Safety Function Manual

SINAMICS
SINAMICS G120, G120C, G120D, G115D,
G110M

Safety functions integrated in the drive -

Safety Integrated

Edition 09/2020 www.siemens.com/drives

 Changes in the current
edition

Fundamental safety
instructions 1

SINAMICS Introduction 2

Description 3
SINAMICS G120
Safety Integrated - SINAMICS
G110M, G115D, G120, G120C and Installing 4
G120D
Commissioning 5
Function Manual

Operation 6

Corrective maintenance 7

System properties 8

Appendix A

Edition 09/2020, Firmware V4.7 SP13

09/2020, FW V4.7 SP13

A5E34261271B AG
Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent damage
to property. The notices referring to your personal safety are highlighted in the manual by a safety alert symbol, notices
referring only to property damage have no safety alert symbol. These notices shown below are graded according to
the degree of danger.

DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.

WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.

CAUTION
indicates that minor personal injury can result if proper precautions are not taken.

NOTICE
indicates that property damage can result if proper precautions are not taken.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will be
used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property
damage.
Qualified Personnel
The product/system described in this documentation may be operated only by personnel qualified for the specific
task in accordance with the relevant documentation, in particular its warning notices and safety instructions.
Qualified personnel are those who, based on their training and experience, are capable of identifying risks and
avoiding potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:

WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended or
approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance
are required to ensure that the products operate safely and without any problems. The permissible ambient
conditions must be complied with. The information in the relevant documentation must be observed.

Trademarks
All names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication may
be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software described.
Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the information in this
publication is reviewed regularly and any necessary corrections are included in subsequent editions.

Siemens AG A5E34261271B AG Copyright © Siemens AG 2010 - 2020.

Digital Industries Ⓟ 10/2020 Subject to change All rights reserved
Postfach 48 48
90026 NÜRNBERG
GERMANY
Changes in the current edition

Significant changes with respect to Function Manual, Edition 04/2018

Non-supported hardware
Firmware V4.7 SP13 has not been released for the SIMATIC ET 200pro FC-2 converter.
All information relating to the SIMATIC ET 200pro FC-2 has been removed from the current
edition of the Function Manual.

New hardware
• SINAMICS G115D converter
Basic functions and extended functions (Page 22)
Interfaces to select the safety functions (Page 24)
Overview of PROFIsafe connections (Page 49)
Controlling via a failsafe digital input (Page 58)

New functions
• PROFIsafe telegram 900 is available not only in the extended functions, but also in the basic
functions for all converters.
Interfaces to select the safety functions (Page 24)
PROFIsafe telegrams (Page 51)
Control word 5 and status word 5 (basic functions) (Page 54)
Configuring PROFIsafe (Page 125)
Response with the basic functions (Page 267)
• The extended safety functions are permissible for synchronous reluctance motors
Preconditions when using the safety functions (Page 26)

Revised descriptions
• Wiring example for SINAMICS G120 converters with CU230P-2 Control Unit added
SINAMICS G120 converters with CU230P-2 Control Unit (Page 82)
SINAMICS G120 converters with CU230P-2 Control Unit (Page 100)
• Descriptions of replacing converters were removed from the Function Manual.
Corrective maintenance (Page 307)
• The examples for the acceptance test have been removed from the Function Manual. Now,
we simply refer readers to "Startdrive Advanced".
Acceptance test (Page 186)
• A restriction relating to operation of safety functions with the Power Module PM240‑2 FSG
was added.
Restrictions when using safety functions (Page 27)

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Changes in the current edition

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

4 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
Table of contents

Changes in the current edition .............................................................................................................. 3

1 Fundamental safety instructions......................................................................................................... 11
1.1 General safety instructions................................................................................................. 11
1.2 Warranty and liability for application examples ................................................................... 12
1.3 Security information .......................................................................................................... 13
2 Introduction ......................................................................................................................................... 15
2.1 About this manual ............................................................................................................. 15
2.2 Navigator through the "Safety Integrated" Function Manual ................................................ 18
3 Description........................................................................................................................................... 21
3.1 About this chapter ............................................................................................................. 21
3.2 Basic functions and extended functions.............................................................................. 22
3.3 Interfaces to select the safety functions.............................................................................. 24
3.4 Preconditions when using the safety functions ................................................................... 26
3.5 Restrictions when using safety functions ............................................................................ 27
3.6 Recommendations for stable operation .............................................................................. 30
3.7 An overview of the principle of operation of the safety functions ........................................ 31
3.7.1 Safe Torque Off (STO)......................................................................................................... 31
3.7.2 Safe Brake Control (SBC) .................................................................................................... 33
3.7.3 Safe Stop 1 (SS1) ............................................................................................................... 35
3.7.4 Safely Limited Speed (SLS) ................................................................................................. 38
3.7.5 Safe Direction (SDI)............................................................................................................ 41
3.7.6 Safe Speed Monitoring (SSM) ............................................................................................. 43
3.7.7 EMERGENCY SWITCHING OFF and EMERGENCY STOP .......................................................... 44
4 Installing .............................................................................................................................................. 47
4.1 About this chapter ............................................................................................................. 47
4.2 Sequence when installing a converter with safety functions................................................ 48
4.3 Connection via PROFIsafe................................................................................................... 49
4.3.1 Overview of PROFIsafe connections.................................................................................... 49
4.3.2 PROFIsafe telegrams .......................................................................................................... 51
4.3.3 Control word 1 and status word 1 (basic functions) ............................................................ 52
4.3.4 Control word 1 and status word 1 (extended functions)...................................................... 53
4.3.5 Control word 5 and status word 5 (basic functions) ............................................................ 54
4.3.6 Control word 5 and status word 5 (extended functions)...................................................... 55
4.3.7 Application examples ......................................................................................................... 56
4.4 Controlling via a failsafe digital input.................................................................................. 58
4.4.1 Overview ........................................................................................................................... 58

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Table of contents

4.4.2 Failsafe digital input........................................................................................................... 60

4.4.3 Wiring examples according to SIL 2 and PL d....................................................................... 62
4.4.3.1 Electromechanical sensor................................................................................................... 63
4.4.3.2 Series-connected electromechanical sensors ...................................................................... 65
4.4.3.3 Controlling several converters in parallel using electromechanical sensors .......................... 67
4.4.3.4 SIRIUS 3SK1 safety relay ..................................................................................................... 69
4.4.3.5 3RK3 Modular Safety System.............................................................................................. 71
4.4.3.6 Sensors with OSSD outputs ................................................................................................ 73
4.4.3.7 SIMATIC I/O modules .......................................................................................................... 75
4.4.3.8 SINAMICS G120 converters with CU230P-2 Control Unit ..................................................... 82
4.4.4 Wiring examples according to SIL 3 and PL e....................................................................... 89
4.4.4.1 Electromechanical sensor................................................................................................... 90
4.4.4.2 SIRIUS 3SK1 safety relay ..................................................................................................... 93
4.4.4.3 3RK3 Modular Safety System.............................................................................................. 95
4.4.4.4 SIMATIC I/O modules .......................................................................................................... 97
4.4.4.5 SINAMICS G120 converters with CU230P-2 Control Unit ................................................... 100
4.5 Evaluating via a failsafe digital output .............................................................................. 107
4.5.1 Overview ......................................................................................................................... 107
4.5.2 Connecting the fail-safe digital output for a SINAMICS G120............................................. 108
4.5.3 Connecting the fail-safe digital output for a SINAMICS G120D........................................... 110
4.6 Connecting a motor holding brake via Safe Brake Relay..................................................... 111
4.6.1 Connecting a Brake Relay at the PM240-2 and at the PM240P-2 Power Modules................ 111
4.6.2 Connecting a Brake Relay at a PM250 Power Module ........................................................ 112
5 Commissioning .................................................................................................................................. 113
5.1 About this chapter ........................................................................................................... 113
5.2 Commissioning guidelines ............................................................................................... 114
5.3 Configure PROFIsafe in the higher-level control system ..................................................... 115
5.4 Tools to commission the converter ................................................................................... 116
5.5 Password ......................................................................................................................... 117
5.6 Resetting the safety functions to the factory setting.......................................................... 118
5.7 Resetting the password for the safety functions ................................................................ 120
5.8 Selecting configuration of the safety functions ................................................................. 121
5.9 Configuring the safety functions and PROFIsafe ................................................................ 123
5.9.1 Configuring safety functions............................................................................................. 123
5.9.2 Configuring PROFIsafe...................................................................................................... 125
5.9.3 Activate settings .............................................................................................................. 127
5.10 Setting basic functions ..................................................................................................... 129
5.10.1 Interconnecting the "STO active" signal............................................................................. 129
5.10.2 Setting the filter for failsafe digital inputs ......................................................................... 131
5.10.3 Setting the forced checking procedure (test stop) ............................................................. 133
5.10.4 Setting STO via Power Module terminals........................................................................... 135
5.10.5 Setting the delay time for SS1 .......................................................................................... 137
5.10.6 Enabling SBC ................................................................................................................... 138
5.10.7 Complete commissioning ................................................................................................. 139
5.11 Setting extended functions .............................................................................................. 143

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 Table of contents

5.11.1 Basic settings ................................................................................................................... 143

5.11.1.1 Enabling the safety functions ........................................................................................... 143
5.11.1.2 Setting the forced checking procedure (test stop) ............................................................. 145
5.11.1.3 Setting encoderless actual value sensing .......................................................................... 147
5.11.2 Setting failsafe digital inputs ............................................................................................ 149
5.11.2.1 Interconnecting a safety function with fail-safe digital input ............................................. 149
5.11.2.2 Setting the filter for fail-safe digital inputs ........................................................................ 151
5.11.2.3 Interconnecting the signal for failsafe acknowledgment ................................................... 153
5.11.3 Setting STO via Power Module terminals........................................................................... 154
5.11.4 Setting a failsafe digital output......................................................................................... 155
5.11.4.1 Setting the forced checking procedure (test stop) ............................................................. 155
5.11.4.2 Output signal and setting the test mode........................................................................... 157
5.11.5 Setting SS1 ...................................................................................................................... 161
5.11.5.1 Setting SS1 with braking ramp monitoring ....................................................................... 162
5.11.5.2 Setting SS1 with acceleration monitoring ......................................................................... 165
5.11.6 Setting SLS ...................................................................................................................... 167
5.11.6.1 Setting the monitoring functions...................................................................................... 167
5.11.6.2 Settings for acceptance test ............................................................................................. 170
5.11.7 Setting SSM ..................................................................................................................... 171
5.11.8 Setting SDI....................................................................................................................... 174
5.11.8.1 Setting the monitoring functions...................................................................................... 174
5.11.8.2 Settings for acceptance test ............................................................................................. 178
5.11.9 Final steps when commissioning online............................................................................ 178
5.12 Activating Shared Device.................................................................................................. 182
5.13 Starting communication via PROFIsafe ............................................................................. 183
5.14 Commissioning with Startdrive offline .............................................................................. 184
5.15 Standard commissioning .................................................................................................. 185
5.16 Acceptance tests for the safety functions.......................................................................... 186
5.16.1 Acceptance test ............................................................................................................... 186
5.16.2 Reduced acceptance test after expanding the function ..................................................... 188
6 Operation........................................................................................................................................... 189
6.1 About this chapter ........................................................................................................... 189
6.2 Regularly testing the safety functions ............................................................................... 190
6.2.1 Overview ......................................................................................................................... 190
6.2.2 Testing failsafe digital inputs ............................................................................................ 191
6.2.3 Testing the basic functions ............................................................................................... 192
6.2.4 Testing the extended functions ........................................................................................ 194
6.2.5 Testing a failsafe digital output......................................................................................... 196
6.3 Safe Torque Off (STO)....................................................................................................... 199
6.3.1 Overview ......................................................................................................................... 199
6.3.2 Selecting and deselecting STO when the motor is switched on.......................................... 200
6.3.3 Response to a discrepancy when STO is active .................................................................. 202
6.4 Safe Brake Control (SBC) .................................................................................................. 208
6.4.1 Selecting and deselecting SBC when the motor is switched on .......................................... 208
6.4.2 Response to faults in the brake control ............................................................................. 211
6.5 Safe Stop 1 (SS1) ............................................................................................................. 212
6.5.1 Overview ......................................................................................................................... 212

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Table of contents

6.5.2 Selecting and deselecting SS1 when the motor is switched on .......................................... 213
6.5.2.1 SS1 basic function............................................................................................................ 213
6.5.2.2 Extended function SS1 with acceleration monitoring ........................................................ 215
6.5.2.3 Extended function SS1 with acceleration monitoring ........................................................ 217
6.5.3 Switching off the motor when SS1 is active....................................................................... 219
6.5.4 Response to a discrepancy when SS1 is active................................................................... 221
6.5.5 Limit value violation when SS1 is active............................................................................ 226
6.6 Safely Limited Speed (SLS) ............................................................................................... 228
6.6.1 Overview ......................................................................................................................... 228
6.6.2 Selecting and deselecting SLS when the motor is switched on .......................................... 228
6.6.2.1 SLS with braking ramp monitoring ................................................................................... 231
6.6.2.2 SLS without braking ramp monitoring .............................................................................. 233
6.6.3 Switching over SLS levels ................................................................................................. 235
6.6.3.1 SLS with braking ramp monitoring ................................................................................... 236
6.6.3.2 SLS without braking ramp monitoring .............................................................................. 238
6.6.4 Switching off the motor when SLS is active....................................................................... 239
6.6.5 Switching on the motor when SLS is active....................................................................... 241
6.6.6 Response to a discrepancy when SLS is active ................................................................... 243
6.6.7 Limit value violation when SLS is active ............................................................................ 245
6.7 Safe Speed Monitor (SSM)................................................................................................ 247
6.7.1 Overview ......................................................................................................................... 247
6.7.2 Selecting SSM when the motor is switched on .................................................................. 248
6.7.3 Switching off the motor when SSM is active...................................................................... 249
6.7.4 Switching on the motor when SSM is active...................................................................... 253
6.8 Safe Direction (SDI).......................................................................................................... 256
6.8.1 Overview ......................................................................................................................... 256
6.8.2 Selecting and deselecting SDI when the motor is switched on........................................... 257
6.8.3 Switching off the motor when SDI is active ....................................................................... 258
6.8.4 Switching on the motor when SDI is active ....................................................................... 260
6.8.5 Response to a discrepancy when Safe Direction is active (SDI)........................................... 263
6.8.6 Limit value violation when Safe Direction (SDI) is active.................................................... 265
6.9 Response to a discrepancy in the signals transferred via PROFIsafe .................................... 267
6.9.1 Response with the basic functions.................................................................................... 267
6.9.2 Response with the extended functions ............................................................................. 268
6.10 Stop responses................................................................................................................. 270
6.10.1 Example 1: Internal event with STO active ........................................................................ 272
6.10.2 Example 2: Internal event with SSM active........................................................................ 273
6.11 Failsafe acknowledgment................................................................................................. 275
6.11.1 Acknowledging using a failsafe signal .............................................................................. 275
6.11.2 Response to a discrepancy of the failsafe acknowledge signal ........................................... 277
6.12 Selecting safety function when a safety function is active ................................................. 278
6.12.1 Selecting STO when SS1 is active...................................................................................... 279
6.12.2 Selecting STO when SLS is active ...................................................................................... 280
6.12.3 Selecting STO when SDI is active ...................................................................................... 281
6.12.4 Selecting STO when SSM is active..................................................................................... 282
6.12.5 Selecting SS1 when SLS is active ...................................................................................... 284
6.12.6 Selecting SS1 when SDI is active....................................................................................... 285
6.12.7 Selecting SS1 when SSM is active ..................................................................................... 286
6.12.8 Selecting SLS when SDI is active ....................................................................................... 288

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 Table of contents

6.12.9 Selecting SLS when SSM is active ..................................................................................... 289

6.12.10 Selecting SDI when SLS is active ....................................................................................... 290
6.12.11 Selecting SDI when SSM is active...................................................................................... 291
6.13 Overview of the converter signals relevant for operation .................................................. 292
6.14 List of alarms and faults ................................................................................................... 294
7 Corrective maintenance .................................................................................................................... 307
7.1 About this chapter ........................................................................................................... 307
7.2 Maintaining operational safety......................................................................................... 308
7.3 Reduced acceptance after a component has been replaced and a firmware change ........... 309
8 System properties.............................................................................................................................. 311
8.1 About this chapter ........................................................................................................... 311
8.2 Probability of failure of the safety functions (PFH value).................................................... 312
8.3 Certifications ................................................................................................................... 314
8.4 Safe Brake Relay............................................................................................................... 316
8.5 Response times after selection ......................................................................................... 317
8.5.1 General information......................................................................................................... 317
8.5.2 Safe Torque Off (STO) and Safe Brake Control (SBC) .......................................................... 318
8.5.3 Safe Stop 1 (SS1) and Safe Brake Control (SBC) ................................................................. 320
8.6 Response times when a monitoring function responds ..................................................... 323
A Appendix............................................................................................................................................ 325
A.1 About this chapter ........................................................................................................... 325
A.2 Standards and specifications ............................................................................................ 326
A.2.1 General ........................................................................................................................... 326
A.2.1.1 Aims................................................................................................................................ 326
A.2.1.2 Functional safety ............................................................................................................. 326
A.2.2 Machine safety in Europe ................................................................................................. 327
A.2.2.1 Machinery Directive ......................................................................................................... 327
A.2.2.2 Harmonized European Standards...................................................................................... 328
A.2.2.3 Standards for implementing safety-related controllers ...................................................... 329
A.2.2.4 DIN EN ISO 13849-1......................................................................................................... 330
A.2.2.5 EN 62061 ........................................................................................................................ 331
A.2.2.6 Series of standards IEC 61508 (VDE 0803)........................................................................ 333
A.2.2.7 Risk analysis/assessment .................................................................................................. 333
A.2.2.8 Risk reduction .................................................................................................................. 335
A.2.2.9 Residual risk..................................................................................................................... 335
A.2.2.10 EC declaration of conformity ............................................................................................ 335
A.2.3 Machine safety in the USA................................................................................................ 335
A.2.3.1 Minimum requirements of the OSHA ................................................................................ 336
A.2.3.2 NRTL listing...................................................................................................................... 336
A.2.3.3 NFPA 79........................................................................................................................... 336
A.2.3.4 ANSI B11 ......................................................................................................................... 337
A.2.4 Machine safety in Japan ................................................................................................... 337
A.2.5 Equipment regulations..................................................................................................... 339
A.2.6 Other safety-related issues ............................................................................................... 339

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Table of contents

A.2.6.1 Information sheets issued by the Employer's Liability Insurance Association ...................... 339
A.2.6.2 Additional references ....................................................................................................... 339
A.3 Manuals and technical support......................................................................................... 340
A.3.1 Overview of the manuals ................................................................................................. 340
A.3.2 Configuring support ......................................................................................................... 342
A.3.3 Product Support............................................................................................................... 344
Index .................................................................................................................................................. 345

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10 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
Fundamental safety instructions 1
1.1 General safety instructions

WARNING
Danger to life if the safety instructions and residual risks are not observed
If the safety instructions and residual risks in the associated hardware documentation are not
observed, accidents involving severe injuries or death can occur.
• Observe the safety instructions given in the hardware documentation.
• Consider the residual risks for the risk evaluation.

WARNING
Malfunctions of the machine as a result of incorrect or changed parameter settings
As a result of incorrect or changed parameterization, machines can malfunction, which in turn
can lead to injuries or death.
• Protect the parameterization against unauthorized access.
• Handle possible malfunctions by taking suitable measures, e.g. emergency stop or
emergency off.

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Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 11
Fundamental safety instructions
1.2 Warranty and liability for application examples

1.2 Warranty and liability for application examples

Application examples are not binding and do not claim to be complete regarding configuration,
equipment or any eventuality which may arise. Application examples do not represent specific
customer solutions, but are only intended to provide support for typical tasks.
As the user you yourself are responsible for ensuring that the products described are operated
correctly. Application examples do not relieve you of your responsibility for safe handling when
using, installing, operating and maintaining the equipment.

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12 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Fundamental safety instructions
1.3 Security information

1.3 Security information

Siemens provides products and solutions with industrial security functions that support the
secure operation of plants, systems, machines and networks.
In order to protect plants, systems, machines and networks against cyber threats, it is necessary
to implement – and continuously maintain – a holistic, state-of-the-art industrial security
concept. Siemens’ products and solutions constitute one element of such a concept.
Customers are responsible for preventing unauthorized access to their plants, systems,
machines and networks. Such systems, machines and components should only be connected to
an enterprise network or the internet if and to the extent such a connection is necessary and only
when appropriate security measures (e.g. firewalls and/or network segmentation) are in place.
For additional information on industrial security measures that may be implemented, please
visit
https://www.siemens.com/industrialsecurity (https://www.siemens.com/industrialsecurity).
Siemens’ products and solutions undergo continuous development to make them more secure.
Siemens strongly recommends that product updates are applied as soon as they are available
and that the latest product versions are used. Use of product versions that are no longer
supported, and failure to apply the latest updates may increase customer’s exposure to cyber
threats.
To stay informed about product updates, subscribe to the Siemens Industrial Security RSS Feed
under
https://www.siemens.com/industrialsecurity (https://new.siemens.com/global/en/products/
services/cert.html#Subscriptions).
Further information is provided on the Internet:
Industrial Security Configuration Manual (https://support.industry.siemens.com/cs/ww/en/
view/108862708)

WARNING
Unsafe operating states resulting from software manipulation
Software manipulations, e.g. viruses, Trojans, or worms, can cause unsafe operating states in
your system that may lead to death, serious injury, and property damage.
• Keep the software up to date.
• Incorporate the automation and drive components into a holistic, state-of-the-art industrial
security concept for the installation or machine.
• Make sure that you include all installed products into the holistic industrial security concept.
• Protect files stored on exchangeable storage media from malicious software by with suitable
protection measures, e.g. virus scanners.
• On completion of commissioning, check all security-related settings.

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Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 13
Fundamental safety instructions
1.3 Security information

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14 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
Introduction 2
2.1 About this manual

Who requires the "Safety Integrated" function manual?

The "Safety Integrated" Function Manual describes safety functions integrated in the drive
converter for variable-speed applications.
The "Safety Integrated" Function Manual primarily addresses machine manufacturers (OEMs),
plant construction companies, commissioning engineers and service personnel.

What does "safety function integrated in the drive" mean?

Compared to a "standard" drive function, a safety function is significantly less subject to error.
Performance level (PL) and safety integrity level (SIL) of the corresponding standards are a
measure of the error rate.
A safety function is therefore suitable for use in machines or systems with a particularly high risk
potential. The system or machine builder carries out a risk analysis to assess the risk potential of
his/her machine or system.
"Integrated in the drive" means that the safety function is integrated in the converter and
requires no additional external components.

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Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 15
Introduction
2.1 About this manual

What converters are described?

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LQSXWV UHTXLUHGLQFHUWDLQFDVHV
)DLOVDIHGLJLWDO
    <HV <HV  <HVZLWK70) <HV <HVZLWK70) 
RXWSXWV
&HUWLILFDWLRQV
&DW
(1,62 &DW3/H &DW3/G &DW3/G &DW3/G
3/GH 
(1 6,/ 6,/ 6,/  6,/ 6,/
1)3$ <HV       <HV  
157/OLVWHG <HV        <HV  

&RQWHQWRIWKH6DIHW\
,QWHJUDWHG)XQFWLRQ0DQXDO
1)
Only for SINAMICS S120 Booksize 2)
Only for CU250S-2 Control Units with Safe Brake Relay
3)
For chassis and cabinet modules with Safe Brake Adapter 4)
With Safe Brake Relay
5)
With external components 6)
SBT: Cat 2 / PL d, SIL 1
7)
STO via the terminals of the PM240‑2 and PM240P‑2 Power Modules: Cat 3 / PL e, SIL 3
STO via the Control Unit terminals and all other safety functions: Cat. 3 / PL d, SIL 2
8)
Only with CU250S-2 Control Units
Figure 2-1 Products with drive-integrated safety functions

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

16 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Introduction
2.1 About this manual

What applications are described?

The "Safety Integrated" Function Manual provides information, procedures and operator actions
for the following situations:
• Introductory and simplified description of the converter safety functions
• Controlling safety functions via failsafe digital inputs or PROFIsafe
• Commissioning and acceptance test of the safety functions
• Response of the converter with active safety functions
• Replacing a converter where the safety functions are enabled.
• Diagnostics of the safety functions
The appendix contains an overview of the applicable regulations and standards for using the
safety functions.

What other information do you need?

The "Safety Integrated" Function Manual is not sufficient when installing or commissioning
"Standard" converter functions. An overview of the documentation available and the associated
applications.
Overview of the manuals (Page 340)

What is the meaning of the symbols in the manual?

Reference to further information in the manual
Download from the Internet
DVD that can be ordered
End of a handling instruction.
❒

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 17
Introduction
2.2 Navigator through the "Safety Integrated" Function Manual

2.2 Navigator through the "Safety Integrated" Function Manual

Chapter You can find answers to the following questions in the chapter:
Description (Page 21) • What are basic functions and what are extended functions?
• Which safety functions does the converter have?
• Which interfaces does the converter have to select the safety functions?
• What preconditions, restrictions and recommendations apply when using the safety
functions?
• How do the safety functions basically work?
Installing (Page 47) • Which sequence is recommended when installing the converter?
• What options are available to connect the converter to the higher-level control system
via PROFIsafe?
• How are the PROFIsafe control words and status words assigned?
• How do you wire the failsafe digital inputs and outputs of the converter?
• What differences are there when wiring inside and outside the control cabinet?
• How do you connect a monitored motor holding brake?
Commissioning (Page 113) • Which sequence is recommended when commissioning the converter?
• Which tool do you require for commissioning?
• How do you restore the factory setting of the safety functions?
• In SINAMICS G120, is it permissible to use the safety functions according to SIL 2 and
SIL 3 together?
• How do you commission the safety functions?
• How do you configure communication via PROFIsafe in the converter?
• How do you transfer safety function parameters to other converters?
• Why is it necessary to "Accept safety functions"?
• What does accepting the safety functions involve?
Operation (Page 189) • How do you maintain the guaranteed probability of failure of the safety functions over
the mission time?
• How does the drive respond when selecting or deselecting a safety function?
• How do you switch on a motor with a safety function active?
• How does the drive respond to a discrepancy signal at a failsafe digital input?
• How does the drive respond to limit value violations or if internal monitoring functions
respond?
• How do you acknowledge safety function faults?
• How do the safety functions mutually influence one another?
• What do the alarm and fault messages of the safety functions mean?
Corrective maintenance • How do you maintain the operational safety of the plant or machine?
(Page 307) • How do you replace defective components in the converter or the converter itself?
• How do you ensure that after a replacement the safety functions still function?

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

18 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Introduction
2.2 Navigator through the "Safety Integrated" Function Manual

Chapter You can find answers to the following questions in the chapter:
System properties • How long can the converter be operated?
(Page 311) • At which time intervals must you initiate the converter self-test?
• What is the probability of failure of the converter safety functions?
• In which time does the drive respond when selecting a safety function?
• When a safety function is active, in which time does the drive respond to a motor
malfunction?
• According to which standards are the converter safety function certified?
• Where can you find certifications for the converter?
• What is the technical data of the Safe Brake Relay?
Appendix (Page 325) • As machine builder or company operating a machine, which standards and regulations
must you comply with?
• Where can you find additional information about the converter?

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 19
Introduction
2.2 Navigator through the "Safety Integrated" Function Manual

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

20 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
Description 3
3.1 About this chapter

What can you find in this Chapter?

In this chapter, you will find answers to the following questions:
• What are basic functions and what are extended functions?
• What safety functions does my converter have?
• Which interfaces to select the safety functions does my converter have?
• What preconditions, restrictions and recommendations apply when using the safety
functions?
• How do the safety functions basically work?

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Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 21
Description
3.2 Basic functions and extended functions

3.2 Basic functions and extended functions

The safety functions integrated in the drive are split up according to basic functions and
extended functions.

Safety functions integrated in the drive

Basic functions Extended functions
The basic functions prevent hazardous motion us‐ Extended functions include several basic functions
ing one or several of the following measures: and additional functions to safely monitor the mo‐
• The energy feed to the motor is safely switched tor speed:
off • STO and SBC basic functions
• The energy feed to the motor holding brake is • Safe Stop 1 (SS1) with speed monitoring
safely switched off • Safely Limited Speed (SLS)
The following basic functions are available: • Safe Direction (SDI)
• Safe Torque Off (STO) • Safe Speed Monitor (SSM)
• Safe Brake Control (SBC) Whether a converter has extended functions gen‐
• Safe Stop 1 (SS1) without speed monitoring erally depends on the Control Unit hardware. The
corresponding converters have an "F" at the end of
Each of the converters described in this manual has
the product name, e.g. Control Unit CU240E‑2 F.
one or several of the basic functions.
For SINAMICS G120 with a CU250S‑2 Control Unit,
you require a license for the extended functions.

Table 3-1 Converters with safety functions integrated in the drive

Converter Basic functions Extended functions

STO SS1, SBC SS1, SDI, SLS SSM, SLS with
switchable SLS levels
Available --- 1) ---
with all prod‐
uct versions

SINAMICS G110M
Available --- ---
with all prod‐
uct versions

SINAMICS G115D
Available --- ---
with all prod‐
uct versions

SINAMICS G120C

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

22 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Description
3.2 Basic functions and extended functions

Converter Basic functions Extended functions

STO SS1, SBC SS1, SDI, SLS SSM, SLS with
switchable SLS levels
Available Available Available with the fol‐ Available with the fol‐
with all with all lowing Control Units: lowing Control Units:
CU240E‑2, CU250S‑2 CU240E-2 F CU240E-2 DP-F
CU250S‑2 Control Units CU240E-2 DP-F CU240E-2 PN-F
and CU240E-2 PN-F CU250S-2 DP 2)
CU230P‑2 3) CU250S-2 2) CU250S-2 PN 2)
Control Units CU250S-2 DP 2)
CU250S-2 PN 2)
SINAMICS G120 CU250S-2 CAN 2)
Available --- Available with the following Control Units:
with all Con‐ CU240D-2 DP-F
trol Units CU240D-2 PN-F
CU240D-2 PN-F PP
CU240D-2 PN-F FO
CU250D-2 DP-F
CU250D-2 PN-F
CU250D-2 PN-F PP
SINAMICS G120D
CU250D-2 PN-F FO
1)
---: Not available
2)
Requires a license for the safety functions
3)
With Power Modules PM240‑2 FSD … FSG, PM240P‑2 FSD … FSF or Power Module PM330

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Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 23
Description
3.3 Interfaces to select the safety functions

3.3 Interfaces to select the safety functions

Depending on the converter, the safety function interfaces are failsafe digital inputs and outputs
(F‑DI, F‑DO), PROFIsafe secure fieldbus communication, and a failsafe digital output to control
a brake.

Converter F-DI F-DO PROFIsafe Safe brake control

SINAMICS G110M with Control Unit …
CU240M USS 1 --- 1) --- ---
CU240M DP 1 --- Telegram 30 , tele‐
2)
---
CU240M PN gram 900 3)
SINAMICS G115D 1 --- Telegram 30 2), tele‐ ---
gram 900 3)

SINAMICS G120C USS 1 --- --- ---

SINAMICS G120C CAN
SINAMICS G120C DP 1 --- Telegram 30 2), tele‐ ---
SINAMICS G120C PN gram 900 3)

SINAMICS G120 with Control Unit …

CU240E‑2 1 + 1 4) --- --- ---
CU240E‑2 DP 1 + 1 4) --- Telegram 30 2), tele‐ ---
CU240E‑2 PN gram 900 3)
CU240E‑2 F 3 + 1 4) --- --- ---
CU240E‑2 DP‑F 3 + 1 4) --- Telegram 30 2), tele‐ ---
CU240E‑2 PN‑F gram 900 3)
CU250S‑2 3 + 1 4) 1 --- With Safe Brake Relay
CU250S‑2 CAN
CU250S‑2 DP 3 + 1 4) 1 Telegram 30 2), tele‐ With Safe Brake Relay
CU250S‑2 PN gram 900 3)

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

24 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Description
3.3 Interfaces to select the safety functions

Converter F-DI F-DO PROFIsafe Safe brake control

SINAMICS G120D with Control Unit …
CU240D‑2 DP 1 --- Telegram 30 2), tele‐ ---
CU240D‑2 PN gram 900 3)
CU240D‑2 DP‑F 3 1 Telegram 30 2), tele‐ ---
CU240D‑2 PN‑F gram 900 3)
CU240D‑2 PN‑F PP
CU240D‑2 PN‑F FO
CU250D‑2 DP‑F
CU250D‑2 PN‑F
CU250D‑2 PN‑F PP
CU250D‑2 PN‑F FO
1)
--- Not available
2)
Telegram 30 for control and status feedback signals from the safety functions
3)
Telegram 900: Function as for telegram 30 and additional feedback signal of the F-DI status
4)
In addition to the failsafe digital inputs of the Control Unit, an additional failsafe digital input is available for the STO function
on the PM240-2 FSD … FSF and PM240P-2 FSD … FSF Power Modules.

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Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 25
Description
3.4 Preconditions when using the safety functions

3.4 Preconditions when using the safety functions

Risk assessment
A risk analysis and assessment of the plant or machine is required before using the safety
functions integrated in the drive.
The risk analysis and assessment must verify the following:
• The safety function integrated in the drive is suitable as a protective measure to minimize
risks associated with the machine.
• The accepted probability of failure of the protective measure must be greater or equal to the
certified probability of failure of the safety function integrated in the drive.
Certifications (Page 314)

Motors and control modes

You can use the basic functions without any restrictions:
• For all control modes: U/f control and speed control with and without encoder
• Permanent-magnet synchronous motors, induction motors and synchronous reluctance
motors
• For group drives, involving the simultaneous operation of several motors connected to one
converter
It is only permissible for you to use the extended functions under the following preconditions:
• With induction motors for all control modes
• With SIEMOSYN synchronous motors only with U/f control
• Synchronous reluctance motors may only be operated with vector control
• For group drives, involving the simultaneous operation of several motors connected to one
converter

Encoderless safety functions

The safety functions integrated in the drive do not use an encoder.
"Encoderless" means the following:
• You do not require an encoder to use the safety functions integrated in the drive.
• If the converter has an encoder connection, the converter evaluates the encoder signal for
closed-loop control of the motor. The safety functions ignore the encoder signal.

Taking into account the slip of induction motors

The speed of the motor shaft is relevant for the functional safety in or on a machine. However,
the extended functions monitor the electrical speed of the motor against the limit values that
have been set.
If you use encoderless safety functions with an induction motor, you must take into account the
motor slip when setting the speed monitoring.

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26 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Description
3.5 Restrictions when using safety functions

3.5 Restrictions when using safety functions

Not permitted: Operation with pulling loads

It is not permissible that you use the encoderless safety functions in applications involving
pulling loads, e.g. in hoisting gear, elevators and unwinders.

WARNING
Unexpected load acceleration as a result of incorrect closed-loop motor control
The encoderless actual value sensing does not identify all faults and errors in the closed-loop
motor control. As a consequence, encoderless safety functions, cannot identify whether a
pulling load undesirably accelerates the drive due to a fault in the closed-motor control.
• Never use safety functions with encoderless speed monitoring for drives with pulling loads.

What options are there for monitoring the speed for pulling loads?
• You can implement speed monitoring in machines with pulling loads in one the following
ways:
– Select a drive with safety functions that use an encoder, for example SINAMICS S120.
– Implement the speed monitoring in the higher-level control by using a suitable measuring
system to acquire the speed/velocity.
• Coupled electric drives, e.g. test stands and winders/unwinders comprise a driving and a
driven drive. Using the extended functions in the drive that has a driving function in a
coupled drive system. In the case of a fault, the drive with the driving function identifies when
a limit value is violated.

Not permitted: Motors with different pole pair numbers

WARNING
Unexpectedly high speeds as a result of incorrect motor data
If you use the "Drive data set" function to switch over motors with different pole pair numbers,
then the calculated, safety-related speed differs from the mechanical speed of the motor shaft.
As a consequence, the motor shaft can accelerate above the configured monitoring limits of the
safety function. This can result in death or severe injury.
• When using the "drive data set" function, only switch between motors with the same pole
pair number.

Monitoring the speed of motors with different pole pair numbers

Implement the speed monitoring in the higher-level control by using a suitable measuring
system to acquire the velocity or speed.

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Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 27
Description
3.5 Restrictions when using safety functions

Critical applications
If a safety function is not enabled in the converter, then you can use the following critical
applications without any restrictions.
If a safety function is enabled in the converter, then some applications can result in faults in the
safe actual value acquisition. For active or enabled safety functions, faults and errors in the
safety-related actual value sensing initiate a stop response: Messages C01711, C30711 with
default values 1040 ff.
The stop response does not result in an unsafe drive state, but in a lower drive availability.

Critical application Remedy

Motor data identification during Only commission the safety functions after the motor data identi‐
commissioning fication has been completed.
Setpoint change as step function Set the ramp-function generator times to values > 0.5 s.
Reversing the speed If you are using a converter with closed loop position control, then
you must set the position controller and the travel profile so that
there is absolutely no overshoot in the speed/velocity characteris‐
tic.
Within 1 s, only one acceleration and one braking ramp are per‐
mitted. The cycle 0 → nset → -nset → 0 must be at least 2 s long.
Load change as step function Do not use the safety functions.
Continuous operation at speeds <
5 % of the rated speed
Switching on the converter with the Avoid using the "flying restart" function when a safety function is
motor rotating ("flying restart" func‐ active.
tion) Temporarily deactivate the safety function until the "flying restart"
function has been successfully completed.
It is not permissible that you use the "flying restart" function if you
are using the SSM function. It is not possible to deactivate SSM
using a control signal.
Operating a converter at the current Select and dimension the drive so that the converter current limit
limit does not respond. After commissioning, check that the converter
does not reach its current or torque limits – even at full load.
Braking a motor using the "DC brak‐ Avoid using the "DC braking" or "Compound braking" functions
ing" or "Compound braking" func‐ when a safety function is active.
tions If you require one of the two braking functions, in the risk assess‐
ment you must check where it is permissible that you deactivate
the safety function while braking. If yes, then deactivate the safety
function until braking has been completed.
If you use the SSM function, then it is not permissible to use the
two braking functions. It is not possible to deactivate SSM using a
control signal.

