monitoring or speed monitoring is implemented in the safety program of the control, so the user has the flexibility for implementing tailor-made safety functions. The reaction to a limit overshoot must also be specified in the safety program. This means a higher initial programming outlay, but it does offer the opportunity for initiating different fault reactions depending on the situation.
The SCA function enables safety-related monitoring of the position.
Effect
The SCA function outputs a safe ** if the drive is within a specified position range. It facilitates the realization of safe axis-specific range detection. Up to 30 safe cams can be parameterized per axis.
Application
It is only permissible that a protective door is opened if a drive is in a certain position range. The drive may only be traversed with reduced speed when it is located in a certain position range.
Customer benefits
The function enables safety-related switchover of safety functions. With SCA, safe electronic cam controllers can be implemented without additional hardware. With SCA, work and protection zone delimitations are reliably detected.
With SINAMICS G converters, the safety functions are basically implemented without encoders.
With SINAMICS S drives, the safety functions are implemented with encoders – individual safety functions can also be operated without encoders.
The Safety Integrated Functions are grouped into Basic Functions, Extended Functions, and Advanced Functions.
The Basic Functions are included in the standard scope of supply.
The Extended Functions must be activated by a license 1). The Advanced Functions for SINAMICS S120 must also be activated via a license.
Basic Functions
Safe Torque Off (STO)
Safe Brake Control (SBC)
Safe Stop 1 (SS1)
Extended Functions
Safe Stop 1 with external stop (SS1E)
Safe Stop 1 (SS1) with SBR or SAM
Safe Stop 2 with external stop (SS2E)
Safe Stop 2 (SS2) with SBR or SAM
Safe Operating Stop (SOS)
Safely-Limited Speed (SLS)
Safe Speed Monitor (SSM)
Safe Direction (SDI)
Safely-Limited Acceleration (SLA)
Safe Brake Test (SBT) diagnostic function
Advanced Functions
Safely-Limited Position (SLP)
Safe Position (SP)
Safe Cam (SCA)
The license for Safety Integrated Advanced Functions also includes the license for Safety Integrated Extended Functions.
For the Extended Functions SS1 and SS2 with SAM, Safe Acceleration Monitor (SAM) is performed during braking to identify any faults already during the braking phase.
With SS1 and SS2, a Safe Brake Ramp (SBR) can be configured as an alternative.
The Basic Functions – activated via on-board terminals on the device, TM54F Terminal Module (only for SINAMICS S) or via PROFIsafe – do not require an encoder.
1) Only applies to SINAMICS G Control Unit CU250S-2 and SINAMICS S.
Available for SINAMICS G via hardware versions "-F".
The safety functions for SINAMICS drives can be activated via terminals, e.g. for use of a conventional safety circuit.
For standalone safety solutions for small to medium-sized applications, it is frequently sufficient that the various sensing components are directly hardwired to the drive.
For integrated safety solutions, the safety-relevant sequences are generally processed and coordinated in the fail-safe SIMATIC controller. Here, the system components communicate via the PROFINET or PROFIBUS fieldbus. The safety functions are controlled via the safe PROFIsafe communication protocol.
SINAMICS drives can be easily integrated into the plant or system topology.
SINAMICS drives support the PROFIsafe profile based on PROFINET as well as on PROFIBUS.
PROFIsafe is an open communications standard that supports standard and safety-related communication over the same communication path (wired or wireless). A second, separate bus system is therefore not necessary. The telegrams that are sent are continually monitored to ensure safety-relevant communication.
Possible errors such as telegrams that have been lost, repeated or received in the incorrect sequence are avoided. This is done by consecutively numbering the telegrams in a safety-relevant fashion, monitoring their reception within a defined time and transferring an ID for transmitter and receiver of a telegram. A CRC (cyclic redundancy check) data security mechanism is also used.
Two independent switch-off ** paths
Two independent switch-off ** paths are available. All switch-off ** paths are low active. This ensures that the system is always switched to a safe state if a component fails or in the event of cable breakage. If a fault is discovered in the switch-off ** paths, the STO or SS1 function (depending on parameter settings) is activated and a system restart inhibited.
Two-channel monitoring structure
All the main hardware and software functions for Safety Integrated are implemented in two independent monitoring channels (e.g. switch-off ** paths, data management, data comparison). A cyclic crosswise comparison of the safety-relevant data in the two monitoring channels is carried out.
The monitoring functions in each monitoring channel work on the principle that a defined state must prevail before each action is carried out and a specific acknowledgement must be made after each action. If these expectations of a monitoring channel are not fulfilled, the drive coasts to a standstill (two channel) and an appropriate message is output.
