4.18 Safe referencing
The "safe referencing" function allows a safe absolute position to be defined. This safe position
is used for the following functions:
● SLP (Page 161)
● SP (Page 166)
● SCA (Page 182)
General description
Referencing to an absolute position is performed by the motion control of the NC. The
functionality SIC/SCC is used for this.
For SINUMERIK Safety Integrated, the current absolute NC actual position (also in motion) is
transferred to the drive as the "reference position" for the safe actual value system. This
process is carried out on the system side for each referencing of the NC actual position system.
This requires the enabling of SIC/SCC and the "Reference via SCC" function (p9501.27). The
"safely referenced" state is reached when user agreement has been set.
Referencing methods
SINAMICS distinguishes between 2 types of referencing:
● Initial referencing
For initial safe referencing, or in the event of a fault during a subsequent referencing, the
following steps are necessary:
– Perform referencing by the NC
– Setting user agreement
● Subsequent referencing
Subsequent referencing involves referencing with a safety-relevant history (i.e. with an
internally buffered user agreement) after a POWER ON or after deselecting "parking axis".
– After the drive has been referenced, Safety Integrated automatically performs a
plausibility check.
– If the deviation between the current absolute position and the previous position saved by
Safety Integrated is within the tolerance of p9544, then the drive goes into the "safely
referenced" state.
User agreement
Note
For SINUMERIK MC, the options relating to user agreement known from SINUMERIK can
neither be used in the "Machine" area nor via commissioning screen forms. OEMs must provide
the appropriate options so that users can set their user agreement signal.
Safety functions integrated in the drive
4.18 Safe referencing
Safety Integrated (with SINAMICS S120)
Commissioning Manual, 02/2020, A5E46305916B AB 189
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