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28 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Description
3.5 Restrictions when using safety functions

Restriction with SINAMICS G120 Power Modules

You cannot use all of the integrated safety functions when using the following Power Modules:

Power Module Article No. Restriction

Power Module PM230 with 6SL3223-0DE . . - . . A . Integrated safety functions cannot be
IP55 degree of protection used.
6SL3223-0DE . . - . . G . The STO basic function can be used.
PM230 Power Module in de‐ 6SL321 . -1NE . . - . . L . Integrated safety functions cannot be
gree of protection IP20 and used.
push through format 6SL321 . -1NE . . - . . G . The STO basic function can be used.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 29
Description
3.6 Recommendations for stable operation

3.6 Recommendations for stable operation

The following preconditions must be satisfied to ensure disturbance-free converter operation
with the extended functions enabled:
• Motor and converter are adequately dimensioned for this application:
– The converter is operated below its current limit.
– The rated currents of the motor and converter must not differ by more than a factor of 5:
Converter rated current/motor rated current < 5 (r0207[0] / p0305 < 5).
• Before commissioning the safety functions, optimally set the closed-loop control:
– Carry out motor data identification at standstill.
– Carry out a rotating measurement.
– Avoid multiple speed overshoots when settling after a setpoint change.
– Avoid reversing the motor within less than 2 s.

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30 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Description
3.7 An overview of the principle of operation of the safety functions

3.7 An overview of the principle of operation of the safety functions

3.7.1 Safe Torque Off (STO)

Overview

6HOHFW672

672LVDFWLYH

An active STO function prevents energy from being fed to the motor. The motor can no longer
generate torque on the motor shaft.
Consequently, the STO function prevents the starting of an electrically-driven machine
component.

Requirement
The machine manufacturer has already performed a risk assessment, e.g. in compliance with
EN ISO 1050, "Safety of machinery - Principles of risk assessment". The risk assessment must
confirm that it is permissible to use the STO safety function.

Function description

Table 3-2 Principle of operation of STO

Safe Torque Off (STO) Standard converter functions linked with STO
1. The converter identifies when STO is selected via ---
a failsafe digital input or via PROFIsafe.
2. The converter interrupts the energy supply to the If you use a motor holding brake, the converter
motor. closes the motor holding brake.
If you use a line contactor, the converter opens
the line contactor.
3. The converter signals "STO is active" via a failsafe ---
digital output or via PROFIsafe.

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Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 31
Description
3.7 An overview of the principle of operation of the safety functions

6HOHFW672 6HOHFW672

W W
6SHHG 6SHHG

W W
672LVDFWLYH 672LVDFWLYH
W W
$ %
Figure 3-1 STO when the motor is at standstill (A), and rotating (B)

(A): When selecting STO, if the motor is already stationary (zero speed), then STO prevents the
motor from starting.
(B): If the motor is still rotating (B) when STO is selected, it coasts down to standstill.

The STO safety function is standardized

The STO function is defined in IEC/EN 61800-5-2:
"[…] [The converter] does not supply any energy to the motor which can generate a torque (or
for a linear motor, a force)".
⇒ The STO converter function conforms to IEC/EN 61800-5-2.

Example
The STO function is suitable for applications where the motor is already at a standstill or will
come to a standstill in a short, safe period of time through friction. STO does not shorten the run-
on time of machine components.

Application Possible solution

When the EMERGENCY STOP button is • Connect the EMERGENCY STOP pushbutton with a failsafe
pressed, it is not permissible for a sta‐ converter digital input.
tionary motor to inadvertently acceler‐
• Select STO via the failsafe digital input.
ate.
A central EMERGENCY STOP button • Evaluate the EMERGENCY STOP button in a central control.
must prevent the unintentional acceler‐ • Select STO via PROFIsafe.
ation of several motors that are at a
standstill.

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32 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Description
3.7 An overview of the principle of operation of the safety functions

3.7.2 Safe Brake Control (SBC)

Overview
A converter equipped with the SBC function monitors the cables to an electromagnetic brake
and when requested, safely shuts down the 24 V brake control.
You must supplement the converter with a Safe Brake Relay for the SBC function.

6DIH%UDNH5HOD\
6HOHFW672

9 672LVDFWLYH
5HTXHVW6%&

9

The brake can be integrated in the motor or externally mounted.

Function description

Table 3-3 The principle of operation of SBC

Safe Brake Control (SBC) Standard brake function

1. When the STO function is active, the converter requests the SBC The brake closes.
function via the connecting cable to the Safe Brake Relay.
The Safe Brake Relay safely switches off the supply voltage for
the connected brake.
2. The converter signals "STO is active" via a failsafe digital output ---
or via PROFIsafe.

6HOHFW672

W
6SHHG

W
672LVDFWLYH

W
Figure 3-2 The principle of operation of SBC

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 33
Description
3.7 An overview of the principle of operation of the safety functions

The SBC function is not able to identify as to whether the brake is mechanically worn, for
example.

The SBC safety function is standardized

The SBC function is defined in IEC/EN 61800-5-2:
"The SBC function supplies a safe output signal to control an external brake."
⇒ The SBC converter function is in conformance with IEC/EN 61800-5-2.

Example

Example Possible solution

After hoisting gear stops, the converter must close • Connect the motor holding brake to the con‐
the brake in order to minimize the risk of the load verter via Safe Brake Relay.
falling.
• Select STO when the drive stops.

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34 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Description
3.7 An overview of the principle of operation of the safety functions

3.7.3 Safe Stop 1 (SS1)

Overview

6HOHFW66

66LVDFWLYH

672LVDFWLYH

6723

The converter with active SS1 function initially brakes the motor and then prevents energy being
supplied to the motor.
As a consequence, the SS1 function reduces the kinetic energy of electrically driven machine
components to the lowest possible level.
The principle of operation of SS1 differs depending on whether you use SS1 with Basic Functions
or with Extended Functions.

Requirement
The machine manufacturer has already performed a risk assessment, e.g. in compliance with
EN ISO 1050, "Safety of machinery - Principles of risk assessment". The risk assessment must
confirm that it is permissible to use the SS1 safety function.

Function description

SS1 of the Basic Functions

Table 3-4 An overview of the principle of operation of SS1, selected when the motor is rotating

Safe Stop 1 (SS1) Standard converter functions

linked with SS1
1. The converter identifies when SS1 is selected via a failsafe ---
digital input or via PROFIsafe.
2. SS1 starts a safety timer T. The converter brakes the motor
The converter signals "SS1 is active". along the OFF3 ramp.
3. After the timer expires, the converter safely switches off the ---
motor torque with the STO function.
The converter signals "STO is active" via a failsafe digital out‐
put or via PROFIsafe.

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Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 35
Description
3.7 An overview of the principle of operation of the safety functions

6HOHFW66
W
6SHHG
SS1
STO
 W
7
66LVDFWLYH
W
672LVDFWLYH
W
Figure 3-3 Principle of operation of SS1 of the Basic Functions

SS1 of the Extended Functions

Table 3-5 An overview of the principle of operation of SS1, selected when the motor is rotating

Safe Stop 1 (SS1) Standard converter functions

linked with SS1
1. The converter identifies when SS1 is selected via a failsafe ---
digital input or via PROFIsafe.
2. The converter monitors whether the motor speed decreases. The converter brakes the motor
The converter signals "SS1 is active". along the OFF3 ramp.
3. If the motor speed is low enough, the converter safely ---
switches off the motor torque using STO.
The converter signals "STO is active" via a failsafe digital out‐
put or via PROFIsafe.

6HOHFW66

6SHHG SS1
STO
 W

66LVDFWLYH

W
672LVDFWLYH
W
Figure 3-4 Principle of operation of SS1 of the Extended Functions

The SS1 safety function is standardized

The SS1 function is defined in IEC/EN 61800-5-2:
"[…] [1] Initiate and monitor the magnitude of the motor deceleration within the defined limits
and initiate the STO function if the motor speed falls below a defined limit value.
or

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36 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Description
3.7 An overview of the principle of operation of the safety functions

[2] Initiate motor deceleration and activate the STO function after an application-specific time
delay."
⇒ Converter function SS1 of the Extended Functions is in conformance with definition [1] of IEC/
EN 61800-5-2.
⇒ Converter function SS1 of the Basic Functions is in conformance with definition [2] of IEC/EN
61800-5-2.

Example

Example Possible solution

The drive must brake as quickly as possible after the • Select SS1 in the converter via a failsafe digi‐
EMERGENCY STOP button has been pressed. It is not tal input or via PROFIsafe.
permissible that the stationary motor undesirably re‐
starts.

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Description
3.7 An overview of the principle of operation of the safety functions

3.7.4 Safely Limited Speed (SLS)

Overview

6HOHFW6/6

6/6LVDFWLYH

63(('
/,0,7

The converter with active SLS function monitors the motor speed. When the monitoring limit is
exceeded, the converter stops the motor as quickly as possible.
As a consequence, the SLS function allows an electrically driven machine component to be
operated with a temporarily reduced speed or velocity that is not hazardous.

Requirement
The machine manufacturer has already performed a risk assessment, e.g. in compliance with
EN ISO 1050, "Safety of machinery - Principles of risk assessment". The risk assessment must
confirm that it is permissible to use the SLS safety function.

Function description

Table 3-6 An overview of the principle of operation of SLS, selected when the motor is rotating

Safely Limited Speed (SLS) Standard converter functions linked

with SLS
1. The converter identifies when SLS is selected via a fail‐ ---
safe digital input or via secure PROFIsafe communica‐
tion.
2. SLS allows a motor to reduce its possibly inadmissibly The converter limits the speed setpoint to
high speed within a defined time – or to reduce it along values below the SLS monitoring.
a defined braking ramp. If the motor rotates faster than the SLS
monitoring value, then the converter
brakes the motor along the OFF3 ramp.
3. The converter monitors the absolute actual speed The converter limits the speed setpoint to
against the set SLS monitoring. values below the SLS monitoring.
The converter signals "SLS is active" via a failsafe digital
output or via PROFIsafe.
If the motor speed exceeds the SLS monitoring, the
converter responds with a "safe stop" and brakes the
motor as quickly as possible.

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 Description
3.7 An overview of the principle of operation of the safety functions

6HOHFW6/6
W
6SHHG
SLS

 W

6/6LVDFWLYH
W
Figure 3-5 Principle of operation of SLS

The SLS safety function is standardized

The SLS function is defined in IEC/EN 61800-5-2:
"The SLS function prevents the motor from exceeding the defined speed limit."
⇒ The SLS converter function is in conformance with IEC/EN 61800-5-2.

Example

Examples Possible solution

Setup mode: The machine operator must enter the • Select SLS in the converter via a failsafe digi‐
dangerous area of a machine and manually introduce tal input or via PROFIsafe.
material into a machine part.
• The converter limits and monitors the speed
A turning machine must not exceed a specific maxi‐ of the machine part.
mum torque in order to protect the drill chuck from
damage.

Further information
Expansion of the SLS function to include several SLS levels:
• The speed monitoring of the SLS function can be extended to include a maximum of 4
different SLS levels.
• The converter requires additional safety-related signals to select an SLS level and to signal
back which SLS level is active.

6HOHFW6/6
6HOHFW6/6OHYHO

6/6OHYHOLVDFWLYH
6/6LVDFWLYH

63(('
/,0,7

Figure 3-6 SLS level sign

It is only possible to select SLS levels via PROFIsafe.

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Description
3.7 An overview of the principle of operation of the safety functions

The switchover from a higher SLS level 2 to a lower SLS level 1 is described below.

Table 3-7 Switching over from SLS level 2 to SLS level 1

Safely Limited Speed (SLS) Standard converter functions linked

with SLS
1. The converter signals "SLS level 2 is active" via the safe‐ The converter limits the speed setpoint to
ty-related PROFIsafe communication. values below SLS level 2.
2. The converter recognizes the selection of SLS level 1 via
secure PROFIsafe communication.
3. SLS allows a motor to reduce its possibly inadmissibly The converter limits the speed setpoint to
high speed within a defined time – or to reduce it along values below SLS level 1.
a defined braking ramp. If the motor rotates faster than the SLS
monitoring value, then the converter
brakes the motor along the OFF3 ramp.
4. The converter monitors the absolute actual speed The converter limits the speed setpoint to
against SLS level 1. values below SLS level 1.
The converter signals "SLS level 1 is active" via secure
PROFIsafe communication.

6HOHFW6/6

W
6HOHFW6/6
OHYHO Level 2 Level 1
W
6SHHG
SLS SLS
Level 2 Level 1

W
6/6LVDFWLYH
W
6/6OHYHOLV
DFWLYH Level 2 Level 1
W
Figure 3-7 Switching over from SLS level 2 to SLS level 1

Table 3-8 Application example for selecting SLS levels

Examples Possible solution

Depending on the diameter of the saw blade, a circu‐ • Select SLS and the corresponding SLS level in
lar saw must not exceed a specific maximum speed. the converter via PROFIsafe.

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40 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Description
3.7 An overview of the principle of operation of the safety functions

3.7.5 Safe Direction (SDI)

Overview

6HOHFW6',

6',LVDFWLYH

ONE WAY

The converter with active SDI function monitors the motor direction of rotation. If the motor
rotates in the inhibited direction, the converter stops the motor as quickly as possible.
The SDI function therefore prevents that an electrically driven machine component moves in the
inhibited direction.

Requirement
The machine manufacturer has already performed a risk assessment, e.g. in compliance with
EN ISO 1050, "Safety of machinery - Principles of risk assessment". The risk assessment must
confirm that it is permissible to use the SDI safety function.

Function description

Table 3-9 An overview of the principle of operation of SDI, selected when the motor is rotating

Safe Direction (SDI) Standard converter functions linked with SDI

1. The converter identifies when SDI is se‐ ---
lected via a failsafe digital input or via se‐
cure PROFIsafe communication.
2. SDI allows a motor to stop moving in the The converter limits the speed setpoint to values in the
inhibited direction of rotation within a selected direction of rotation.
defined time – or along a defined braking If the motor rotates in the inhibited direction, then the
ramp. converter brakes the motor along the OFF3 ramp.
3. The converter monitors the direction of The converter limits the speed setpoint to values in the
the actual speed. selected direction of rotation.
The converter signals "SDI is active" via a
failsafe digital output or via PROFIsafe.
If the motor rotates in the inhibited direc‐
tion, the converter responds with a "safe
stop" and brakes the motor as quickly as
possible.

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Description
3.7 An overview of the principle of operation of the safety functions

6HOHFW6',
W
6SHHG
SDI

 W

6',LVDFWLYH
W
Figure 3-8 Principle of operation of SDI

The SDI safety function is standardized

The SDI function is defined in IEC/EN 61800-5-2:
"The SDI function prevents the motor shaft moving in the wrong direction."
⇒ The SDI converter function is in conformance with IEC/EN 61800-5-2.

Example

Example Possible solution

When replacing the pressure cylinders of the plates, it is only per‐ • Select SDI in the converter via a
missible that the drive moves in the safe direction. failsafe digital input or via PRO‐
After a protective device to detect a jammed door responds, a FIsafe.
rolling shutter gate may only move in the opening direction. • In the converter, inhibit the di‐
When a crane trolley is at the operating limit switch then it may rection of rotation that is not per‐
only start in the opposite direction. mitted.
To manually clean the roller in a printing machine, the roller must
only turn in a specific direction.

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42 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Description
3.7 An overview of the principle of operation of the safety functions

3.7.6 Safe Speed Monitoring (SSM)

Overview

6SHHGEHORZWKHOLPLWYDOXH

The converter with active SSM function monitors the motor speed. The converter signals
whether the speed is above or below a limit value.

Requirement
The machine manufacturer has already performed a risk assessment, e.g. in compliance with
EN ISO 1050, "Safety of machinery - Principles of risk assessment". The risk assessment must
confirm that it is permissible to use the SSM safety function.

Function description

Table 3-10 The principle of operation of SSM

Safe Speed Monitoring (SSM) Standard converter functions

linked with SSM
1. The SSM function cannot be selected or deselected using ex‐ ---
ternal control signals, in the appropriate setting, it is always
active.
2. The converter compares the motor speed with an adjustable
limit value.
3. If the speed is less than the limit value, then the converter
signals "Speed below limit value" via a failsafe digital output
or via PROFIsafe.

6SHHG

SSM

 W

6SHHGEHORZWKH
OLPLWYDOXH
W
Figure 3-9 The principle of operation of SSM

The SSM safety function is standardized

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Description
3.7 An overview of the principle of operation of the safety functions

The SSM function is defined in IEC/EN 61800-5-2:

"The SSM function supplies a safe output signal to indicate whether the motor speed is below a
specified limit value."
⇒ The SSM converter function is in conformance with IEC/EN 61800-5-2.

Example

Example Possible solution

A centrifuge may only filled below a The converter safely monitors the centrifuge speed and enables
certain minimum velocity. the process to advance to the next step using the status bit "Speed
below limit value" via PROFIsafe.

3.7.7 EMERGENCY SWITCHING OFF and EMERGENCY STOP

Overview
In plants, systems and machines a distinction must be made between "EMERGENCY OFF" and
"EMERGENCY STOP". The STO and SS1 safety functions are only suitable for implementing an
"EMERGENCY STOP".

Function description
EN 60204‑1 defines "EMERGENCY OFF" and "EMERGENCY STOP":
• "EMERGENCY OFF" and "EMERGENCY STOP" are functions that are used in an emergency.
• "EMERGENCY OFF" and "EMERGENCY STOP" minimize different risks in the system or
machine:
– "EMERGENCY OFF" minimizes the risk of electric shock.
– "EMERGENCY STOP" minimizes the risk of unexpected motion.
• Stop Categories 0, 1 and 2 are available for EMERGENCY STOP.

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 Description
3.7 An overview of the principle of operation of the safety functions

Table 3-11 The distinction between "EMERGENCY OFF" and "EMERGENCY STOP"

Action: EMERGENCY OFF EMERGENCY STOP EMERGENCY STOP

Stop Category 0 according to Stop Category 1 according to
EN 60204‑1 EN 60204‑1
Risk:

Electric shock Unexpected movement Movement

Measure to mini‐ Switch off the power supply Prevent movement Stop movement
mize risk: Either completely or partially Prevent any hazardous movement Stop hazardous movement and
switch off hazardous voltages prevent any restart.
Classic solution: Switch off the power supply: Switch-off the drive power supply:

0
Brake the motor and switch off the
drive power supply
Solution with the STO and SS1 are not suitable Select STO: Select SS1
STO or SS1 safety for switching off an electrical
function integrated voltage.
in the drive:

It is permissible that you also switch off the converter supply voltage.
However, switching off the voltage is not required as a risk reduction
measure.

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Description
3.7 An overview of the principle of operation of the safety functions

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46 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
Installing 4
4.1 About this chapter

What can you find in this Chapter?

In this chapter, you will find answers to the following questions:
• Which sequence is recommended when installing the converter?
• What options are available to connect the converter to the higher-level control system via
PROFIsafe?
• How are the PROFIsafe control words and status words assigned?
• How do I wire the failsafe digital inputs and digital outputs of my converter?
• What differences are there when wiring inside and outside the control cabinet?
• How do I connect a motor holding brake that is to be monitored in the converter?

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Installing
4.2 Sequence when installing a converter with safety functions

4.2 Sequence when installing a converter with safety functions

The following overview shows the procedure for installing integrated safety functions in a
converter. For information on some of the steps you will need to consult descriptions in other
manuals.

Procedure
To install the converter, proceed as follows:

&RQILJXUDWLRQDQG
LQVWDOODWLRQ

,VD3/& 1R
EHLQJXVHG"

<HV
&UHDWLQJD3/& 
SURJUDP

,QVWDOOLQJDFRQYHUWHU 

:LULQJVWDQGDUG,2 

:LULQJIDLOVDIH,2 

(QG

1. If you are using a higher-level control system (PLC), then create the control program first.
2. Install the converter.
⇒ converter operating instructions
3. Connect the converter to the line supply, and wire the standard inputs and outputs of the
converter.
⇒ converter operating instructions
4. How do you wire the failsafe digital inputs and outputs?
Controlling via a failsafe digital input (Page 58)
Evaluating via a failsafe digital output (Page 107)
You have installed the converter.
❒

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48 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Installing
4.3 Connection via PROFIsafe

4.3 Connection via PROFIsafe

4.3.1 Overview of PROFIsafe connections

Communication via PROFIsafe

)&38

352),1(7352),VDIH

6,0$7,& 6,1$0,&6 6,1$0,&6* 6,0$7,&

(7 *' 6,1$0,&6*& (7SUR)&

6,1$0,&6 ,0+)
*'
6,1$0,&6
*0

Figure 4-1 PROFIsafe communication between an F-CPU and a converter, e.g. via PROFINET

For communication via PROFIsafe, you must connect the converter to a central failsafe controller
(F‑CPU) via either PROFIBUS or PROFINET.

Shared Device

)&38 &38

352),1(7352),VDIH

6,0$7,& 6,1$0,&6 6,1$0,&6* 6,0$7,&

(7 *' 6,1$0,&6*& (7SUR)&

6,1$0,&6 ,0+)
*'
6,1$0,&6
*0

Figure 4-2 Shared device is possible with every converter

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Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 49
Installing
4.3 Connection via PROFIsafe

The PROFINET "Shared Device" function allows two controls to access the same PROFINET IO
device, e.g. on a SIMATIC ET 200 I/O system or on a converter. Typical applications for "Shared
Device" are systems, in which a standard CPU and a failsafe CPU are used as separate controllers:
• The failsafe controller (F-CPU) is responsible for the safety functions in the converter or in the
SIMATIC ET 200 I/O system.
• The standard controller transfers all other signals.
Further information is provided on the Internet:
Which controls support the Shared Device function (http://
support.automation.siemens.com/WW/view/en/44383955).

See also
Overview of the manuals (Page 340)
Installation guidelines ET 200pro (http://support.automation.siemens.com/WW/view/en/
26694409)

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50 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Installing
4.3 Connection via PROFIsafe

4.3.2 PROFIsafe telegrams

Two telegrams are available for the data exchange via PROFIsafe between the converter and the
higher-level controller:

Table 4-1 PROFIsafe telegrams

Overview using PROFINET / PROFIsafe as exam‐ Telegram Process data (PZD)

ple PZD1 PZD2
)&38 Telegram 30 S_STW1 ---
PZD 1/1 S_ZSW1 ---
Telegram 900 S_STW1 S_STW5
PZD 2/2 S_ZSW1 S_ZSW5
352),1(7352),VDIH
The higher-level control selects the safety func‐
tions in the converter via the control word S_STW1.
The converter uses the status word S_ZSW1 to re‐
port the status of the safety functions to the con‐
6B=6: 6B=6: troller.
7HOHJUDP Telegram 900 of the PROFIsafe profile also includes
7HOHJUDP
control and status word 5. The converter transfers
)', the status of the following failsafe digital inputs to
6B67: the control system in status word S_ZSW5:
)', • Basic functions: F‑DI 0
6DIHW\ • Extended functions: F‑DI 0 … F‑DI 2
)', 672666/6


S_STW: Safety control word; S_ZSW: Safety status word

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Installing
4.3 Connection via PROFIsafe

4.3.3 Control word 1 and status word 1 (basic functions)

Table 4-2 Control word 1 (bit 0 ... 15)

Byte Bit Function Comment

0 0 STO 0 Select STO
1 Deselect STO
1 SS1 0 Select SS1
1 Deselect SS1
2…6 Not relevant
7 Internal Event 0 Do not acknowledge faults
ack 1→0 Acknowledge "Internal event" for a 1 → 0 signal change
1 8 … 15 Not relevant

Table 4-3 Status word 1 (bit 0 ... 15)

Byte Bit Function Comment

0 0 Power removed 0 STO is not active
1 STO is active
1 SS1 active 0 SS1 is not active
1 SS1 is active
2…6 Not relevant
7 Internal Event 0 Fault-free operation
1 The converter signals an "internal event"
1 8 … 15 Not relevant

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 Installing
4.3 Connection via PROFIsafe

4.3.4 Control word 1 and status word 1 (extended functions)

Table 4-4 Control word 1 (bit 0 ... 15)

Byte Bit Function Comment

0 0 STO 0 Select STO
1 Deselect STO
1 SS1 0 Select SS1
1 Deselect SS1
2, 3 Not relevant
4 SLS 0 Select SLS
1 Deselect SLS
5, 6 Not relevant
7 Internal event 0 Do not acknowledge faults
ack 1 → 0 Acknowledge "Internal event" for a 1 → 0 signal change
1 0 Not relevant
1 SLS level bit 0 Select SLS level Bit 2 Bit 1
2 SLS level bit 1 Level 1 0 0
Level 2 0 1
Level 3 1 0
Level 4 1 1
3 Not relevant
4 SDI positive 0 Select SDI with positive direction of rotation
1 Deselect SDI with positive direction of rotation
5 SDI negative 0 Select SDI with negative direction of rotation
1 Deselect SDI with negative direction of rotation
6, 7 Not relevant

Table 4-5 Status word 1 (bit 0 ... 15)

Byte Bit Function Comment

0 0 Power removed 0 STO is not active
1 STO is active
1 SS1 active 0 SS1 is not active
1 SS1 is active
2, 3 Not relevant
4 SLS active 0 SLS is not active
1 SLS is active
5, 6 Not relevant
7 Internal Event 0 Fault-free operation
1 The converter signals an "internal event"

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Installing
4.3 Connection via PROFIsafe

Byte Bit Function Comment

1 0 Not relevant
1 SLS level bit 0 SLS level is active Bit 2 Bit 1
2 SLS level bit 1 Level 1 0 0
Level 2 0 1
Level 3 1 0
Level 4 1 1
3 Not relevant
4 SDI positive active 0 SDI positive direction of rotation is not active
1 SDI positive direction of rotation is active
5 SDI negative ac‐ 0 SDI negative direction of rotation is not active
tive 1 SDI negative direction of rotation is active
6 Not relevant
7 Status SSM 0 Absolute value of the speed is greater than the SSM limit
value
1 Absolute value of the speed is less than the SSM limit value

4.3.5 Control word 5 and status word 5 (basic functions)

Table 4-6 Control word 5 (bit 0 ... 15)

Byte Bit Function Comment

0… 0…7 Reserved Assign the value 0 to all bits.
1

Table 4-7 Status word 5 (bit 0 ... 15)

Byte Bit Function Comment SINAMICS

G120 G120D G110M
G115D
0 0…7 Reserved -
1 0 State of the failsafe digital 0 LOW signal (0 V) At termi‐ At pins At pins
input F‑DI 0 1 HIGH signal (24 nals 16 X9.2 and X8.2 and
V) and 17 X9.4 X8.4
1…7 Reserved -

Overview of the failsafe digital inputs:

Overview (Page 58)
When one of the two following conditions is satisfied, the converter sets bit 2 in byte 1 of status
word 5 to zero, independent of the voltage levels connected:
• The failsafe digital input is not used to select a safety function.
• The converter has deactivated the corresponding failsafe digital input due to discrepant
input signals.

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 Installing
4.3 Connection via PROFIsafe

4.3.6 Control word 5 and status word 5 (extended functions)

Table 4-8 Control word 5 (bit 0 ... 15)

Byte Bit Function Comment

0… 0…7 Reserved Assign the value 0 to all bits.
1

Table 4-9 Status word 5 (bit 0 ... 15)

Byte Bit Function Comment SINAMICS SINAMICS

G120 G120D
0 0…7 Reserved -
1 0 State of the failsafe digital 0 LOW signal (0 V) At terminals 5 At pins X7.2
input F‑DI 0 1 HIGH signal (24 V) and 6 and X7.4
1 State of the failsafe digital 0 LOW signal (0 V) At terminals 7 At pins X8.2
input F‑DI 1 1 HIGH signal (24 V) and 8 and X8.4
2 State of the failsafe digital 0 LOW signal (0 V) At terminals At pins X9.2
input F‑DI 2 1 HIGH signal (24 V) 16 and 17 and X9.4
3…7 Reserved -

Overview of the failsafe digital inputs:

Overview (Page 58)
When one of the two following conditions is satisfied, the converter sets the particular bit 0 … 2
in byte 1 of status word 5 to zero, independent of the voltage levels connected:
• The corresponding failsafe digital input is not used to select a safety function.
• The converter has deactivated the corresponding failsafe digital input due to discrepant
input signals.

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Installing
4.3 Connection via PROFIsafe

4.3.7 Application examples

Assigning the converter to the input and output addresses of the control system
By configuring the higher-level control, you assign the control word and the status word in the
PROFIsafe profile of the converter to specific input and output addresses in the control.

Figure 4-3 Example: in the control, assign the initial address 14 for the converter

Control the converter using the control program

This results in the following assignments between the I/O addresses and converter signals for
this example:

Table 4-10 Control word 1

I/O address Significance Comment

A14.0 Select STO 0 Select STO
1 Deselect STO
A14.1 Select SS1 0 Select SS1
1 Deselect SS1
A14.4 Select SLS 0 Select SLS
1 Deselect SLS
A14.7 Internal event ACK - Acknowledge with signal change 1 → 0
A15.1 Select SLS level bit 0 - Selection of the SLS level
A15.2 Select SLS level, bit 1 -
A15.4 Select SDI positive 0 Select SDI positive
1 Deselect SDI positive
A15.5 Select SDI negative 0 Select SDI negative
1 Deselect SDI negative

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 Installing
4.3 Connection via PROFIsafe

Table 4-11 Status word 1

I/O address Significance Comment

E14.0 Power removed 0 The motor torque has not yet been switched off
safely.
1 The motor torque has been switched off safely.
E14.1 SS1 active 0 SS1 is not active
1 SS1 is active
E14.4 SLS active 0 SLS is not active
1 SLS is active
E14.7 Internal event 0 Fault-free operation
1 The converter has detected an internal fault and re‐
sponded accordingly, e.g. with a STOP A.
E15.1 Active SLS level, bit 0 - Active SLS level
E15.2 Active SLS level, bit 1 -
E15.4 SDI positive active 0 SDI positive direction of rotation is not active
1 SDI positive direction of rotation is active
E15.5 SDI negative active 0 SDI negative direction of rotation is not active
1 SDI negative direction of rotation is active
E15.7 Status SSM 0 Absolute value of the speed is greater than the SSM
limit value
1 Absolute value of the speed is less than the SSM limit
value

SIMATIC library to control the safety functions

The library contains failsafe SIMATIC S7 blocks for PROFIsafe communication between
failsafe SIMATIC S7-CPUs and SINAMICS.
LDrvSafe (https://support.industry.siemens.com/cs/ww/en/view/109485794)

Additional application examples

An additional application example is provided on the Internet:
Controlling SINAMICS G120 via PROFIsafe using a SIMATIC S7-1200 F-CPU (https://
support.industry.siemens.com/cs/ww/en/view/109746271)

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Installing
4.4 Controlling via a failsafe digital input

4.4 Controlling via a failsafe digital input

4.4.1 Overview
In the factory setting of the converter, the failsafe digital inputs are not assigned to the
integrated safety functions. Only when commissioning do you define as to whether, for
example, you use digital inputs DI 4 and DI 5 for the standard functions, or you creates a failsafe
digital input by combining them.

Assignment of the failsafe digital inputs

Table 4-12 SINAMICS G120C

Terminal strip Digital input Failsafe digital input

16 DI 4 F-DI 0
17 DI 5

Table 4-13 SINAMICS G120 with CU240E‑2, CU240E‑2 DP or CU240E-2 PN Control Unit

Terminal strip on the Control Unit

Terminals Digital input Failsafe digital input
16 DI 4 F-DI 0
17 DI 5

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

58 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Installing
4.4 Controlling via a failsafe digital input

Table 4-14 SINAMICS G120 with Control Units

CU240E‑2 F, CU240E‑2 DP‑F or CU240E-2 PN‑F,
CU250S-2, CU250S-2 CAN, CU250S-2 DP or CU250S-2 PN

Terminal strip on the Control Unit

Terminals Digital input Failsafe digital inputs
Basic functions Extended func‐
tions
5 DI 0 --- F-DI 0
6 DI 1
7 DI 2 F-DI 1
8 DI 3
16 DI 4 F-DI 0 F-DI 2
17 DI 5

Table 4-15 SINAMICS G120 with PM240-2 and PM240P‑2 Power Modules

Terminals of the failsafe digital input on PM240‑2 FSD … FSF and

PM240P‑2 FSD … FSF Power Modules
STO_A
STO_B

Table 4-16 SINAMICS G120D with Control Units CU240D‑2 DP and CU240D‑2 PN

Connector.pin Digital input Failsafe digital input

X09.4 DI 4 F-DI 0
X09.2 DI 5

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 59
Installing
4.4 Controlling via a failsafe digital input

Table 4-17 SINAMICS G110M, SINAMICS G115D

Connector.pin Digital input Failsafe digital input

X08.4 DI 2 F-DI 0
X08.2 DI 3

Table 4-18 SINAMICS G120D with Control Units

CU240D‑2 DP‑F, CU240D‑2 PN‑F, CU240D‑2 PN‑F PP and CU240D‑2 PN‑F FO,
CU250D‑2 DP‑F, CU250D‑2 PN‑F, CU250D‑2 PN‑F PP and CU250D‑2 PN‑F FO

Connector.pin Digital input Failsafe digital inputs

Basic functions Extended func‐
tions
X07.4 DI 0 - F-DI 0
X07.2 DI 1
X08.4 DI 2 F-DI 1
X08.2 DI 3
X09.4 DI 4 F-DI 0 F-DI 2
X09.2 DI 5

Safety-related signals, e.g. the switching state of a sensor, must be wired to a failsafe digital
input through two channels. The converter evaluates the signal on two separate signal paths.

4.4.2 Failsafe digital input

To enable a safety function via the terminal strip of the converter, you need a failsafe digital
input.
 ', 
ุ )',
For specific default settings of the terminal strip, e.g. default
 ',  setting 2, the converter combines two digital inputs to form
one failsafe digital input FDI 0.

Which devices are you allowed to connect?

The failsafe digital input is designed for the following devices:
• Connection of safety sensors, e.g. emergency stop command devices or light curtains.
• Connection of pre-processing devices, e.g. failsafe control systems and safety relays.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

60 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Installing
4.4 Controlling via a failsafe digital input

Signal state
The converter expects signals with the same state at its failsafe digital input:
• High signal: The safety function is deselected.
• Low signal: The safety function is selected.

PM-switching and PP-switching failsafe digital outputs

Depending on the converter, you may connect the following failsafe digital outputs to a failsafe
digital input.

Table 4-19 PP-switching or PM-switching failsafe digital outputs

Output It is permissible to connect the output to the following converters:

9'&

)'2
0

PP switching SINAMICS G120D

output

SINAMICS G120 SINAMICS G120C

SINAMICS G110M

SINAMICS G115D
9'&

)'2
0

PM switching
output

SINAMICS G120 SINAMICS G120C

Fault detection
The converter compares the two signals of the failsafe digital input. The converter thus detects,
for example the following faults:
• Cable break
• Defective sensor

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 61
Installing
4.4 Controlling via a failsafe digital input

The converter cannot detect the following faults:

• Cross-circuit of the two cables
• Short-circuit between signal cable and 24 V power supply

Special measures to prevent cross-circuits and short-circuits

The routing of cables over longer distances, e.g. between remote control cabinets, increases the
risk of damaging cables. Damaged cables raise the risk of an undetected cross-circuit with power-
conducting cables laid in parallel. A cross-circuit can cause interruption to the transfer of safety-
related signals.
To avoid cross circuit faults and short-circuits, you must protect the cables between a sensor and
the converter; this can be done by routing the cables separately or in a steel pipe/duct

On and off test

The converter filters signal changes using on and off tests at the failsafe digital input using an
adjustable software filter.

4.4.3 Wiring examples according to SIL 2 and PL d

Examples for wiring the failsafe digital inputs corresponding to PL d according to EN 13849-1
and SIL 2 according to IEC 61508 are provided on the following pages.
In order to reduce the scope of the examples, not all of the SINAMICS converter types are listed
in each wiring example.
If, in an example, two or more terminals of the converter are connected together, then you must
connect jumpers that are as short as possible directly at the terminals.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

62 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Installing
4.4 Controlling via a failsafe digital input

4.4.3.1 Electromechanical sensor

If there is a risk of cross-circuits or short-circuits, the cables between the sensor and the
converter must be protected, for example, by routing them in a steel tube.

The converter supplies the power supply voltage

 9RXW
6,1$0,&6*
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)', ; /
 ',
; ',
)', 6,1$0,&6
; ',
 ', *'
)', ; /
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)',
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 *1' 9'&
; /
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; 0
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1)
The 24 V supply is not required when using the G110M option "24 V power supply", article number
6SL3555-0PV00-0AA0
Figure 4-4 Connecting an electromechanical sensor to the converter power supply

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 63
Installing
4.4 Controlling via a failsafe digital input

External power supply

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6,1$0,&6*
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0
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9'& *&

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)',
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0
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Figure 4-5 Connecting an electromechanical sensor to an external power supply

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

64 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Installing
4.4 Controlling via a failsafe digital input

4.4.3.2 Series-connected electromechanical sensors

You can connect electromechanical sensors, for example, Emergency Stop command devices,
position switches in series.
If the sensors are simultaneously opened, then sensor faults can only be identified with some
restrictions.
If there is a risk of cross-circuits or short-circuits, the cables between the sensor and the
converter must be protected, for example, by routing them in a steel tube.

