SINAMICS S120 Safety Integrated Extended Functions - Siemens ...

infoplc.net

SINAMICS S120 Safety Integrated Extended Functions - Siemens ...

Functional Example MC-FE-I-005-V11-EN

SINAMICS S120

Safety Integrated Extended Functions

Fail-Safe Drives

Controlling the CU320 from a TM54F and F-CPU


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

Preliminary remark

The Functional Examples dealing with “Safety Integrated” are fully

functional and tested automation configurations based on I IA&DT

standard products for simple, fast and inexpensive implementation of

automation tasks in safety engineering. Each of these Functional Examples

covers a frequently occurring subtask of a typical customer

problem in safety engineering.

Aside from a list of all required software and hardware components

and a description of the way they are connected to each other, the

Functional Examples include the tested and commented code. This

ensures that the functionalities described here can be reset in a short

period of time and thus also be used as a basis for individual expansions.

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

Important note

The Safety Functional Examples are not binding and do not claim to

be complete regarding the circuits shown, equipping and any eventuality.

The Safety Functional Examples do not represent customerspecific

solutions. They are only intended to provide support for typical

applications. You are responsible for ensuring that the described

products are used correctly.

These Safety Functional Examples do not relieve you of the responsibility

of safely and professionally using, installing, operating and servicing

equipment. When using these Safety Functional Examples, you

recognize that Siemens cannot be made liable for any damage/claims

beyond the liability clause described. We reserve the right to make

changes to these Safety Functional Examples at any time without prior

notice. If there are any deviations between the recommendations

provided in these Safety Function Examples and other Siemens publications

– e.g. Catalogs – the contents of the other documents have

priority.

I DT Safety Integrated Page 2/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

Table of Contents

1 Warranty, Liability and Support .................................................................... 4

2 Automation function....................................................................................... 5

2.1 Description of the function example.................................................................. 5

2.2 Advantages / customer benefits ....................................................................... 7

3 Components that are required ...................................................................... 8

3.1 Hardware Components..................................................................................... 8

3.2 Software components ..................................................................................... 10

3.2.1 Engineering software ...................................................................................... 10

3.2.2 Firmware......................................................................................................... 10

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

4 Configuration and wiring ............................................................................. 11

4.1 Overview of the hardware configuration ......................................................... 11

4.2 Connecting-up the hardware components...................................................... 12

4.2.1 Connecting-up the control voltage .................................................................. 12

4.2.2 Principle connection between the F-CPU and TM54F.................................... 13

4.2.3 DRIVE-CLiQ interconnection .......................................................................... 14

4.3 Important settings at the hardware components............................................. 15

5 Overview and operator control.................................................................... 17

5.1 Description of the operator control.................................................................. 17

5.2 Summary of the input signals ......................................................................... 18

6 Project example ............................................................................................ 20

6.1 Passwords ...................................................................................................... 20

6.2 Hardware configuration of the fail-safe control ............................................... 21

6.3 Programming the fail-safe control................................................................... 23

6.4 SINAMICS parameterization of the motion functions ..................................... 26

6.5 Parameterizing the control of the safety functions (TM54F) ........................... 34

6.6 Parameterizing the safety functions integrated in the drive ............................ 37

6.7 Acceptance test .............................................................................................. 43

7 History ........................................................................................................... 43

I DT Safety Integrated Page 3/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

1 Warranty, Liability and Support

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

We accept no liability for information contained in this document.

Any claims against us – based on whatever legal reason – resulting

from the use of the examples, information, programs, engineering and

performance data etc., described in this Safety Functional Example

shall be excluded. Such an exclusion shall not apply in the case of

mandatory liability, e.g. under the German Product Liability Act (“Produkthaftungsgesetz”),

in case of intent, gross negligence, or injury of

life, body or health, guarantee for the quality of a product, fraudulent

concealment of a deficiency or breach of a condition which goes to

the root of the contract (“wesentliche Vertragspflichten”). However,

claims arising from a breach of a condition which goes to the root of

the contract shall be limited to the foreseeable damage which is intrinsic

to the contract, unless caused by intent or gross negligence or

based on mandatory liability for injury of life, body or health. The

above provisions do not imply a change in the burden of proof to your

detriment.

Copyright© 2009 Siemens I DT. It is not permissible to transfer or

copy these Application Examples or excerpts of them without first

having prior authorization from Siemens I DT in writing.

For questions about this document please use the following

e-mail-address:

Online-support.automation@siemens.com

I DT Safety Integrated Page 4/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

2 Automation function

2.1 Description of the function example

The following safety functions according to IEC 61800-5-2 have been integrated into

SINAMICS S120 drives:

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

Name Function Description

STO Safe Torque Off – The torque-generating power feed to the motor is

disconnected in a safety-relevant fashion

– Restart is interlocked using a restart/power-on

inhibit.

