4.5 System properties
4.5.1 Response times of the Basic Functions
The Basic Functions are executed with a monitoring cycle of 4 ms. PROFIsafe telegrams are
evaluated in the PROFIsafe scan cycle, which corresponds to twice the monitoring cycle.
Note for understanding the following tables
The drive system is the component that provides the safety functions. The designation "fault-
free drive system" means that the component that provides the safety functions does not have
a defect itself:
● Worst case for a fault-free drive system
For faults outside the drive system, such as e.g. faulty setpoint input from a control system,
limit value violations as a result of the behavior of the motor, closed-loop control, load, etc.,
the "Worst case for a fault-free drive system" response time is guaranteed.
● Worst case when a fault exists
For a single fault within the drive system, such as a defect in a switch-off signal path of the
power unit, a defect in an encoder actual value measurement, a defect in a microprocessor
(Control Unit or Motor Module) etc., the "Worst case when a fault exists" response time is
guaranteed.
4.5.2 Control of the Basic Functions via terminals
The following table lists the response times from the control via terminals until the response
actually occurs.
Table 4-1 Response times for control via terminals on the Control Unit and the Motor Module.
Function Worst case for
Drive system has no fault A fault is present
STO 2 · 4 ms + t_E
1)
3 · 4 ms + t_E
1)
SBC 4 · 4 ms + t_E
1)
8 · 4 ms + t_E
1)
SS1/SS1E (time-controlled)
Selection until STO is initiated 2 · 4 ms + p9652 + t_E
1)
3 · 4 ms + p9652 + t_E
1)
SS1/SS1E (time-controlled)
Selection until SBC is initiated 4 · 4 ms + p9652 + t_E
1)
8 · 4 ms + p9652 + t_E
1)
SS1 (time-controlled)
Selection until braking is initiated 3 · 4 ms + 2 ms + t_E
1)
4 · 4 ms + 2 ms + t_E
1)
1)
The following applies for t_E (debounce time of the digital input being used):
p9651 = 0 t_E = 8 ms
p9651 ≠ 0 t_E = p9651 + 5 ms
Safety functions integrated in the drive
4.5 System properties
SINAMICS S210 servo drive system
Operating Instructions, 12/2017, A5E41702836B AA 73
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