The converter supplies the power supply voltage

 9RXW ; /

6,1$0,&6* ; ',
 ', &8( )', 6,1$0,&6
)', ; ',
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; /
; ',
 ', )',
)', ; ',
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; /
; ',
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)', ; ',
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 ',&20 9'&
; /
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; 0
 *1'

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6,1$0,&6*
; / 6,1$0,&6*0
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; ',
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1)
The 24 V supply is not required when using the G110M option "24 V power supply", article number 6SL3555-0PV00-0AA0
Figure 4-6 Connecting electromechanical sensors to the converter power supply in series

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 65
Installing
4.4 Controlling via a failsafe digital input

External power supply

9'& 9'&
; /
6,1$0,&6*
 ', ; ',
)', &8( )', 6,1$0,&6
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*'
; /
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)', 6,1$0,&6* ; / 6,1$0,&6*0
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&86 ; ',
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; ',
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0
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)',
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0
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Figure 4-7 Connecting electromechanical sensors to an external power supply in series

Further information
Further information about connecting electromechanical sensors in series is provided in the
Internet:
• Several Emergency Stop command devices connected in series (https://
support.industry.siemens.com/cs/ww/en/view/35444028)
• SIRIUS Safety Integrated application manual (https://support.industry.siemens.com/cs/
de/en/view/81366718)

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

66 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Installing
4.4 Controlling via a failsafe digital input

4.4.3.3 Controlling several converters in parallel using electromechanical sensors

You may activate the safety functions of several converters simultaneously with one or several
series-connected safety sensors.
If there is a risk of cross-circuits or short-circuits, the cables between the sensor and the
converter must be protected, for example, by routing them in a steel tube.

The converter supplies the power supply voltage

 9RXW 6,1$0,&6*
&8(
 ',
)',
 ',

 ',
)',
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 ',&20
 ',&20
 *1'

6,1$0,&6*'
6,1$0,&6*0
; ',
)',
; ',

; /
; 0

; ',
)', 6,1$0,&6*'
; ',

; ',
)',
; ',

; /
; 0

Figure 4-8 Example for controlling several converters in parallel with the power supply from the
converter

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 67
Installing
4.4 Controlling via a failsafe digital input

External power supply

6,1$0,&6*
9'& &8(
 ',
)',
 ',

 ',
)',
 ',

 ',&20
 ',&20

6,1$0,&6*'
6,1$0,&6*0
; ',
)',
; ',

; /
; 0

; ',
)',
; ', 6,1$0,&6*'

; ',
)',
; ',

; /
0 ; 0

Figure 4-9 Example for controlling several converters in parallel with an external power supply

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

68 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Installing
4.4 Controlling via a failsafe digital input

4.4.3.4 SIRIUS 3SK1 safety relay

The wiring examples listed below are implemented using safety relays with relay enable circuits.
Safety relays with semiconductor enable circuits can also be used.
The diagrams only show the interconnection between the safety relay and a SINAMICS G120
converter as example.
Additional information on wiring a safety relay is provided in the product documentation in the
Internet:
SIRIUS 3SK1 safety relays (https://support.industry.siemens.com/cs/ww/en/ps/16381/
man).

Components in the same control cabinet

9'&

6WDUW 6WDUW

$ ,1. ,1 7 ,1 7 ,1) ,16 $ ,1. ,1 7 ,1 7 ,1) ,16

 $XWRVWDUW0RQLWRUHG6WDUW  $XWRVWDUW0RQLWRUHG6WDUW
 &URVVIDXOWGHWHFWLRQ2))21  &URVVIDXOWGHWHFWLRQ2))21
 VLQJOHFKDQQHOVGRXEOHVHQVRU  VLQJOHFKDQQHOVGRXEOHVHQVRU
 6WDUWXSWHVW\HVQR  6WDUWXSWHVW\HVQR

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6DIHW\IXQFWLRQ 6DIHW\IXQFWLRQ
6,1$0,&6*
&8(
 ',
)',
 ',

 ',
)',
 ',

 ',&20
 ',&20

Figure 4-10 Wiring converter and safety relay in an electrical cabinet using SINAMICS G120 with
CU240E-2 as example

A control cabinet that has been designed and wired correctly does not contain any damaged
wiring or cross circuits.
Under the assumption that the upstream, preprocessing device switches the output being used
twice, within a control cabinet, you can wire up the safety relay and the converter through a
single-channel cable connection. At the converter, you must connect both terminals of the
failsafe digital input with one another.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 69
Installing
4.4 Controlling via a failsafe digital input

Components in separate control cabinets

&RQWUROFDELQHW
9'&

6WDUW 6WDUW

$ ,1 7 ,1 7 ,1) ,16   $ ,1 7 ,1 7 ,1) ,16  

6.$% 6.$%

$XWRVWDUW $XWRVWDUW
0RQLWRUHG6WDUW 0RQLWRUHG6WDUW
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0

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6,1$0,&6*
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)',
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 ',
)',
 ',

 ',&20
 ',&20
0

Figure 4-11 Wiring converter and safety relay in separate electrical cabinets using SINAMICS G120 with
CU240E-2 as example

For configurations in separate control cabinets, the cables between the safety relay and the
failsafe digital inputs of the converter must be protected against cross circuits and short-circuits.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

70 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Installing
4.4 Controlling via a failsafe digital input

4.4.3.5 3RK3 Modular Safety System

You can use the following outputs to control the failsafe digital inputs in the converter:
• The failsafe digital outputs in the central units of the 3RK3 modular safety system
• The failsafe digital outputs in the EM 2/4F-DI 2F-DO expansion module.
• The failsafe digital outputs in the EM 4F-DO expansion module.
• The failsafe relay outputs in the EM 4/8F-RO expansion module
• Two individual relay contacts of the EM 2/4F-DI 1/2F-RO expansion module.
The diagrams only show the wiring between the 3RK3 modular safety system and as example,
a SINAMICS G120 converter.
Additional information on wiring the 3RK3 modular safety system is provided in the Internet:
SIRIUS 3RK3 modular safety system manual (https://support.industry.siemens.com/cs/ww/
en/view/26493228)

Components in the same control cabinet

6WDUW
6DIHW\
IXQFWLRQ
6DIHW\
IXQFWLRQ

7 ,1 ,1 ,1 ,1 7 ,1 ,1 ,1 ,1

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&8(
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)',
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/RJLF
 ',
)',
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5.  ',&20
4 4 4 / 0 $$  ',&20

9'&
0
Figure 4-12 Connecting the modular safety system in a control cabinet using a SINAMICS G120 with
CU240E‑2 as example

A control cabinet that has been designed and wired correctly does not contain any damaged
wiring or cross circuits.
In the upstream, preprocessing device, if you only use outputs with two switches in series, then
it is permissible that you wire the safety relay to the converter via a single-channel cable
connection. At the converter, you must connect both terminals of the failsafe digital input with
one another.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 71
Installing
4.4 Controlling via a failsafe digital input

Components in separate control cabinets

&RQWUROFDELQHW

6WDUW

6DIHW\IXQFWLRQ 6DIHW\IXQFWLRQ

7 ,1 ,1 ,1 ,1 7 ,1 ,1 ,1 ,1 7 ,1 ,1 7 ,1 ,1 7 ,1 ,1 7 ,1 ,1

/RJLF /RJLF

5. $$

5. $$
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4 4 4 / 0 5. $$ / 0 4 4 / 0 4 4

9'&
0

&DEOHVURXWHGLQVWHHOFRQGXLW
&RQWUROFDELQHW
6,1$0,&6*
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)',
 ',
 ',
)',
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 ',&20
 ',&20
0

Figure 4-13 Connecting the modular safety system in separate electrical cabinets using SINAMICS G120
with CU240E‑2 as example

For configurations and designs in separate control cabinets, route cables between the modular
safety system and the converter so that they are protected against cross circuits and short
circuits.
If you wish to use the failsafe digital outputs of the 3RK3 central unit for a two-channel signal
transfer, then you must adapt the discrepancy monitoring of the converter to the different
switching times of electronic output and relay contact.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

72 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Installing
4.4 Controlling via a failsafe digital input

4.4.3.6 Sensors with OSSD outputs

If there is a risk of cross-circuits or short-circuits, the cables between the sensor and the
converter must be protected, for example, by routing them in a steel tube.

The converter supplies the power supply voltage

  9RXW  ; /

6,1$0,&6*
266' 266' ; ',
 ', &8( )', 6,1$0,&6
266' )', 266' ; ',
 ',  *'
 ; 0
  ; /
266' 266' ; ',
 ', 266' )',
266' )', ; ',
 ', 
 ; 0
 ',&20 9'&
; /
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; 0
 *1'

  9RXW 6,1$0,&6* 6,1$0,&6*'

266'  ; /
 ', &86 6,1$0,&6*0
266' 266' ; ',
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 ; ',
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266' 9'&
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266' 0 ; 0
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  ',

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 *1'

6,1$0,&6
*&
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266' )',
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  ',&20
 ',&20
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1)
The 24 V supply is not required when using the G110M option "24 V power supply", article number 6SL3555-0PV00-0AA0
Figure 4-14 Connecting a sensor with OSSD outputs, power supply from the converter

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 73
Installing
4.4 Controlling via a failsafe digital input

External power supply

9'& 9'&
  ; /
266' 6,1$0,&6* 266'
 ', ; ',
266' )', &8( 266' )', 6,1$0,&6
 ', ; ',
  *'
; 0
  ; /
266' 266' ; ',
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266' )', 266' ; ',
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  ; 0
 ',&20
 ',&20 ; /
0 0
 *1' ; 0

9'&
9'&
  6,1$0,&6*'
6,1$0,&6* ; /
266' 266' 6,1$0,&6*0
 ', &86 ; ',
266'
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; ',
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; 0

266' ; /
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266' ; 0
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0
 *1'

6,1$0,&6
9'& *&


266'  ',
266' )',
 ',
  ',&20
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0
 *1'

Figure 4-15 Connecting a sensor with OSSD outputs, external power supply

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

74 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Installing
4.4 Controlling via a failsafe digital input

4.4.3.7 SIMATIC I/O modules

The diagrams only show the interconnection between the SIMATIC I/O modules and a converter
shown as example. You can find additional information about the I/O modules in the Internet
• S7-300 (https://support.industry.siemens.com/cs/ww/en/view/19026151)
• S7-1500 (https://support.industry.siemens.com/cs/ww/en/view/86140384)
• ET 200S (https://support.industry.siemens.com/cs/ww/en/view/12490437)
• ET 200SP (https://support.industry.siemens.com/cs/ww/en/view/84133942)
• ET 200pro (https://support.industry.siemens.com/cs/ww/en/view/22098524)

Components in the same control cabinet, PP-switching outputs

A control cabinet that has been designed and wired correctly does not contain any damaged
wiring or cross circuits.
As a consequence, for PP-switching failsafe digital outputs, in an electrical cabinet you may
connect the converter to the I/O module through a single channel cable connection. At the
converter, you must connect both terminals of the failsafe digital input with one another.

9'&
60

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6  ',
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 ',

6DIHW\IXQFWLRQ  ',
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 ',

  ',&20
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0

Figure 4-16 Connecting an SM326 module using a SINAMICS G120 with CU240E‑2 as example

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 75
Installing
4.4 Controlling via a failsafe digital input

)&38

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'&9$
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Figure 4-17 Connecting an ET 200S module using a SINAMICS G120 with CU240E‑2 as example

)&38
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352),%866DIHW\ $30+) 9$&$ 9$&$
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Figure 4-18 Connecting an ET 200SP module using a SINAMICS G120 with CU240E‑2 as example

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

76 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Installing
4.4 Controlling via a failsafe digital input

Components in the same control cabinet, PM-switching outputs

You must use a two-channel cable connection when connecting PM-switching failsafe digital
outputs to a failsafe digital input.

)&38
9'& 6,1$0,&6*
&8(
(0)'2'&9$  ',&20
352),1(76DIHW\ 30( 352),VDIH
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(76  ',
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     6DIHW\IXQFWLRQ )',
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DI COM1 Reference potential for digital inputs DI 0 and DI 2

DI COM2 Reference potential for digital inputs DI 1 and DI 3
Figure 4-19 Connecting PM-switching ET 200S outputs using a SINAMICS G120 with CU240E‑2 as
example

)&38
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&8(
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352),1(76DIHW\ )'4෪9'&$30+)
 ',&20
/
(763 6DIHW\IXQFWLRQ  ',
)',
 ',
6DIHW\IXQFWLRQ  ',
0     )',
 ',

0
1)
The wiring of the ET 200SP shows as example, the supply of a new potential group when using a
bright base unit.
DI COM1 Reference potential for digital inputs DI 0 and DI 2
DI COM2 Reference potential for digital inputs DI 1 and DI 3
Figure 4-20 Connecting PM-switching ET 200SP outputs using a SINAMICS G120 with CU240E‑2 as
example

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 77
Installing
4.4 Controlling via a failsafe digital input

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DI COM2 Reference potential for digital inputs DI 1 and DI 3
Figure 4-21 Connecting PM-switching S7-1500 outputs using a SINAMICS G120 with CU240E‑2 as
example

Components in separate control cabinets

A two-channel cable connection is required when installed in separate electrical cabinets. You
must protect the cables between the I/O modules and the converter against cross and short-
circuits - or ensure that a cross or short-circuit results in a discrepancy error.

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Figure 4-22 Connecting the PP switching module SM326 using a SINAMICS G120 with CU240E‑2 as
example

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

78 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Installing
4.4 Controlling via a failsafe digital input

Components not in a control cabinet

A two-channel cable connection is required when connecting components not installed in a
control cabinet to a control cabinet. You must protect the cables between the I/O modules and
the converter against cross and short-circuits - or ensure that a cross or short-circuit results in a
discrepancy error.

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Figure 4-23 Connecting PM-switching ET 200pro outputs using a SINAMICS G120 with CU250S‑2 as
example

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1)
You may operate the converter and the ET 200S with different 24‑V supplies - as well as with the same
24‑V supply.
Figure 4-24 Connecting ET 200S modules using a SINAMICS G120D as example

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 79
Installing
4.4 Controlling via a failsafe digital input

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SINAMICS G120D requires a PP-switching failsafe output.

1)
The wiring of the ET 200SP shows as example, the supply of a new potential group when using a
bright base unit.
You may operate the converter and the ET 200SP with different 24‑V supplies - as well as with the
same 24‑V supply.
Figure 4-25 Connecting ET 200SP modules using a SINAMICS G120D as example

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

80 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Installing
4.4 Controlling via a failsafe digital input

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SINAMICS G120D requires a PP-switching failsafe output.

1)
The F-DQ module must be configured to be PP-switching.
2)
You may operate the converter and the S7‑1500 with different 24‑V supplies - as well as with the
same 24‑V supply.
Figure 4-26 Connecting the S7‑1500 using a SINAMICS G120D as example

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 81
Installing
4.4 Controlling via a failsafe digital input

4.4.3.8 SINAMICS G120 converters with CU230P-2 Control Unit

Overview
A higher-level control system is required to select the STO safety function.

Requirement
The following requirements apply:
• The converter signals that the STO safety function is being controlled to the higher-level
control system using two digital outputs:
– For converters with PM240-2 and PM240P-2 Power Modules, you must interconnect
feedback signals "STO is active" with two digital outputs.

S
 '21& U
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S
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 '212
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– For converters with PM330 Power Modules, you can use terminal strip -X41.
• The higher-level control system monitors the selection of the STO safety function and the
feedback from the converter.
• Forced checking procedure (test stop):
The higher-level control system regularly selects the STO safety function and evaluates the
converter feedback signal.
We recommend that you implement a time monitoring function in the higher-level control
system, which issues an alarm if a test stop is overdue.
• Suitable higher-level controllers
– SIRIUS 3SK1: Single-channel static feedback circuit
– SIRIUS 3SK2: Two-channel dynamic feedback circuit
– MSS 3RK3: Two-channel dynamic feedback circuit
– SIMATIC: Feedback circuit monitoring in the safety program
• Forced checking procedure (test stop) once per year

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

82 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Installing
4.4 Controlling via a failsafe digital input

Function description

SIRIUS 3SK1 safety relay

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Figure 4-27 Connection of 3SK1 inside a control cabinet for FSD … FSG

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Figure 4-28 Connection of 3SK1 inside a control cabinet for FSGX, FSHX and FSJX

SIRIUS 3SK2 safety relay

The wiring examples are implemented using safety relays with relay enable circuits. Safety relays
with semiconductor enable circuits can also be used.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 83
Installing
4.4 Controlling via a failsafe digital input

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Figure 4-29 Connection of 3SK2 inside a control cabinet for FSD … FSG

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T1 ≥ 30 ms In case of deviating feedback, the safety relay must select the STO function and
T2 ≥ 20 ms indicate an error.
Figure 4-30 Dynamic monitoring of STO feedback signal for FSD … FSG

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

84 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Installing
4.4 Controlling via a failsafe digital input

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Figure 4-31 Connection of 3SK2 inside a control cabinet for FSGX, FSHX and FSJX

When starting, static monitoring of the STO feedback signal is sufficient for converters FSGX,
FSHX and FSJX.

3RK3 Modular Safety System

You can use the following outputs to control the failsafe digital inputs in the converter:
• The failsafe digital outputs in the central units of the 3RK3 modular safety system
• The failsafe digital outputs in the EM 2/4F-DI 2F-DO expansion module
• The failsafe digital outputs in the EM 4F-DO expansion module.
• The failsafe relay outputs in the EM 4/8F-RO expansion module
• 2 individual relay contacts of the EM 2/4F-DI 1/2F-RO expansion module

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Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 85
Installing
4.4 Controlling via a failsafe digital input

Figure 4-32 Connection of 3RK3 inside a control cabinet for FSD … FSG

4

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T1 ≥ 30 ms In case of deviating feedback, the Modular Safety System must select the STO
T2 ≥ 20 ms function and indicate an error.
Figure 4-33 Dynamic monitoring of STO feedback signal for FSD … FSG

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Figure 4-34 Connection of 3RK3 inside a control cabinet for FSGX, FSHX and FSJX

When starting, static monitoring of the STO feedback signal is sufficient for converters FSGX,
FSHX and FSJX.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

86 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Installing
4.4 Controlling via a failsafe digital input

SIMATIC I/O modules

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T1 ≥ 30 ms In case of deviating feedback, the SIMATIC must select the STO function and
T2 ≥ 20 ms indicate an error.
Figure 4-36 Dynamic monitoring of STO feedback signal for FSD … FSG

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 87
Installing
4.4 Controlling via a failsafe digital input

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Figure 4-37 Connecting the SIMATIC S7-1500 in a control cabinet for FSGX, FSHX and FSJX

Static monitoring of the STO feedback signal when STO is selected is sufficient for converters
FSGX, FSHX and FSJX.

Further information
Further information is provided on the Internet:
SIRIUS 3SK1 safety relays (https://support.industry.siemens.com/cs/ww/en/ps/16381/man)
SIRIUS 3SK2 Safety Relays (https://support.industry.siemens.com/cs/ww/en/view/
109444336)
SIRIUS 3RK3 modular safety system manual (https://support.industry.siemens.com/cs/ww/
en/view/26493228)
S7-1500 (https://support.industry.siemens.com/cs/ww/en/view/86140384)
ET 200SP (https://support.industry.siemens.com/cs/ww/en/view/84133942)
ET 200pro (https://support.industry.siemens.com/cs/ww/en/view/22098524)
ET 200S (https://support.industry.siemens.com/cs/ww/en/view/12490437)
S7-300 (https://support.industry.siemens.com/cs/ww/en/view/19026151)

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

88 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Installing
4.4 Controlling via a failsafe digital input

4.4.4 Wiring examples according to SIL 3 and PL e

Wiring examples for the STO function corresponding to PL e according to EN 13849-1 and SIL 3
according to IEC 61508 are provided on the following pages.

Preconditions when using the STO safety function according to SIL 3:

• You are using a PM240‑2 or PM240P‑2, FSD … FSF Power Module
• You control the STO safety function using the terminals of the
21 PM240‑2 or PM240P‑2 Power Module.
• Both switches on the Power Module are in the “ON” position.

If, in an example, two or more terminals of the converter are connected together, then you must
connect jumpers that are as short as possible directly at the terminals.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 89
Installing
4.4 Controlling via a failsafe digital input

4.4.4.1 Electromechanical sensor

Connecting an electromechanical sensor

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① Power supply voltage from terminal 9 of the Control Unit

② External power supply
Figure 4-38 Connecting an electromechanical sensor

If there is a risk of cross-circuits or short-circuits, the cables between the sensor and the
converter must be protected, for example, by routing them in a steel tube.

Connecting several electromechanical sensors in series

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Figure 4-39 Connecting several electromechanical sensors in series

You can connect electromechanical sensors, for example, Emergency Stop command devices,
position switches in series.
If the sensors are simultaneously opened, then sensor faults can only be identified with some
restrictions. In this case, you must individually test the function of each sensor at regular
intervals and at least once every three months.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

90 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Installing
4.4 Controlling via a failsafe digital input

If there is a risk of cross-circuits or short-circuits, the cables between the sensor and the
converter must be protected, for example, by routing them in a steel tube.

Controlling several converters simultaneously

You may control the safety functions of several converters simultaneously with one or several
safety sensors connected in series.
If there is a risk of cross-circuits or short-circuits, the cables between the sensor and the
converter must be protected, for example, by routing them in a steel tube.

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Figure 4-40 Controlling several converters in parallel with the power supply from the converter

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 91
Installing
4.4 Controlling via a failsafe digital input

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Figure 4-41 Controlling several converters in parallel with an external power supply

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

92 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Installing
4.4 Controlling via a failsafe digital input

4.4.4.2 SIRIUS 3SK1 safety relay

The wiring examples listed below are implemented using safety relays with relay enable circuits.
Safety relays with semiconductor enable circuits can also be used.
The diagrams only show how the safety relay and converter are interconnected.
You will find additional information about the safety related on the Internet:
SIRIUS 3SK1 safety relays (https://support.industry.siemens.com/cs/ww/en/ps/16381/man)

Components in the same control cabinet

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Figure 4-42 Wiring the converter and safety relay within a control cabinet

A control cabinet that has been designed and wired correctly does not contain any damaged
wiring or cross circuits.
Under the assumption that the upstream, preprocessing device switches the output being used
twice, within a control cabinet, you can wire up the safety relay and the converter through a
single-channel cable connection. At the converter, you must connect both terminals of the
failsafe digital input with one another.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 93
Installing
4.4 Controlling via a failsafe digital input

Components in separate control cabinets

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Figure 4-43 Wiring converters and safety relays in separate control cabinets

For configurations in separate control cabinets, the cables between the safety relay and the
failsafe digital inputs of the converter must be protected against cross circuits and short-circuits.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

94 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Installing
4.4 Controlling via a failsafe digital input

4.4.4.3 3RK3 Modular Safety System

You can use the following outputs to control the failsafe digital inputs in the converter:
• The failsafe digital outputs in the central units of the 3RK3 modular safety system
• The failsafe digital outputs in the EM 2/4F-DI 2F-DO expansion module.
• The failsafe digital outputs in the EM 4F-DO expansion module.
• The failsafe relay outputs in the EM 4/8F-RO expansion module
• Two individual relay contacts of the EM 2/4F-DI 1/2F-RO expansion module.
The diagrams only show the wiring between the 3RK3 modular safety system and the converter.
You can find additional information on the 3RK3 modular safety system on the Internet:
SIRIUS 3RK3 modular safety system manual (https://support.industry.siemens.com/cs/ww/
en/view/26493228)

Components in the same control cabinet

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Figure 4-44 Wiring converters and modular safety system within one control cabinet

A control cabinet that has been designed and wired correctly does not contain any damaged
wiring or cross circuits.
In the upstream, preprocessing device, if you only use outputs with two switches in series, then
it is permissible that you wire the safety relay to the converter via a single-channel cable
connection. At the converter, you must connect both terminals of the failsafe digital input with
one another.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 95
Installing
4.4 Controlling via a failsafe digital input

Components in separate control cabinets

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Figure 4-45 Wiring converters and modular safety systems in separate control cabinets

For configurations and designs in separate control cabinets, route cables between the modular
safety system and the converter so that they are protected against cross circuits and short
circuits.
If you wish to use the failsafe digital outputs of the 3RK3 central unit for a two-channel signal
transfer, then you must adapt the discrepancy monitoring of the converter to the different
switching times of electronic output and relay contact.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

96 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Installing
4.4 Controlling via a failsafe digital input

4.4.4.4 SIMATIC I/O modules

The diagrams only show the interconnection between the SIMATIC I/O modules and a converter
shown as example. You can find additional information about the I/O modules in the Internet
• S7-300 (https://support.industry.siemens.com/cs/ww/en/view/19026151)
• S7-1500 (https://support.industry.siemens.com/cs/ww/en/view/86140384)
• ET 200S (https://support.industry.siemens.com/cs/ww/en/view/12490437)
• ET 200SP (https://support.industry.siemens.com/cs/ww/en/view/84133942)
• ET 200pro (https://support.industry.siemens.com/cs/ww/en/view/22098524)

Components in the same control cabinet

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A control cabinet that has been designed and wired correctly does not contain any damaged
wiring or cross circuits.
As a consequence, for PP-switching failsafe digital outputs, in an electrical cabinet you may
connect the converter to the I/O module through a single channel cable connection. At the
converter, you must connect both terminals of the failsafe digital input with one another.
You must use a two-channel cable connection when connecting PM-switching failsafe digital
outputs to a failsafe digital input.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 97
Installing
4.4 Controlling via a failsafe digital input

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Figure 4-48 Connecting a PM-switching S7-1500 module

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Figure 4-49 Connecting a PM-switching ET 200SP module

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

98 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Installing
4.4 Controlling via a failsafe digital input

Components in separate electrical cabinets or components not installed in an electrical cabinet

A two-channel cable connection is required when installed in separate electrical cabinets - or
when connecting components not installed in an electrical cabinet to an electrical cabinet. You
must protect the cables between the I/O modules and the converter against cross and short-
circuits - or ensure that a cross or short-circuit results in a discrepancy error.

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Figure 4-50 Connecting a PM-switching ET 200pro module

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Figure 4-51 Connecting the PP switching module SM326

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 99
Installing
4.4 Controlling via a failsafe digital input

4.4.4.5 SINAMICS G120 converters with CU230P-2 Control Unit

Overview
A higher-level control system is required to select the STO safety function.

Requirement
The following requirements apply:
• The converter signals that the STO safety function is being controlled to the higher-level
control system using two digital outputs.
– For converters with PM240-2 and PM240P-2 Power Modules, you must interconnect
feedback signals "STO is active" with two digital outputs.

S
 '21& U
 '212
 '2&20
S
 '21& U
 '212
 '2&20

– For converters with PM330 Power Modules, you can use terminal strip -X41.
• The higher-level control system monitors the selection of the STO safety function and the
feedback from the converter.
• Forced checking procedure (test stop):
The higher-level control system regularly selects the STO safety function and evaluates the
converter feedback signal.
We recommend that you implement a time monitoring function in the higher-level control
system, which issues an alarm if a test stop is overdue.
• Suitable higher-level controllers
– SIRIUS 3SK1: Single-channel static feedback circuit
Permissible for converters FSH and FSJ, not permissible for FSA … FSG
– SIRIUS 3SK2: Two-channel dynamic feedback circuit
– MSS 3RK3: Two-channel dynamic feedback circuit
– SIMATIC: Feedback circuit monitoring in the safety program
• Forced checking procedure (test stop) every 3 months

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 Installing
4.4 Controlling via a failsafe digital input

Function description

SIRIUS 3SK1 safety relay

With a SIRIUS 3SK1 safety relay and FSA … FSG converters, as a maximum, you can achieve SIL 2/
PL d.
Using a SIRIUS 3SK1 safety relay, you can only achieve SIL 3/PL e using an FSGX, FSHX or FSJX
converter.

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Figure 4-52 Connection 3SK1 inside a control cabinet for FSGX, FSHX and FSJX

SIRIUS 3SK2 safety relay

The wiring examples are implemented using safety relays with relay enable circuits. Safety relays
with semiconductor enable circuits can also be used.

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Installing
4.4 Controlling via a failsafe digital input

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Figure 4-53 Connection 3SK2 inside a control cabinet for FSD … FSG

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T1 ≥ 30 ms In case of deviating feedback, the safety relay must select the STO function and
T2 ≥ 20 ms indicate an error.
Figure 4-54 Dynamic monitoring of STO feedback signal for FSD … FSG

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102 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Installing
4.4 Controlling via a failsafe digital input

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Figure 4-55 Connection 3SK2 inside a control cabinet for FSGX, FSHX and FSJX

When starting, static monitoring of the STO feedback signal is sufficient for converters FSGX,
FSHX and FSJX.

3RK3 Modular Safety System

You can use the following outputs to control the failsafe digital inputs in the converter:
• The failsafe digital outputs in the central units of the 3RK3 modular safety system
• The failsafe digital outputs in the EM 2/4F-DI 2F-DO expansion module
• The failsafe digital outputs in the EM 4F-DO expansion module.
• The failsafe relay outputs in the EM 4/8F-RO expansion module
• 2 individual relay contacts of the EM 2/4F-DI 1/2F-RO expansion module

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Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

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Installing
4.4 Controlling via a failsafe digital input

Figure 4-56 Connection 3RK3 inside a control cabinet for FSD … FSG

4

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672GHVHOHFWHG 672VHOHFWHG 672

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T1 ≥ 30 ms In case of deviating feedback, the Modular Safety System must select the STO
T2 ≥ 20 ms function and indicate an error.
Figure 4-57 Dynamic monitoring of STO feedback signal for FSD … FSG

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Figure 4-58 Connection 3RK3 inside a control cabinet for FSGX, FSHX and FSJX

When starting, static monitoring of the STO feedback signal is sufficient for converters FSGX,
FSHX and FSJX.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

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 Installing
4.4 Controlling via a failsafe digital input

SIMATIC I/O modules

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Figure 4-59 Connecting the SIMATIC S7-1500 in a control cabinet for FSD … FSG

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T1 ≥ 30 ms In case of deviating feedback, the SIMATIC must select the STO function and
T2 ≥ 20 ms indicate an error.
Figure 4-60 Dynamic monitoring of STO feedback signal for FSD … FSG

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 105
Installing
4.4 Controlling via a failsafe digital input

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Figure 4-61 Connecting the SIMATIC S7-1500 in a control cabinet for FSGX, FSHX and FSJX

Static monitoring of the STO feedback signal when STO is selected is sufficient for converters
FSGX, FSHX and FSJX.

Further information
Further information is provided on the Internet:
SIRIUS 3SK1 safety relays (https://support.industry.siemens.com/cs/ww/en/ps/16381/man)
SIRIUS 3SK2 Safety Relays (https://support.industry.siemens.com/cs/ww/en/view/
109444336)
SIRIUS 3RK3 modular safety system manual (https://support.industry.siemens.com/cs/ww/
en/view/26493228)
S7-1500 (https://support.industry.siemens.com/cs/ww/en/view/86140384)
ET 200SP (https://support.industry.siemens.com/cs/ww/en/view/84133942)
ET 200pro (https://support.industry.siemens.com/cs/ww/en/view/22098524)
ET 200S (https://support.industry.siemens.com/cs/ww/en/view/12490437)
S7-300 (https://support.industry.siemens.com/cs/ww/en/view/19026151)

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 Installing
4.5 Evaluating via a failsafe digital output

4.5 Evaluating via a failsafe digital output

4.5.1 Overview
In the factory setting of the converter, the failsafe digital output is assigned to none of the
integrated safety functions. Only when commissioning do you define whether you use, for
example, the two digital outputs for standard functions, or you combine them to create a failsafe
digital output.

Table 4-20 Converters for cabinet-free installation (IP65)

SINAMICS G120D with Control Unit Connector. Digital out‐ Failsafe Read back
Pin put digital out‐ input
put
CU240D‑2 DP‑F X5.4 DO 0 F-DO 0 X9.2 DI 5
CU240D‑2 PN‑F X5.2 DO 1
CU240D‑2 PN‑F PP X5.3 2M
CU250D‑2 DP‑F
CU250D‑2 PN‑F
CU250D‑2 PN‑F PP

Table 4-21 Converter for installation in a control cabinet (IP20)

SINAMICS G120 with Control Unit Terminal Digital out‐ Failsafe Read back
strip put digital out‐ input
put
CU250S‑2 18: NC DO 0 F-DO 0 67 DI 6
CU250S‑2 DP 19: NO
CU250S-2 PN 20: COM
CU250S‑2 CAN 23: NC DO 2
24: NO
25: COM

Most applications require NO contacts for the failsafe digital output.

If your application requires it, instead of NO contacts, you can also use the two NC contacts of the
converter. The safe state of the failsafe digital output is always the quiescent state of the two relays.

What devices can be connected?

The fail-safe digital output is designed for the following devices:
• Direct connection of a fail-safe digital input.
• Connection of two relays.

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Installing
4.5 Evaluating via a failsafe digital output

The two signals of the fail-safe digital output each have the same state:
• High signal or NO contact closed: The fail-safe digital output is active.
• Low signal or NO contact open: The fail-safe digital output is not active.

4.5.2 Connecting the fail-safe digital output for a SINAMICS G120

Connecting a relay

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'2&20 

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Figure 4-62 Connecting a relay at the F-DO

Connecting an actuator with feedback signal

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'2&20 

'212 
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',&20 
0H[W

Figure 4-63 Connecting an F-DO to an actuator

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 Installing
4.5 Evaluating via a failsafe digital output

Connecting a passive actuator

At the F-DO, a passive actuator behaves just like an inductive or ohmic load.

9RXW 
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'2&20 

'212 
'2&20 

Figure 4-64 Connecting F-DO to a passive actuator

Connecting with a fail-safe digital input

When DO 0 is switched-on and DO 2 is switched-off, fail-safe digital input F-DI must provide 24 V
at connection DO 2.

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Figure 4-65 Connecting an F-DO with an F-DI

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 109
Installing
4.5 Evaluating via a failsafe digital output

4.5.3 Connecting the fail-safe digital output for a SINAMICS G120D

Connecting a relay

/ ; 9'&

0 ; 0

/ ; 9'&

0 ; 0

'2 ;
'2 ;

0 ;

', ;
Figure 4-66 Connecting a relay at the F-DO

Connecting an actuator with feedback signal

/ ; 9'&

0 ; 0

/ ; 9'&

0 ; 0

'2 ;

'2 ;

0 ;

', ;
Figure 4-67 Connecting an F-DO to an actuator

Connecting with a fail-safe digital input

/ ; 9'&

0 ; 0

/ ; 9'&

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'2 ;
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'2 ;
0 ; 0

Figure 4-68 Connecting an F-DO with an F-DI

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

110 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Installing
4.6 Connecting a motor holding brake via Safe Brake Relay

4.6 Connecting a motor holding brake via Safe Brake Relay

The Brake Relay must be connected to the protective conductor if the motor holding brake is
supplied from a PELV circuit.

Safe Brake Relay

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4.6.1 Connecting a Brake Relay at the PM240-2 and at the PM240P-2 Power Modules

Connecting the Brake Relay to the converter

The connector for the Brake Relay is located at the front of the Power Module. Lay the cable
harness for the Brake Relay in the cable routing.

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Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 111
Installing
4.6 Connecting a motor holding brake via Safe Brake Relay

4.6.2 Connecting a Brake Relay at a PM250 Power Module

Connecting the Brake Relay to the converter

The connector for the brake relay is located at the front of the Power Module for the FSC frame
size. These Power Modules have a cable entry for the connecting cable to the Brake Relay.
The connector for the Brake Relay is located at the bottom of the Power Module for the FSD …
FSF frame sizes.

3RZHU0RGXOH)6& 3RZHU0RGXOH)6')6)
Figure 4-69 Connector position for the Brake Relay

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Commissioning 5
5.1 About this chapter

What can you find in this Chapter?

In this chapter, you will find answers to the following questions:
• Which sequence is recommended when commissioning the converter?
• What tool do I need for commissioning?
• How do I restore the factory settings of the safety functions?
• In SINAMICS G120, is it permissible to jointly use the safety functions according to SIL 2 and
SIL 3?
• How do I commission the safety functions?
• How do I configure communication via PROFIsafe in the converter?
• How do I transfer the parameters of the safety functions to other converters?
• Why is it necessary to "Accept safety functions"?
• What does accepting the safety functions involve?

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Commissioning
5.2 Commissioning guidelines

5.2 Commissioning guidelines

The following overview shows the procedure when commissioning a converter with integrated
safety functions.
The steps for commissioning the safety functions form part of the activities for commissioning
the entire drive.

Procedure

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→ operating instructions of your converter
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Configure PROFIsafe in the higher-level control
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system (Page 115).
&RQILJXULQJ352),VDIH  3. Carry out the basic commissioning of the drive.
→ operating instructions of your converter
4. Set the converter safety functions.
The following pages in the Function Manual
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5. Commission all of the other converter functions re‐
ൺ2SHUDWLQJLQVWUXFWLRQV quired, e.g. motor control or the protective functions.
→ operating instructions of your converter
6HWWLQJVDIHW\IXQFWLRQV  6. Perform an acceptance test for the safety functions.
Acceptance tests for the safety functions
(Page 186)
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You have commissioned the converter with integrated safety functions.