(Category 0 stop function acc. to EN 60204-1)

SBC Safe Brake Control – SBC is only used when there is a motor brake; the

motor brake is connected to the power connector

via the outputs.

– SBC always responds in conjunction with STO or

when internal safety monitoring functions respond

with safety-relevant pulse cancellation.

SS1 Safe Stop 1 – The drive is quickly stopped along the OFF3 ramp

– and is monitored in a safety-relevant fashion at

the same time

– After a delay time has expired or the shutdown

speed is reached, a transition is made to STO

(Category 1 stop function acc., to EN 60204-1)

SS2 Safe Stop 2 – The drive is quickly stopped along the OFF3 ramp

– and is monitored in a safety-relevant fashion at

the same time

– After a delay time has expired or the shutdown

speed is reached, a transition is made to SOS;

the drive remains in closed-loop control

(Category 2 stop function acc., to EN 60204-1)

SOS Safe Operating Stop – This function is used to safely monitor the standstill

position of a drive. The drive remains in

closed-loop control.

SLS Safely-Limited Speed – The drive speed is safely monitored

– Parameterizable shutdown response when the

limit value is violated

SSM Safe Speed Monitor – Safety-relevant display when a speed limit is

fallen below (n < nx)

The control of these extended safety functions can be realized using

PROFIsafe with PROFIBUS and also using a TM54F terminal expansion

module.

I DT Safety Integrated Page 5/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

Task description

The extended safety functions integrated in the SINAMICS S120 drives are

to be controlled from a TM54F via hardware signals. The drives belong to

different drive groups. The safety-relevant logical pre-processing of the

input signals is handled in an F-CPU.

This application should comply with SIL 2 acc. to EN 62061:2005, ISO

13849-1:2006 PL d or EN 954-1:1996 Category 3.

Solution

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

Hardware overview

The control of the safety functions SS1 and SLS via the TM54F terminal

expansion module connected to a SINAMICS S120 drive group is shown in

this function example. The SLS initiates a Stop C (SS2 → SOS) as response

to the fault at the particular drive.

The drive group in the booksize format comprises an infeed and a Double

Motor Module. The motor is controlled using a CU320 Control Unit. The expanded

setpoint channel is used to enter the speed setpoint. The two servomotors

– that are independent of one another – are controlled by the

Double Motor Module. A Smart Line Module is used as infeed.

The safety-relevant signals are detected using the fail-safe inputs of an F-

CPU and are then evaluated in the F-CPU. The pre-processed signals are

transferred to the TM54F terminal expansion module via the fail-safe

outputs of the F-CPU. This means that the safety functions integrated in the

drive are controlled in the SINAMICS S120.

I DT Safety Integrated Page 6/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

When an Emergency Stop is requested, both of the drives are stopped by

the SS1 safety function integrated in the drive. The torque-generating

power feed to the motor is interrupted in a safety-relevant fashion using

safe pulse cancellation. The restart inhibit is activated.

Each drive is assigned a safety door. If this safety door is opened, then the

associated motor is operated at a lower speed and the set speed limit value

is safely monitored using the SLS function. The other drive is not influenced.

Other ways of using the TM54F terminal expansion module and controlling

the safety functions via PROFIsafe are described in additional function examples.

2.2 Advantages / customer benefits

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

• The safety functions integrated in the drive are controlled in a

simple fashion

• Simple design/configuring using standardized technology

• The existing system can be simply and quickly expanded.

• Space-saving configuration using integrated safety functions –

additional hardware is not required

Complex safety concepts can be implemented using this as basis.

I DT Safety Integrated Page 7/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

3 Components that are required

The hardware components and software versions that are required to implement

this function example are listed in this chapter.

3.1 Hardware Components

Table 3-1

Components Type Order No./Ordering data Qty. Manufact.

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

Power supply PS307 5A 6ES7 3071EA00-0AA0 1 Siemens

IM151-7 F-CPU 6ES7 151-7FA01-0AB0 1 Siemens

SIMATIC ET200S

CPU

SIMATIC Micro Memory Card, 6ES7 953-8LJ11-0AA0

Siemens

1

512KB

SIMATIC ET200S

Power Module

SIMATIC ET200S

fail-safe input module

SIMATIC ET200S

fail-safe output module

F-CPU operator components

PM-E 6ES7 138-4CB10-0AB0 1 Siemens

SIMATIC DP, Terminal Module

TM-P15C23-A0

6ES7 193-4CD30-0AA0

1

Siemens

F-DI 4/8 6ES7 138-4FA02-0AB0 1 Siemens

SIMATIC DP, Terminal Module

TM-E30C44-01

6ES7 193-4CG30-0AA0

1

Siemens

F-DO 4 6ES7 138-4FB01-0AB0 1 Siemens

SIMATIC DP, Terminal Module

TM

6ES7 193-4CG30-0AA0

1

Siemens

Components Type Order No./Ordering data Qty. Manufact.

