r9733[0...2] SI Motion setpoint speed limit effective
Data type: FloatingPoint32 P group: Safety Integrated Scaling: p2000
Description: Displays the necessary setpoint speed limit as a result of the selected motion monitoring functions.
Contrary to the parameterization of the SI limit values, this parameter specifies the motor-side limit value and not the
load-side limit value.
Index: [0] = Setpoint limiting positive
[1] = Setpoint limiting negative
[2] = Setpoint limit absolute
Dependency: For SLS: r9733[0] = p9531[x] x p9533 (converted from the load side to the motor side)
For SDI negative: r9733[0] = 0
For SLS: r9733[1] = - p9531[x] x p9533 (converted from the load side to the motor side)
For SDI positive: r9733[1] = 0
[x] = Selected SLS stage
Conversion factor from the motor side to the load side:
- motor type = rotary and axis type = linear: p9522 / (p9521 x p9520)
- otherwise: p9522 / p9521
See also: p9531, p9533
Note
This parameter is not influenced by setting the axis type (p9502).
If the "SLS" or "SDI" function is not selected, r9733[0] shows p1082 and r9733[1] shows -p1082.
The display in r9733 can be delayed by up to one Safety monitoring clock cycle as compared to the display in r9719/
r9720 and r9721/r9722.
When selecting SOS or a STOP A ... D, setpoint 0 is specified in r9733.
r9734 SI Safety Info Channel status word S_ZSW1B
Data type: Unsigned16 P group: Safety Integrated
Description: Display for the status word of safety functions (S_ZSW1B).
Bit field: Bit Signal name 1 signal 0 signal FP
00 STO active Yes No -
01 SS1 active Yes No -
02 SS2 active Yes No -
03 SOS active Yes No -
04 SLS active Yes No -
05 SOS selected Yes No -
06 SLS selected Yes No -
07 Internal event Yes No -
09 Select SLS bit0 Yes No -
10 Select SLS bit1 Yes No -
12 SDI positive selected Yes No -
13 SDI negative selected Yes No -
15 Safety message present Yes No -
Note
For bit 07:
An internal event is displayed if a STOP A ... F is active.
r9743 SI Safety Info Channel status word S_ZSW2B
Data type: Unsigned16 P group: Safety Integrated
Description: Display for the status word of the safety functions (S_ZSW2B).
Bit field: Bit Signal name 1 signal 0 signal FP
08 SDI positive selected Yes No -
Parameters
12.2 List of parameters
SINAMICS S210 servo drive system
282 Operating Instructions, 12/2017, A5E41702836B AA