❒

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 Commissioning
5.3 Configure PROFIsafe in the higher-level control system

5.3 Configure PROFIsafe in the higher-level control system

Information on how to configure PROFIsafe communication between a higher-level control
system and converter is provided in the Internet:
• Configuring a PROFIsafe telegram with Drive ES Basic (http://
support.automation.siemens.com/WW/view/en/64326460)
• Controlling SINAMICS G120 via PROFIsafe, displaying converter messages on an HMI
(http://support.automation.siemens.com/WW/view/en/61450312)
• Configuring communication via Shared Device (http://
support.automation.siemens.com/WW/view/de/50207311)

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Commissioning
5.4 Tools to commission the converter

5.4 Tools to commission the converter

PC tools
STARTER and Startdrive are PC tools that are used to commission, troubleshoot and control the
converter, as well as to back up and transfer the converter settings. You can connect the PC with
the converter via USB or via the PROFIBUS / PROFINET fieldbus.
Connecting cable (3 m) between PC and converter: Article number 6SL3255-0AA00-2CA0
Startdrive DVD: Article number 6SL3072-4CA02-1XG0
Startdrive, system requirements and download (https://
support.industry.siemens.com/cs/ww/en/view/109760844)
Startdrive tutorial (http://support.automation.siemens.com/WW/view/en/73598459)
STARTER, system requirements and download (http://
support.automation.siemens.com/WW/view/en/26233208)

Offline commissioning or online commissioning

With STARTER and Startdrive, you can work offline as well as online.
• Offline commissioning: without connection to the converter
Commissioning with Startdrive offline (Page 184)
• Online commissioning: with connection to the converter
Online commissioning using Startdrive is described in this manual.

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 Commissioning
5.5 Password

5.5 Password

Overview
The password protects the settings of the safety functions from being changed by unauthorized
persons.

Function description

Do you have to assign a password?

The probabilities of failure (PFH) and certification of the safety functions also apply without
password.
The machine manufacturer decides whether or not a password is required.

Further information

What do I do if I lose the password?

You have forgotten the password, however, you would nevertheless like to change the setting
of the safety functions.

Procedure
1. Create a new project for the converter using Startdrive.
Leave all the settings in the project on those set in the factory.
2. Load the project in the converter.
After loading, the converter has the factory settings.
3. If a memory card inserted in the converter, remove it.
4. Recommission the converter.
You can obtain additional information or learn about alternative procedures from Product
Support.
Product Support (Page 344)

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Commissioning
5.6 Resetting the safety functions to the factory setting

5.6 Resetting the safety functions to the factory setting

Procedure

 
 

1. Go online.
2. Select "Commissioning".
3. Select "Backing up/reset".
4. Select "Safety parameters are reset".
5. Press the "Start" button.
6. Enter the password for the safety functions.
7. Confirm that the parameters have been saved (RAM to ROM).
8. Go offline.
9. Switch off the converter power supply.
10.Wait until all LEDs on the converter are dark.
11.Switch on the converter power supply again.
You have restored the safety functions in the converter to the factory settings.
❒
Exception: The password for the safety functions is not reset.
Resetting the password for the safety functions (Page 120)

Parameter Description
p0010 Drive commissioning parameter filter
0 Ready
30 Parameter reset
p9761 SI password entry (factory setting: 0000 hex)
Permissible passwords lie in the range 1 … FFFF FFFF.
p9762 New SI password
p9763 Confirm SI password
Confirm the new Safety Integrated password.

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 Commissioning
5.6 Resetting the safety functions to the factory setting

Parameter Description
p0970 Reset drive parameters
5 Starts a safety parameter reset.
After the reset, the converter sets p0970 = 0.

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Commissioning
5.7 Resetting the password for the safety functions

5.7 Resetting the password for the safety functions

Requirement
You know the actual password for the safety functions.

Procedure
1. Go online.
2. Open the screen form of the safety functions.
3. Press the "Start safety commissioning" button.

4. Enter the current password for the safety functions.

5. Set the new password = 0.
You have reset the password for the safety functions.
❒

Parameter Description
p0010 = 95 Drive commissioning parameter filter
Safety Integrated commissioning
p9761 Enter a password (factory setting: 0000 hex)
Permissible passwords lie in the range 1 … FFFF FFFF.
p9762 New password
p9763 Confirm password
p9701 = DC Confirm data change (factory setting: 0)
hex Confirm the SI basic parameter change.
p0010 = 0 Drive commissioning parameter filter
0: Ready
p0971 = 1 Save parameter
1: Save the drive object (copy from RAM to ROM)
After the converter has saved the parameters in a non-volatile fashion, then p0971 = 0.

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 Commissioning
5.8 Selecting configuration of the safety functions

5.8 Selecting configuration of the safety functions

You define the following when configuring the safety functions:
• Which safety functions are available?
• Which interfaces are available for the safety functions?

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1)
The "STO via Power Module terminals" function is only possible with the PM240‑2 and PM240P‑2, FSD
… FSE Power Modules. There are three options when configuring the function:
• You use the "STO via Power Module terminals " function together with the Basic Functions.
• You use the "STO via Power Module terminals " function together with the Extended Functions.
• You use the "STO via Power Module terminals " function as the only safety function.
Figure 5-1 Overview of the possible configurations

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Commissioning
5.8 Selecting configuration of the safety functions

Selected configuration Scope and interfaces of the safety functions

Selecting STO via Power Mod‐ Select STO via the Power Module terminals
ule terminals
Basic Functions via onboard • Select STO via the failsafe digital input.
terminals Additionally, with CU250S-2:
• Select SS1 via the failsafe digital input.
• Control the motor holding brake via SBC.
Extended Functions via on‐ • Select safety functions via the failsafe digital input.
board terminals • Only one monitoring limit of SLS can be used (SLS level 0).
In addition, for converters with safety-related output:
• Evaluating the status of the safety functions via the failsafe digital
output.
Basic Functions via PROFIsafe • Select STO via PROFIsafe.
Additionally, with CU250S-2:
• Select SS1 via PROFIsafe.
• Control the motor holding brake via SBC.
Extended Functions via PRO‐ • Select safety functions via PROFIsafe.
FIsafe • All four monitoring limits of SLS can be used (SLS levels 0 … 3)
• Evaluating the status of the failsafe digital inputs via PROFIsafe
Basic Functions via PROFIsafe • Select STO via failsafe digital input as well as also via PROFIsafe.
and onboard terminals Additionally, with CU250S-2:
• Select SS1 via the failsafe digital input or PROFIsafe.
• Control the motor holding brake via SBC.
Extended Functions via PRO‐ • Select safety functions via PROFIsafe.
FIsafe and Basic Functions via • Additionally select STO via the failsafe digital input.
onboard terminals
• All four monitoring limits of SLS can be used (SLS levels 0 … 3)
• Evaluating the status of the failsafe digital inputs via PROFIsafe
Additionally, with CU250S-2:
• Select Basic Function SS1 via the failsafe digital input.
• Control the motor holding brake via SBC.

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 Commissioning
5.9 Configuring the safety functions and PROFIsafe

5.9 Configuring the safety functions and PROFIsafe

5.9.1 Configuring safety functions

Requirement
You are offline with Startdrive.

Procedure
1. Select "Select safety functionality".

2. Define the configuration of the safety functions:

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– (A) You want to exclusively use the Basic converter functions.

– (B) You want to use the Extended safety functions.
– (C) This option is only available with a PM240‑2 or PM240P‑2 FSD ... FSF Power Module.
Select this option if you only use the "STO via Power Module terminals" function.
3. If you selected the Basic Functions or the Extended Functions, then you must define how the
safety functions are controlled.

4. Define the interface for controlling the safety functions.

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5.9 Configuring the safety functions and PROFIsafe

You have configured the safety functions.

❒
If you selected the onboard terminals as interface, you can now start to commission the safety
functions.
For control via PROFIsafe, you must configure the PROFIsafe interface before you start to
commission the safety functions.

Parameter Description
p0010 = 95 Drive commissioning parameter filter
Safety Integrated commissioning
p9601 Enable functions integrated in the drive (factory setting: 0000 bin)
Functions that have been Functions that have been enabled:
enabled:
0 hex None 80 hex STO via Power Module terminals
1 hex Basic functions via on‐ 81 hex • Basic functions via onboard terminals
board terminals • STO via Power Module terminals
4 hex Extended functions via 84 hex • Extended functions via onboard termi‐
onboard terminals nals
• STO via Power Module terminals
8 hex Basic functions via PROFI‐ 88 hex • Basic functions via PROFIsafe
safe • STO via Power Module terminals
9 hex • Basic functions via 89 hex • Basic functions via PROFIsafe
PROFIsafe • Basic functions via onboard terminals
• Basic functions via on‐ • STO via Power Module terminals
board terminal
C hex Extended functions via 8C hex • Extended functions via PROFIsafe
PROFIsafe • STO via Power Module terminals
D hex • Extended functions 8D hex • Extended functions via PROFIsafe
via PROFIsafe • Basic functions via onboard terminals
• Basic functions via on‐ • STO via Power Module terminals
board terminals
p9761 Enter a password (factory setting: 0000 hex)
Permissible passwords lie in the range 1 … FFFF FFFF.
p9762 New password
p9763 Confirm password

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5.9 Configuring the safety functions and PROFIsafe

5.9.2 Configuring PROFIsafe

Requirement
You are offline with Startdrive.

Procedure

 


 

1. Select "F-DI / F-DO / PROFIsafe".

2. Enter the same address as hexadecimal value that you defined in the hardware configuration
for the higher-level control system.
3. Press the "Telegram configuration" button.
Startdrive opens the "Properties" of the cyclic data exchange.
4. Select "Add telegram".
5. Insert a "Safety telegram".
You have established communication between the converter and higher-level control (F-CPU)
via PROFIsafe telegram 30.
❒

Parameter Description
p9610 PROFIsafe address (factory setting: 0000 hex)

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5.9 Configuring the safety functions and PROFIsafe

Configuring telegram 900

Procedure

 


 

1. Select "F-DI / F-DO / PROFIsafe".

2. Press the "Telegram configuration" button.
Startdrive opens the "Properties" of the cyclic data exchange.
3. Select "Add telegram".
4. Insert a "Safety telegram".
5. Set telegram 900.
6. Only with extended functions:
Set which F-DI status of the converter is transferred via PROFIsafe status word 5.
You have configured PROFIsafe telegram 900.
❒
Control word 5 and status word 5 (basic functions) (Page 54).
Control word 5 and status word 5 (extended functions) (Page 55).

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5.9 Configuring the safety functions and PROFIsafe

If you configured the basic functions with control via PROFIsafe, no further parameter
assignment is necessary for transfer of the F-DI 0 status.

Table 5-1 Parameters for the extended functions

Parameter Description
p9501.30 Enable F-DI in PROFIsafe telegram(Factory setting: 0 bin)
0 signal: F-DI is inhibited in the PROFIsafe telegram
1 signal: F-DI is enabled in PROFIsafe telegram
p10050 Transfer PROFIsafe F-DI (Factory setting: 0000 bin)
Bit 0 0 signal: No transfer
1 signal: PROFIsafe status word 5 transfers the status of F-DI 0
Bit 1 0 signal: No transfer
1 signal: PROFIsafe status word 5 transfers the status of F-DI 1
Bit 2 0 signal: No transfer
1 signal: PROFIsafe status word 5 transfers the status of F-DI 2
Settings for the discrepancy time and the signal filter of the failsafe digital inputs:
Setting the filter for fail-safe digital inputs (Page 151)

5.9.3 Activate settings

Loading the settings into the drive

Procedure

   

 

1. Save the project.

2. Select "Load to device".
3. Connect Startdrive online with the drive.
4. Press the "Start safety commissioning" button.

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5.9 Configuring the safety functions and PROFIsafe

5. Enter the password for the safety functions.

If the password is the factory default, you are prompted to change the password.
If you try to set a password that is not permissible, the old password will not be changed.
6. Press the "End safety commissioning" button.
7. Confirm the prompt for saving your settings (copy RAM to ROM).
8. Disconnect the online connection.
9. Switch off the converter power supply.
10.Wait until all LEDs on the converter go dark (no voltage condition).
11.Switch the converter power supply on again.
Your settings are now active.
❒

Parameter Description
p9700 = D0 hex SI copy function (factory setting: 0)
Start the SI parameter copy function.
p9701 = DC hex Confirm data change (factory setting: 0)
Confirm the SI basic parameter change.
p0010 = 0 Drive commissioning parameter filter
0: Ready
p0971 = 1 Save parameter
1: Save the drive object (copy from RAM to ROM)
After the converter has saved the parameters in a non-volatile fashion, then
p0971 = 0.

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5.10 Setting basic functions

5.10 Setting basic functions

5.10.1 Interconnecting the "STO active" signal

Overview
If you require the feedback signal "STO active" of the converter in your higher-level control
system, then you must appropriately interconnect the signal.

Requirement
You are online with Startdrive.

Function description

Procedure

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&

'

The screen form varies depending on the converter and the interface that has been selected.
(A) Control type
(B) Delay time for SS1 and enable SBC for a converter with CU250S‑2 Control Unit
(C) STO via the Power Module terminals for a PM240‑2 or PM240P‑2, FSD … FSF Power Module
(D) Enable SBC for a converter with CU250S‑2 Control Unit

1. Select the button for the feedback signal.

2. Select the signal that matches your particular application.
You have interconnected the "STO active" checkback signal.
❒
After STO has been selected, the converter signals "STO active" to the higher-level control.

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5.10 Setting basic functions

Parameter

Parameter Description Factory setting

r9773[0…31] CO/BO: SI status (processor 1 + processor 2) -
.01 1 signal: STO is active in the drive

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5.10 Setting basic functions

5.10.2 Setting the filter for failsafe digital inputs

You must set the input filter and the simultaneity monitoring of the failsafe digital input for all
SINAMICS converters, where the failsafe digital input F‑DI evaluates two redundant signals.

Function description

Requirement
You are online with Startdrive.

Procedure

 

1. Navigate to the filter settings.

2. Set the debounce time for the F-DI input filter.
3. Set the discrepancy time for monitoring for simultaneous operation.
You have set the input filter and monitoring for simultaneous operation of the failsafe digital
input.
❒

Overview
If required, you must set the signal filter for selecting the STO safety function.

Requirement
You are online with Startdrive.

Function description

Procedure

 

1. Navigate to the filter settings.

2. Set the debounce time for the F-DI input filter.
3. Set the discrepancy time for the simultaneity monitoring.

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5.10 Setting basic functions

You have set the signal filter of the failsafe digital input.
❒

Parameter

Parameter Description Factory setting

p9650 SI F-DI switchover discrepancy time (CPU 1) 500 ms
p9651 SI STO debounce time (processor 1) 1 ms

Parameter Description
p9650 F-DI switchover discrepancy time (factory setting: 500 ms)
Tolerance time to change over the failsafe digital input for the basic functions.
p9651 STO debounce time (factory setting: 1 ms)
Debounce time of the failsafe digital input for the basic functions.

Debounce times for standard and safety functions

The debounce time p0724 for "standard" digital inputs has no influence on the failsafe digital
input signals. Conversely, the same applies: The debounce time of the failsafe digital inputs does
not affect the signals of the "standard" inputs.
If you use an input as a standard input, set the debounce time using parameter p0724.
If you use an input as a failsafe digital input, set the debounce time as described above.

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5.10 Setting basic functions

5.10.3 Setting the forced checking procedure (test stop)

Requirement
You are online with Startdrive.

Procedure


 

1. Select the screen form for setting the forced checking procedure.
2. Set the monitoring time to a value to match your application.
3. Using this signal, the converter signals that a forced checking procedure (test stop) is
required.
Interconnect this signal with a converter signal of your choice.
You have set the forced checking procedure (test stop) for the Basic Functions.
❒

Overview
You must set the time interval in which, as a minimum, you must start the forced checking
procedure at least once.

Requirement
You are online with Startdrive.

Function description

Procedure


 

1. Select the screen form for setting the forced checking procedure.
2. Set the monitoring time to a value to match your application.
3. Using this signal, the converter signals that a forced checking procedure (test stop) is
required.
Interconnect this signal with a converter signal of your choice.

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5.10 Setting basic functions

You have set the forced checking procedure (test stop) for the Basic Functions.
❒

Parameter

Parameter Description Factory setting

p9659 SI forced checking procedure timer 8h
r9660 SI forced checking procedure remaining time -h
r9773.0…31 CO/BO: SI status (processor 1 + processor 2) -

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5.10 Setting basic functions

5.10.4 Setting STO via Power Module terminals

Requirement
You are online with Startdrive.

Procedure


 




1. Select "STO / SBC / SS1".

2. Select "Enable STO via PM terminals".
3. Select "Test stop".
4. Set the monitoring time to a value to match your application.
5. Using this signal, the converter signals that a forced checking procedure (test stop) is
required for the "STO via Power Module terminals" function.
6. Select "F-DI / F-DO / PROFIsafe".
7. Set the discrepancy time (simultaneity monitoring) of the terminals on the Power Module.
The setting not only applies for the terminals of the Power Module, but also for the failsafe
digital input on the Control Unit for selecting STO.
Setting the filter for failsafe digital inputs (Page 131)
The "F-DI input filter" has no significance for the terminals on the Power Module.

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5.10 Setting basic functions

You have set the "STO via Power Module terminals" function.
❒

Parameter Description
p9601.7 Enable functions integrated in the drive (factory setting: 0)
1 signal: STO via the Power Module terminals has been enabled
p9650 F-DI switchover discrepancy time (Factory setting: 500 ms)
p9661 Forced checking procedure STO via PM terminals time (Factory setting: 8 h)
r9662 Forced checking procedure STO via PM terminals remaining time
r9773.30 SI status
1 signal: The forced checking procedure (test stop) for the "STO via Power Module ter‐
minals" function is required.

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5.10 Setting basic functions

5.10.5 Setting the delay time for SS1

Requirement
You are online with Startdrive.

Procedure

Set a delay time > OFF3 ramp down time.

❒

Parameter Description
p9652 Safe Stop 1 delay time
Sets the delay time of the pulse suppression for the "Safe Stop 1" (SS1) function to brake
with the OFF3 ramp-down time.
p1135 OFF3 ramp-down time

Description: the SS1 function without monitoring the speed

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Figure 5-2 SS1 without monitoring the speed

When SS1 is selected, the converter brakes the motor with the OFF3 ramp-down time.
After the delay time, independent of the actual speed, the converter switches off the motor
torque using the STO function.

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5.10 Setting basic functions

5.10.6 Enabling SBC

Requirement
You are online with Startdrive.

Procedure

Set "[1] enable SBC".

❒

Parameter Description
p9602 Enable safe brake control
0: SBC is locked
1: SBC is enabled

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5.10 Setting basic functions

5.10.7 Complete commissioning

Overview
You must exit commissioning the safety functions and save the settings.

Requirement
You are online with Startdrive.

Function description

Procedure

  

1. Press the "End safety commissioning" button.

2. Confirm the prompt for saving your settings (copy RAM to ROM).
3. Disconnect the online connection.
4. Select the "Load from device (software)" button.
5. Save the project.
6. Switch off the converter power supply.
7. Wait until all LEDs on the converter go dark (no voltage condition).
8. Switch on the converter power supply again.
Your settings are now active.
❒

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Commissioning
5.10 Setting basic functions

Parameter

Parameter Description Factory setting

p0010 Drive commissioning parameter filter 1
p0971 Save parameters 0
p9700 SI copy function 0000 hex
p9701 Acknowledge SI data change 0000 hex

Parameters

Parameter Description Factory setting

p0010 Drive commissioning parameter filter 1
p0971 Save parameters 0
p9700 SI copy function 0000 hex
p9701 Acknowledge SI data change 0000 hex

Overview
The simultaneous connection of digital inputs with a safety function and a "standard" function
may lead to the drive behaving in unexpected ways.
If you control the safety functions in the converter via failsafe digital inputs, then you must check
as to whether the failsafe digital inputs are in some instances interconnected with a "standard"
function.

Function description

Procedure

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5.10 Setting basic functions

1. Select the screen for the digital inputs.

2. Remove all interconnections of the digital inputs that you use as failsafe digital input F-DI:
3. You must delete the digital input connections for all CDS if you use the switchover of the
command data sets (CDS).
You can find a description of the CDS switchover in the operating instructions.
You have ensured that the failsafe digital inputs only control the safety functions in the
converter.
❒

Checking the interconnection of the feedback signal input for the failsafe digital output
The interconnection of the feedback signal input with a "standard" function may lead to the drive
behaving in unexpected ways.

Requirements
• You are using the failsafe digital output of the converter.
• You use one of the test modes 2 or 3, where the converter evaluates the status of the
connected actuator via a digital input.
You must check whether this digital input is assigned a "Standard" function.

Procedure

Figure 5-3 Removing the interconnection of the feedback signal input DI 6 for the CU250S-2

1. Select the digital inputs.

2. Remove the interconnection of the digital input that you use as feedback signal input for the
failsafe digital output:
– SINAMICS G120 with CU250S-2 Control Unit: Digital input DI 6 (see diagram).
– SINAMICS G120D: Digital input DI 5.
3. If you are using several command data sets (CDS), then remove the interconnection of the
feedback signal input for all CDS.

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5.10 Setting basic functions

You have now prevented the feedback signal input of the failsafe digital output controlling
"Standard" functions in the converter.
❒

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5.11 Setting extended functions

5.11 Setting extended functions

Overview when setting the extended functions

To set all extended functions, proceed as follows:
1. Define the basic settings for all of the safety functions.
Basic settings (Page 143).
2. If necessary, interconnect the failsafe inputs and outputs.
– Setting failsafe digital inputs (Page 149)
– Setting a failsafe digital output (Page 155)
3. Adapt the safety functions that you are using to suit your application.
– Setting SS1 (Page 161)
– Setting SLS (Page 167)
– Setting SSM (Page 171)
– Setting SDI (Page 174)
4. Complete commissioning.
Final steps when commissioning online (Page 178)

5.11.1 Basic settings

5.11.1.1 Enabling the safety functions

For most of the safety functions in the converter, you can only enable them together.
If you are not using one of the safety functions that has been enabled, then you must
permanently set the signal to select this function to a 1‑signal:
• When controlling via PROFIsafe:
In the higher-level control, set the corresponding bit in control word 1 to a 1 signal.
PROFIsafe telegrams (Page 51).
• When controlling via failsafe digital inputs:
In the converter, set the corresponding signal to "Statically deselected".
Interconnecting a safety function with fail-safe digital input (Page 149)

Requirement
You are online with Startdrive.

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Commissioning
5.11 Setting extended functions

Procedure

1. Select "Control type/safety functions".

2. Enable safety functions STO … SSM.
You must always set these safety functions, even if you only use the SDI function.
3. If you are using the SDI function, then enable SDI.
You have enabled the safety functions in the converter.
❒

Parameter Description
p9501 Enable safety functions
.00 1 signal: Enable the Extended Functions (without SDI)
.17 1 signal: Enable SDI

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5.11 Setting extended functions

5.11.1.2 Setting the forced checking procedure (test stop)

Requirement
You are online with Startdrive.

Procedure





 


1. Select "Test stop":

2. This signal starts the forced checking procedure (test stop) and resets the remaining time of
the monitoring to the value ④. Interconnect this signal, for example, with a digital input or
a bit in the fieldbus control word.
3. For this signal, you must carry out a forced checking procedure (test stop) as quickly as
possible. Interconnect this signal, for example with a digital output of your choice or a status
bit in the fieldbus.
4. Time until the next test stop.
5. Set the monitoring time to the maximum value (9000 hours). This means that the forced
checking procedure monitoring for the Basic Functions is deactivated.
This monitoring is not required when using the Extended Functions, as the forced checking
procedure for the Extended Functions also includes the forced checking procedure for the
Basic Functions.
6. Setting not required.
You have set the forced checking procedure (test stop) of the Extended Functions.
❒

Description
The forced checking procedure (test stop) of the extended functions is a converter self test. The
converter checks its circuits to monitor the speed and to switch off the torque.
Using a timer block, the converter monitors as to whether the forced checking procedure is
regularly performed.
You must start the forced checking procedure with a signal of your choice.

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Commissioning
5.11 Setting extended functions

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Figure 5-4 Starting and monitoring the forced checking procedure (test stop)

Parameter Description
p9559 Forced checking procedure timer (Factory setting: 8 h)
Monitoring time for the forced checking procedure of the extended functions.
p9659 Forced checking procedure timer (Factory setting: 8 h)
Monitoring time for the forced checking procedure of the basic functions.
r9660 Forced checking procedure remaining time
Displays the remaining time up to performing the forced checking procedure of the basic
functions.
p9705 Forced checking procedure signal source (Factory setting: 0)
Signal source for the forced checking procedure of the basic functions and the extended
functions.
r9723.0 1 signal: Forced checking procedure of the extended functions is necessary
Signal for the higher-level control.
r9765 Forced checking procedure remaining time
Displays the remaining time up to performing the forced checking procedure of the
extended functions.
r9773.31 1 signal: Forced checking procedure of the basic functions is required

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5.11 Setting extended functions

5.11.1.3 Setting encoderless actual value sensing

Requirement
You are online with Startdrive.

Procedure




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&
'

+
)
*

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5.11 Setting extended functions

1. Press the "Actual value sensing" button.

2. Select the "Configuration actual value sensing" button.
Set the following:
– (A) Actual value tolerance:
In most cases you do not have to change this value. If, in operation, the converter issues
message C01711 or C30711 (fault value 3 or 44 … 57), increase this value step-by-step
until the message to longer occurs.
Note: If you increase this value, the speed monitoring of the converter becomes less
sensitive to limit violations.
– (B), (C), (D) Gearbox ratio:
Read the number of pole pairs (D) of the motor, and set the data of your machine
according to the following table.

Number of load revolu‐ Number of motor revolutions

tions
Without gear Value (B) = 1 Value (C) = number of pole pairs
(D)
Gearbox with speed ratio Value (B) = L Value (C) = M x number of pole
load/motor = L/M pairs (D)

– Example: The drive has a gearbox with a load/motor speed ratio = 23/50
⇒ Value (B) = 23, value (C) = 50 × number of pole pairs (D)
– (E) Delay time actual value sensing:
In most cases you do not have to change this value. If you switch on the motor with the
safety functions active (SLS, SDI or SSM) and the converter responds when switching on
with a safety fault, increase this value in the range 50 % … 100 % of the motor excitation
build-up time (p0346).
– (F) Minimum current actual value sensing:
In most cases you do not have to change the setting. When the motor draws a low current,
and the converter responds with a fault, then reduce this value in steps of 1 % until the
fault no longer occurs.
– (G) Voltage tolerance acceleration:
In most cases you do not have to change this parameter. During acceleration with very
short ramp-up and ramp-down times, if the converter responds with a safety function
fault, increase this value step-by-step by approx. 10%.
– (H) Fault tolerance:
In most cases you do not have to change this parameter. This parameter can suppress
sporadic faults of the safety functions. The parameter defines how often the converter
tolerates its internal plausibility monitoring per second.
3. Close the screen form.

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5.11 Setting extended functions

You have set encoderless actual value sensing.

❒

Parameter Description
p9521 Number of load revolutions (Factory setting: 1)
Denominator for the gearbox ratio between the motor and load.
p9522 Number of motor revolutions (Factory setting: 2000 rpm)
Numerator for the gearbox ratio between the motor and load.
p9542 Actual value tolerance (Factory setting: 12 °)
Tolerance for the crosswise comparison of the actual position between processor 1 and
2.
p9585 Fault tolerance (Factory setting: -1)
Tolerance of the plausibility monitoring of current and voltage angle.
p9586 Delay time actual value sensing (Factory setting: 100 ms)
Delay time for evaluating the encoderless actual value sensing after the motor has been
switched on.
p9588 Minimum current actual value sensing (Factory setting: 10 %)
Minimum current for encoderless actual value sensing (1 % ≙ 10 mA).
p9589 Voltage tolerance acceleration (factory setting: 100 %)
Acceleration limit to filter discontinuity in the velocity.

5.11.2 Setting failsafe digital inputs

5.11.2.1 Interconnecting a safety function with fail-safe digital input

Requirements
• You are online with Startdrive.
• You have selected the Extended Functions via onboard terminals.

Procedure

 

 

1. Select "Control type/safety functions".

2. Press the "F-DI assignment" button.
3. If you do not use a safety function, set the associated "Select F-DI" = "[255] statically
deselected".
4. Interconnect the failsafe digital inputs with the corresponding safety functions.

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5.11 Setting extended functions

5. If a safety function should always be active, set the associated "Select F-DI" = "[0] statically
active".
6. Close the screen form.
You have assigned specific safety functions to the failsafe digital inputs.
❒

Parameter Description
p10022 STO input terminal (Factory setting: 0) 0: Statically selected
p10023 SS1 input terminal (Factory setting: 0) 1: F-DI 0
2: F-DI 1
p10026 SLS input terminal (Factory setting: 0) 3: F-DI 2
p10030 SDI positive input terminal (Factory setting: 0) 255: Statically deselected
p10031 SDI negative input terminal (Factory setting: 0)

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5.11 Setting extended functions

5.11.2.2 Setting the filter for fail-safe digital inputs

Requirements
• You are online with Startdrive.
• You have selected one of the two following settings:
– Extended Functions via onboard terminals
– Extended Functions via PROFIsafe and onboard terminals

Procedure

 

1. Select "F-DI / F-DO / PROFIsafe".

2. The discrepancy time (simultaneity monitoring) tolerates signal changes at the failsafe
digital input that do not occur simultaneously.
3. The input filter suppresses brief signal changes.
You have set the filter for the failsafe digital inputs.
❒

Overview
If required, you must set the signal filter for selecting the STO safety function.

Requirement
You are online with Startdrive.

Function description

Procedure

 

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5.11 Setting extended functions

1. Navigate to the filter settings.

2. Set the debounce time for the F-DI input filter.
3. Set the discrepancy time for the simultaneity monitoring.
You have set the signal filter of the failsafe digital input.
❒

Parameter

Parameter Description Factory setting

p9650 SI F-DI switchover discrepancy time (CPU 1) 500 ms
p9651 SI STO debounce time (processor 1) 1 ms

Parameter Description
p9650 F-DI switchover discrepancy time (Factory setting: 500 ms)
Tolerance time to change over the fail-safe digital input for the basic functions.
p9651 STO debounce time (factory setting: 1 ms)
Debounce time of the fail-safe digital input for the basic functions.
p10002 F-DI switchover discrepancy time (Factory setting: 500 ms)
Tolerance time to change over the fail-safe digital inputs for the extended functions.
p10017 Digital inputs debounce time (factory setting: 1 ms)
Debounce time of the fail-safe digital inputs for the extended functions.

Debounce times for standard and safety functions

The debounce time p0724 for "standard" digital inputs has no influence on the fail-safe digital
input F-DI signals. Conversely, the same applies: The debounce time of the fail-safe digital inputs
does not affect the signals of the "standard" inputs.
If you use an input as a standard input, set the debounce time using parameter p0724 .
If you use an input as a fail-safe digital input, set the debounce time as described above.

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5.11 Setting extended functions

5.11.2.3 Interconnecting the signal for failsafe acknowledgment

Requirements
• You are online with Startdrive.
• You have selected the Extended Functions via onboard terminals.

Procedure

 

1. Select "F-DI / F-DO / PROFIsafe".

2. Select a free failsafe digital input for the failsafe acknowledgment signal.
If there are no free failsafe digital inputs available, you have to acknowledge the safety
function faults using a different method.
Acknowledging using a failsafe signal (Page 275)
You have interconnected the failsafe acknowledge signal with a failsafe digital input.
❒

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Commissioning
5.11 Setting extended functions

5.11.3 Setting STO via Power Module terminals

Requirement
You are online with Startdrive.

Procedure







1. Select "STO".
2. Select "Enable STO via PM terminals".
3. If required in the higher-level control, interconnect the feedback signal "STO active".
4. Select "Test stop".
5. Set the monitoring time to a value to match your application.
6. Using this signal, the converter signals that a forced checking procedure (test stop) is
required for the "STO via Power Module terminals" function.

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5.11 Setting extended functions

7. Select "F-DI / F-DO / PROFIsafe".

8. Set the discrepancy time (simultaneity monitoring) of the terminals on the Power Module.
The setting not only applies for the Power Module terminals, but also for selecting the STO
Basic Function via F‑DI.
Setting the filter for fail-safe digital inputs (Page 151).
You have set the "STO via Power Module terminals" function.
❒

Parameter Description
p9601.7 Enable functions integrated in the drive (factory setting: 0)
1 signal: STO via the Power Module terminals has been enabled
p9650 F-DI switchover discrepancy time (Factory setting: 500 ms)
p9661 Forced checking procedure STO via PM terminals time (Factory setting: 8 h)
r9662 Forced checking procedure STO via PM terminals remaining time
r9773 SI status
.1 1 signal: STO is active in the drive
.30 1 signal: The forced checking procedure (test stop) for the "STO via Power
Module terminals" function is required.

5.11.4 Setting a failsafe digital output

5.11.4.1 Setting the forced checking procedure (test stop)

Requirements
• You are online with Startdrive.
• You have selected the Extended Functions via onboard terminals.

Procedure

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5.11 Setting extended functions

1. Select "F-DI / F-DO / PROFIsafe".

2. Interconnect this signal, for example with a digital input or a control bit in the fieldbus. This
signal starts the forced checking procedure (test stop) of the failsafe digital output - and
resets the remaining time of the monitoring to the value ③.
We recommend that the failsafe digital output is tested together with the forced checking
procedure of the safety functions. To do this, interconnect the signal source with the same
signal as the forced checking procedure of the safety functions.
Setting the forced checking procedure (test stop) (Page 145)
3. Set the monitoring time for the forced checking procedure.
The time must be longer than or equal to the time for monitoring the forced checking
procedure of the Extended Functions.
Setting the forced checking procedure (test stop) (Page 145)
You have defined which signal the converter uses to start the forced checking procedure (test
stop) of its failsafe digital output.
❒

Description: Forced checking procedure of the failsafe output

The forced checking procedure of the failsafe digital output is the regular self-test of the
converter, where the converter checks whether the output can be shut down (deactivated).
The converter monitors the regular forced checking procedure of the failsafe digital output using
a time block.
You must start the forced checking procedure with a signal of your choice.

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Parameter Description
p10003 Forced checking procedure timer (Factory setting: 8 h)
Setting the time to perform the forced checking procedure.
p10007 Forced checking procedure F-DO signal source (Factory setting: 0)
Select an input terminal to start the forced checking procedure.

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5.11 Setting extended functions

5.11.4.2 Output signal and setting the test mode

Requirements
• You are online with Startdrive.
• You have selected the Extended Functions via onboard terminals.

Procedure







1. Select "F-DI / F-DO / PROFIsafe".

2. Interconnect the status signals of your choice with the failsafe digital output. The
"Safestate"signal is described below.
The converter logically combines the status signals according to the following rules:
– The converter ignored inputs without interconnection.
– If none of the inputs is interconnected, then the output signal = 0.
3. Activate the test for the failsafe digital output.
4. Select the test mode that is compatible with your application.
5. Adjust the wait time. The following lower limits apply for the setting:
– The wait time must be longer than the response time tR of the connected actuator.
– The wait time must be longer than or equal to 24 ms.
– The wait time must be longer than the time for the input filter of the feedback input
(p10017).
Setting the filter for fail-safe digital inputs (Page 151)
You have defined which signal the converter transfers via its failsafe digital output, and how the
converter tests its failsafe digital output.
❒

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Commissioning
5.11 Setting extended functions

Signal "Safestate"

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You must set parameter p10039 via the parameter view in Startdrive in order to adapt the
"Safestate" signal.

The test mode of the failsafe output

Using its adjustable test mode, the converter checks as to whether the failsafe digital output can
be shut down.
The test mode is aligned according to the interconnection of the failsafe digital output. For test
modes 2 and 3, you must adapt the appropriate wait time to your particular application.
Connecting the fail-safe digital output for a SINAMICS G120D (Page 110)
Connecting the fail-safe digital output for a SINAMICS G120 (Page 108)

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 Commissioning
5.11 Setting extended functions

When testing the failsafe digital output, the converter switches the two digital outputs on and
off alternating - and evaluates the voltage signal at output DO 2.

Test mode 2

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When testing the failsafe digital output, the converter switches the two digital outputs on and
off alternating, and evaluates the feedback via a digital input.

Test mode 3

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When testing the failsafe digital output, the converter switches the two digital outputs on and
off alternating, and evaluates the feedback via a digital input.

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Commissioning
5.11 Setting extended functions

Test mode 4

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When testing the failsafe digital output, the converter switches the two digital outputs on and
off alternating.
SINAMIC G120D converters monitor their transistor outputs using internal signals.
For SINAMICS G120, the connected failsafe digital input F‑DI must monitor its input signals for
discrepancy.

Parameter Description
p10039 Safe State signal selection (factory setting: 0000 0001 bin)
Setting the signals for the "Safe State" signal.
p10042[0…5] F-DO signal sources (Factory setting: 0)
Setting the 6 signal sources for F-DO.
p10046 F-DO feedback signal input activation (Factory setting: 0000 bin)
Activation of the feedback input for the failsafe digital output.
p10047 F-DO test mode (Factory setting: 0100 bin)
Setting the test mode for the safety-related digital output
p10001 Wait time for the forced checking procedure at DO (Factory setting: 500 ms) Within
this time, for a forced checking procedure of the failsafe digital output, the signal
must have been detected via the corresponding feedback input (p10047).
The converter always waits for a minimum of 24 ms.

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 Commissioning
5.11 Setting extended functions

5.11.5 Setting SS1

Monitoring modes
You can select between two different monitoring modes of the SS1 function.