Empty pushbutton housing

Emergency Stop command

device

-S3

Reset button

-S4

Safety door/gate simulation

switch

-S1

Safety door/gate simulation

switch

-S2

Empty housing for 4 command

positions, pushbutton in the

enclosure, for metric gland, gray

cover

3SB3 mushroom pushbutton

(Ø 32 mm), plastic, round with

holder

Base element, 1OE, screw

connection

3SB3 illuminated pushbutton with

flat actuator knob, green, with holder

3SB3 804-0AA3 1 Siemens

3SB3 000-1FA20 1 Siemens

3SB3 420-0C 2 Siemens

3SB3 001-0AA41 1 Siemens

Base element 1S, screw connection 3BS3 420-0B 1 Siemens

Lamp socket with integrated LED for

base mounting, green, 24V DC

3SB3 420-1PC 1 Siemens

3SB3 knob-operated switch, I-0-II,

latching, 2x50°switching angle,

black, not illuminated, with holder

3SB3 000-2DA11 1 Siemens

Base element 1S, screw connection 3BS3 420-0B 2 Siemens

3SB3 knob-operated switch, I-0-II, 3SB3 000-2DA11 1 Siemens

latching, 2x50°switching angle,

black, not illuminated, with holder

Base element 1S, screw connection 3BS3 420-0B 2 Siemens

I DT Safety Integrated Page 8/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

SINAMICS operator components

Components Type Order No./Ordering data Qty. Manufact.

Empty pushbutton housing

Drives, ON/OFF1 switch

-S6

Reset button

-S7

Max. speed button

-S8

Empty housing for 4 command

positions, pushbutton in the

enclosure, for metric gland, gray

cover

3SB3 804-0AA3 1 Siemens

Round actuator knob, O-I, latching,

50° switching angle, black with

holder, not illuminated

3SB3000-2KA11 1 Siemens

Base element 1S, screw connection 3BS3 420-0B 1 Siemens

Actuator, round pushbuttoon with 3SB3000-0AA11 1 Siemens

flat actuator, black with holder, not

illuminated

Base element 1S, screw connection 3BS3 420-0B 1 Siemens

Actuator, round pushbuttoon with 3SB3000-0AA11 1 Siemens

flat actuator, black with holder, not

illuminated

Base element 1S, screw connection 3BS3 420-0B 1 Siemens

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

Drive

Components Type Order No./Ordering data Qty. Manufact.

SINAMICS CU320

CU320 6SL3 040-0MA00-0AA1 1 Siemens

Compact Flash card for SINAMICS

CU320

6SL3054-0CE01-1AA0 1 Siemens

SINAMICS safety license

SINAMICS license, Safety

Integrated extended functions for

CompactFlash card

6SL3074-0AA10-0AA0 2 Siemens

SINAMICS Smart Line Module SLM 5 kW / 230 V 6SL3130-6AE15-0AA0-

Z=220V

1 Siemens

SINAMICS Terminal Module TM54F 6SL3 055-0AA00-3BA0 1 Siemens

Load resistors

R1 .. R8

Load resistor terminals

(R1..R8)

SINAMICS Double Motor

Module

Motors

DRIVE-CLiQ cable

TM54F to CU320:

DRIVE-CLiQ cable

SLM zu CU320:

DRIVE-CLiQ cable

DMM to CU320:

Signal cable

DMM to Motor1:

1kOhm 1W

Type PO595-0

Style 0207

Power Metaloxide film

resistors

8 Yageo

Europe

ST 2,5-QUATTRO-TG 3038451 8 Phoenix

Contact

Component plug

P-CO

3036796 8 Phoenix

Contact

DMM 6SL3 120-2TE21-0AA3 1 Siemens

Synchronous servomotor 1FK7

COMPACT, 3000 rpm, 0.82 kW

Synchronous servomotor 1FK7

COMPACT, 3000 rpm, 0.82 kW

SINAMICS DRIVE-CLiQ cable

IP20/IP20 length: 0.41 m

SINAMICS DRIVE-CLiQ cable

IP20/IP20 length: 0.41 m

SINAMICS DRIVE-CLiQ cable

IP20/IP20 length: 0.41 m

Pre-fabricated signal cable

(SINAMICS DRIVE-CLiQ) connector

IP20/IP67, with 24 V MOTION-

CONNECT 500 length (M) = 2

1FK7 042-5AF71-1FG0 1 Siemens

1FK7 042-5AF71-1DG0 1 Siemens

6SL3060-4AP00-0AA0 1 Siemens

6SL3060-4AP00-0AA0 1 Siemens

6SL3060-4AP00-0AA0 1 Siemens

6FX5002-2DC10-2AA0 1 Siemens

I DT Safety Integrated Page 9/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

Components Type Order No./Ordering data Qty. Manufact.