Forced dormant error detection using test stop
The functions and switch-off ** paths must be tested at least once within a defined time in order to meet requirements as per EN ISO 13849-1 and IEC 61508 in terms of timely fault detection. This must be implemented either in cyclic manual mode or the test stop must be automatically initiated as part of the process. The test stop cycle is monitored, and after a specific time has been exceeded, an alarm is output. A test stop does not require a POWER ON. The acknowledgment is set by canceling the test stop request.
Examples of when forced dormant error detection must be performed:
When the drives are at a standstill after the system has been switched on
Before the protective door is opened
At defined intervals (e.g. every 8 hours)
In automatic mode, time and event-driven
Safe actual value sensing without encoder
A drive monitor with encoder is necessary for operation of a series of safety functions.
For applications with encoderless mode or with encoders that have no safety capability, the safety functions can also be implemented without encoder. It is not possible to use all safety functions in this case.
In operation without encoder, the actual speed values are calculated from the measured electrical actual values. This means that speed monitoring is also possible during operation without an encoder.
Safe actual value sensing with encoder
Incremental encoders or absolute encoders can be used for safe sensing of the position values on a drive.
Safe actual value sensing relies on redundant evaluation of the incremental tracks A/B that supply sin/cos **s of 1 Vpp. Only encoders of the type whose A/B track **s are created and processed using purely analog techniques can be used.
HTL/TTL incremental encoders may also be used. In this case, safe actual value sensing is achieved by using two independent encoders. The minimum possible speed resolution must also be taken into account.
The encoder **s are input via Sensor Modules.
As an alternative, motors with an integrated DRIVE-CLiQ interface can be used. The speed or position actual values are generated directly in the motor as safe values and are transferred to the Control Unit over safe communication via DRIVE-CLiQ.
Certified built-on rotary encoders with DRIVE-CLiQ interface may also be used (see
The encoder must be mechanically attached in such a manner that the encoder shaft is unable to unplug or slide off. For notes on this, see IEC 61800-5-2: 2016, Table D.16.
A list of Siemens motors that fulfill the electrical and mechanical requirements is available at:
The following can be used for safe speed/position sensing:
Single-encoder systems or
Dual-encoder systems
Single-encoder system
Example: Single-encoder system
In a single-encoder system, the motor encoder is used exclusively for safe actual value sensing.
Dual-encoder system
Example: Dual-encoder system
In the case of the dual-encoder system, the safe actual values for a drive are provided by two separate encoders. The actual values are transferred to the Control Unit over DRIVE-CLiQ. When motors without a DRIVE-CLiQ connection are used, a Sensor Module must be provided.
HTL/TTL incremental encoders can be used as an alternative with a dual-encoder system. Either two HTL/TTL encoders, one dual-HTL/TTL encoder or one HTL/TTL encoder and one sin/cos encoder can be used.
The safety functions are listed below with criteria for actual value sensing:
| | Functions | Abbreviation | With encoder | Without encoder | Description |
|---|---|---|---|---|---|
Basic Functions | Safe Torque Off | STO | Yes | Yes | Safe Torque Off |
Safe Stop 1 | SS1 | Yes | Yes 1) | Safe stopping process in accordance with stop category 1 | |
Safe Brake Control | SBC | Yes | Yes | Safe Brake Control | |
Extended Functions | Safe Torque Off | STO | Yes | Yes | Safe Torque Off |
Safe Stop 1 | SS1 | Yes | Yes 1) | Safe stopping process in accordance with stop category 1 | |
Safe Brake Control | SBC | Yes | Yes | Safe Brake Control | |
Safe Operating Stop | SOS | Yes | No | Safe monitoring of the standstill position | |
Safe Stop 2 | SS2 | Yes | No | Safe stopping process in accordance with stop category 2 | |
Safely-Limited Speed | SLS | Yes | Yes 1) | Safe monitoring of the maximum speed | |
Safe Speed Monitor | SSM | Yes | Yes 1) | Safe monitoring of the minimum speed | |
Safe Direction | SDI | Yes | Yes 1) | Safe monitoring of the direction of motion | |
Safely-Limited Acceleration | SLA | Yes | No | Safely-Limited Acceleration | |
Safe Brake Test | SBT | Yes | No | Diagnostic function for safe testing of the required holding torque of a brake | |
Advanced Functions | Safely-Limited Position | SLP | Yes | No | Safely-Limited Position |
Safe Position | SP | Yes | Yes 2) | Safe transfer of position values | |
Safe Cam | SCA | Yes | No | Safe cams |
1) The use of this safety function without encoder is permitted with asynchronous (induction) motors, synchronous motors from the SIEMOSYN series, or with SIMOTICS reluctance motors.