Braking ramp monitoring Acceleration monitoring

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converter monitors whether the motor speed the SAM (Safe Acceleration Monitor) function.
decreases. • The converter prevents the motor from re-ac‐
• The gradient of the SBR function can be adjus‐ celerating by continuously adjusting the moni‐
ted. The SBR function only starts after the "De‐ toring threshold to the decreasing speed.
lay time for braking ramp". The SBR function • The converter reduces the monitoring thresh‐
starts with the speed setpoint that was applica‐ old until the "Shutdown speed" has been
ble when SS1 was selected. reached.
• When the standstill monitoring threshold is fall‐ • The converter safely switches off the motor tor‐
en below, the converter safely switches off the que (STO) if one of the following conditions is
motor torque (STO). fulfilled:
– The converter detects that the motor is sta‐
tionary.
– The maximum time until the torque is
switched off has expired.

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5.11 Setting extended functions

5.11.5.1 Setting SS1 with braking ramp monitoring

Requirement
You are online with Startdrive.

Procedure




1. Press the button for the SS1 function.

2. Select "with SBR".
3. The shutdown speed SS1 is a condition for the transition into the STO function.
4. Press the "SBR" button.
5. If the ramp-down time (OFF3) in your application is less than 10 seconds, then leave the
delay time at its factory setting. If SS1 goes into a fault condition during the function test,
increase this value until the motor brakes normally without a fault.
If the ramp-down time (OFF3) is set to several minutes, you must extend the delay time to
several seconds in order to avoid any unwanted faults when selecting SS1.

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5.11 Setting extended functions

6. The monitoring time defines the gradient of the monitoring curve when braking the load.
If the monitoring curve should be parallel to the down ramp of the load, then you must set
the following: Monitoring time = ramp-down time (OFF3) / gear ratio.
Gear ratio = load/motor revolutions.
Example: Gear ratio = 1 / 3 ⇒ monitoring time = ramp-down time (OFF3) × 3.
A monitoring time shorter than the above calculated value does not make sense, as the
converter can reduce its monitoring curve faster than the load can be braked.
The longer you set the monitoring times, the more tolerant the monitoring.
7. Set the reference speed to the value of the maximum speed.
8. Close the screen forms.
You have set the SS1 function with braking ramp monitoring.
❒

Description: SS1 with braking ramp monitoring

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Reference speed and monitoring time

The two values define the gradient of the SBR monitoring .

Delay time
The SBR function only starts after an adjustable time. To begin with, the converter monitors the
speed setpoint that applied when SS1 was selected.

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5.11 Setting extended functions

Braking
The converter brakes the motor with the OFF3 ramp-down time.

Shutdown speed
The converter safely switches off the motor torque using the STO function if the speed has
reached the shutdown speed.

Parameter Description
p9501.00 Enable safety functions
1 signal: Enable extended functions.
0 signal: Disable extended functions.
p9506 Function specification: (Factory setting: 1)
1: With braking ramp monitoring
3: With acceleration monitoring
p9546 SSM speed limit (factory setting: 20 rpm)
Only relevant to the SS1 function if p9560 = 0.
p9560 Pulse cancellation shutdown speed (factory setting: 10 rpm)
Shutdown speed
p9581 Brake ramp reference value (factory setting: 1500 rpm)
Reference speed for SBR
p9582 Brake ramp delay time (factory setting: 250 ms)
p9583 Brake ramp monitoring time (factory setting: 10 s)
r9722.1 Status signals
1 signal: SS1 active
r9714 Speed diagnostics [rpm]
[0 Load-side speed actual value
] Electrical speed of the motor. For induction motors, the mechanical speed is ob‐
tained from the electrical speed and slip.
[1 Actual SAM/SBR speed limit
]
r9723.16 1 signal: SAM/SBR active
p1135 OFF3 ramp-down time
p1226 Standstill detection, speed threshold The converter switches off the motor tor‐
(Factory setting: 20 rpm) que if the speed either fulfills the condi‐
p1227 Standstill detection monitoring time (Val‐ tion for standstill detection or the shut‐
ue depends on the power unit) down speed p9569 has been reached.

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5.11 Setting extended functions

5.11.5.2 Setting SS1 with acceleration monitoring

Requirement
You are online with Startdrive.

Procedure

1. Press the button for the SS1 function.

2. Select "with SAM/delay time".
3. After the "delay time", the converter safely switches off the motor torque – regardless of the
actual speed.
4. The "shutdown speed SS1" is a condition for the transition into the STO function.
5. Press the "SAM" button.
6. The "speed tolerance" is used to track the monitoring to the actual speed.
7. The "shutdown speed acceleration monitoring" is a condition for the transition into the STO
function.
8. Close the screen forms.
You have set the SS1 function with acceleration monitoring.
❒

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5.11 Setting extended functions

Description: SS1 with acceleration monitoring

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Speed tolerance
As long as the speed is less, the converter continuously adds the tolerance to the actual speed
so that the monitoring tracks the speed.

Shutdown speed acceleration monitoring

The converter reduces the monitoring threshold until it reaches the value of the "Shutdown
speed acceleration monitoring".

Shutdown speed SS1 and delay time

The converter safely switches off the motor torque with the STO function if one of the two
conditions is fulfilled:
• The actual speed reaches the value of the shutdown speed SS1.
• The delay time has expired.

Parameter Description
p9501.00 1 signal: Enable extended functions.
0 signal: Disable extended functions.
p9506 Function specification: (Factory setting: 1)
3: With acceleration monitoring
p9548 Speed tolerance (Factory setting: 300 rpm)
p9556 Delay time STOP B → STO (Factory setting: 600000 ms)
p9560 Shutdown speed SS1 (Factory setting: 10 rpm)
p9568 Shutdown speed acceleration monitoring (Factory setting: 0 rpm)

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5.11 Setting extended functions

Parameter Description
r9714 Speed diagnostics [rpm]
[0] Load-side speed actual value
Electrical speed of the motor. For induction motors, the mechanical speed is ob‐
tained from the electrical speed and slip.
[1] Actual SAM/SBR speed limit
r9722.1 1 signal: SS1 active
r9723.16 1 signal: SAM/SBR active
p1226 Standstill detection, speed threshold (Factory The converter switches off the mo‐
setting: 20 rpm) tor torque if the speed either fulfills
p1227 Standstill detection monitoring time (Value de‐ the condition for standstill detec‐
pends on the power unit) tion or the shutdown speed p9569
has been reached.

5.11.6 Setting SLS

5.11.6.1 Setting the monitoring functions

Requirement
You are online with Startdrive.

Procedure

 







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Commissioning
5.11 Setting extended functions

1. Press the button for the SLS function.

2. Select between one of the two monitoring modes:
– with delay time
– with SBR
3. If you have selected "with delay time"
The delay time must be longer than the time, when SLS is selected, that the motor needs to
brake with the maximum load from the maximum speed down to the lowest SLS level.
If you have selected "with SBR": Press the button to set the safe braking ramp (SBR).
Setting SS1 with braking ramp monitoring (Page 162)
4. Setpoint speed limiting as a % of the currently selected SLS level, see also ⑦, ⑧.
5. Load speed to be monitored.
Levels 2 … 4 are only possible when PROFIsafe is selected as interface.
6. Response when monitoring responds.
Stop responses (Page 270)
7. If you leave this signal interconnection at the factory setting, when SLS is selected, the
converter limits the speed setpoint in the positive direction.
8. If you leave this signal interconnection at the factory setting, when SLS is selected, the
converter limits the speed setpoint in the negative direction.
9. Close the screen form.
You have set the SLS function.
❒

Description of the SLS function

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ramp monitoring

After selecting SLS, the converter brakes the motor according to the OFF3 ramp-down time.

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5.11 Setting extended functions

Setting SS1 with braking ramp monitoring (Page 162)

Parameter Description
p1051 Speed limit RFG positive direction of rotation (Factory setting depends on the Control
Unit)
p1052 Speed limit RFG negative direction of rotation (Factory setting depends on the Control
Unit)
p1135 OFF3 ramp-down time
p9501.00 Enable safety functions
1 signal: Enable SLS and extended functions.
0 signal: Inhibit SLS and extended functions.
p9506 Function specification: (Factory setting: 1)
1: With braking ramp monitoring
3: Without braking ramp monitoring
p9531[0…3] SLS limit values (factory setting for all levels: 2000 rpm)
p9533 SLS setpoint speed limiting (factory setting: 80 %)
The converter limits the setpoint to the value r9733.
r9733[0] = p9531[x] × p9533.
p9551 SLS changeover delay time (factory setting: 100 ms)
Delay time SLS selection → SLS active, inactive for brake ramp monitoring
p9563[0…3] SLS-specific stop response (Factory setting: STOP A)
0: STOP A
1: STOP B
p9581 Brake ramp reference value (factory setting: 1500 rpm)
Reference speed for SBR
p9582 Brake ramp delay time (factory setting: 250 ms)
p9583 Brake ramp monitoring time (factory setting: 10 s)
The gradient of the braking ramp depends on p9581 and p9583.
r9714 Speed diagnostics [rpm]
[0] Load-side speed actual value
Electrical speed of the motor. For induction motors, the mechanical speed is ob‐
tained from the electrical speed and slip.
[1] Actual SAM/SBR speed limit
[2] Actual SLS speed limit
r9722.04 Status signals
1 signal: SLS active
0 signal: SLS not active
r9733 Effective setpoint speed limiting
[0] Positive setpoint limitation
[1] Negative setpoint limitation
[2] Absolute setpoint speed limitation

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Commissioning
5.11 Setting extended functions

5.11.6.2 Settings for acceptance test

In order to be able to approach the monitoring limit of the safety function during the acceptance
test, you must temporarily deactivate speed limiting of the converter.

Requirement
You are online with Startdrive.

Procedure




1. Open the screen form for the "Acceptance mode".

2. Set the time in which the converter deactivates its internal speed limiting. During the
acceptance test, you must reach the monitored limit value within this time.
After this time expires, the converter exits the acceptance mode and reactivates its internal
speed limiting.
You have made the preparations for the function to be accepted.
❒

Parameter
p9558 Acceptance test mode time limit (factory setting 40000 ms)
Maximum time limit: 100 seconds.

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 Commissioning
5.11 Setting extended functions

5.11.7 Setting SSM

Requirement
You are online with Startdrive.

Procedure

  




1. Open the screen form for the SSM safety function.

2. Selects the function with or without hysteresis.
3. Set the behavior when the motor is switched off.
If you have set the SSM feedback signal for pulse cancellation as "remains active", when
switching on the motor, you must maintain a specific signal sequence.
Switching on the motor when SSM is active (Page 253)
4. Set the speed to be monitored.
5. You only have to set the filter time when the hysteresis ② is enabled.
6. You only have to set the hysteresis when hysteresis is enabled ②.
You have set the SSM function.
❒
The SSM function is active immediately after commissioning has been completed.

SSM without hysteresis

Speed monitoring
• When the motor is switched on, the converter compares the load speed with the speed limit.

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Commissioning
5.11 Setting extended functions

212))
W
6SHHG

660
6SHHGOLPLW

1HJDWLYHVSHHGOLPLW
660

6SHHGEHORZWKHOLPLW
YDOXH
W
Figure 5-14 Time response of the SSM safety function without hysteresis

Parameter Description
p9501.00 1 signal: Enable extended functions.
0 signal: Disable extended functions.
p9501.16 1 signal: Enable hysteresis and filtering
0 signal: Disable hysteresis and filtering
p9546 Speed limit (Factory setting: 20 rpm)
r9714[0] Load-side speed actual value [rpm]
Electrical speed of the motor. For induction motors, the mechanical speed is obtained
from the electrical speed and slip.
r9722.15 1 signal: Absolute value of the speed is lower than the speed limit

SSM with hysteresis

If you wish to monitor speeds that are very close to the speed limit, you may find it useful to set
the hysteresis.

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 Commissioning
5.11 Setting extended functions

Speed monitoring
• When the motor is switched on, the converter compares the load speed with the speed limit,
taking the hysteresis into account.
212))
W
6SHHG

660
6SHHGOLPLW
+\VWHUHVLV

+\VWHUHVLV
1HJDWLYHVSHHGOLPLW
660

6SHHGEHORZOLPLW
YDOXH
W
Figure 5-15 Time response of the SSM safety function with hysteresis

Filter
The signal filters smoothes the speed measured by the converter. Use the filter if you wish to
monitor speeds that lie just below the speed limit.

6SHHG
660
:LWKRXWILOWHU :LWKILOWHU
6SHHGOLPLW

6SHHGEHORZOLPLW W
YDOXH
W
Figure 5-16 Mode of operation of the filter of the SSM function

Parameter Description
p9501.00 1 signal: Enable extended functions.
0 signal: Disable extended functions.
p9501.16 1 signal: Enable hysteresis and filtering
0 signal: Disable hysteresis and filtering
p9545 Filter time (Factory setting: 0 ms)
p9546 Speed limit (Factory setting: 20 rpm)
p9547 Hysteresis (Factory setting: 10 rpm)
r9714[0] Load-side speed actual value [rpm]
Electrical speed of the motor. For induction motors, the mechanical speed is obtained
from the electrical speed and slip.
r9722.15 1 signal: Absolute value of the speed is lower than the speed limit

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Commissioning
5.11 Setting extended functions

Feedback signal SSM when the motor is switched off

You can select as to whether the SSM function should remain active when the motor is switched
off.
The following occurs if SSM remains active:
• With the motor switched off, the converter freezes the "Speed below limit value" signal.
• When the motor is switched off, STO is active.

212)) 212))
W W
6SHHG 6SHHG
660 660

W W
6WDQGVWLOO 6WDQGVWLOO
6SHHGEHORZOLPLW 6SHHGEHORZOLPLW
YDOXH YDOXH
672DFWLYH 672DFWLYH
W W
Figure 5-17 Feedback signal SSM when the motor is switched offLeft: SSM becomes inactive. Right: SSM
remains active

Switching off the motor when SSM is active (Page 249)

Parameter Description
p9509.00 1 signal: SSM becomes inactive when the motor is switched off
0 signal: SSM remains active when the motor is switched off

5.11.8 Setting SDI

5.11.8.1 Setting the monitoring functions

Requirement
You are online with Startdrive.

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 Commissioning
5.11 Setting extended functions

Procedure

 
 

1. Enable the SDI safety function.

2. Press the button for the SDI safety function.
3. Delay time up to active monitoring.
4. Tolerance for motion in the monitored direction.
5. Response when the monitoring function responds.
Stop responses (Page 270)
6. Behavior when the motor is switched off.
Switching off the motor when SDI is active (Page 258)
7. If you leave this signal interconnection at the factory setting, when SDI- is selected, the
converter limits the speed setpoint.
8. If you leave this signal interconnection at the factory setting, when SDI+ is selected, the
converter limits the speed setpoint.
9. Close the screen form.
You have set the SDI function.
❒

The SDI function

Time response
If you select SDI, the converter limits the speed or velocity setpoint to a value of zero in the
inhibited direction of rotation.

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Commissioning
5.11 Setting extended functions

212))

6',GHVHOHFW
'HVHOHFW6',
W
6SHHG
6SHHG
6',

6',
6HWSRLQWVSHHG $QJOH
OLPLWLQJ W
6', 7ROHUDQFH

'HOD\WLPH 'HOD\WLPH

6',DFWLYH
6',DFWLYH
W
Figure 5-18 Delay time and tolerance

Delay time
The converter monitors the direction of rotation of the motor after the delay time has expired.
When SDI is selected, the delay time must be longer than the time that the motor requires to
brake the maximum load from maximum speed down to standstill. The converter brakes the
motor with the OFF3 ramp-down time.

Tolerance
The converter permits brief motion in the monitored direction, for example for brief speed
overshoots after braking down to standstill. To do this, the converter converts the motor speed
into an angle. With the tolerance, you limit the maximum permissible angle in the monitored
direction.

Feedback signal SDI when the motor is switched off

You can select as to whether the SDI function should remain active when the motor is switched
off.
• With the motor switched off, the converter freezes the "SDI active" signal.
• When the motor is switched off, STO is active.

212)) 212))

'HVHOHFW6', 'HVHOHFW6',
W W
6SHHG 6SHHG

6', 6',
W W
6WDQGVWLOO 6WDQGVWLOO

6',DFWLYH 6',DFWLYH
672DFWLYH 672DFWLYH
W W
Figure 5-19 Feedback signal SDI when the motor is switched offLeft: SDI becomes inactive. Right: SDI
remains active

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 Commissioning
5.11 Setting extended functions

Switching off the motor when SDI is active (Page 258)

Parameter Description
p1051 Speed limit RFG positive direction of rotation (Factory setting depends on the Control
Unit)
p1052 Speed limit RFG negative direction of rotation (Factory setting depends on the Control
Unit)
p1135 OFF3 ramp-down time
p9501.00 1 signal: Enable extended functions.
0 signal: Disable extended functions.
p9501.17 1 signal: Enable SDI
0 signal: Inhibit SDI
p9509.08 1 signal: SDI becomes inactive when the motor is switched off
0 signal: SDI remains active when the motor is switched off
p9564 Tolerance (Factory setting: 12 degrees)
p9565 Delay time (Factory setting: 100 ms)
p9566 Stop response (Factory setting: 1)
0: STOP A
1: STOP B
r9714[0] Load-side speed actual value [rpm]
Electrical speed of the motor. For induction motors, the mechanical speed is obtained from
the electrical speed and slip.
r9722.12 1 signal: SDI positive active
r9722.13 1 signal: SDI negative active
r9733 Effective setpoint speed limiting
[0] Positive setpoint limitation
[1] Negative setpoint limitation
[2] Absolute setpoint speed limitation

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Commissioning
5.11 Setting extended functions

5.11.8.2 Settings for acceptance test

In order to be able to approach the monitoring limit of the safety function during the acceptance
test, you must temporarily deactivate speed limiting of the converter.

Requirement
You are online with Startdrive.

Procedure




1. Open the screen form for the "Acceptance mode".

2. Set the time in which the converter deactivates its internal speed limiting. During the
acceptance test, you must reach the monitored limit value within this time.
After this time expires, the converter exits the acceptance mode and reactivates its internal
speed limiting.
You have made the preparations for the function to be accepted.
❒

Parameter
p9558 Acceptance test mode time limit (factory setting 40000 ms)
Maximum time limit: 100 seconds.

5.11.9 Final steps when commissioning online

Overview
You must exit commissioning the safety functions and save the settings.

Requirement
You are online with Startdrive.

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 Commissioning
5.11 Setting extended functions

Function description

Procedure

  

1. Press the "End safety commissioning" button.

2. Confirm the prompt for saving your settings (copy RAM to ROM).
3. Disconnect the online connection.
4. Select the "Load from device (software)" button.
5. Save the project.
6. Switch off the converter power supply.
7. Wait until all LEDs on the converter go dark (no voltage condition).
8. Switch on the converter power supply again.
Your settings are now active.
❒

Parameter

Parameter Description Factory setting

p0010 Drive commissioning parameter filter 1
p0971 Save parameters 0
p9700 SI copy function 0000 hex
p9701 Acknowledge SI data change 0000 hex

Parameter Description
p9700 = 57 hex SI copy function (factory setting: 0)
Start the SI parameter copy function.
p9701 = AC hex Confirm data change (factory setting: 0)
Confirm total data change.

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Commissioning
5.11 Setting extended functions

Parameter Description
p0010 = 0 Drive commissioning parameter filter
0: Ready
p0971 = 1 Save parameter
1: Save the drive object (copy from RAM to ROM)
After the converter has saved the parameters in a non-volatile fashion, then
p0971 = 0.

Overview
The simultaneous connection of digital inputs with a safety function and a "standard" function
may lead to the drive behaving in unexpected ways.
If you control the safety functions in the converter via failsafe digital inputs, then you must check
as to whether the failsafe digital inputs are in some instances interconnected with a "standard"
function.

Function description

Procedure

1. Select the screen for the digital inputs.

2. Remove all interconnections of the digital inputs that you use as failsafe digital input F-DI:
3. You must delete the digital input connections for all CDS if you use the switchover of the
command data sets (CDS).
You can find a description of the CDS switchover in the operating instructions.
You have ensured that the failsafe digital inputs only control the safety functions in the
converter.
❒

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 Commissioning
5.11 Setting extended functions

Checking the interconnection of the feedback signal input for the failsafe digital output
The interconnection of the feedback signal input with a "standard" function may lead to the drive
behaving in unexpected ways.

Requirements
• You are using the failsafe digital output of the converter.
• You use one of the test modes 2 or 3, where the converter evaluates the status of the
connected actuator via a digital input.
You must check whether this digital input is assigned a "Standard" function.

Procedure

Figure 5-20 Removing the interconnection of the feedback signal input DI 6 for the CU250S-2

1. Select the digital inputs.

2. Remove the interconnection of the digital input that you use as feedback signal input for the
failsafe digital output:
– SINAMICS G120 with CU250S-2 Control Unit: Digital input DI 6 (see diagram).
– SINAMICS G120D: Digital input DI 5.
3. If you are using several command data sets (CDS), then remove the interconnection of the
feedback signal input for all CDS.
You have now prevented the feedback signal input of the failsafe digital output controlling
"Standard" functions in the converter.
❒

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Commissioning
5.12 Activating Shared Device

5.12 Activating Shared Device

Enabling Shared Device

If you control the converter safety functions via PROFINET and "Shared Device", you must enable
this function in the converter.

Requirement
You are online with Startdrive.

Procedure
1. In Startdrive, switch to the parameter view.
2. Set p8929 = 2.
You have configured the communication via "Shared Device" in the converter.
❒

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 Commissioning
5.13 Starting communication via PROFIsafe

5.13 Starting communication via PROFIsafe

Starting communication via PROFIsafe

When you connect the converter to the higher-level control system (F-CPU) via the fieldbus for
the first time, the central control system sends the PROFIsafe configuration to the converter.
After the configuration data have been received in the converter, PROFIsafecommunication
starts.
The converter only monitors the communication to the F-CPU after the configuration data have
been received from the central control system.

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Commissioning
5.14 Commissioning with Startdrive offline

5.14 Commissioning with Startdrive offline

When you set the safety function parameters offline, you have to download the settings to the
converter. Once you have downloaded them, you have to finish commissioning the safety
functions online.

Setting the safety functions offline

Procedure
1. Select the safety functions in Startdrive.
2. Set the safety function parameters offline.
When doing this, orient yourself to the descriptions provided in the online commissioning.
Configuring the safety functions and PROFIsafe (Page 123)
3. Back up your project.
You have set the safety functions of the converter offline, and saved them to your PC or PG.
❒
In the next step, you must load the settings from your PC or PG to the converter.

Loading the settings into a converter and activating the safety functions

Procedure
1. In Startdrive, open the project that matches the drive.
2. Select "Load to device".
3. Connect Startdrive online with the drive.
The converter signals faults after the download. Ignore these faults, as they will be
automatically acknowledged by the following steps.
4. Press the "Start safety commissioning" button.
5. Enter the password for the safety functions.
6. Press the "End safety commissioning" button.
7. Confirm the prompt for saving your settings (copy RAM to ROM).
8. Switch off the converter power supply.
9. Wait until all LEDs on the converter are dark.
10.Switch the converter power supply on again.
11.Perform an acceptance test.
Reduced acceptance test after expanding the function (Page 188)
You have loaded the settings of the safety functions from the Startdrive project to the converter,
and have activated the safety functions.
❒

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 Commissioning
5.15 Standard commissioning

5.15 Standard commissioning

Series commissioning is the process where you transfer the settings of one converter to a second
converter.

Procedure
1. Save your project to your PC or PG.
2. Loading your backed up settings to a second converter:
Commissioning with Startdrive offline (Page 184)
3. If you control your converter via PROFIsafe, you have to modify the PROFIsafe address.
Selecting configuration of the safety functions (Page 121)
4. Accept the safety functions.
Reduced acceptance test after expanding the function (Page 188)
You have transferred the settings of the first converter to a second converter.
❒

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Commissioning
5.16 Acceptance tests for the safety functions

5.16 Acceptance tests for the safety functions

5.16.1 Acceptance test

Overview
The machine manufacturer is responsible in ensuring that his plant or machine functions
perfectly. As a consequence, after commissioning, the machine manufacturer must check those
functions or have them checked by specialist personnel, which represent an increased risk of
injury or material damage. This acceptance or validation is, for example, also specified in the
European machinery directive and essentially comprises two parts:
• Checking the safety-relevant functions and machine parts.
→ Acceptance test.
• Generate an "Acceptance report" that describes the test results.
→ Documentation.
Supply information for the validation, e.g. the harmonized European standards EN ISO 13849‑1
and EN ISO 13849‑2.

Function description

Acceptance test of the machine or plant

The acceptance test checks whether the safety-relevant functions in the plant or machine
function correctly. The documentation of the components used in the safety functions can also
provide information about the necessary tests.
Testing the safety-related functions includes, e.g. the following:
• Are all safety equipment such as protective door monitoring devices, light barriers or
emergency-off switches connected and ready for operation?
• Does the higher-level control respond as expected to the safety-relevant feedback signals of
the converter?
• Do the converter settings match the configured safety-relevant function in the machine?

Acceptance test of the converter

The acceptance test of the converter is a part of the acceptance test of the entire machine or
plant.
The acceptance test of the converter checks whether the integrated drive safety functions are
set up correctly for the planned safety function of the machine.

Documentation of the converter

The following must be documented for the converter:
• The results of the acceptance test.
• The settings of the integrated drive safety functions.
The documentation must be signed.

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 Commissioning
5.16 Acceptance tests for the safety functions

Who may perform the acceptance test of the converter?

The following are authorized to perform a converter acceptance test: Only personnel from the
machine manufacturer, who, on account of their technical qualifications and knowledge of the
safety functions, are in a position to perform the acceptance test in the correct and appropriate
manner.

Wizard for the acceptance test

The "Startdrive Advanced" commissioning tool (requires an appropriate license) includes a
wizard for the acceptance test of the safety functions integrated in the drive.
"Startdrive Advanced" guides you through the acceptance test, generates the appropriate traces
to analyze the machine response – and generates an acceptance report as Excel file.
Further information is provided on the Internet:
Startdrive, system requirements and download (https://
support.industry.siemens.com/cs/ww/en/view/109760844)

Reduced acceptance test after function expansions

A full acceptance test is necessary only after first commissioning. A reduced acceptance test is
sufficient when safety functions are expanded.

Measure Acceptance test

Acceptance test Documentation
Functional expansion of the ma‐ Yes. • Supplement machine overview
chine (additional drive). Only check the safety • Supplement converter data
functions of the new
• Add function table
drive.
• Log the new checksums
• Countersignature
Transfer of converter settings to No. • Add machine description
other identical machines by means Only check the control • Check checksums
of series commissioning. of all of the safety func‐
• Checking the firmware versions
tions.

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Commissioning
5.16 Acceptance tests for the safety functions

5.16.2 Reduced acceptance test after expanding the function

A full acceptance test is necessary only after first commissioning. A reduced acceptance test is
sufficient when safety functions are expanded.

Table 5-2 Reduced acceptance test after expanding the function

Measure Acceptance test Documentation

Changing a single limit Check the modified lim‐ • Supplement function table
(e.g. SLS level). it value. • Log modified settings
• Document the changed checksum and time
stamp 1)
• Countersignature
Functional expansion of Check the safety func‐ • Supplement machine overview
the machine (additional tions of the new drive. • Supplement article number and firmware ver‐
drive).
sion of the drive
• Supplement function table
• Log the settings of the new drive
• Document the changed checksum and time
stamp 1)
• Countersignature
Functional expansion of a Check the additional • Supplement function table
drive (e.g. additional SLS functions. • Log modified settings
level or new safety func‐
tion following a firmware • Document the changed checksum and time
update). stamp 1)
• Countersignature
Transfer of converter set‐ Check the control and • Supplement machine description
tings to other identical ma‐ feedback signal of all • Log modified settings
chines by means of series safety functions.
commissioning. • Check the changed checksum and time stamp
1)

• Check the firmware versions

1)
The converter changes the following parameters after changing the settings of the safety functions:
- checksum r9781
- time stamp r9782
Reduced acceptance after a component has been replaced and a firmware change
(Page 309)

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Operation 6
6.1 About this chapter

What can you find in this Chapter?

In this chapter, you will find answers to the following questions:
• What do I have to do to maintain the guaranteed failure probability of the safety functions
during the mission time?
• How does the drive respond when you select and deselect one of the safety functions?
• What do I need to observe when the motor is switched off or switched on with a safety
function active?
• How does the drive respond to a discrepancy signal at a fail-safe digital input?
• How does the drive respond to limit value violations or if internal monitoring functions
respond?
• How do I acknowledge safety function faults?
• How do the safety functions mutually influence one another, if I select more than one safety
function?
• What do the alarm and fault messages of the safety functions mean?

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Operation
6.2 Regularly testing the safety functions

6.2 Regularly testing the safety functions

6.2.1 Overview

Safety functions according to SIL 2 to IEC 61508 and to Pl d according to EN ISO 13849
You must initiate the following function tests as a minimum once per year in order to maintain
the assured failure probability of the safety functions:
• The converter must test its failsafe digital input if you are using a failsafe digital input.
Testing failsafe digital inputs (Page 191)
• The converter must test its safety functions:
Testing the basic functions (Page 192)
Testing the extended functions (Page 194)
• The converter must test its failsafe digital output if you are using a failsafe digital output.
Testing a failsafe digital output (Page 196)

Safety functions according to SIL 3 to IEC 61508 and to Pl e according to EN ISO 13849
You must initiate the following function tests at least once every three months in order to
maintain the guaranteed failure probability of the "STO via Power Module terminals" function:
• The converter must test the failsafe digital input on the Power Module.
Testing failsafe digital inputs (Page 191)
• The converter must test the "STO via Power Module terminals" function.
Testing the basic functions (Page 192)

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 Operation
6.2 Regularly testing the safety functions

6.2.2 Testing failsafe digital inputs

Testing sensors and failsafe digital inputs

The converter tests its failsafe digital inputs and the connected sensors with a signal change at
the inputs. We recommend that you test the failsafe digital inputs together with the forced
checking procedure (test stop).

Procedure
1. Actuate the relevant sensor.
2. Check the following:
– The expected safety function is active.
– The converter signals a fault.
You have tested the failsafe digital inputs.
❒

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
Internal event r9722.7 ✓ --- ✓
STO active (Basic Functions) r9773.1 ✓ --- ✓
STO active (Extended Functions) r9722.0 ✓ --- ✓
SS1 active (Basic Functions) r9773.6 ✓ --- ✓
SS1 active (Extended Functions) r9722.1 ✓ --- ✓
SLS active r9722.4 ✓ --- ✓
SDI+ active r9722.12 ✓ --- ✓
SDI- active r9722.13 ✓ --- ✓

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Operation
6.2 Regularly testing the safety functions

6.2.3 Testing the basic functions

Time
The converter monitors as to whether the self test (= forced checking procedure, test stop) is
regularly started.

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EDVLFIXQFWLRQVLVUHTXLUHG
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0RQLWRULQJWLPH
Figure 6-1 Starting and monitoring the forced checking procedure (test stop)

672YLDWKH
3RZHU0RGXOH &DUU\RXWWKHIRUFHGFKHFNLQJ
WHUPLQDOVLVDFWLYH SURFHGXUHRIWKH672IXQFWLRQ
7  7KHIRUFHGFKHFNLQJSURFHGXUHLV
UHTXLUHGIRUWKH672IXQFWLRQ
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0RQLWRULQJWLPH
Figure 6-2 Start and monitoring of the forced checking procedure (test stop) for STO via Power Module
terminals

In the case of alarms A01699 and A01678, you must initiate a self test at the next opportunity,
e.g.:
• When the drives are at a standstill after the system has been switched on.
• When a protective door is opened.
• At specified regular intervals before the monitoring time expires.

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
STO active (Basic Functions) r9773.1 ✓ --- ✓
Deselect STO (Basic Functions) r9773.0 ✓ ✓ ---
STO cause – selection via Power Mod‐ r9772.25 --- --- ---
ule terminals
Forced checking procedure (test stop) r9773.30 --- --- ---
for the "STO via Power Module termi‐
nals" function
Forced checking procedure (test stop) r9773.31 --- --- ---
required for the Basic Functions

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

192 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.2 Regularly testing the safety functions

Carry out a forced checking procedure of the Basic Functions

Requirements
• STO is not active.
• The motor is switched on (ON/OFF1 = 1), and is at a standstill (speed setpoint = 0).

Procedure
1. Select the STO function.
2. The converter checks its safety-related circuits. This check takes several milliseconds.
3. Deselect the STO function.
4. Check that alarm A01699 is no longer present.
You have performed the forced checking procedure.
❒

Carry out the forced checking procedure of the "STO via Power Module terminals" function

Requirements
• STO is not active.
• The motor is switched on (ON/OFF1 = 1), and is at a standstill (speed setpoint = 0).

Procedure
1. Select the "STO via Power Module terminals" function.
2. The converter checks its safety-related circuits. This check takes several milliseconds.
3. Deselect the "STO via Power Module terminals" function.
4. Check that alarm A01678 is no longer active.
You have performed the forced checking procedure.
❒

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Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 193
Operation
6.2 Regularly testing the safety functions

6.2.4 Testing the extended functions

Time
The converter monitors as to whether the self test (= forced checking procedure, test stop) is
regularly started.

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Figure 6-3 Starting and monitoring the forced checking procedure (test stop)

If the converter outputs alarm A01699 or A01697, you must initiate a forced checking procedure
at the next opportunity, e.g.:
• When the system is switched on.
• At specified regular intervals before the monitoring time expires.

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
STO active (Basic Functions) r9773.1 ✓ --- ✓
STO cause, selection via terminal on r9772.25 --- --- ---
the Power Module
STO active (Extended Functions) r9722.0 ✓ --- ✓
Forced checking procedure (test stop) r9773.31 --- --- ---
required for the Basic Functions
Forced checking procedure (test stop) r9723.0 --- --- ---
required for the Extended Functions
Start forced checking procedure (Ex‐ p9705 --- --- ---
tended Functions)

Performing a forced checking procedure (test stop)

When testing the Extended Functions, the converter switches the motor into a no-torque
condition.

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194 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.2 Regularly testing the safety functions

Requirements
• STO is not active.
If you start the forced checking procedure with STO active, then the converter responds with
a fault.
• The motor is switched on (ON/OFF1 = 1), and is at a standstill (speed setpoint = 0).

Procedure
1. Start the forced checking procedure using a signal of your choice, for example a digital input.
2. The converter checks its safety-related circuits. During the check, the converter outputs
alarms C01798 and C30798. This check takes several milliseconds.
3. Set the signal to start the forced checking procedure to zero.
4. Check that neither alarm A01699 nor alarm A01697 is active.
5. Check the failsafe digital outputs of the converter.
Testing failsafe digital inputs (Page 191)
6. Check the failsafe digital output of the converter.
Testing a failsafe digital output (Page 196)
You have performed the forced checking procedure of the Extended Functions.
❒

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Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 195
Operation
6.2 Regularly testing the safety functions

6.2.5 Testing a failsafe digital output

Time of the test

The converter monitors that the test is regularly performed using a time block.

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Figure 6-4 Start and monitoring of the forced checking procedure (test stop) of the failsafe digital output

If the converter outputs alarm A01774, you must initiate the test at the next opportunity, e.g.:
• When the system is switched on.
• At specified regular intervals before the monitoring time expires.

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
Forced checking procedure (test stop) r9723.0 --- --- ---
required for the Extended Functions
Start forced checking procedure (test p10007 --- --- ---
stop) of the failsafe digital output

Testing the failsafe digital output and the connected actuator

The converter tests its failsafe digital output and the connected actuator for a signal change at
the failsafe digital output.

Procedure
1. Switch on the motor (ON/OFF1 command = 1).
If you wish to carry out the forced checking procedure at standstill, the speed setpoint must
be = 0.
2. Start the test using a signal of your choice, for example a digital input.
3. The converter briefly switches off the failsafe digital output. This test takes several
milliseconds.
4. Set the signal to start the forced checking procedure to zero.
5. Check that alarm A01774 is no longer present.
You have tested the failsafe digital output.
❒
The response of the failsafe digital output depends on the test stop mode that has been selected.
Output signal and setting the test mode (Page 157)

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196 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.2 Regularly testing the safety functions

)',

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Figure 6-5 Test stop mode 1

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Figure 6-6 Test stop mode 2

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 197
Operation
6.2 Regularly testing the safety functions

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Figure 6-8 Test stop mode 4

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

198 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.3 Safe Torque Off (STO)

6.3 Safe Torque Off (STO)

6.3.1 Overview

What can you find in this Chapter?

The relevant operating cases for the STO function are described in this chapter.

Table 6-1 Operating cases for the STO function when the motor is switched on (ON/OFF1 = 1)

Selecting and de‐ Selecting and deselecting STO when the motor is switched on (Page 200)
selecting STO
Discrepancy in The failsafe digital input to select STO identifies an error.
the input signal Response to a discrepancy when STO is active (Page 202)

Table 6-2 Switching the motor on and off when STO is active or not active

Switching on the motor (ON/OFF1 = Switching off the motor (ON/OFF1,

0 → 1) OFF2 or OFF3 = 1 → 0)
STO is not active If STO is not active, then there are no restrictions for switching on and switching off
the motor.
STO is active The active STO function prevents the mo‐ The motor is always switched off when
tor from being switched on. STO is active. The OFF1, OFF2 and OFF3
signals have no effect.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 199
Operation
6.3 Safe Torque Off (STO)

6.3.2 Selecting and deselecting STO when the motor is switched on

Select STO

Function
1. The machine control selects the STO safety function via a failsafe digital input or via
PROFIsafe.
2. The converter then safely switches off the motor torque.