Signal cable

DMM to Motor2:

Power cable

DMM to motor1:

Power cable

DMM to motor2:

Pre-fabricated signal cable

(SINAMICS DRIVE-CLiQ) connector

IP20/IP67, with 24 V MOTION-

CONNECT 500 length (M) = 2

Pre-fabricated power cable

(1FT/1FK/1PH to SINAMICS) 4x1.5

C, connector size 1/1.5 mm 2

UL/CSA DESINA, MOTION-

CONNECT 500 Dmax=11.5 mm,

length (m) = 2

Pre-fabricated power cable

(1FT/1FK/1PH to SINAMICS) 4x1.5

C, connector size1/1.5 mm 2 UL/CSA

DESINA, MOTION-CONNECT 500

Dmax=11.5 mm, length (m) = 2

6FX5002-2DC10-2AA0 1 Siemens

6FX5002-5CS01-1AC0 1 Siemens

6FX5002-5CS01-1AC0 1 Siemens

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

Note

The function example was tested with the hardware components listed

here. Other components that have the same function can be alternatively

used. If other components are used it may be necessary to use a

different parameterization and also change the component wiring.

3.2 Software components

3.2.1 Engineering software

Table 3-2

Components Type Order No./Ordering data Qty. Manufact.

STEP 7 V5.4 SP2 6ES7810-4CC08-0YA5 1 Siemens

S7 Distributed Safety

Programming

V5.4 SP3 6ES7833-1FC02-0YA5 1 Siemens

STARTER V4.1 SP1 6SL3072-0AA00-0AG0 1 Siemens

or, as an alternative to the STARTER software:

SIMOTION SCOUT V4.1 SP1 6AU1810-1BA41-1XA0 1 Siemens

3.2.2 Firmware

All of the SINAMICS components must have firmware release V2.5 SP1 or

higher.

I DT Safety Integrated Page 10/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

4 Configuration and wiring

4.1 Overview of the hardware configuration

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

Basic configuration

I DT Safety Integrated Page 11/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

4.2 Connecting-up the hardware components

4.2.1 Connecting-up the control voltage

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

24V DC wiring

I DT Safety Integrated Page 12/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

4.2.2 Principle connection between the F-CPU and TM54F

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

Connecting F-DO P/M switching (F-CPU) → F-DI (TM54F)

Load resistor dimensioning

If the manufacturer documentation contains specific conditions for the digital

output, for example, a minimum load resp. a maximum load resistor,

these must be considered accordingly.

For example, a maximum load of 1kΩ is specified for SIMATIC ET200S I/O

module 4 F-D .

As a result, two additional 1 kΩ load resistors with a permanent load capacity

of at least P = U²/R = (28.8V)²/1 kΩ = 830 mW are required for connecting

such an F-DO to a TM54F F-DI.

Note: When using closed-loop controlled SITOP power supply units, the

voltage tolerance on the 24V side is significantly lower than the maximum

admissible tolerance of +20% for the supply voltage at the ET200S modules.

In this case, the power transformed at the resistor is lower than the

maximum power calculated above.

I DT Safety Integrated Page 13/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

4.2.3 DRIVE-CLiQ interconnection

DRIVE-CLiQ interconnection

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

I DT Safety Integrated Page 14/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

4.3 Important settings at the hardware components

In this function example, the PROFIBUS interfaces of the F-CPU and the

CU320 are only used for programming. The safety-relevant signal exchange

between the F-CPU and TM54F is only realized through the hardwired

24V signals.

SINAMICS Control Unit CU320

• PROFIBUS address = 3

• The PROFIBUS address is set at the DIL switch below the blind

cover of the Control Unit.

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

SIMATIC IM151-7 F-CPU

• PROFIBUS address = 4

• When commissioning the system, the programming device must

be configured as the only master connected to the bus.

I DT Safety Integrated Page 15/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

Prerequisites for operation

• The SIMATIC ET200S components must be mounted and connected

with one another, latched on the mounting rail. The

PROFIsafe addresses of the fail-safe input and output modules

must be set using the DIL switch; also refer to Chapter 6.2

Hardware configuration of the fail-safe control.