2) Only for the transmission of relative position values. An encoder is required to transmit absolute position values.
The safety functions integrated in SINAMICS drives, including SIMATIC ET 200pro FC-2 frequency converters, are listed below.
Safety Integrated | Low voltage | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| Standard Performance frequency converters | Distributed frequency converters | ||||||||
| SINAMICS | SINAMICS | SIMATIC | |||||||
| V20 | G120C | G120 | G130 | G115D wall and motor-mounted | G120D | ET 200pro FC-2 6) | |||
|
|
| CU230P-2 | CU240E-2 | CU250S-2 | CU320-2 |
| CU240D-2 | CU250D-2 |
|
Functions | ||||||||||
STO | – | ✓ | – | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
SS1 | – | – | – | ✓ 1) | ✓ | ✓ | – | ✓ 1) | ✓ 1) | – |
SS2 | – | – | – | – | – | ✓ 1) | – | – | – | – |
SOS | – | – | – | – | – | ✓ 1) | – | – | – | – |
SBC | – | – | – | – | ✓ | ✓ | – | – | – | – |
SBT | – | – | – | – | – | ✓ 1) | – | – | – | – |
SLS | – | – | – | ✓ 1) | ✓ 2) | ✓ 1) | – | ✓ 1) | ✓ 1) | – |
SSM | – | – | – | ✓ 1) | ✓ 2) | ✓ 1) | – | ✓ 1) | ✓ 1) | – |
SDI | – | – | – | ✓ 1) | ✓ 2) | ✓ 1) | – | ✓ 1) | ✓ 1) | – |
SLA | – | – | – | – | – | ✓ 1) | – | – | – | – |
SLP | – | – | – | – | – | ✓ 3) | – | – | – | – |
SP | – | – | – | – | – | ✓ 3) | – | – | – | – |
SCA | – | – | – | – | – | ✓ 3) | – | – | – | – |
Control | ||||||||||
PROFIsafe | – | ✓ | – | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | – |
F-DI | – | ✓ | – | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | – |
Safety Integrated | Low voltage | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| Industry-specific frequency converters | Servo converters | High performance frequency converters | ||||||
| SINAMICS | ||||||||
| G120P | G120X | G180 | V90 | S110 | S210 | S120 | S150 | |
| CU230P-2 |
|
|
| CU305 |
| CU310-2 | CU320-2 | CU320-2 |
Functions | |||||||||
STO | – | ✓ 7) | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
SS1 | – | – | – | – | ✓ | ✓ | ✓ | ✓ | ✓ |
SS2 | – | – | – | – | ✓ 2) | ✓ | ✓ 2) | ✓ 2) | ✓ 2) |
SOS | – | – | – | – | ✓ 2) | ✓ | ✓ 2) | ✓ 2) | ✓ 2) |
SBC | – | – | – | – | ✓ | ✓ | ✓ | ✓ | ✓ |
SBT | – | – | – | – | – | ✓ | ✓ 2) | ✓ 2) | ✓ 2) |
SLS | – | – | – | – | ✓ 2) | ✓ | ✓ 2) | ✓ 2) | ✓ 2) |
SSM | – | – | – | – | ✓ 2) | ✓ | ✓ 2) | ✓ 2) | ✓ 2) |
SDI | – | – | – | – | ✓ 2) | ✓ | ✓ 2) | ✓ 2) | ✓ 2) |
SLA | – | – | – | – | – | ✓ | ✓ 2) | ✓ 2) | ✓ 2) |
SLP | – | – | – | – | – | – | ✓ 3) | ✓ 3) 4) | ✓ 5) |
SP | – | – | – | – | – | – | ✓ 3) | ✓ 3) 4) | ✓ 5) |
SCA | – | – | – | – | – | – | ✓ 3) | ✓ 3) 4) | ✓ 5) |
Control | |||||||||
PROFIsafe | – | – | – | – | ✓ | ✓ | ✓ | ✓ | ✓ |
F-DI | – | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
1) With fail-safe Control Unit.
2) With Safety Extended license.
3) With Safety Advanced license.
4) Safety Advanced license for cabinet modules on request.
5) Safety Advanced license on request.
6) Information on the SIMATIC ET 200pro FC-2 frequency converter – depending on the SIMATIC ET 200pro station – is available at:
www./et200pro-fc
7) With external safety relay.