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Figure 6-9 Time response of the STO safety function (Safe Torque Off)

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
STO active (Basic Functions) r9773.1 ✓ --- ✓
Deselect STO (Basic Functions) r9773.0 ✓ ✓ ---
STO active (Extended Functions) r9722.0 ✓ --- ✓
Deselect STO (Extended Functions) r9720.0 ✓ ✓ ---
Ready for switching on r0052.0 --- --- ---
ON/OFF1 r0054.0 --- --- ---

Switching on the motor once STO is active

Procedure
1. Deselect STO.
2. After deselecting STO, wait until the converter is "ready to switch on".
Alternatively: After deselecting STO, wait a certain time before switching on. We recommend
a wait time of 200 ms.
3. Switch on the motor: ON/OFF1 = 1.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

200 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.3 Safe Torque Off (STO)

You have re-activated the motor following an active STO.

❒

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 201
Operation
6.3 Safe Torque Off (STO)

6.3.3 Response to a discrepancy when STO is active

The converter responds with the active safety function STO to a discrepancy at the failsafe digital
input.
The converter response depends on the wiring and the setting of the converter:
• You are using the Basic Functions according to SIL 2 → case 1.
• You are using the Extended Functions → case 2.
• You are using the "STO via Power Module terminals" function → Case 3.

Case 1: Response of the drive for STO of the Basic Functions

You have selected one of the following settings:
• Basic Functions via onboard terminals
• Basic Functions via PROFIsafe and onboard terminals
• Extended Functions via PROFIsafe and Basic Functions via onboard terminals

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Figure 6-10 Converter response for discrepancy of the input signal for STO (example: cable break in the
channel of processor P1)

Converter messages after the tolerance time has expired:

• Discrepancy (fault F01611 or F30611 with fault values r0949 = 2000 or 2002)
• The converter sets the error bit of the safety functions (= internal event).

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202 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.3 Safe Torque Off (STO)

Independent of the voltage levels available, the converter sets the evaluation of the discrepant
failsafe digital input into the safe state (= zero) until you acknowledge the converter using a
failsafe signal or you switch off the power supply voltage and switch it on again.

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
Internal event r9722.7 ✓ --- ✓
STO active (Basic Functions) r9773.1 ✓ --- ✓
Deselect STO (Basic Functions) r9773.0 ✓ ✓ ---
"Standard" acknowledgment p2103 --- --- ---
Failsafe acknowledgment r9720.7 ✓ ✓ ---
ON/OFF1 r0054.0 --- --- ---

Case 1: Switching on the motor after a discrepancy

Procedure
1. Remove the discrepancy.
2. Acknowledge the internal event.

Selected setting How can the internal event be acknowledged?

F-DI PROFIsafe Alternative
Basic Functions via on‐ Select and deselect --- Switch off the
board terminals STO (F‑DI = power supply
1 → 0 → 1) voltage and
switch on again
Basic Functions via Select and deselect Select and deselect STO (PROFI‐ Switch off the
PROFIsafe and onboard STO (F‑DI = safe control word 1, bit 0 power supply
terminals 1 → 0 → 1) = 1 → 0 → 1) voltage and
or switch on again
Select and deselect SS1 (PROFI‐
safe control word 1, bit 1
= 1 → 0 → 1)
or
Failsafe acknowledgment (PRO‐
FIsafe control word 1, bit 7 =
0 → 1 → 0)
Extended Functions via Select and deselect Select and deselect STO (PROFI‐ Switch off the
PROFIsafe and Basic STO (F‑DI = safe control word 1, bit 0 power supply
Functions via onboard 1 → 0 → 1) = 1 → 0 → 1) voltage and
terminals or switch on again
Select and deselect SS1 (PROFI‐
safe control word 1, bit 1
= 1 → 0 → 1)
or
Failsafe acknowledgment (PRO‐
FIsafe control word 1, bit 7 =
0 → 1 → 0)

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 203
Operation
6.3 Safe Torque Off (STO)

3. Acknowledge the converter with the "standard" acknowledge signal.

4. Issue an OFF1 command (ON/OFF1 = 0).
5. Switch on the motor (ON/OFF1 = 1).
You have acknowledged the discrepancy message, and switched on the motor again.
❒

Case 2: Response of the drive for STO of the Extended Functions

You have selected the Extended Functions via onboard terminals.

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Figure 6-11 Response of safety function STO in the event of a discrepancy

The converter does not set the error bit of the safety functions (= internal event).
After the tolerance time has expired, the converter signals the discrepancy (fault C01770 or
C30770).

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
Internal event r9722.7 ✓ --- ✓
STO active (Extended Functions) r9722.0 ✓ --- ✓
Deselect STO (Extended Functions) r9720.0 ✓ ✓ ---
"Standard" acknowledgment p2103 --- --- ---
Failsafe acknowledgment r9720.7 ✓ ✓ ---
ON/OFF1 r0054.0 --- --- ---

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204 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.3 Safe Torque Off (STO)

Case 2: Switching on the motor after a discrepancy

Procedure
1. Remove the discrepancy.
2. Acknowledge the discrepancy message with a failsafe acknowledge signal via a failsafe
digital input: F‑DI = 0 → 1 → 0.
Alternatively: Switch off the power supply voltage and switch on again.
3. Acknowledge the converter with the "standard" acknowledge signal.
4. Issue an OFF1 command (ON/OFF1 = 0).
5. Switch on the motor (ON/OFF1 = 1).
You have acknowledged the discrepancy message, and switched on the motor again.
❒

Example 3: Drive response for the "STO via Power Module terminals" function
You have selected the "STO via Power Module terminals" function for the PM240‑2 or PM240P‑2
Power Module.

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Figure 6-12 Response of safety function STO in the event of a discrepancy at the input of the PM240‑2
or PM240P‑2 Power Module

Converter messages after the tolerance time has expired:

• Discrepancy (fault F01600 or F30600 with fault value r0949 = 1030)
• The converter sets the error bit of the safety functions (= internal event).

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Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 205
Operation
6.3 Safe Torque Off (STO)

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
Internal event r9722.7 ✓ --- ✓
STO active (Basic Functions) r9773.1 ✓ --- ✓
Deselect STO (Basic Functions) r9773.0 ✓ ✓ ---
STO cause – selection via Power Mod‐ r9772.25 --- --- ---
ule terminals
"Standard" acknowledgment p2103 --- --- ---
Failsafe acknowledgment r9720.7 ✓ ✓ ---
ON/OFF1 r0054.0 --- --- ---

Example 3: Switching on the motor after a discrepancy

Procedure
1. Remove the discrepancy.
2. Acknowledge the discrepancy message.

Selected setting How can the internal event be acknowledged?

F-DI 1) PROFIsafe Alternative
Basic Functions via on‐ Select and deselect --- Switch off the
board terminals STO (F‑DI = power supply
1 → 0 → 1) voltage and
switch on again
Basic Functions via Select and deselect Select and deselect STO (PROFI‐ Switch off the
PROFIsafe and onboard STO (F‑DI = safe control word 1, bit 0 power supply
terminals 1 → 0 → 1) = 1 → 0 → 1) voltage and
or or switch on again
Extended Functions via Select and deselect SS1 (PROFI‐
PROFIsafe and Basic safe control word 1, bit 1
Functions via onboard = 1 → 0 → 1)
terminals or
Failsafe acknowledgment (PRO‐
FIsafe control word 1, bit 7 =
0 → 1 → 0)
1)
The message cannot be acknowledged using the Power Module terminals.
3. Acknowledge the converter with the "standard" acknowledge signal.
4. Issue an OFF1 command (ON/OFF1 = 0).
5. Enter a speed setpoint = 0 (motor is stationary) – and switch on the motor (ON/OFF1 = 1).
6. Select the "STO via Power Module terminals" function.
The converter carries out a forced checking procedure (test stop).
7. Deselect the "STO via Power Module terminals" function.
8. Check that neither fault F01600 nor F30600 with fault value r0949 = 1030 is active.

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206 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.3 Safe Torque Off (STO)

You have acknowledged the discrepancy message, and switched on the motor again.
❒

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 207
Operation
6.4 Safe Brake Control (SBC)

6.4 Safe Brake Control (SBC)

6.4.1 Selecting and deselecting SBC when the motor is switched on

If you have connected the motor holding brake to the converter via the Safe Brake Relay, then the
SBC function is active under the following conditions:
1. You have activated the "motor holding brake" function in the converter.
2. You have enabled the SBC function.
3. The STO function is active in the converter.

Selecting STO when the motor is at a standstill

Function
1. The higher-level control switches the motor off: ON/OFF1 = 0 or OFF3 = 0.
2. When the drive has come to a standstill, the control selects the STO function.

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Figure 6-13 Wait until standstill is reached and activate SBC with STO

Before you can switch on the motor again, you must deselect the STO function.

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
Deselect STO (Basic Functions) r9773.0 ✓ ✓ ---
Deselect STO (Extended Functions) r9720.0 ✓ ✓ ---
SBC requested (basic functions) r9773.4 --- --- ---
ON/OFF1 r0054.0 --- --- ---
Release motor holding brake r0899.12 --- --- ---
Close motor holding brake r0899.13 --- --- ---

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208 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.4 Safe Brake Control (SBC)

Selecting SS1 when the motor is rotating

Function
1. The higher-level control selects the SS1 function
2. The converter brakes the motor with the OFF3 ramp-down time.
3. The converter closes the motor holding brake once the motor is at a standstill.
4. If the standstill monitoring is undershot, or once the delay time has expired, the converter
activates the STO function and controls the brake with the SBC function.

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Figure 6-14 When selecting SS1, the motor holding brake closes at standstill

Before you can switch on the motor again, you must deselect the SS1 function.

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
STO active (Basic Functions) r9773.1 ✓ --- ✓
STO active (Extended Functions) r9722.0 ✓ --- ✓
Deselect STO (Extended Functions) r9720.0 ✓ ✓ ---
SBC requested (basic functions) r9773.4 --- --- ---
Deselect SS1 (Basic Functions) r9773.5 ✓ ✓ ---
Deselect SS1 (Extended Functions) r9720.1 ✓ ✓ ---
ON/OFF1 r0054.0 --- --- ---
Release motor holding brake r0899.12 --- --- ---
Close motor holding brake r0899.13 --- --- ---

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 209
Operation
6.4 Safe Brake Control (SBC)

Selecting STO when the motor is rotating

Function
1. The higher-level control selects the STO function.
2. The converter closes the brake without taking the current speed into consideration.

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Figure 6-15 The motor holding brake closes after selecting STO

Before you can switch on the motor again, you must deselect the STO function.

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
Deselect STO (Basic Functions) r9773.0 ✓ ✓ ---
Deselect STO (Extended Functions) r9720.0 ✓ ✓ ---
SBC requested (basic functions) r9773.4 --- --- ---
ON/OFF1 r0054.0 --- --- ---
Release motor holding brake r0899.12 --- --- ---
Close motor holding brake r0899.13 --- --- ---

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210 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.4 Safe Brake Control (SBC)

6.4.2 Response to faults in the brake control

Faults in the brake control

When opening or closing the brake, the converter identifies faults in the brake cable and in the
brake winding.

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① Control cable from the converter to the Safe Brake Relay is interrupted
② Short-circuit in the brake winding
③ Cross circuit between the brake cable and the 24 V supply voltage
④ Brake cable is interrupted
⑤ Ground fault on the brake cable
Figure 6-16 Examples of faults in the brake control

Drive response
If the converter detects a fault in the brake control, it responds with a STOP A (message F01630
or F30630) and closes the brake.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 211
Operation
6.5 Safe Stop 1 (SS1)

6.5 Safe Stop 1 (SS1)

6.5.1 Overview

What can you find in this Chapter?

The relevant operating cases for the SS1 function are described in this chapter.

Table 6-3 Response of the SS1 function when the motor is switched on (ON/OFF1 = 1)

Select and dese‐ Selecting and deselecting SS1 when the motor is switched on (Page 213)
lect SS1
Discrepancy in The failsafe digital input to select SS1 identifies an error.
the input signal Response to a discrepancy when SS1 is active (Page 221)
Limit value viola‐ The speed of the motor violates the SS1 monitoring that has been set.
tion Limit value violation when SS1 is active (Page 226)
The basic SS1 function does not monitor the motor speed. The limit value violation
is not relevant in this particular case.

Table 6-4 Switching the motor on and off when SS1 is active or not active

Switching on the motor (ON/OFF1 = Switching off the motor (ON/OFF1,

0 → 1) OFF2 or OFF3 = 1 → 0)
SS1 is not active If SS1 is not active, then there are no restrictions for switching on and switching off
the motor.
SS1 is active The active SS1 function prevents the mo‐ The drive response depends on the signal
tor from being switched on. that you use to switch off the motor.
Switching off the motor when SS1
is active (Page 219)

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

212 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.5 Safe Stop 1 (SS1)

6.5.2 Selecting and deselecting SS1 when the motor is switched on

6.5.2.1 SS1 basic function

Select SS1

Function
1. The higher-level control selects the SS1 function via a failsafe digital input or via PROFIsafe
safe communication.
2. If the motor is switched on when SS1 is selected, the converter brakes the motor with the
OFF3 ramp-down time.
3. After the delay time, the converter safely switches off the motor torque with the STO safety
function.

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Figure 6-17 Braking behavior and diagnostics of the safety function SS1 (Safe Stop 1)

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
STO active (Basic Functions) r9773.1 ✓ --- ✓
SS1 active (Basic Functions) r9773.6 ✓ --- ✓
Deselect SS1 (Basic Functions) r9773.5 ✓ ✓ ---
Ready for switching on r0052.0 --- --- ---
ON/OFF1 r0054.0 --- --- ---

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 213
Operation
6.5 Safe Stop 1 (SS1)

Switching on the motor once SS1 is active

Procedure
1. Deselect SS1.
2. After deselecting SS1, wait until the converter is "ready to switch on".
Alternatively: After deselecting SS1, wait a certain time before switching on. We recommend
a wait time of 200 ms.
3. Switch on the motor: ON/OFF1 = 1.
You have activated the motor following an active SS1.
❒

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

214 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.5 Safe Stop 1 (SS1)

6.5.2.2 Extended function SS1 with acceleration monitoring

Select SS1

Function
1. The higher-level control selects the SS1 safety function via a failsafe digital input or via
PROFIsafe safe communication.
2. If the motor has already been switched off when selecting SS1, then the converter safely
switches off the motor torque with the safety function STO.
If the motor is switched on when SS1 is selected, the converter brakes the motor with the
OFF3 ramp-down time. The converter monitors whether the load speed decreases using the
SBR function.
3. The converter safely switches off the motor torque using the STO safety function if the load
speed reaches the "standstill monitoring".

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Figure 6-18 Braking behavior and diagnostics of the safety function SS1 (Safe Stop 1)

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
STO active (Extended Functions) r9722.0 ✓ --- ✓
SS1 active (Extended Functions) r9722.1 ✓ --- ✓
Deselect SS1 (Extended Functions) r9720.1 ✓ ✓ ---
SAM/SBR active r9723.16 --- --- ---

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 215
Operation
6.5 Safe Stop 1 (SS1)

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
Ready for switching on r0052.0 --- --- ---
ON/OFF1 r0054.0 --- --- ---

Switching on the motor once SS1 is active

Procedure
1. Deselect SS1.
2. After deselecting SS1, wait until the converter is "ready to switch on".
Alternatively: After deselecting SS1, wait a certain time before switching on. We recommend
a wait time of 200 ms.
3. Switch on the motor: ON/OFF1 = 1.
You have activated the motor following an active SS1.
❒

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

216 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.5 Safe Stop 1 (SS1)

6.5.2.3 Extended function SS1 with acceleration monitoring

Select SS1

Function
1. The higher-level control selects the SS1 safety function via a failsafe digital input or via
PROFIsafe safe communication.
2. If the motor has already been switched off when selecting SS1, then the converter safely
switches off the motor torque with the safety function STO.
If the motor is switched on when SS1 is selected, the converter brakes the motor with the
OFF3 ramp-down time. The converter monitors braking using the SAM function (Safe
Acceleration Monitor).
3. The converter safely switches off the motor torque with the STO safety function if one of the
two conditions is fulfilled:
– The actual speed reaches the value of the "standstill monitoring".
– The delay time has expired.

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Figure 6-19 Braking behavior and diagnostics of the safety function SS1 (Safe Stop 1)

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
STO active (Extended Functions) r9722.0 ✓ --- ✓
SS1 active (Extended Functions) r9722.1 ✓ --- ✓

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 217
Operation
6.5 Safe Stop 1 (SS1)

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
Deselect SS1 (Extended Functions) r9720.1 ✓ ✓ ---
SAM/SBR active r9723.16 --- --- ---
Ready for switching on r0052.0 --- --- ---
ON/OFF1 r0054.0 --- --- ---

Switching on the motor once SS1 is active

Procedure
1. Deselect SS1.
2. After deselecting SS1, wait until the converter is "ready to switch on".
Alternatively: After deselecting SS1, wait a certain time before switching on. We recommend
a wait time of 200 ms.
3. Switch on the motor: ON/OFF1 = 1.
You have activated the motor following an active SS1.
❒

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

218 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.5 Safe Stop 1 (SS1)

6.5.3 Switching off the motor when SS1 is active

Description

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Figure 6-20 OFF2 command when the SS1 safety function is active (example: SS1 with braking ramp
monitoring)

If you switch the motor off with the OFF1 or OFF3 command while the SS1 safety function is
active, for example when limit switches are reached, this does not affect how the motor behaves.
SS1 remains active and the converter brakes the motor until the standstill detection threshold is
reached.
If you switch off the motor with the safety SS1 function active using the OFF2 command, then
the behavior of the drive is dependent on the setting of the SS1 safety function:
• SS1 without speed monitoring:
The converter switches off the motor torque. The motor then coasts to a standstill. After the
delay time, STO is active.
• SS1 with speed monitoring:
The converter switches off the motor torque with the STO safety function. The motor then
coasts to a standstill.

Converter signal Parameters Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
STO active (Extended Functions) r9722.0 ✓ --- ✓
Deselect SS1 (Basic Functions) r9773.5 ✓ ✓ ---
SS1 active (Extended Functions) r9722.1 ✓ --- ✓
Deselect SS1 (Extended Functions) r9720.1 ✓ ✓ ---
SAM/SBR active r9723.16 --- --- ---

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 219
Operation
6.5 Safe Stop 1 (SS1)

Converter signal Parameters Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
ON/OFF1 r0054.0 --- --- ---
OFF2 r0054.1 --- --- ---

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

220 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.5 Safe Stop 1 (SS1)

6.5.4 Response to a discrepancy when SS1 is active

The converter responds with the active safety function SS1 to a discrepancy at the failsafe digital
input.
The behavior of the drive depends on the setting of the converter.

1st case: Response of the drive for SS1 of the Basic Functions
You have selected one of the following settings:
• Basic Functions via onboard terminals
• Basic Functions via PROFIsafe and onboard terminals
• Extended Functions via PROFIsafe and Basic Functions via onboard terminals

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Figure 6-21 Converter response for discrepancy of the input signal for SS1 (example: cable break in
the channel of processor P1)

Converter messages after the tolerance time has expired:

• Discrepancy (fault F01611 or F30611 with fault value r0949 = 2002)
• The converter sets the error bit of the safety functions (= internal event).

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 221
Operation
6.5 Safe Stop 1 (SS1)

Independent of the voltage levels available, the converter sets the evaluation of the discrepant
failsafe digital input into the safe state (= zero) until you acknowledge the converter using a
failsafe signal or you switch off the power supply voltage and switch it on again.

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
Internal event r9722.7 ✓ --- ✓
STO active (Basic Functions) r9773.1 ✓ --- ✓
SS1 active (Basic Functions) r9773.6 ✓ --- ✓
Deselect SS1 (Basic Functions) r9773.5 ✓ ✓ ---
"Standard" acknowledgment p2103 --- --- ---
Failsafe acknowledgment r9720.7 ✓ ✓ ---
ON/OFF1 r0054.0 --- --- ---

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

222 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.5 Safe Stop 1 (SS1)

Switching on the motor after a discrepancy

Procedure
1. Remove the discrepancy.
2. Acknowledge the internal event.

Selected setting How can the internal event be acknowledged?

F-DI PROFIsafe Alternative
Basic Functions via on‐ Select and deselect --- Switch off the
board terminals SS1 (F‑DI = power supply
1 → 0 → 1) voltage and
switch on again
Basic Functions via Select and deselect Select and deselect STO (PROFI‐ Switch off the
PROFIsafe and onboard SS1 (F‑DI = safe control word 1, bit 0 power supply
terminals 1 → 0 → 1) = 1 → 0 → 1) voltage and
or switch on again
Select and deselect SS1 (PROFI‐
safe control word 1, bit 1
= 1 → 0 → 1)
or
Failsafe acknowledgment (PRO‐
FIsafe control word 1, bit 7 =
0 → 1 → 0)
Extended Functions via Select and deselect Select and deselect STO (PROFI‐ Switch off the
PROFIsafe and Basic SS1 (F‑DI = safe control word 1, bit 0 power supply
Functions via onboard 1 → 0 → 1) = 1 → 0 → 1) voltage and
terminals or switch on again
Select and deselect SS1 (PROFI‐
safe control word 1, bit 1
= 1 → 0 → 1)
or
Failsafe acknowledgment (PRO‐
FIsafe control word 1, bit 7 =
0 → 1 → 0)

3. Acknowledge the converter with the "standard" acknowledge signal.

4. Issue an OFF1 command (ON/OFF1 = 0).
5. Switch on the motor (ON/OFF1 = 1).
You have acknowledged the discrepancy message, and switched on the motor again.
❒

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 223
Operation
6.5 Safe Stop 1 (SS1)

2nd case: Response of the drive for SS1 of the Extended Functions
You have selected the Extended Functions via onboard terminals.

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Figure 6-22 Converter response for discrepancy of the input signal for SS1 (as example: SS1 with
braking ramp monitoring)

The converter does not set the error bit of the safety functions (= internal event).
After the tolerance time has expired, the converter signals the discrepancy (message C01770 or
C30770) but does not interrupt the braking operation for the motor.

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
STO active (Extended Functions) r9722.0 ✓ --- ✓
SS1 active (Extended Functions) r9722.1 ✓ --- ✓
Deselect SS1 (Extended Functions) r9720.1 ✓ ✓ ---
SAM/SBR active r9723.16 --- --- ---
"Standard" acknowledgment p2103 --- --- ---
Failsafe acknowledgment r9720.7 ✓ ✓ ---
ON/OFF1 r0054.0 --- --- ---

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

224 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.5 Safe Stop 1 (SS1)

Switching on the motor after a discrepancy

Procedure
1. Remove the discrepancy.
2. Acknowledge the discrepancy message with the failsafe acknowledge signal via a failsafe
digital input: F‑DI = 0 → 1 → 0.
Alternatively: Switch off the power supply voltage and switch on again.
3. Acknowledge the converter with the "standard" acknowledge signal.
4. Issue an OFF1 command (ON/OFF1 = 0).
5. Switch on the motor (ON/OFF1 = 1).
You have acknowledged the discrepancy message, and switched on the motor again.
❒

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 225
Operation
6.5 Safe Stop 1 (SS1)

6.5.5 Limit value violation when SS1 is active

Drive response
If motion monitoring detects a fault when SS1 is active, the converter safely switches off the
motor torque (STOP A).

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Figure 6-23 General fault response of safety function SS1 (as an example: SS1 with acceleration
monitoring)

Converter signal Parame‐ Included in the PRO‐ Can be intercon‐

ter FIsafe telegram nected with
F-DI F-DO
Internal event r9722.7 ✓ --- ✓
STO active (Extended Functions) r9722.0 ✓ --- ✓
SS1 active (Extended Functions) r9722.1 ✓ --- ✓
Deselect SS1 (Extended Functions) r9720.1 ✓ ✓ ---
SAM/SBR active r9723.16 --- --- ---
"Standard" acknowledgment p2103 --- --- ---
ON/OFF1 r0054.0 --- --- ---

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

226 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.5 Safe Stop 1 (SS1)

Switching the motor on after an internal event

Procedure
1. Deselect function SS1.
2. Issue an OFF1 command (ON/OFF1 = 0).
3. Acknowledge the converter with the "standard" acknowledge signal.
4. Switch on the motor again (ON/OFF1 = 1).
You have acknowledged the internal event and switched on the motor again.
❒

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 227
Operation
6.6 Safely Limited Speed (SLS)

6.6 Safely Limited Speed (SLS)

6.6.1 Overview

What can you find in this Chapter?

The relevant operating cases for the SLS function are described in this chapter.

Table 6-5 Response of the SLS function when the motor is switched on (ON/OFF1 = 1)

Selecting and de‐ Selecting and deselecting SLS when the motor is switched on (Page 228)
selecting SLS
Switching over Switching over from a higher SLS level to a lower SLS level (and vice versa).
SLS levels when Switching over SLS levels (Page 235)
SLS is active
Discrepancy in The failsafe digital input to select SLS identifies an error.
the input signal Response to a discrepancy when SLS is active (Page 243)
Limit value viola‐ The speed of the motor exceeds the set SLS limit value.
tion Limit value violation when SLS is active (Page 245)

Table 6-6 Switching the motor on and off when SLS is active or not active

Switching on the motor (ON/OFF1 = Switching off the motor (ON/OFF1,

0 → 1) OFF2 or OFF3 = 1 → 0)
SLS is not active If SLS is not active, then there are no restrictions for switching on and switching off
the motor.
SLS is active If your application requires that SLS al‐ The drive response depends on the signal
ways remains active, then you must take that you use to switch off the motor.
into account several special issues when Switching off the motor when SLS
switching on the motor. is active (Page 239)
Switching on the motor when SLS
is active (Page 241)

6.6.2 Selecting and deselecting SLS when the motor is switched on

Selecting SLS when the motor is switched on

As soon as the converter detects the selection of SLS via a failsafe digital input or via the
PROFIsafe safe communication, the following happens:
• The converter limits the speed to a value below the SLS monitoring and brakes the motor with
the OFF3 ramp-down time.
• You can select whether the converter monitors motor braking using the SBR (Safe Brake
Ramp) function.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

228 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.6 Safely Limited Speed (SLS)

With braking ramp monitoring Without braking ramp monitoring

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After the adjustable "Delay time for braking ramp" The converter monitors the load speed after an
has elapsed, the converter uses the SBR (Safe Brake adjustable delay time has expired.
Ramp) function to determine whether the speed Advantage:
has decreased. • Instead of the SBR subfunction, you must only
The converter switches from SBR to SLS as soon as set the delay time.
one of the following two conditions is fulfilled:
• The SBR monitoring ramp has reached the value
of the speed monitoring.
This case is shown in the diagram above.
• The actual load speed reaches the value of the
speed monitoring and the "delay time for brak‐
ing ramp" has expired.
Advantage:
• Already during braking, the converter detects as
to whether the load speed decreases too slowly.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 229
Operation
6.6 Safely Limited Speed (SLS)

Selecting SLS at low motor speeds

If the motor speed when selecting SLS is less than the SLS limit, then the drive responds as
follows:

With braking ramp monitoring Without braking ramp monitoring

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The converter monitors the speed after the "delay The converter monitors the load speed after an ad‐
time for the braking ramp". justable delay time has expired.

Deselect SLS
If the higher-level controller deselects SLS, then the converter deactivates limiting and
monitoring.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

230 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.6 Safely Limited Speed (SLS)

6.6.2.1 SLS with braking ramp monitoring

If the machine control selects the SLS safety function via a failsafe digital input or via PROFIsafe
communication, then the motor behaves differently depending on the absolute value of the load
speed. These two scenarios are described below.

Scenario 1: The absolute value of the load speed is less than the setpoint speed limit.

Function
1. The motor continues to follow the speed setpoint.
2. The converter monitors the speed after the delay time has expired.

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Figure 6-24 Selecting and deselecting the SLS safety function at low speeds

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 231
Operation
6.6 Safely Limited Speed (SLS)

Scenario 2: The absolute value of the load speed is higher than the setpoint speed limit.

Function
1. The converter brakes the motor.
2. The converter monitors the speed after the delay time has expired.
3. If you deselect SLS, then the motor accelerates again up to the speed setpoint.

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Figure 6-25 Selecting and deselecting the SLS safety function at high speeds

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
SLS active r9722.4 ✓ --- ✓
Deselect SLS r9720.4 ✓ ✓ ---
SAM/SBR active r9723.16 --- --- ---
ON/OFF1 r0054.0 --- --- ---

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

232 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.6 Safely Limited Speed (SLS)

6.6.2.2 SLS without braking ramp monitoring

If the machine control selects the SLS safety function via a failsafe digital input or via PROFIsafe
communication, then the motor behaves differently depending on the absolute value of the load
speed. These two scenarios are described below.

Scenario 1: The absolute value of the load speed is less than the setpoint speed limit.

Function
1. The motor continues to follow the speed setpoint.
2. The converter monitors the speed after the delay time has expired.

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Figure 6-26 Selecting and deselecting the SLS safety function at low speeds

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 233
Operation
6.6 Safely Limited Speed (SLS)

Scenario 2: The absolute value of the load speed is higher than the monitoring threshold.

Function
1. The converter brakes the motor.
2. The converter monitors the speed after the delay time has expired.
3. If you deselect SLS, then the motor accelerates again up to the speed setpoint.

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Figure 6-27 Selecting and deselecting the SLS safety function at high speeds

Converter signal Parameters Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
SLS active r9722.4 ✓ --- ✓
Deselect SLS r9720.4 ✓ ✓ ---
SAM/SBR active r9723.16 --- --- ---
ON/OFF1 r0054.0 --- --- ---

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

234 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.6 Safely Limited Speed (SLS)

6.6.3 Switching over SLS levels

Overview
When SLS is active, you can switch between four different speed levels via PROFIsafe. The drive
response when switching over to a lower SLS level depends on whether you have selected SLS
with or without braking ramp monitoring.

With braking ramp monitoring Without braking ramp monitoring

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The converter monitors the motor as it brakes using After an adjustable time, the converter switches
the SBR (Safe Brake Ramp) function. the SLS monitoring from the higher SLS level to the
lower SLS level.

Switching over SLS levels is only possible via PROFIsafe with control word 1.
The converter signals the active SLS level via PROFIsafe to the higher-level control.
Control word 1 and status word 1 (extended functions) (Page 53)

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 235
Operation
6.6 Safely Limited Speed (SLS)

6.6.3.1 SLS with braking ramp monitoring

Function
When you switch from a higher to a lower speed monitoring level (SLS level), the following takes
place:
1. The converter brakes the motor.
2. Once the delay time has expired, the converter monitors the motor speed using the SBR (Safe
Brake Ramp) function.
3. The converter switches from SBR monitoring to SLS monitoring as soon as one of the
following two conditions is fulfilled:
– The SBR monitoring ramp has reached the value of the SLS monitoring.
This case is shown in the diagram above.
– The load speed has decreased down to the value SLS monitoring and the "delay time for
braking ramp" has expired.
When you switch from one of the lower monitoring level to a higher speed monitoring level,
then the converter immediately monitors the speed with the higher SLS level.

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Figure 6-28 Switching between different monitoring thresholds

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
SLS active r9722.4 ✓ --- ✓
Deselect SLS r9720.4 ✓ ✓ ---

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

236 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.6 Safely Limited Speed (SLS)

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
SLS level active r9722.9, ✓ --- ✓
r9722.10
Select SLS level r9720.9, ✓ ✓ ---
r9720.10
SAM/SBR active r9723.16 --- --- ---
ON/OFF1 r0054.0 --- --- ---

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 237
Operation
6.6 Safely Limited Speed (SLS)

6.6.3.2 SLS without braking ramp monitoring

Function
When you switch from a higher to a lower speed monitoring level (SLS level), the following takes
place:
1. The converter brakes the motor.
2. Once the delay time has expired, the converter monitors the speed using the lower speed
monitoring level.
When you switch from one of the lower monitoring level to a higher speed monitoring level,
then the converter immediately monitors the speed with the higher SLS level.

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Figure 6-29 Switching between different monitoring thresholds

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
SLS active r9722.4 ✓ --- ✓
Deselect SLS r9720.4 ✓ ✓ ---
SLS level active r9722.9, ✓ --- ✓
r9722.10
Select SLS level r9720.9, ✓ ✓ ---
r9720.10
SAM/SBR active r9723.16 --- --- ---
ON/OFF1 r0054.0 --- --- ---

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

238 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.6 Safely Limited Speed (SLS)

6.6.4 Switching off the motor when SLS is active

Description

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Figure 6-30 OFF1 command when the SLS safety function is active

If you switch off the motor with the SLS function active using the OFF1 or OFF3 command, e.g.
when reaching limit switches, the following happens:
1. The converter brakes the motor with the OFF1 or OFF3 ramp-down time.
2. Also while braking, the converter monitors the motor speed.
3. When reaching the standstill monitoring, the converter safely switches off the motor torque
with the STO safety function.
4. The motor coasts down to a standstill.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 239
Operation
6.6 Safely Limited Speed (SLS)

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Figure 6-31 OFF2 command when the SLS safety function is active

If you switch off the motor using the OFF2 command, then the converter immediately safely
switches off the motor torque using the STO safety function.

Converter signal Parame‐ Included in the PRO‐ Can be intercon‐

ter FIsafe telegram nected with
F-DI F-DO
STO active (Extended Functions) r9722.0 ✓ --- ✓
SLS active r9722.4 ✓ --- ✓
Deselect SLS r9720.4 ✓ ✓ ---
ON/OFF1 r0054.0 --- --- ---
OFF2 r0054.1 --- --- ---

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

240 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.6 Safely Limited Speed (SLS)

6.6.5 Switching on the motor when SLS is active

Switch on motor

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Figure 6-32 Switching the motor off and on (ON/OFF1) when SLS is active

Procedure
1. Select STO (or SS1).
2. Deselect STO (or SS1).
3. After deselecting STO, wait until the converter is "ready to switch on".
Alternatively: After deselecting STO, wait a certain time before switching on. We recommend
a wait time of 200 ms.
4. Switch on motor within 5 s after deselecting STO (ON command).
You have activated the motor with active SLS.
❒

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
STO active (Extended Functions) r9722.0 ✓ --- ✓
Deselect STO (Extended Functions) r9720.0 ✓ ✓ ---
SLS active r9722.4 ✓ --- ✓
Deselect SLS r9720.4 ✓ ✓ ---
Ready for switching on r0052.0 --- --- ---
ON/OFF1 r0054.0 --- --- ---

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 241
Operation
6.6 Safely Limited Speed (SLS)

You have not switched on the motor within 5 seconds

If you do not switch on the motor within 5 seconds after deselecting STO, the following happens:
• The converter goes back into the STO state.
• The converter no longer responds to the ON command.
• The converter outputs Alarm A01795.
To switch on the motor you must repeat the procedure described above.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

242 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.6 Safely Limited Speed (SLS)

6.6.6 Response to a discrepancy when SLS is active

Drive response
The converter responds with the active SLS safety function to a discrepancy at the failsafe digital
input.

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Figure 6-33 Behavior of the converter for discrepancy of the input signal for SLS

The converter does not set the error bit of the safety functions (= internal event).
After the tolerance time has expired, the converter signals the discrepancy (Alarm C01770 or
C30770). The SLS function remains active, and the motor remains switched on.
Independent of the voltage levels available, the converter sets the evaluation of the discrepant
F-DI into the safe state (= zero) until you acknowledge the converter using a failsafe signal or you
switch off the power supply voltage and switch it on again.

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
SLS active r9722.4 ✓ --- ✓
Deselect SLS r9720.4 ✓ ✓ ---
"Standard" acknowledgment p2103 --- --- ---

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 243
Operation
6.6 Safely Limited Speed (SLS)

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
Failsafe acknowledgment r9720.7 ✓ ✓ ---
ON/OFF1 r0054.0 --- --- ---

Deselecting SLS after a discrepancy

Procedure
1. Remove the discrepancy.
2. Acknowledge the discrepancy message with the failsafe acknowledge signal via a failsafe
digital input: F‑DI = 0 → 1 → 0.
Alternatively, you can acknowledge the message in one of the following ways. However, the
drive stops in these cases:
– Select the STO function and then deselect again: F‑DI = 1 → 0 → 1.
– Select the SS1 function and then deselect again: F‑DI = 1 → 0 → 1.
– Switch off the converter power supply and switch it on again.
3. Acknowledge the converter with the "standard" acknowledge signal.
You have acknowledged the discrepancy message and deselected SLS.
❒

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

244 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.6 Safely Limited Speed (SLS)

6.6.7 Limit value violation when SLS is active

Drive response
When motion monitoring detects a fault when SLS is active, the converter responds by triggering
a STOP A or STOP B. The converter response is parameterized during commissioning.
Stop responses (Page 270)

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Figure 6-34 Limit value violation of safety function SLS. Example with STOP A as fault response

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
Internal event r9722.7 ✓ --- ✓
STO active (Extended Functions) r9722.0 ✓ --- ✓
SLS active r9722.4 ✓ --- ✓
Deselect SLS r9720.4 ✓ ✓ ---
"Standard" acknowledgment p2103 --- --- ---
Failsafe acknowledgment r9720.7 ✓ ✓ ---
ON/OFF1 r0054.0 --- --- ---

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 245
Operation
6.6 Safely Limited Speed (SLS)

Switching the motor on after an internal event

Procedure
1. Deselect the SLS function.
2. Issue an OFF1 command (ON/OFF1 = 0).
3. Acknowledge the internal event in one of the following ways:
– Failsafe acknowledgment using PROFIsafe control word 0, bit 7 = 0 → 1 → 0.
– Failsafe acknowledge signal via a failsafe digital input: F‑DI = 0 → 1 → 0.
– Select the STO function and deselect again (PROFIsafe control word 0, bit 0 or F‑DI: 1 →
0 → 1).
– Select the SS1 function and deselect again (PROFIsafe control word 0, bit 1 or F‑DI: 1 →
0 → 1).
– Switch off the converter power supply and switch it on again.
4. Acknowledge the converter with the "standard" acknowledge signal.
5. Switch on the motor (ON/OFF1 = 1).
You have acknowledged the internal event and switched on the motor again.
❒

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

246 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.7 Safe Speed Monitor (SSM)

6.7 Safe Speed Monitor (SSM)

6.7.1 Overview

What can you find in this Chapter?