• All of the components are connected-up as explained in Chapter

4.2 Connecting-up the hardware components.

• The DRIVE-CLiQ topology of the SINAMICS components is carefully

observed.

• The motors are connected to the Motor Module using the power

and encoder cables.

• The Motor Module is correctly connected to the infeed (DC link and

24 V DC control voltage).

• The infeed is connected to the line supply.

• The components are supplied with 24 V DC.

I DT Safety Integrated Page 16/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

5 Overview and operator control

5.1 Description of the operator control

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

Hardware overview

The Emergency Stop pushbutton –S3 is released to power-up the system.

The safety function SS1 is de-selected at both drives using reset button –

S4 via output F-DO 0 of the F-CPU; pulse cancellation at the drives is withdrawn.

The drives can then be moved (operated) using the knob-operated

switch –S6.

When safety door 1 is closed (knob-operated switch -S1, ON switch position),

drive 1 rotates with n=800 rpm. If safety door 1 (switch –S1) is

opened, the data set is changed-over in drive 1 and for drive 1 the setpoint

speed is n=20 rpm. When switch -S1 is opened, the SLS safety function in

drive 1 is activated. By closing safety door 1, a speed of n=800 rpm is again

entered (speed setpoint). Drive 2 is not influenced.

If safety door 2 is closed (knob-operated switch –S2, switch position ON)

then a setpoint speed of n=333 rpm is entered for drive 2. If safety door 2

(switch –S2) is opened, then drive 2 has a speed setpoint of n=33 rpm as

the data set is changed-over. When switch –S2 is open, the SLS safety

function in drive 2 is activated. By closing safety door 2, a speed setpoint of

n=333 rpm is again entered. Also in this case, drive 1 is not influenced.

If safety door 1 (knob-operated switch –S1, center position) is opened, then

the SLS function is activated for drive 1. Drive 2 is not influenced. When

opening safety door 2 (knob-operated switch -S2, center position) the SLS

function for drive 2 is activated.

I DT Safety Integrated Page 17/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

The motors rotate in opposite directions.

When button –S8 is pressed, the drives receive a higher setpoint - independent

of the position of the safety door. For drive 1, n=1000 rpm and for

drive 2, n=666 rpm. When the safety door is open, then an SLS limited

value is violated and the drive involved is stopped using an internal SS2

(Stop C), and for n=0 rpm is brought into SOS. In order to continue to operate

the drive, the alarm, initiated by the internal SS2 (Stop C) as well as the

"Internal Event" message signal in the TM54F must be acknowledged using

the –S4 reset button.

5.2 Summary of the input signals

Digital inputs of the CU320

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

DI0 Digital input CU320 –

DI1

DI2

DI3

ON/OFF1 (1 signal, positive signal

edge) and stopping (0 signal) (switch –

S6)

Acknowledgement of the SINAMICS

fault messages (1 signal, pushbutton –

S7)

A higher setpoint speed is entered

(1 signal, pushbutton –S8)




Both drives are started

The SINAMICS fault messages are

acknowledged at all of the drive

objects

A high setpoint speed is entered; this

is used to violate the SLS limit as

simulation (1 signal)

I DT Safety Integrated Page 18/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

F-DIs of the F-CPU

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

F-DI0/F-DI4 Emergency Stop pushbutton SS1 in both drives

F-DI1

Reset button

Acknowledges the Emergency Stop

function

Acknowledges an Internal Event in

TM54F

F-DI2/F-DI6 Protective door_1 open SLS_door_1 – 0 signal; drive_1

operates at a low speed.

SLS in drive 1 activated

F-DI3/F-DI7

Note

Protective door_1 closed

Protective door_2 open

Protective door_2 closed







SLS_door_1 – 1 signal; drive_1

operates at the normal speed.

SLS in drive 1 not activated.

SLS_door_2; drive_2 operates at a

low speed.

SLS in drive_2 activated

SLS_door_2 – 1 signal; drive_2

operates at the normal speed.

SLS in drive_2 not activated.

The drives can only be operated when the infeed is powered-up and the

DC link is charged.

I DT Safety Integrated Page 19/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

6 Project example

In this chapter, you will learn how the individual components must be parameterized.

Both STARTER as well as also SIMOTION SCOUT can be

used as engineering software for SINAMICS S120. Distributed Safety is required

to program the F-CPU.

A description is subsequently given as to how the software project associated

with this function example was set-up.

6.1 Passwords

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

For reasons of simplicity, in the project, one common safety password is

used for the SIMATIC components for both the program and hardware.

One password is also used for the safety configuring of the SINAMICS

components for the drives and for the TM54F terminal expansion module.

Safety password on the F-CPU: "0"

Safety password on SINAMICS: "1"

These passwords should be changed for real applications!

I DT Safety Integrated Page 20/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

6.2 Hardware configuration of the fail-safe control

Description

In the SIMATIC Manager, insert a

SIMATIC 300 station into the project.

Comment

In the HW Config, completely set-up

and parameterize the station. To do

this, drag the modules contained in

the parts list from the catalog window

and drop them into the configuration

window.

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

I DT Safety Integrated Page 21/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

Description

In the properties window of the F-

CPU, under the "Protection" tab,

activate the access protection for the

F-CPU and protect using a password.

Activate the safety program ("CPU

contains safety program.")

Comment

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

Set (binary) the PROFIsafe address

(F_dest_address) at the particular

module at the DIL-switch.

For the fail-safe digital inputs,

activate the channels used and for

each channel, set the appropriate

evaluation of the encoder.

I DT Safety Integrated Page 22/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

Description

For the fail-safe digital outputs,

activate the channels that are being

used and deselect the wire breakage

diagnostics (the input current for the

F-DIs of the TM54F is too less).

Comment

Then compile and save the HW

config. After that download this to the

F-PLC.

+

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

6.3 Programming the fail-safe control

In this example, the safety program in the F-CPU is executed in the failsafe

FB1 function block. In order to clearly show the functions, a simple

program sequence was selected. Please refer to the appropriate function

examples and the manuals for Distributed Safety when complex safety

logic functions are involved as well as a list of the limitations/constraints

when writing the safety program.

Description

Make the following settings in the

menu bar under Options/

Edit_Safety program/ F_Run-time

groups:

– F_CALL: FC1

– F_PROGRAM: FB1

– IDB_F_PROGRAM: DB1

– CALL in: OB35

– Max. cycle time: 200 ms

– Call time: 100 ms

Comment

Then generate the safety program

and download to the module.

I DT Safety Integrated Page 23/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

Description

Enter the input and output variables

in the symbol table.

Comment

The safety program is executed in

FB1.

Re-integrate the F-modules

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

I DT Safety Integrated Page 24/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

Description

Emergency Stop analysis and output

Comment

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

SLS_door1 signal at TM54F

SLS_door2 signal at TM54F

I DT Safety Integrated Page 25/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

Description

Connect the Internal Event

Acknowledge signal in the TM54F.

Comment

Save FB1.

In the SIMATIC Manager regenerate

the modified safety program under

"Options" > "Edit safety program" –

and then download to the target

system (e.g. PLC).

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

6.4 SINAMICS parameterization of the motion functions

The hardware in the drive system must first be commissioned and the required motion

function set-up.

Commissioning the hardware

Description

Open the STARTER program.

Comment

Go online.

I DT Safety Integrated Page 26/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

Description

Perform the automatic first

commissioning for the drive group.

Comment

Select "Servo" as the drive object

type.

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

Complete the automatic

configuration.

Save the project.

Test both of the drives. To do this,

start both of the drives from the

control panel.

Start the drives from the control

panel; if required, the automatic

net (useful) data identification is

performed at the start.

I DT Safety Integrated Page 27/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

Description

Operate drive_1 from the operator

panel.

Comment

Operate drive_2 from the operator

panel.

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

Execute "Download to PG".to save

the current project version in the

PG

Then save the project.

I DT Safety Integrated Page 28/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

Commissioning the motion functions (without safety)

Description

First - manually perform the post

configuration.

Comment

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

For the drives, under “Control

structure”, activate the "Extended

setpoint channel".

As the 5 kW SLM has no DRIVE-

CLiQ interfaces, parameterization

is not required.

I DT Safety Integrated Page 29/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

Description

To power-up and power-down the

drive, under Drive / Control logic /

Control word_

execution control, interconnect

parameter p840[0].0 with "CU,

r722.1".

DI1 is simultaneously interlocked

with ON/OFF1 for drive 1 and

drive 2 .

In order to be able to

acknowledge possible fault

messages/signals, under CU320 /

Inputs/outputs, interconnect input

DI2 with the following parameters:

– CU, p2103

– SERVO_01, p2103[0]

– SERVO_02, p2103[0]

– TM54F_MA_05, p2103

– TM54F_SL_06, p2103

Interconnect input DI3 with the

fixed speed setpoint bit3 for both

drives.

– SERVO_01, p1023[0]

– SERVO_02, p1023[0]

Comment

Enter the speeds of the drives for

normal operation and for the SLS

safety function.