The relevant operating cases for the SSM function are described in this chapter.

Table 6-7 Response of the SSM function when the motor is switched on (ON/OFF1 = 1)

Feedback signal The SSM function signals as to whether the motor speed is above or below the set
SSM limit value.
Selecting SSM when the motor is switched on (Page 248)

Table 6-8 Switching the motor on and off when SSM is active or not active

Switching on the motor (ON/OFF1 = Switching off the motor (ON/OFF1,

0 → 1) OFF2 or OFF3 = 1 → 0)
SSM is not active If SSM is not active, then there are no restrictions for switching on and switching off
the motor.
SSM is active If SSM is active, you must take into ac‐ The drive response depends on the signal
count several special issues when switch‐ that you use to switch off the motor.
ing on the motor. Switching off the motor when
Switching on the motor when SSM is active (Page 249)
SSM is active (Page 253).

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 247
Operation
6.7 Safe Speed Monitor (SSM)

6.7.2 Selecting SSM when the motor is switched on

Description
The safety function SSM cannot be selected or deselected using external control signals. SSM is
active if all of the following conditions are met:
• You have enabled one or several extended safety functions.
• For the SSM function, you have set a monitoring speed of > 0.
After switching on the power supply voltage, initially the converter always sets the feedback
signal "Speed below limit value" of the SSM function to 0.
When the motor is switched on, the converter compares the load speed with the speed limit.

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Figure 6-35 Time response of the safety function SSM (Safe Speed Monitor)

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
SSM feedback signal active (speed be‐ r9722.15 ✓ --- ✓
low limit value)
ON/OFF1 r0054.0 --- --- ---

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

248 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.7 Safe Speed Monitor (SSM)

6.7.3 Switching off the motor when SSM is active

The drive response depends on the following conditions:
• Motor speed at the instant when it is switched off
• Off command: OFF1, OFF2 or OFF3
• Setting the SSM function:
– Feedback signal "SSM active" for pulse inhibit remains active:
When the motor is switched off, the converter prevents the motor from accelerating by
issuing an STO. When the motor is switched off, "Status SSM" = 1.
– Feedback signal "SSM active" for pulse inhibit becomes inactive:
When the motor is switched off, the converter sets "Status SSM" = 0.

When switching off, the speed is less than the SSM limit value

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Figure 6-36 OFF1 command when the SSM safety function is active

If you switch off the motor with the SSM function active using the OFF1 or OFF3 command, e.g.
when reaching limit switches, the following happens:
1. The converter brakes the motor down to standstill and then switches it off.
2. Also while braking, the converter monitors the motor speed.
If the "SSM active" feedback signal should remain active when the pulses are inhibited, then the
converter safely switches off the motor torque using the safety function STO.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 249
Operation
6.7 Safe Speed Monitor (SSM)

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Figure 6-37 OFF2 command when the SSM safety function is active

The converter immediately switches off the motor with the OFF2 command.
If the "SSM active" feedback signal should remain active when the pulses are inhibited, then the
converter safely switches off the motor torque using the safety function STO.

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
STO active (Extended Functions) r9722.0 ✓ --- ✓
SSM feedback signal active (speed be‐ r9722.15 ✓ --- ✓
low limit value)
ON/OFF1 r0054.0 --- --- ---
OFF2 r0054.1 --- --- ---

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

250 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.7 Safe Speed Monitor (SSM)

When switching off, the speed is higher than the SSM limit value

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Figure 6-38 OFF1 command when the SSM safety function is active

If you switch off the motor with the SSM function active using the OFF1 or OFF3 command, e.g.
when reaching limit switches, the following happens:
1. The converter brakes the motor down to standstill and then switches it off.
2. Also while braking, the converter monitors the motor speed.
If the "SSM active" feedback signal should remain active when the pulses are inhibited, then the
converter safely switches off the motor torque using the safety function STO.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 251
Operation
6.7 Safe Speed Monitor (SSM)

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Figure 6-39 OFF2 command when the SSM safety function is active

The converter immediately switches off the motor with the OFF2 command.
If the "SSM active" feedback signal should remain active when the pulses are inhibited, then the
converter safely switches off the motor torque using the safety function STO.
The feedback signal "SSM active" remains = 0.

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
STO active (Extended Functions) r9722.0 ✓ --- ✓
SSM feedback signal active (speed be‐ r9722.15 ✓ --- ✓
low limit value)
ON/OFF1 r0054.0 --- --- ---
OFF2 r0054.1 --- --- ---

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

252 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.7 Safe Speed Monitor (SSM)

6.7.4 Switching on the motor when SSM is active

The procedure for switching on the motor depends on how you have set the SSM function.

The feedback signal "SSM active" for pulse inhibit becomes inactive

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Figure 6-40 Switching on the motor when the SSM function is active, interrupting SSM

With this setting, the SSM function does not influence switching on the motor. SSM is active
when you switch on the motor.

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
SSM feedback signal active (speed be‐ r9722.15 ✓ --- ✓
low limit value)
ON/OFF1 r0054.0 --- --- ---

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 253
Operation
6.7 Safe Speed Monitor (SSM)

The feedback signal "SSM active" for pulse inhibit remains active

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Figure 6-41 Switching on the motor when SSM is active

With this setting, you must maintain a certain sequence before switching on the motor.

Procedure
1. Select STO (or SS1) after the motor has been switched off.
2. Deselect STO (or SS1) again before you switch on the motor.
3. After deselecting STO, wait until the converter is "ready to switch on".
Alternatively: After deselecting STO, wait a certain time before switching on. We recommend
a wait time of 200 ms.
4. Switch on motor within 5 s after deselecting STO (ON command).
You have switched on the motor.
❒

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
STO active (Extended Functions) r9722.0 ✓ --- ✓
Deselect STO (Extended Functions) r9720.0 ✓ ✓ ---
SSM feedback signal active (speed be‐ r9722.15 ✓ --- ✓
low limit value)
ON/OFF1 r0054.0 --- --- ---
Ready for switching on r0052.0 --- --- ---

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

254 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.7 Safe Speed Monitor (SSM)

You have not switched on the motor within 5 seconds

If you do not switch on the motor within 5 seconds after deselecting STO, the following happens:
• The converter goes back into the STO state.
• The converter no longer responds to the ON command.
• The converter outputs Alarm A01795.
To switch on the motor you must repeat the procedure described above.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 255
Operation
6.8 Safe Direction (SDI)

6.8 Safe Direction (SDI)

6.8.1 Overview

What can you find in this Chapter?

The relevant operating cases for the SDI function are described in this chapter.

Table 6-9 Response of the SDI function when the motor is switched on (ON/OFF1 = 1)

Selecting and deselecting Selecting and deselecting SDI when the motor is switched on
SDI (Page 257)
Discrepancy in the input sig‐ The failsafe digital input to select SDI identifies an error.
nal Response to a discrepancy when Safe Direction is active (SDI)
(Page 263)
Limit value violation The motor rotates in the monitored direction.
Limit value violation when Safe Direction (SDI) is active (Page 265)

Table 6-10 Switching the motor on and off when SDI is active or not active

Switching on the motor (ON/OFF1 = Switching off the motor (ON/OFF1,

0 → 1) OFF2 or OFF3 = 1 → 0)
SDI is not active If SDI is not active, then there are no restrictions for switching on and switching off
the motor.
SDI is active If your application requires that SDI al‐ The drive response depends on the signal
ways remains active, then you must take that you use to switch off the motor.
into account several special issues when Switching off the motor when SDI
switching on the motor. is active (Page 258)
Switching on the motor when SDI
is active (Page 260)

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

256 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.8 Safe Direction (SDI)

6.8.2 Selecting and deselecting SDI when the motor is switched on

Select SDI

Function
1. The higher-level control selects the SDI safety function via a failsafe digital input or via
PROFIsafe safe communication.
2. The converter limits the speed to the permitted direction of rotation. When SDI is selected,
if the motor rotates in the impermissible direction, then the converter brakes the motor down
to standstill.
3. After the delay time has expired, the converter monitors the selected direction of rotation of
the motor.
The converter tolerates brief motion in the monitored direction of rotation up to an
adjustable angle of rotation of the motor shaft.

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Figure 6-42 Time response of the safety function SDI (Safe direction)

Converter signal Parameters Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
SDI+ active r9722.12 ✓ --- ✓
SDI+ deselect r9720.12 ✓ ✓ ---
SDI- active r9722.13 ✓ --- ✓
Deselect SDI- r9720.13 ✓ ✓ ---
ON/OFF1 r0054.0 --- --- ---

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 257
Operation
6.8 Safe Direction (SDI)

6.8.3 Switching off the motor when SDI is active

Description

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Figure 6-43 OFF1 command when the SDI safety function is active

If you switch off the motor with the SDI function active using the OFF1 or OFF3 command, e.g.
when reaching limit switches, the following happens:
1. The converter brakes the motor with the OFF1 or OFF3 ramp-down time until the speed
reaches the standstill monitoring threshold.
2. Also while braking, the converter monitors the direction of rotation.
You can set the behavior of the converter after switching-off the motor in two different ways:
1. Feedback signal "SDI active" for pulse inhibit remains active
With this setting, the converter safely switches off the motor torque when reaching the
standstill monitoring using the STO safety function. The converter ensures that the motor
does not actively accelerate. The "SDI active" signal also remains at 1 for a motor that has
been switched off.
2. Feedback signal "SDI active" for pulse inhibit becomes inactive
With this setting the converter converter off the motor torque, but not safely. The system
does not safely prevent that the motor actively accelerates. Therefore, the converter sets the
"SDI active" signal to 0 when the motor is switched off.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

258 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.8 Safe Direction (SDI)

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Figure 6-44 OFF2 command when the SDI safety function is active

If you switch the motor off with the OFF2 command when the SDI safety function is active, the
converter immediately switches off the motor. Depending on the selected setting, the converter
immediately switches off the motor torque with the STO safety function.

Converter signal Parameters Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
STO active (Extended Functions) r9722.0 ✓ --- ✓
SDI+ active r9722.12 ✓ --- ✓
SDI+ deselect r9720.12 ✓ ✓ ---
SDI- active r9722.13 ✓ --- ✓
Deselect SDI- r9720.13 ✓ ✓ ---
ON/OFF1 r0054.0 --- --- ---
OFF2 r0054.1 --- --- ---

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 259
Operation
6.8 Safe Direction (SDI)

6.8.4 Switching on the motor when SDI is active

The procedure for switching on the motor depends on how you have set the SDI function.

The feedback signal "SDI active" for pulse inhibit becomes inactive

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Figure 6-45 Switching the motor off and on when SDI is active, interrupts the feedback signal from SDI

With this setting, the SDI function does not influence switching on the motor. SDI is active when
you switch on the motor.

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
STO active (Extended Functions) r9722.0 ✓ --- ✓
SDI+ active r9722.12 ✓ --- ✓
SDI+ deselect r9720.12 ✓ ✓ ---
SDI- active r9722.13 ✓ --- ✓
Deselect SDI r9720.13 ✓ ✓ ---
ON/OFF1 r0054.0 --- --- ---

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

260 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.8 Safe Direction (SDI)

The feedback signal "SDI active" for pulse inhibit remains active

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Figure 6-46 Switching the motor off and on when SDI is active

Procedure
1. Select STO (or SS1).
2. Deselect STO (or SS1) again.
3. After deselecting STO, wait until the converter is "ready to switch on".
Alternatively: After deselecting STO, wait a certain time before switching on. We recommend
a wait time of 200 ms.
4. Switch on motor within 5 s after deselecting STO (ON command).
You have switched on the motor again.
❒

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
STO active (Extended Functions) r9722.0 ✓ --- ✓
Deselect STO (Extended Functions) r9720.0 ✓ ✓ ---
SDI+ active r9722.12 ✓ --- ✓
SDI+ deselect r9720.12 ✓ ✓ ---
SDI- active r9722.13 ✓ --- ✓
Deselect SDI r9720.13 ✓ ✓ ---
ON/OFF1 r0054.0 --- --- ---
Ready for switching on r0052.0 --- --- ---

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 261
Operation
6.8 Safe Direction (SDI)

You have not switched on the motor within 5 seconds

If you do not switch on the motor within 5 seconds after deselecting STO, the following happens:
• The converter goes back into the STO state.
• The converter no longer responds to the ON command.
• The converter outputs Alarm A01795.
To switch on the motor you must repeat the procedure described above.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

262 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.8 Safe Direction (SDI)

6.8.5 Response to a discrepancy when Safe Direction is active (SDI)

Drive response
The converter responds with the active SDI safety function to a discrepancy at the failsafe digital
input.

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Figure 6-47 Response of the converter for discrepancy of the input signal for SDI (SDI‑ as example)

The converter does not set the error bit of the safety functions (= internal event).
After the tolerance time has expired, the converter signals the discrepancy (Alarm C01770 or
C30770). The SDI function remains active, and the motor remains switched on.
Independent of the voltage levels available, the converter sets the evaluation of the discrepant
failsafe digital input into the safe state (= zero) until you acknowledge the converter using a
failsafe signal or you switch off the power supply voltage and switch it on again.

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
STO active (Extended Functions) r9722.0 ✓ --- ✓
SDI+ active r9722.12 ✓ --- ✓
SDI+ deselect r9720.12 ✓ ✓ ---
SDI- active r9722.13 ✓ --- ✓
Deselect SDI r9720.13 ✓ ✓ ---
"Standard" acknowledgment p2103 --- --- ---

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 263
Operation
6.8 Safe Direction (SDI)

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
Failsafe acknowledgment r9720.7 ✓ ✓ ---
ON/OFF1 r0054.0 --- --- ---

Deselecting SDI after a discrepancy

Procedure
1. Remove the discrepancy.
2. Acknowledge the discrepancy message with the failsafe acknowledge signal via a failsafe
digital input: F‑DI = 0 → 1 → 0.
Alternatively, you can acknowledge the message in one of the following ways. However, the
drive stops in these cases:
– Select the STO function and then deselect again: F‑DI = 1 → 0 → 1.
– Select the SS1 function and then deselect again: F‑DI = 1 → 0 → 1.
– Switch off the converter power supply and switch it on again.
3. Acknowledge the converter with the "standard" acknowledge signal.
You have acknowledged the discrepancy message and deselected SDI.
❒

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

264 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.8 Safe Direction (SDI)

6.8.6 Limit value violation when Safe Direction (SDI) is active

Drive response
When motion monitoring detects a fault when SDI is active, the converter responds by triggering
a STOP A or STOP B. The converter response is parameterized during commissioning.
Stop responses (Page 270)

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Figure 6-48 Limit value violation of safety function SDI. Example with STOP A as fault response

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
Internal event r9722.7 ✓ --- ✓
STO active (Extended Functions) r9722.0 ✓ --- ✓
SDI+ active r9722.12 ✓ --- ✓
SDI+ deselect r9720.12 ✓ ✓ ---
SDI- active r9722.13 ✓ --- ✓
Deselect SDI r9720.13 ✓ ✓ ---
"Standard" acknowledgment p2103 --- --- ---
Failsafe acknowledgment r9720.7 ✓ ✓ ---
ON/OFF1 r0054.0 --- --- ---

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 265
Operation
6.8 Safe Direction (SDI)

Switching the motor on after an internal event

Procedure
1. Deselect the SDI function.
2. Issue an OFF1 command (ON/OFF1 = 0).
3. Acknowledge the internal event in one of the following ways:
– Failsafe acknowledgment using PROFIsafe control word 0, bit 7 = 0 → 1 → 0.
– Failsafe acknowledge signal via a failsafe digital input: F‑DI = 0 → 1 → 0.
– Select the STO function and deselect again (PROFIsafe control word 0, bit 0 or F‑DI: 1 →
0 → 1).
– Select the SS1 function and deselect again (PROFIsafe control word 0, bit 1 or F‑DI: 1 →
0 → 1).
– Switch off the converter power supply and switch it on again.
4. Acknowledge the converter with the "standard" acknowledge signal.
5. Switch on the motor (ON/OFF1 = 1).
You have acknowledged the internal event and switched on the motor again.
❒

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

266 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.9 Response to a discrepancy in the signals transferred via PROFIsafe

6.9 Response to a discrepancy in the signals transferred via PROFIsafe

6.9.1 Response with the basic functions

Function description

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Figure 6-49 Behavior of the converter in the event of a discrepancy in the failsafe digital input in
PROFIsafe telegram 900

After the tolerance time has expired, the converter signals the discrepancy (fault F01611 or
F30611).
Independent of the voltage levels available, the converter sets the evaluation of the discrepant
failsafe digital input into the safe state (= zero) until you acknowledge the discrepancy.

Further information
In the event of a discrepancy of the failsafe digital input, the converter also activates the safety
function STO.
To disable the safety function STO again, you need to acknowledge the converter fail-safe.
Response to a discrepancy when STO is active (Page 202)

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 267
Operation
6.9 Response to a discrepancy in the signals transferred via PROFIsafe

6.9.2 Response with the extended functions

Function description

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Figure 6-50 Behavior of the converter in the event of a discrepancy in a failsafe digital input in PROFIsafe
telegram 900

The converter does not set the error bit of the safety functions (= internal event).
After the tolerance time has expired, the converter signals the discrepancy (fault C01770 or
C30770).
Independent of the voltage levels available, the converter sets the evaluation of the discrepant
failsafe digital input into the safe state (= zero) until you acknowledge the converter using a
failsafe signal or you switch off the power supply voltage and switch it on again.

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
Internal event r9722.7 ✓ --- ✓
"Standard" acknowledgment p2103 --- --- ---
Failsafe acknowledgment r9720.7 ✓ ✓ ---

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

268 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.9 Response to a discrepancy in the signals transferred via PROFIsafe

Acknowledging a discrepancy message

Procedure
1. Remove the discrepancy.
2. Acknowledge the discrepancy message in one of the following ways:

Selected setting How can the internal event be acknowledged?

F-DI PROFIsafe Alternative
Extended Functions via --- Select and deselect STO (PROFI‐ Switch off the
PROFIsafe safe control word 1, bit 0 power supply
= 1 → 0 → 1) voltage and
or switch on again
Select and deselect SS1 (PROFI‐
safe control word 1, bit 1
= 1 → 0 → 1)
or
Failsafe acknowledgment (PRO‐
FIsafe control word 1, bit 7 =
0 → 1 → 0)
Extended Functions via Select and deselect Select and deselect STO (PROFI‐ Switch off the
PROFIsafe and Basic STO (F‑DI = safe control word 1, bit 0 power supply
Functions via onboard 1 → 0 → 1) = 1 → 0 → 1) voltage and
terminals or switch on again
Select and deselect SS1 (PROFI‐
safe control word 1, bit 1
= 1 → 0 → 1)
or
Failsafe acknowledgment (PRO‐
FIsafe control word 1, bit 7 =
0 → 1 → 0)

3. Acknowledge the converter with the "standard" acknowledge signal.

You have acknowledged the discrepancy message.
❒

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 269
Operation
6.10 Stop responses

6.10 Stop responses

Internal event
An "internal event" is a major fault that causes the converter to bring the motor to a standstill as
quickly as possible by triggering a STOP reaction. For example, an "internal event" can be caused
by one of the following:
• The converter detects an internal fault in its hardware or its firmware on the basis of a data
cross-check (F01611).
• The converter identifies when a limit value is violated as a result of an inadmissible motor
speed (C01714).
An "internal event" can only be acknowledged using a failsafe signal.
Failsafe acknowledgment (Page 275)

STOP A
For a STOP A, the converter safely switches off the torque of the connected motor immediately.

STOP B
For a STOP B, the converter brakes the motor with the OFF3 ramp-down time until standstill is
detected. This is then followed by a STOP A.
If you operate the motor with torque control, then the converter switches over the control mode
to speed control.
The converter monitors the braking of the motor. The type of monitoring corresponds to the
monitoring mode of SS1.
Setting SS1 (Page 161)

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Figure 6-51 Speed monitoring for a STOP B

If the motor does not follow the defined braking ramp, the converter interrupts the braking of
the motor and responds with a STOP A.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

270 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.10 Stop responses

STOP F
If a safety function is active 1), a STOP F initiates a STOP A or STOP B:
• Fault F01611 immediately initiates a STOP A.
• For message C01711, the converter response depends on the active safety function:
– When STO is active, then the converter initiates a STOP A.
– In all other cases, the converter initiates a STOP B.
If none of the safety functions are active, then the converter responds as follows:
• Fault F01611 immediately initiates a STOP A.
• There is no immediate stop response for message C01711. However, the message is kept.
When selecting a safety function, the converter responds with a stop as described above.
The SSM function is considered as active safety function if the SSM filter and the SSM hysteresis
1)

have been enabled.

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 271
Operation
6.10 Stop responses

6.10.1 Example 1: Internal event with STO active

Drive response

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Figure 6-52 Internal event when the STO safety function is active

The converter signals an internal event.

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
Internal event r9722.7 ✓ --- ✓
STO active (Extended Functions) r9722.0 ✓ --- ✓
Deselect STO (Extended Functions) r9720.0 ✓ ✓ ---
"Standard" acknowledgment p2103 --- --- ---
ON/OFF1 r0054.0 --- --- ---

Switching the motor on after an internal event

Procedure
1. Deselect the STO function.
2. Issue an OFF1 command (ON/OFF1 = 0).
3. Acknowledge the converter with the "standard" acknowledge signal.
4. Switch on the motor (ON/OFF1 = 1).
You have acknowledged the internal event and switched on the motor again.
❒

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

272 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Operation
6.10 Stop responses

6.10.2 Example 2: Internal event with SSM active

Internal event when the motion monitoring function is active

If an active safety function with motion monitoring (SS1, SSL, SDI or SSM) is interrupted with an
internal event, the converter responds with a STOP F.
A STOP F does not unconditionally stop the motor.
Stop responses (Page 270)

The drive response

The motor behavior is explained using the SSM function and a STOP B with acceleration
monitoring as an example:

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Figure 6-53 Response of the SSM safety function to an internal event

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
Internal event r9722.7 ✓ --- ✓
STO active (Extended Functions) r9722.0 ✓ --- ✓
SSM feedback signal active (speed be‐ r9722.15 ✓ --- ✓
low limit value)

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

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Operation
6.10 Stop responses

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
SAM/SBR active r9723.16 --- --- ---
"Standard" acknowledgment p2103 --- --- ---
Failsafe acknowledgment r9720.7 ✓ ✓ ---
ON/OFF1 r0054.0 --- --- ---

Switching the motor on after an internal event

Procedure
1. Issue an OFF1 command (ON/OFF1 = 0).
2. Acknowledge the internal event in one of the following ways:
– Failsafe acknowledgment using PROFIsafe control word 0, bit 7 = 0 → 1 → 0.
– Failsafe acknowledge signal via a failsafe digital input: F‑DI = 0 → 1 → 0.
– Select the STO function and deselect again (PROFIsafe control word 0, bit 0 or F‑DI: 1 →
0 → 1).
– Select the SS1 function and deselect again (PROFIsafe control word 0, bit 1 or F‑DI: 1 →
0 → 1).
– Switch off the converter power supply and switch it on again.
3. Acknowledge the converter with the "standard" acknowledge signal.
4. Switch on the motor (ON/OFF1 = 1).
Switching on the motor when SSM is active (Page 253)
You have acknowledged the internal event and switched on the motor again.
❒

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 Operation
6.11 Failsafe acknowledgment

6.11 Failsafe acknowledgment

6.11.1 Acknowledging using a failsafe signal

You must acknowledge the majority of safety function faults using a failsafe signal. The
following options are available.
• Acknowledging via a failsafe digital input
• Acknowledging via PROFIsafe
• Acknowledging by selecting and deselecting STO
• Acknowledging by switching the power supply voltage on and off

Acknowledging via a failsafe digital input

Procedure
1. Acknowledge the fault with F-DI = 0 → 1 → 0.
2. Then, acknowledge the converter with the "standard" acknowledgement signal.
You have acknowledged the converter in a failsafe fashion.
❒

Acknowledging via PROFIsafe

Procedure
1. Acknowledge the fault with bit 7 of the control word 0: Bit 7 = 0 → 1 → 0.
2. Then, acknowledge the converter with the "standard" acknowledgement signal.
You have acknowledged the converter in a failsafe fashion.
❒

Acknowledging by selecting and deselecting STO

Procedure
1. Select the safety function STO or SS1 and then deselect again:
– F-DI = 1 → 0 → 1
or
– PROFIsafe control word 1, bit 0 or 1 = 1 → 0 → 1
2. Then, acknowledge the converter with the "standard" acknowledgement signal.
You have acknowledged the converter in a failsafe fashion.
❒

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Operation
6.11 Failsafe acknowledgment

Acknowledging by switching the power supply on and off

You can acknowledge faults by temporarily shutting off the power supply voltage of the
converter and then switching it on again.

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 Operation
6.11 Failsafe acknowledgment

6.11.2 Response to a discrepancy of the failsafe acknowledge signal

Drive response

6WDQGDUGDFNQRZOHGJH
)DLOVDIHDFNQRZOHGJPHQW
)DLOVDIHLQSXWWRVHOHFWIDLOVDIH
DFNQRZOHGJPHQW
W
'LVFUHSDQF\HJ
FDEOHEUHDN

7ROHUDQFHWLPH
GLVFUHSDQF\

/('6$)( <HOORZRQ

/('5'< *UHHQRQ 5HGIODVKHVTXLFNO\ *UHHQRQ

W
Figure 6-54 Behavior of the converter for discrepancy of the input signal for failsafe acknowledgment

The converter does not set the error bit of the safety functions (= internal event).
After the tolerance time has expired, the converter signals the discrepancy (fault C01770 or
C30770).
Independent of the voltage levels available, the converter sets the evaluation of the discrepant
F-DI into the safe state (= zero) until you acknowledge the converter using a failsafe signal or you
switch off the power supply voltage and switch it on again.

Converter signal Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
"Standard" acknowledgment p2103 --- --- ---
Failsafe acknowledgment r9720.7 ✓ ✓ ---

Acknowledging a discrepancy message

Procedure
1. Remove the discrepancy.
2. Acknowledge the discrepancy message in one of the following ways:
– Select the STO function and then deselect again: F‑DI = 1 → 0 → 1.
– Select the SS1 function and then deselect again: F‑DI = 1 → 0 → 1.
– Switch off the converter power supply and switch it on again.
3. Acknowledge the converter with the "standard" acknowledge signal.
You have acknowledged the discrepancy message.
❒

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Operation
6.12 Selecting safety function when a safety function is active

6.12 Selecting safety function when a safety function is active

The table below lists the notes regarding the behavior of your drive if you select more than one
safety function at the same time.
Some cases do not affect the behavior of your drive. If, for example, the safety function STO is
active, the motor torque remains switched off regardless of which converter function you also
select.

Table 6-11 Interaction between two safety functions

Select STO Select SS1 Select SLS Select SDI

STO is active --- No effect No effect No effect
SS1 is active (Page 279) --- No effect 1)
No effect 1)
SLS is active (Page 280) (Page 284) --- (Page 290)
SDI is active (Page 281) (Page 285) (Page 288) ---
SSM is ac‐ (Page 282) (Page 286) (Page 289) (Page 291)
tive
1)
Exception: When SS1 is active and the following conditions are simultaneously satisfied, the converter
initiates a STOP A:
- The motor speed exceeds the SLS limit or exits the SDI tolerance window
- STOP A is set as fault response for SLS or SDI

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 Operation
6.12 Selecting safety function when a safety function is active

6.12.1 Selecting STO when SS1 is active

Select STO

'HVHOHFW66
'HVHOHFW672
W
6SHHG
6$0
0RWRUUXQVGRZQ
WRVWDQGVWLOO
SS1 is active
W
66DFWLYH
6$06%5DFWLYH
672DFWLYH

/('6$)( <HOORZRQ <HOORZIODVKHVVORZO\

/('5'< *UHHQRQ
W

Example: SS1 with acceleration monitoring

Converter signals Parameters Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
STO active (Basic Functions) r9773.1 ✓ --- ✓
Deselect STO (Basic Functions) r9773.0 ✓ ✓ ---
STO cause, selection via terminal on the Power Module r9772.25 --- --- ---
STO active (Extended Functions) r9722.0 ✓ --- ✓
Deselect STO (Extended Functions) r9720.0 ✓ ✓ ---
SS1 active (Extended Functions) r9722.1 ✓ --- ✓
Deselect SS1 (Extended Functions) r9720.1 ✓ ✓ ---
SAM/SBR active r9723.16 --- --- ---
ON/OFF1 r0054.0 --- --- ---

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Operation
6.12 Selecting safety function when a safety function is active

6.12.2 Selecting STO when SLS is active

Select STO

'HVHOHFW6/6
'HVHOHFW672
W
6SHHG
6/6

0RWRUUXQVGRZQWR
VWDQGVWLOO
SLS is active

6/6DFWLYH
672DFWLYH

/('6$)( <HOORZRQ <HOORZIODVKHVVORZO\

/('5'< *UHHQRQ
W

Converter signals Parameters Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
STO active (Basic Functions) r9773.1 ✓ --- ✓
Deselect STO (Basic Functions) r9773.0 ✓ ✓ ---
STO cause, selection via terminal on the Power Module r9772.25 --- --- ---
STO active (Extended Functions) r9722.0 ✓ --- ✓
Deselect STO (Extended Functions) r9720.0 ✓ ✓ ---
SLS active r9722.4 ✓ --- ✓
Deselect SLS r9720.4 ✓ ✓ ---

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 Operation
6.12 Selecting safety function when a safety function is active

6.12.3 Selecting STO when SDI is active

Select STO

'HVHOHFW6',
'HVHOHFW672
W
6SHHG
7KHPRWRUFRDVWVWRD
VWDQGVWLOO

SDI is active W
6',

6',DFWLYH 6',DFWLYHUHPDLQVDFWLYH

6',DFWLYH 6',DFWLYHEHFRPHVLQDFWLYH

672DFWLYH

/('6$)( <HOORZRQ <HOORZIODVKHVVORZO\

/('5'< *UHHQRQ
W

Converter signals Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
STO active (Basic Functions) r9773.1 ✓ --- ✓
Deselect STO (Basic Functions) r9773.0 ✓ ✓ ---
STO cause, selection via terminal on the Power Module r9772.25 --- --- ---
STO active (Extended Functions) r9722.0 ✓ --- ✓
Deselect STO (Extended Functions) r9720.0 ✓ ✓ ---
SDI+ active r9722.12 ✓ --- ✓
SDI+ deselect r9720.12 ✓ ✓ ---
SDI- active r9722.13 ✓ --- ✓
Deselect SDI- r9720.13 ✓ ✓ ---

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Operation
6.12 Selecting safety function when a safety function is active

6.12.4 Selecting STO when SSM is active

Select STO

'HVHOHFW672
W
6SHHG
660
7KHPRWRU
FRDVWVWRD
VWDQGVWLOO

SSM is ac‐
tive
W
6SHHGEHORZWKH
OLPLWYDOXH 660DFWLYHUHPDLQV
DFWLYH
6SHHGEHORZWKH
OLPLWYDOXH 660DFWLYHEHFRPHV
LQDFWLYH
672DFWLYH

/('6$)(
<HOORZRQ <HOORZIODVKHVVORZO\

/('5'< *UHHQRQ
W

Example for speed < SSM monitoring speed

Select STO

'HVHOHFW672
W
6SHHG 7KHPRWRU
FRDVWVGRZQWR
660 DVWDQGVWLOO

SSM is ac‐ W
tive
6SHHGEHORZWKH
OLPLWYDOXH

672DFWLYH

/('6$)(
<HOORZRQ <HOORZIODVKHVVORZO\

/('5'< *UHHQRQ
W

Example for speed > SSM monitoring speed

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 Operation
6.12 Selecting safety function when a safety function is active

Converter signals Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
STO active (Basic Functions) r9773.1 ✓ --- ✓
Deselect STO (Basic Functions) r9773.0 ✓ ✓ ---
STO cause, selection via terminal on the Power Module r9772.25 --- --- ---
STO active (Extended Functions) r9722.0 ✓ --- ✓
Deselect STO (Extended Functions) r9720.0 ✓ ✓ ---
SSM feedback signal active (speed below limit value) r9722.15 ✓ --- ✓

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Operation
6.12 Selecting safety function when a safety function is active

6.12.5 Selecting SS1 when SLS is active

Select SS1

'HVHOHFW6/6
'HVHOHFW66
W
6SHHG 6/6 6%5

SLS is active

6KXWGRZQVSHHG

W
6/6DFWLYH
66DFWLYH
6$06%5DFWLYH
672DFWLYH

/('6$)( <HOORZRQ <HOORZIODVKHVVORZO\

/('5'< *UHHQRQ
W

Example: SS1 with braking ramp monitoring

Converter signals Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
STO active (Extended Functions) r9722.0 ✓ --- ✓
SS1 active (Basic Functions) r9773.6 ✓ --- ✓
Deselect SS1 (Basic Functions) r9773.5 ✓ ✓ ---
SS1 active (Extended Functions) r9722.1 ✓ --- ✓
Deselect SS1 (Extended Functions) r9720.1 ✓ ✓ ---
SLS active r9722.4 ✓ --- ✓
Deselect SLS r9720.4 ✓ ✓ ---
SAM/SBR active r9723.16 --- --- ---

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 Operation
6.12 Selecting safety function when a safety function is active

6.12.6 Selecting SS1 when SDI is active

Select SS1

6',GHVHOHFW
'HVHOHFW66
W
6SHHG
6$0

SDI is active
6KXWGRZQVSHHG

6', W

6',DFWLYH 6',DFWLYHUHPDLQVDFWLYH

6',DFWLYH 6',DFWLYHEHFRPHV
LQDFWLYH
66DFWLYH
6$06%5DFWLYH
672DFWLYH

/('6$)( <HOORZRQ <HOORZIODVKHVVORZO\

/('5'< *UHHQRQ
W

Example: SS1 with acceleration monitoring SAM

Converter signals Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
STO active (Extended Functions) r9722.0 ✓ --- ✓
SS1 active (Basic Functions) r9773.6 ✓ --- ✓
Deselect SS1 (Basic Functions) r9773.5 ✓ ✓ ---
SS1 active (Extended Functions) r9722.1 ✓ --- ✓
Deselect SS1 (Extended Functions) r9720.1 ✓ ✓ ---
SDI+ active r9722.12 ✓ --- ✓
SDI+ deselect r9720.12 ✓ ✓ ---
SDI- active r9722.13 ✓ --- ✓
Deselect SDI- r9720.13 ✓ ✓ ---
SAM/SBR active r9723.16 --- --- ---

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Operation
6.12 Selecting safety function when a safety function is active

6.12.7 Selecting SS1 when SSM is active

Select SS1

'HVHOHFW66
W
6SHHG
660 6%5

SSM is ac‐
tive
6KXWGRZQVSHHG

W
6SHHGEHORZWKH
OLPLWYDOXH 660DFWLYHUHPDLQV
6SHHGEHORZWKH DFWLYH
OLPLWYDOXH 660DFWLYHEHFRPHV
LQDFWLYH
66DFWLYH
6$06%5DFWLYH
672DFWLYH

/('6$)( <HOORZRQ <HOORZIODVKHVVORZO\

/('5'< *UHHQRQ
W

Example: SS1 with brake ramp monitoring < SSM monitoring speed

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 Operation
6.12 Selecting safety function when a safety function is active

Select SS1

'HVHOHFW66
W
6SHHG
6%5
660

SSM is ac‐ 6KXWGRZQVSHHG

tive
W
6SHHGEHORZWKH
OLPLWYDOXH 660DFWLYHUHPDLQV
6SHHGEHORZWKH DFWLYH
OLPLWYDOXH 660DFWLYHEHFRPHV
LQDFWLYH
66DFWLYH
6$06%5DFWLYH
672DFWLYH

/('6$)( <HOORZRQ <HOORZIODVKHVVORZO\

/('5'< *UHHQRQ
W

Example: SS1 with brake ramp monitoring, speed < SSM monitoring speed

Converter signals Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
STO active (Extended Functions) r9722.0 ✓ --- ✓
SS1 active (Basic Functions) r9773.6 ✓ --- ✓
Deselect SS1 (Basic Functions) r9773.5 ✓ ✓ ---
SS1 active (Extended Functions) r9722.1 ✓ --- ✓
Deselect SS1 (Extended Functions) r9720.1 ✓ ✓ ---
SSM feedback signal active (speed below limit value) r9722.15 ✓ --- ✓
SAM/SBR active r9723.16 --- --- ---

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Operation
6.12 Selecting safety function when a safety function is active

6.12.8 Selecting SLS when SDI is active

Select SLS

'HVHOHFW6',
'HVHOHFW6/6
W
6SHHG 6/6

SDI is active
6', W

6',DFWLYH
6/6DFWLYH

/('6$)( <HOORZRQ <HOORZIODVKHVVORZO\

/('5'< *UHHQRQ
W

Converter signals Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
SLS active r9722.4 ✓ --- ✓
Deselect SLS r9720.4 ✓ ✓ ---
SSM feedback signal active (speed below limit value) r9722.15 ✓ --- ✓
SDI+ active r9722.12 ✓ --- ✓
SDI+ deselect r9720.12 ✓ ✓ ---
SDI- active r9722.13 ✓ --- ✓
Deselect SDI- r9720.13 ✓ ✓ ---

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 Operation
6.12 Selecting safety function when a safety function is active

6.12.9 Selecting SLS when SSM is active

Select SLS

'HVHOHFW6/6
W
6SHHG
660

6/6

SSM is ac‐
tive
W

6SHHGEHORZWKH
OLPLWYDOXH
6/6DFWLYH

/('6$)( <HOORZRQ <HOORZIODVKHVVORZO\ <HOORZRQ

/('5'< *UHHQRQ
W

Converter signals Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
SLS active r9722.4 ✓ --- ✓
Deselect SLS r9720.4 ✓ ✓ ---
SSM feedback signal active (speed below limit value) r9722.15 ✓ --- ✓

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

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Operation
6.12 Selecting safety function when a safety function is active

6.12.10 Selecting SDI when SLS is active

Select SDI

'HVHOHFW6/6
'HVHOHFW6',
W
6SHHG
6/6

SLS is active
6',

6',DFWLYH
6/6DFWLYH

/('6$)( <HOORZRQ <HOORZIODVKHVVORZO\

/('5'< *UHHQRQ
W

Converter signals Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
SLS active r9722.4 ✓ --- ✓
Deselect SLS r9720.4 ✓ ✓ ---
SDI+ active r9722.12 ✓ --- ✓
SDI+ deselect r9720.12 ✓ ✓ ---
SDI- active r9722.13 ✓ --- ✓
Deselect SDI- r9720.13 ✓ ✓ ---

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 Operation
6.12 Selecting safety function when a safety function is active

6.12.11 Selecting SDI when SSM is active

Select SDI

'HVHOHFW6',
W
6SHHG

660

SSM is ac‐
6',
tive
W
6SHHGEHORZWKH
OLPLWYDOXH
6',DFWLYH

/('6$)( <HOORZRQ <HOORZIODVKHVVORZO\ <HOORZRQ

/('5'< *UHHQRQ
W

Converter signals Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
SSM feedback signal active (speed below limit value) r9722.15 ✓ --- ✓
SDI+ active r9722.12 ✓ --- ✓
SDI+ deselect r9720.12 ✓ ✓ ---
SDI- active r9722.13 ✓ --- ✓
Deselect SDI- r9720.13 ✓ ✓ ---

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Operation
6.13 Overview of the converter signals relevant for operation

6.13 Overview of the converter signals relevant for operation

The following table lists the signals relevant for using the safety functions: Most of the signals
are included in the PROFIsafe telegram, or can be interconnected using a failsafe input or output.