To do this, open the appropriate

setting window under Drives /

Setpoint Channel / Fixed

setpoints.

I DT Safety Integrated Page 30/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

Description

For drive_1 set the following:

Comment

Bit0: Control Unit DI1

Bit1: TM54F F-DI1

Bit2: 0

Bit3: Control Unit DI3

Fixed value 1 : 20 rpm

Fixed value 3 : 800 rpm

Fixed value 9 : 1000 rpm

Fixed value 11 : 1000 rpm

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

Explanation: If the "SLS_door1"

signal is active (in the diagram:

"High"), the safety door

is closed and the high speed

setpoint is entered. For a low

signal, a changeover is made

from a high speed (setpoint) to

a low speed (setpoint).

By pressing –S8, when the drive

is operational, independent of the

state of the safety door, a fixed

speed of n=1000 rpm is entered

(speed setpoint). The drive can

only operate for a 1 signal at bit 0.

The reason for this is that DI1 of

the Control Unit is also interconnected

with ON/OFF1.

Set the OFF3 ramp-down time

and the standard ramp-down time

under the point Setpoint Channel

/ Ramp-function generator.

I DT Safety Integrated Page 31/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

Press the button.

Description

Comment

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

Set the ramp-down time (p1121)

so that when SLS is selected, the

drive is below the SLS limit value

within p9551.

The OFF3 ramp-down time

(p1135) is used to brake for SS1.

I DT Safety Integrated Page 32/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

Description

For drive_2 set the following:

Comment

Bit0: Control Unit DI1

Bit1: TM54F F-DI2

Bit2: 0

Bit3: Control Unit DI3

Fixed value 1 : 33 rpm

Fixed value 3 : 333 rpm

Fixed value 9 : 666 rpm

Fixed value 11 : 666 rpm

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

Explanation: If the "SLS_door2"

signal is active (in the diagram:

"High"), then a changeover

is made from a high

speed (setpoint) to a low

speed (setpoint).

By pressing –S8, independent of

the state of the safety door, a

fixed speed of n=666 rpm is

entered.

Save the project and compile.

Go online.

Download the project into the

target device (e.g. PLC) and copy

RAM to ROM.

You can now operate the drives

(without safety functions).

This is realized with a positive

signal edge at DI1.

I DT Safety Integrated Page 33/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

6.5 Parameterizing the control of the safety functions (TM54F)

Description

Open the safety configuration

window in STARTER under

Input/output component / TM54F /

Safety Integrated.

Comment

Go online.

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

Click on "Change settings" (this is

only possible in the online mode!).

Enter a security password (When

commissioning the system for the

first time: "0").

Click on "Configuration".

I DT Safety Integrated Page 34/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

Description

Enter Drive_1 under Drive group_1

and Drive_2 under Drive group_2.

Comment

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

Interconnect input F-DI3 to

"Acknowledge internal event". The

falling edge at this input resets the

"Internal event" status in the drives.

Then, re-close the configuration

window.

Under "Inputs" you will obtain an

overview of the states of the F-DIs

connected to the TM54F.

For this particular function example,

all of the fail-safe inputs used should

be parameterized as NC/NC contact.

I DT Safety Integrated Page 35/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

Description

If required, define the

interconnections for the safety

functions in the Drive group windows.

All of the functions are "statically

active (0)" in the default state.

Comment

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

In this example the SS1 function is

interconnected with F-DI0 and SLS

with F-DI1 in Drive group_1 (this

involves Drive_1).

Set safety functions STO, SS2 and

SOS to the state "Statically inactive

(255)".

In this example, the SS1 function is

interconnected with F-DI0 and SLS

with F-DI2 in Drive group_2 (this

involves Drive_2).

Set safety functions STO, SS2 and

SOS to the state "Statically inactive

(255)".

I DT Safety Integrated Page 36/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

Description

To accept the settings that have

been made, click on "Copy parameters".

Click on "Activate settings".

Comment

When commissioning the project for

the first time, you will be prompted to

change the safety password. The

default password when commissioning

the project for the first time is "0"

The password can be up to 8 characters

long and is saved in the hexadecimal

format.

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

Acknowledge the message opposite

with "Yes".

Data is copied from RAM to ROM.

To save the current project status in

the PG, execute "Download to PG"

and then save the project.

Then, carry-out a power-on reset of

the Control Unit.

POWER ON

6.6 Parameterizing the safety functions integrated in the drive

Description

Before you start the actual

parameterization process:

Restart the system (new

start).

POWER ON

Comment

I DT Safety Integrated Page 37/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

Description

Open the corresponding

configuration window in

STARTER under Drives /

Drive_xy / Functions /

Safety_Integrated.

Comment

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

Go online.

In order to activate the

safety functions set in the

TM54F, proceed as follows:

Click on the "Change settings"

button.

Change over the control

selection to "Motion Monitoring

via TM54F".

Acknowledge the message

with "OK".

I DT Safety Integrated Page 38/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

Description

The safety configuration

window for the drive opens.

The particular configuration

window can be opened – in

which you can make the

appropriate parameter

settings – using the various

buttons.

Comment

In the "Configuration" window,

ensure that the correct

drive type has been entered.

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

The encoder data of the

drive are entered in the

"Encoder parameterization"

window.

Note: If, in the application,

only the motor encoder

is used, then for "2nd

encoder" the same

settings are entered as

for "1st encoder".

I DT Safety Integrated Page 39/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

Description

Enter the adjacent values in

the "Safe stops" screen

form.

The delay time SS1 ->

pulse cancellation (p9556)

must be selected so that

when the drive decelerates

from the maximum speed of

the application down to

standstill (zero speed), this

time is not exceeded.

The value of this parameter

is, among other things, dependent

on the load moment

of inertia. The shutdown

speed SS1 (p9560) is

set to n = 0/min.

Comment

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

In the screen form "Safely

limited speed (SLS)" - enter

the maximum limit speed

(limit speed: when the

safety door is opened, the

speed that is still permissible)

Only stage 1 is used for

the speed monitoring function.

Further, the stop response

– that is initiated

when the limit value is exceeded

– should be selected.

The drive speed must be

below the limit value

n_max. within the delay

time "Select SLS -> SLS

active" (p9551),

Enable/activate the safety

functions.

I DT Safety Integrated Page 40/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

Description

In order to accept the settings

that have been made,

click on “Copy parameters“.

After the parameters have

been correctly accepted:

Click on the "Activate settings"

button.

(also in this case, change

the password when

commissioning the project

for the first time)

Click on "Axis parameters"

to save the changes in the

drive.

Comment

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

Acknowledge the following

message with "Yes".

The data is copied from the

RAM to ROM.

To save the actual project

status in the PG, carry-out

"Download to PG" and then

save the project.

Acknowledge any

messages regarding the

acceptance test;

also refer to Chapter 6.7

Acceptance test

Then carry-out a power-on

reset of the Control Unit.

Repeat this procedure for

the second drive!

POWER ON

Refer to Chapter 6.6 Parameterizing the safety functions integrated

in the drive

I DT Safety Integrated Page 41/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

Especially note the following settings for Drive 2:

Enter the adjacent values in the

"Safe stops" screen form.

Select the delay time SS1 → Pulse

cancellation (p9556) so that when

the drive decelerates from the maximum

speed of the application down

to standstill (zero speed) this time is

not exceeded. The value of this parameter

depends among other things

on the load moment of inertia.

Set the shutdown speed SS1

(p9560) to n = 0/min.

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

In the screen form "Safely limited

speed” - enter the maximum limit

speed, which is permissible when the

safety door is open. Only use stage 1

for the speed monitoring function.

Further, the stop response – that is

initiated when the limit value is exceeded

– should be selected.

The drive speed must be below the

limit value n_max. within the delay

time "Select SLS -> SLS active"

(p9551).

To save all of the changes, click on

"Entire project".

You can operate the drives when the Emergency Stop has been deselected

if you have performed the safety commissioning for all drives, then.

I DT Safety Integrated Page 42/43 MC-FE-I-005-V11-EN


SINAMICS S120 Fail-Safe Drives Entry ID: 28424136

The use of the safety functions integrated in the drive has been selected

and these can now be activated or deactivated using the operator elements

at the F-CPU.

Only the following messages should be visible

These messages doe not influence the functionality described above.

6.7 Acceptance test

Copyright © Siemens AG 2009 All rights reserved

28424136_mc_fe_i_005_v11_en

To verify the safety-related parameters, when commissioning the machine

for the first time and also when making changes to the safety-relevant parameters,

an acceptance test must be carried-out. It is imperative that the

acceptance test must be correspondingly logged and documented. The acceptance

reports should be appropriately stored and archived.

The acceptance test must be performed after parameterization has been

completed and power-on reset.

Information about the acceptance test, the acceptance report and an example

of corresponding acceptance report are provided in the "Function

Manual SINAMICS S120 Safety Integrated" (FHS) in the chapter, Acceptance

test and acceptance report.

7 History

Table 7-1 History

Version Date Revision

V1.0 14.02.2008 First edition

V1.1 22.01.2009 Second edition

I DT Safety Integrated Page 43/43 MC-FE-I-005-V11-EN

More magazines by this user
Similar magazines