Converter signals Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
Internal event r9722.7 ✓ --- ✓
STO active (Basic Functions) r9773.1 ✓ --- ✓
Deselect STO (Basic Functions) r9773.0 ✓ ✓ ---
STO cause, selection via terminal on r9772.25 --- --- ---
the Power Module
STO active (Extended Functions) r9722.0 ✓ --- ✓
Deselect STO (Extended Functions) r9720.0 ✓ ✓ ---
SBC requested (basic functions) r9773.4 --- --- ---
SS1 active (Basic Functions) r9773.6 ✓ --- ✓
Deselect SS1 (Basic Functions) r9773.5 ✓ ✓ ---
SS1 active (Extended Functions) r9722.1 ✓ --- ✓
Deselect SS1 (Extended Functions) r9720.1 ✓ ✓ ---
SLS active r9722.4 ✓ --- ✓
Deselect SLS r9720.4 ✓ ✓ ---
SLS level active r9722.9, ✓ --- ✓
r9722.10
Select SLS level r9720.9, ✓ ✓ ---
r9720.10
SSM feedback signal active (speed be‐ r9722.15 ✓ --- ✓
low limit value)
SDI+ active r9722.12 ✓ --- ✓
SDI+ deselect r9720.12 ✓ ✓ ---
SDI- active r9722.13 ✓ --- ✓
Deselect SDI- r9720.13 ✓ ✓ ---
SAM/SBR active r9723.16 --- --- ---
Forced checking procedure (test stop) r9773.30 --- --- ---
of the STO terminals on the PM240-2
or PM240P‑2 Power Module required
Forced checking procedure (test stop) r9773.31 --- --- ---
required for the Basic Functions
Forced checking procedure (test stop) r9723.0 --- --- ---
required for the Extended Functions
Forced checking procedure (test stop) p9705 --- --- ---
required for the extended functions
Start forced checking procedure (test p10007 --- --- ---
stop) of the failsafe digital output
"Standard" acknowledgment p2103 --- --- ---
Failsafe acknowledgment r9720.7 ✓ ✓ ---
Ready for switching on r0052.0 --- --- ---

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 Operation
6.13 Overview of the converter signals relevant for operation

Converter signals Parameter Included in the PROFI‐ Can be interconnec‐

safe telegram ted with
F-DI F-DO
ON/OFF1 r0054.0 --- --- ---
OFF2 r0054.1 --- --- ---
OFF3 r0054.2 --- --- ---
Release motor holding brake r0899.12 --- --- ---
Close motor holding brake r0899.13 --- --- ---

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Operation
6.14 List of alarms and faults

6.14 List of alarms and faults

Syntax for faults and alarms

F12345 Fault 12345

A67890 Alarm 67890
C01700 Message 1700 for safety functions
Messages C ... are either alarms or faults. See the following table.

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 Operation
6.14 List of alarms and faults

List of alarms and faults

The following table only contains the alarms and faults of the safety functions. The complete list
of all alarms and faults of the converter, detailed causes and remedial measures can be found in
the List Manual.

Signal Cause Remedy

Complete information on the messages is available in the List Manual.
F01600 STOP A initiated. The remedy depends on the fault value. The complete list of the fault
Fault value r0949 provides more de‐ values is provided in the List Manual.
tailed information. 0: Stop request from processor 2.
1005: Pulses are canceled, although neither is STO selected nor an
internal STOP A active.
Cause 1: Defective hardware. Remedy:
1. Select STO and then deselect again.
2. Switch off the power supply voltage of the converter and switch on
again.
3. Replace the Power Module if it cannot be acknowledged.
Cause 2: The "STO via Power Module terminals" function is selected,
however the function is not enabled in the Control Unit
(p9601.7 = p9801.7 = 0). Remedy:
1. Set both switches on the Power Module to the "OFF" setting, or
enable the function in the Control Unit.
2. Acknowledge the converter fail-safe.
3. Replace the Power Module if it cannot be acknowledged.
1010 … 1011: For details, please refer to the List Manual. Remedy:
1. Select STO and then deselect again.
2. Switch off the power supply voltage of the converter and switch on
again.
3. Replace the Power Module if it cannot be acknowledged.
1030: Discrepancy at terminals STO_A and STO_B on the PM240‑2 or
PM240P‑2 Power Module. Remedy:
1. Remove the discrepancy at the terminals.
2. Acknowledge the converter fail-safe.
3. Replace the Power Module if it cannot be acknowledged.
9999: Subsequent response to fault F01611.

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Operation
6.14 List of alarms and faults

Signal Cause Remedy

Complete information on the messages is available in the List Manual.
F01611 Defect in a monitoring channel. The remedy depends on the fault value. The complete list of the fault
Fault value r0949 provides more de‐ values is provided in the List Manual.
tailed information. 0: Stop request from processor 2.
1 … 999: Fault in data cross-check between processor 1 and processor 2.
Details and remedy: Please refer to the List Manual.
1000: Check (watchdog) timer has expired.
When selecting a safety function, the signal changed too frequently.
The converter monitors the signal to select a safety function after a
signal change.
If the signal state continues to change in shorter intervals than entered
in p9650, after the time 5 × p9650 the converter outputs fault F1611:
S S S )
6HOHFWVDIHW\
IXQFWLRQ

S S S S W

಺S

Remedy:
• Check the F-DI wiring (contact problems).
• Resolve the contact problems or faults at the PROFIBUS master/
PROFINET controller.
The converter terminates the monitoring and does not signal any faults
if the signal state remains stable before the time 5 × p9650 expires,
longer than p9650:
S
6HOHFWVDIHW\
IXQFWLRQ

S S W

಺S

1001, 1002: Initialization error, change timer/check timer.

• Remedy: Switch off the power supply voltage of the converter and
switch on again.
2000: Status of the STO selection for the two monitoring channels is
different.
Response to a discrepancy when STO is active (Page 202)
2001: Checkback signal of the safe pulse suppression for the two mon‐
itoring channels is different.

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 Operation
6.14 List of alarms and faults

Signal Cause Remedy

Complete information on the messages is available in the List Manual.
2002: Status of the delay timer SS1 in the two monitoring channels is
different.
Response to a discrepancy when STO is active (Page 202)
Response to a discrepancy when SS1 is active (Page 221)
2003: Status of the STO terminal at processor 1 and processor 2 is dif‐
ferent.
Remedy for 2000, 2001, and 2003:
• Check the F-DI changeover tolerance time. Increase the value
(p9650).
• Check the F-DI wiring (contact problems).
• Check the causes of the STO selection in r9772.
6000: Internal software fault
• Switch off the power supply voltage of the converter and switch on
again.
• Upgrade firmware to later version
• Replace Control Unit
6064: Target address and PROFIsafe address differ (F_Dest_Add).
• Check the value of the F_Dest_Add F-parameter in the converter
• Check the PROFIsafe address at processor 1 (p9610) and processor 2
(p9810).
6065: Target address invalid (F_Dest_Add).
• The target address must not be 0 or FFFF.
6066: Source address invalid (F_Source_Add).
• The source address must not be 0 or FFFF.
6067: Watchdog time value invalid (F_WD_Time).
• The watchdog time value must not be 0.
6165: Fault in reception of the PROFIsafe telegram. This fault can also
occur if the converter has received an inconsistent or out-of-date PRO‐
FIsafe telegram after the power supply voltage is switched off and
switched on again or after the PROFIBUS/PROFINET line has been inser‐
ted.
• Check the configuration and communication in the converter.
• Check the value of the F_WD_Time F-parameter in the converter.
Increase the value.
6166: Time monitoring fault in reception of the PROFIsafe telegram.
• Check the configuration of the communication in the converter.
• Check the setting of the F_WD_Time value in the converter. Increase
the value.
• Evaluate the diagnostic information in the F host.
• Check the PROFIsafe connection.
A01620, Safe torque off active Not necessary.
F01620
A01621, Safe Stop 1 active Not necessary.
F01621

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Operation
6.14 List of alarms and faults

Signal Cause Remedy

Complete information on the messages is available in the List Manual.
F01625 Sign-of-life error in the Safety data Check that the control cabinet design and cable routing are both in
compliance with EMC regulations.
Check as to whether an inadmissible voltage, e.g. 230 V, is connected
at the Control Unit digital output.
Fault acknowledgment
1. Select STO, and then deselect again.
2. If it cannot be acknowledged, replace the Control Unit.
F01630 Brake control defective Depending on the fault value, check the following:
Fault value r0949 provides more de‐ 10, 11: p1278 ≠ 0, brake not connected, cable interrupted or ground
tailed information. fault
20: Short-circuit in the brake winding
30, 31, 40: Brake not connected or a short-circuit in the brake winding
50: Fault in the Safe Brake Relay, in the Control Unit or in the Power
Module.
A01631 Motor holding brake / SBC configu‐ Check and correct the parameterization of the motor holding brake:
ration does not make sense The following settings can result in this message:
• p1215 = 0 and p9602 = 1.
• p1215 = 3 and p9602 = 1.
F01640, It has been identified that a compo‐ Corrective maintenance (Page 307)
F01641 nent has been replaced, acknowl‐
edgment/data save is necessary
F01649 Internal software error 1. Switch off the Control Unit power supply and then on again.
2. If it cannot be acknowledged, replace the Control Unit.
F01650 Acceptance test required Acceptance tests for the safety functions (Page 186)
F01651 Synchronization, safety time slices 1. Switch off the Control Unit power supply and then on again.
unsuccessful. 2. If it cannot be acknowledged, replace the Control Unit.
F01653 PROFIBUS/PROFINET configuration Check the PROFIBUS or PROFINET configuration of the safety slot on the
error master side and on the Control Unit.
A01654 PROFIsafe configuration differs Check the PROFIsafe configuring in the higher-level control.
• Alarm value r2124 = 1:
In the higher-level F control, remove the PROFIsafe configuring, or
enable PROFIsafe in the drive.
• Alarm value r2124 = 2:
In the higher-level F control, configure the appropriate PROFIsafe
telegram.
F01655 Aligning the monitoring functions 1. Check that the control cabinet design and cable routing are in com‐
pliance with EMC regulations.
2. Switch off the Control Unit power supply and then on again.
F01656 Parameter processor 2 incorrect 1. Recommission the safety functions.
2. If this is not successful, then replace the Control Unit.

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 Operation
6.14 List of alarms and faults

Signal Cause Remedy

Complete information on the messages is available in the List Manual.
F01658 PROFIsafe telegram number unsuit‐ The PROFIsafe telegram number in p60022 is not suitable for the ena‐
able bled safety functions.
Check the following:
• If PROFIsafe is not enabled (p9601.3 = 0), PROFIsafe telegrams must
not be selected in p60022.
• If PROFIsafe is enabled (p9601.3 = 1), you must select a PROFIsafe
telegram in p60022.
• If transfer of the F-DI via PROFIsafe is selected (p9501.30 = 1), you
must select telegram 900 in p60022.
F01659 Write task for parameter rejected Check the setting of the safety functions.
You can find possible reasons for the message in the List Manual.
F01660 Safety functions not supported Use a Power Module that supports the safety functions.
Restrictions when using safety functions (Page 27)
F01661 Simulation of the safety inputs ac‐ Exit the simulation of the digital inputs of the Control Unit for the F-DI
tive (p0795).
F01662 Error, internal communications 1. Switch off the Control Unit power supply and then on again.
2. Contact Technical Support if it cannot be acknowledged.
F01663 Copying the SI parameters rejected 1. Set p9700 = 0.
2. Check: p9501 ≠ 0 and/or p9601 ≠ 0.
If this is the case, then correct both parameters.
3. Start the copy function again by entering the corresponding value
into p9700.
F01665 System is defective The converter has identified a defect:
1. Switch off the Control Unit power supply and then on again.
2. Contact Technical Support if it cannot be acknowledged.
You have not configured the "STO via Power Module terminals" func‐
tion, but you have activated the terminals on the PM240‑2 or PM240P‑2
Power Module:
1. Set the switch for the failsafe digital input of the Power Module
(STO_A and STO_B) into the "OFF" position.
A01666, Static 1 signal at the F-DI for safe ac‐ Set the signal at the F-DI to acknowledge the safety functions for a
F01666 knowledgement logical 0 signal.
A01669 Unsuitable combination of motor The ratio between the rated power unit current (r0207[0]) and rated
and power unit. motor current (p0305) should be greater than 5.
In operation, message C01711 or C30711 can be sporadically output
with values
1041 … 1044.
Use a suitable power unit with a lower power rating or a motor with a
higher power rating.
A01678 Test stop for STO via terminals at the The set time (p9661) to monitor the forced checking procedure (test
PM required stop) for the "STO via Power Module terminals" function has been ex‐
ceeded.
Deselect the "STO via Power Module terminals" function and then select
again.

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Operation
6.14 List of alarms and faults

Signal Cause Remedy

Complete information on the messages is available in the List Manual.
F01680 Checksum error safe monitoring 1. Check the safety-related parameters.
functions 2. Switch off the power supply voltage of the converter and switch on
again.
F01681 Incorrect parameter value Correct the parameter value:
Fault value (r0949) yyyyxxxx decimal, yyyy = supplementary informa‐
tion, xxxx = parameter
F01682 Monitoring function not supported Deselect the monitoring function involved (p9501, p9601, p9801).
F01683 SLS enable missing 1. Enable the SLS function (p9501.0).
2. Save the setting (copy RAM to ROM).
3. Switch off the power supply voltage of the converter and switch on
again.
F01690 Data backup problem involving the Please contact Technical Support.
NVRAM
F01692 Parameter value not permitted for 1. From r0949, read out the (decimal) parameter number with the
encoderless incorrect value.
2. Correct the parameter value of the checksums.
A01693, Safety parameterization changed, 1. Save the parameters so that they are protected against power failure
F01693 POWER ON required (RAM → ROM).
2. Switch off the Control Unit power supply and then on again.
A01696 Test stop for motion monitoring is The forced checking procedure (test stop) of the extended functions is
selected when powering up selected when powering up – and this is not permissible.
Deselect the forced checking procedure of the extended functions and
then select again.
A01697, Test stop for motion monitoring is The time set in p9559 for the forced checking procedure (test stop) for
F01697 required the extended functions has been exceeded.
Start the forced checking procedure. p9705 defines the signal source to
select the forced checking procedure.
A01698 Commissioning mode active Not necessary.
A01699 Test stop for STO is required The time set in p9659 for the forced checking procedure (test stop) for
the basic functions has been exceeded.
Select STO, and then deselect again.
C01700 STOP A initiated Generally, this fault is a consequence of C01701, C01706, C01714 or
(fault) C01716.
C01701 STOP B initiated Generally, this fault is a consequence of C01706, C01714 or C01716.
(fault)
C01706 SAM/SBR limit exceeded 1. Check the motor braking response.
(alarm or 2. Adapt the tolerance for the parameterization of the "safe braking
fault) 1)
ramp".

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 Operation
6.14 List of alarms and faults

Signal Cause Remedy

Complete information on the messages is available in the List Manual.
C01711 Defect in a monitoring channel The complete list of the r2124 fault values is provided in the List Manual.
(alarm) 1) Fault value r2124 provides more de‐ 0 … 2: Fault in data cross-check between processor 1 and processor 2.
tailed information. Remedy: Please refer to the List Manual.
3: Difference of the position actual value (r9713) between the two
monitoring channels is greater than the tolerance in p9542.
Setting encoderless actual value sensing (Page 147)
4 … 43: Fault in data cross-check between processor 1 and processor 2.
Remedy: Please refer to the List Manual.
44 … 57: The tolerance value for the monitoring function differs be‐
tween the two monitoring channels.
Setting encoderless actual value sensing (Page 147)
58 … 999: Fault in data cross-check between processor 1 and process‐
or 2. Remedy: Please refer to the List Manual.
1000: Check (watchdog) timer has expired.
• Too many signal changes at the F-DI
Remedy:
• Check the F-DI wiring (contact problems).
1001: Initialization error of the check timer.
• Remedy: Switch off the power supply voltage of the converter and
switch on again.
• Upgrade converter firmware
1005: Pulses already canceled for test stop selection.
1011: Acceptance test status between the monitoring channels differ.
• Diagnostics in the List Manual under r9571.
1020: Cyclic communication failure between the monitoring channels.
• Remedy: Switch off the power supply voltage of the converter and
switch on again.
• Replace the Control Unit or the converter.
1041: Current value too low for encoderless actual value acquisition.
• Reduce the minimum current (p9588).

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Operation
6.14 List of alarms and faults

Signal Cause Remedy

Complete information on the messages is available in the List Manual.
1042: Current or voltage plausibility error.
• Increase the ramp-up and ramp-down time (p1120/p1121).
• Check whether the current and speed control settings are correct
(torque-forming, field-forming current andactual speed value must
not fluctuate).
• Reduce the dynamic response of the setpoint.
• Increase the minimum current (p9588).
• Maintain an adequate wait time before switching on the motor.
Switching on the motor when SLS is active (Page 241)
Switching on the motor when SSM is active (Page 253)
Switching on the motor when SDI is active (Page 260)
1043: Too many acceleration processes.
• Increase the value for "Actual value sensing encoderless accelera‐
tion limit" (p9589).
• Increase the ramp-up and ramp-down time (p1120/p1121).
• Check whether the current and speed control settings are correct
(torque-generating, field-generating current and speed actual value
must not fluctuate).
• Reduce the dynamic response of the setpoint.
1044: Actual current value plausibility error.
6000 … 6166: The significance of the message values is described in the
safety fault F01611 with the fault value r0949.
C01712 Defect when processing F-IO 1. Check the F-DI wiring.
(alarm) 1) 2. Check the setting of the safety functions.
3. Perform an acceptance test.
C01714 Safely limited speed exceeded 1. Check the speed setpoint received from the higher-level control.
(alarm) 1) 2. Check the SLS limits.
C01716 Tolerance for safe direction of mo‐ Check the tolerance setting for the SDI function.
(fault) tion exceeded
C01770 Discrepancy error of the failsafe dig‐ Check the F-DI wiring.
(fault) ital inputs.
A01772 Test stop for failsafe digital output The alarm automatically disappears after successfully ending or can‐
running celing (error) the forced checking procedure (test stop).
F01773 Test stop for failsafe digital output 1. Check the wiring of the failsafe digital output.
error 2. Start the forced checking procedure.
A01774 Test stop for failsafe digital output The time to carry out the forced checking procedure (test stop) has
required expired (p10003).
Start the forced checking procedure of the failsafe output.
A01788 Automatic test stop waits for STO to The converter was not able to carry out the automatic test stop (forced
be deselected via the motion moni‐ checking procedure) after switching on the power supply voltage. Pos‐
toring functions sible causes:
• STO for the extended functions is selected.
• A safety message is active, which resulted in STO.

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 Operation
6.14 List of alarms and faults

Signal Cause Remedy

Complete information on the messages is available in the List Manual.
A01790 Powering up stopped due to "STO After the power supply voltage has been switched on, the converter
via Power Module terminals" was not able to complete its automatic self test. Possible cause: The
"STO via Power Module terminals" function is active.
A01796 Waiting for communication • Check the operating state of the F host.
• Check the communication connection to the F host.
C01798 Test stop for motion monitoring is The converter is presently carry out the forced checking procedure (test
(alarm) running stop) for the extended functions. The converter withdraws the message
after the end of the test stop.
C01799 Acceptance test mode active Not necessary. The converter withdraws the message after the end of
(alarm) the acceptance test mode.
F30600 STOP A initiated. The remedy depends on the fault value. The complete list of the fault
Fault value r0949 provides more de‐ values is provided in the List Manual.
tailed information. 0: Stop request from processor 2.
1005: Pulses are canceled, although neither is STO selected nor an
internal STOP A active.
Cause 1: Defective hardware. Remedy:
1. Select STO and then deselect again.
2. Switch off the power supply voltage of the converter and switch on
again.
3. Replace the Power Module if it cannot be acknowledged.
Cause 2: The "STO via Power Module terminals" function is selected,
however the function is not enabled in the Control Unit
(p9601.7 = p9801.7 = 0). Remedy:
1. Set both switches on the PM240‑2 or PM240P‑2 Power Module to
the "OFF" setting, or enable the function in the Control Unit.
2. Acknowledge the converter fail-safe.
3. Replace the Power Module if it cannot be acknowledged.
1010 … 1011: For details, please refer to the List Manual. Remedy:
1. Select STO and then deselect again.
2. Switch off the power supply voltage of the converter and switch on
again.
3. Replace the Power Module if it cannot be acknowledged.
1030: Discrepancy at terminals STO_A and STO_B on the PM240‑2 or
PM240P‑2 Power Module. Remedy:
1. Remove the discrepancy at the terminals.
2. Acknowledge the converter fail-safe.
3. Replace the Power Module if it cannot be acknowledged.
9999: Subsequent response to fault F01611.
F30611 Defect in a monitoring channel. Fault values and remedies are described under fault F01611.
Fault value r0949 provides more de‐
tailed information.
A30620, Safe torque off active Not necessary.
F30620
A30621, Safe Stop 1 active Not necessary.
F30621

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Operation
6.14 List of alarms and faults

Signal Cause Remedy

Complete information on the messages is available in the List Manual.
F30625 Sign-of-life error in the Safety data 1. Select STO.
2. Deselect STO.
3. If it cannot be acknowledged, replace the Control Unit.
F30630 Brake control defective 1. Check the following:
– p1278 = 0.
– Motor holding brake connection
– Motor holding brake function
– EMC-compliant control cabinet design and cable routing
2. Select STO, and then deselect again.
F30649 Internal software error 1. Switch off the Control Unit power supply and then on again.
2. Contact Technical Support if it cannot be acknowledged.
F30650 Acceptance test required Acceptance tests for the safety functions (Page 186)
F30651 Synchronization with Control Unit 1. Switch off the Control Unit power supply and then on again.
unsuccessful. 2. Contact Technical Support if it cannot be acknowledged.
F30655 Aligning the monitoring functions 1. Check that the control cabinet design and cable routing are in com‐
pliance with EMC regulations.
2. Switch off the Control Unit power supply and then on again.
F30656 Parameter processor 2 incorrect 1. Recommission the safety functions.
2. If this is not successful, then replace the Control Unit.
F30659 Write task for parameter rejected Check the following:
• Password
• Only restore factory settings with the safety functions inhibited
F30662 Error, internal communications 1. Switch off the Control Unit power supply and then on again.
2. Contact Technical Support if it cannot be acknowledged.
F30664 Fault during power-up Switch off the power supply voltage of the converter and switch on
again. Contact Technical Support if it cannot be acknowledged.
F30665 System is defective 1. Switch off the Control Unit power supply and then on again.
2. If it cannot be acknowledged, replace the Control Unit.
A30666, Static 1 signal at the F-DI for safe ac‐ Set the F-DI input to a 0 signal for acknowledging the safety functions.
F30666 knowledgement
F30680 Checksum error safe monitoring 1. Check the setting of the safety functions.
functions 2. Switch off the Control Unit power supply and then on again.
F30681 Incorrect parameter value Correct the parameter value:
Fault value (r0949) yyyyxxxx decimal, yyyy = supplementary informa‐
tion, xxxx = parameter
F30682 Monitoring function not supported Deselect the monitoring function involved (p9501, p9601, p9801).
F30683 SLS enable missing 1. Enable the SLS function (p9501.0).
2. Save the setting (copy RAM to ROM).
3. Switch off the Control Unit power supply and then on again.
F30692 Parameter value not permitted for Correct the parameter value.
encoderless

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 Operation
6.14 List of alarms and faults

Signal Cause Remedy

Complete information on the messages is available in the List Manual.
A30693, Safety parameterization changed, 1. Save the settings so that they are protected against power failure
F30693 POWER ON required (RAM → ROM).
2. Switch off the Control Unit power supply and then on again.
C30700 STOP A initiated Generally, this fault is a consequence of C30701, C30706, C30714 or
(fault) C30716.
C30701 STOP B initiated Generally, this fault is a consequence of C30706, C30714 or C30716.
(fault)
C30706 SAM/SBR limit exceeded 1. Check the motor braking response.
(alarm or 2. Adapt the tolerance for the parameterization of the "safe braking
fault) 1)
ramp".
C30711 Defect in a monitoring channel. Diagnostics for the fault values and remedies are described under mes‐
(alarm) 1) Fault value r2124 provides more de‐ sage C01711.
tailed information.
C30712 Defect when processing F-IO 1. Check the F-DI wiring.
(alarm) 1) 2. Check the setting of the safety functions.
3. Perform an acceptance test.
C30714 Safely limited speed exceeded 1. Check the speed setpoint received from the higher-level control.
(alarm) 1) 2. Check the SLS limits.
C30716 Tolerance for safe direction of mo‐ Check the tolerance for the "SDI" function.
(fault) tion exceeded
C30770 Discrepancy error of the failsafe dig‐ Check the F-DI wiring.
(fault) ital inputs or the failsafe digital out‐
puts.
A30772 Test stop for failsafe digital output The alarm automatically disappears after successfully ending or can‐
running celing (error) the forced checking procedure (test stop).
F30773 Test stop for failsafe digital output 1. Check the wiring of the failsafe digital output.
error 2. Start the forced checking procedure.
A30788 Automatic test stop: Wait for STO to • Deselect STO of the extended functions.
be deselected via SMM • Remove the cause for active safety messages and acknowledge the
messages
C30798 Test stop for motion monitoring is Not necessary. The converter withdraws the message after the end of
(alarm) running the test stop.
C30799 Acceptance test mode active Not necessary. The converter withdraws the message after the end of
(alarm) the acceptance test mode.
1)
If the safety functions of the converter have been enabled, then this alarm initiates a STOP response and a converter fault.

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Operation
6.14 List of alarms and faults

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Corrective maintenance 7
7.1 About this chapter

What can you find in this Chapter?

In this chapter, you will find answers to the following questions:
• Where can I obtain the necessary information to maintain the operational safety and
reliability of my system or machine?
• How do I ensure that the safety functions are still working correctly after replacing defective
components?

Further information
You can find information on replacing defective components or replacing the converter in the
operating instructions of the converter.
Overview of the manuals (Page 340)

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Corrective maintenance
7.2 Maintaining operational safety

7.2 Maintaining operational safety

Responsibility for operational safety

As company operating plants or machines or as supplier of plants and machines with safety-
related equipment, you are responsible for the operational safety of your plant or machine. As
a consequence, you are obliged to continually inform yourself about the products used.

WARNING
Incorrect/faulty components in safety-related systems and machines
Disregarding current product developments and properties can mean that product faults are
possibly not resolved. Incorrect/faulty components in safety-related systems and machines can
result in an increase risk of accidents.
• Register to receive the appropriate newsletters on these topics.
• If necessary, modify your plant or machine so that the requirements of the safety functions
are always complied with.

Registering to receive the newsletter

Procedure
1. On the Internet, open the following page:
Siemens automation technology (www.automation.siemens.com).
2. On this page, open the folder "Presales info".
3. In folder "Presales info", select the "Newsletter" link.
4. Select "Login/registration" and log in with your access data.
5. In the "Newsletter system", select the "All newsletters" tab.
6. Open folder "Products and solutions".
7. Subscribe to the "Safety Integrated Newsletter".
You have subscribed to the "Safety Integrated Newsletter".
❒

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 Corrective maintenance
7.3 Reduced acceptance after a component has been replaced and a firmware change

7.3 Reduced acceptance after a component has been replaced and a

firmware change
After a component has been replaced or the firmware updated, a reduced acceptance test of the
safety functions must be performed.

Table 7-1 Reduced acceptance test after component replacement

Measure Acceptance test Documentation

Replacing the Control Unit or the An acceptance test for the • Supplement converter data
converter with an identical type safety functions is not re‐ • Document the modified check‐
quired.
sum and time stamp 1)
Only check the direction of ro‐
• Countersignature
tation of the motor.
Replacing a Power Module with an Supplement the hardware version
identical type in the converter data.
Replacing the motor with an identi‐ No change
cal pole pair number
Replace the gearbox with an identi‐
cal ratio
Replacing the Safe Brake Relay Check the SBC function. Supplement the hardware version
in the converter data.
Replacing safety-related I/O devices Check the control of the safe‐ No change
(e.g. Emergency Stop switch). ty functions affected by the
components that have been
replaced.
Converter firmware update An acceptance test for the • Supplement firmware version
safety functions is not re‐ in the converter data
quired.
• Document the modified check‐
Check as to whether the firm‐ sum and time stamp 1)
ware update was successful
and the converter functions • Countersignature
as expected.
1)
The converter changes the following parameters after replacing converter components and after a
firmware update:
- checksum r9781
- time stamp r9782

See also
Acceptance tests for the safety functions (Page 186)

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Corrective maintenance
7.3 Reduced acceptance after a component has been replaced and a firmware change

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System properties 8
8.1 About this chapter

What can you find in this Chapter?

In this chapter, you will find answers to the following questions:
• How long may I operate my converter?
• In what time intervals must I initiate a converter self test?
• What are the probabilities of failure of the safety functions of my converter?
• How long does it take for my drive to respond when selecting a safety function?
• How long does it take for my drive to respond when the safety function is active and the
motor malfunctions?
• According to which standards are the safety functions of my converter certified?
• Where can I find the converter certificate?
• What is the technical data of the Safe Brake Relay?

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System properties
8.2 Probability of failure of the safety functions (PFH value)

8.2 Probability of failure of the safety functions (PFH value)

The specified probability of failure values apply under the following preconditions:
• The mission time of the converter has not expired.
• The test interval has not expired.

Mission time
You may not operate converters with integrated safety functions for longer than 20 years. The
20 years starts when the device is delivered. The mission time cannot be extended. This is the
case even if a service department checks the converter – or in the meantime, the converter was
decommissioned.

Test interval
You must test the safety-related circuits of the converter at least once every year. This process is
called "forced checking procedure" or "test stop".
Regularly testing the safety functions (Page 190).

Probability of failure

Table 8-1 Probability of failure of the safety functions

Safety function PFH, PFHD 1) PFD 2)

STO, SBC 3), SS1, SLS, SDI, SSM 5×10-8 1/h 5×10-3
1)
PFH, PFHD: Probability of failures per hour.
PFH according to IEC 61800‑5‑2, PFHD according to IEC 62061.
2)
PFD: For a low demand rate of the safety function: Mean probability of dangerous failure when the
safety function is demanded according to IEC 61508.
3)
Including Safe Brake Relay
The machine manufacturer must specify a probability of failure in the form of a PFH value for
every safety function of a machine.
The integrated converter safety functions are only ever part of a complete machine safety
function. A complete safety function comprises the following components, for example:
• A dual-channel sensor for detecting an open protective door.
• A central failsafe controller for processing the sensor signal further.
• A converter for safely stopping (SS1) a motor if a protective door is opened.
IEC 62061 explains how to calculate the PFHD value for the complete safety function from the
PFHD values of the components used for the safety function.
You can find a free-of-charge tool in the Internet to calculate the PFHD value of a complete
machine:
Safety Evaluation Tool (www.siemens.com/safety-evaluation-tool).
Application examples for the probability of failure PFH and PFD are available in the Internet:

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 System properties
8.2 Probability of failure of the safety functions (PFH value)

Application example (http://support.automation.siemens.com/WW/view/en/76254308).

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System properties
8.3 Certifications

8.3 Certifications

Certifications
The safety functions fulfill the following requirements:

"STO via Power Module terminals" All other safety functions of the SINAMICS G110M, G115D,
Control via terminals STO_A and STO_B in the SINAMICS G120, G120C and G120D converters
G120 PM240‑2 or PM240P‑2 Power Module, FSD ... FSF
• Category 3 and Performance Level (PL) e according to • Category 3 and Performance Level (PL) d according to
EN ISO 13849‑1: 2008 EN ISO 13849‑1: 2008
• Safety integrity level 3 (SIL 3) to IEC 61508: 2010 • Safety integrity level 2 (SIL 2) to IEC 61508: 2010
• EC Declaration of Conformity • EC Declaration of Conformity

EC type-examination certificate and manufacturer declaration

The safety functions integrated in the drive are certified by a test institute for each of the
firmware versions that have been released. With the EC type-examination certificate, the test
institute confirms that the safety functions comply with the requirements as laid down in
EN ISO 13849-1 and IEC 61508.
We provide a manufacturer's declaration for the transition period from releasing a firmware
version up to the test institute issuing an EC type-examination certificate. The manufacturer
declaration confirms that the safety functions are in conformance with the appropriate
standards.

Procedure
Proceed as follows, to load the certificates relevant for Safety Integrated from the Internet:
1. Open the following page in the Internet:
Certificates (http://support.automation.siemens.com/WW/view/en/36426537/134200)
2. Filter according to Certificate type "Functional safety/machine safety".
3. Select the certificate according to the converter article number.
– There is an EC type-examination certificate and a manufacturer declaration for each
converter family.
– Each certificate includes lists with the associated firmware and hardware.

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 System properties
8.3 Certifications

You have loaded certificates relevant for Safety Integrated from the Internet.
❒

EC Declaration of Conformity
According to Annex IV of the machinery directive, drives equipped with Safety Integrated are
defined as "Logic units for safety functions" and therefore as a safety component. The machinery
directive specifies that safety components should be handled just like machines. As a
consequence, safety components require a CE marking.
As machine builder, you must provide documentation that you create for the CE marking of the
machine, together with the EC Declaration of Conformity for the products that have been
installed.
The current EC Declarations of Conformity for the converter are in the Internet:
EC Declaration of Conformity (http://support.automation.siemens.com/WW/view/en/
67385845)

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System properties
8.4 Safe Brake Relay

8.4 Safe Brake Relay

Technical data of the Safe Brake Relay

Technical data Property

Supply voltage 20.4 to 28.8 V DC
We recommend that you use a power supply with a minimum rated
voltage of 26 V in order to compensate for voltage drops along the brake
cable.
Current drawn at 24 V DC 0.05 A + the current drawn by the motor brake
Maximum current 2.5 A
Conductor cross section, 2.5 mm2
max.
Dimensions (W x H x D) 69 mm x 63 mm x 33 mm
Weight approx. 0.17 kg

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 System properties
8.5 Response times after selection

8.5 Response times after selection

8.5.1 General information

The response times depend on the following conditions:
• Safety function setting
– Basic function
– Extended function
• PROFIBUS or PROFINET
• Selection via the failsafe digital input or PROFIsafe.
The "worst case values" in the following tables mean the following:

Worst case for a fault-free converter: The response time is less than or equal to the specified
value.
Worst case for a converter fault: The response time is less than or equal to the specified
value. The response time is applicable for fault causes
within the converter itself, e.g. for a defective microproc‐
essor.

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System properties
8.5 Response times after selection

8.5.2 Safe Torque Off (STO) and Safe Brake Control (SBC)
The response time of the STO function is the time between selecting the function and the
function becoming active.

Response times when selected via PROFIsafe

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Table 8-2 Response times when using the basic functions

Func‐ Selection Response Response time

tion via Worst case for a fault-free Worst case for a converter
converter fault
STO PROFIBUS STO is active 14 ms 14 ms
PROFINET 14 ms + bus cycle time 1) 14 ms + bus cycle time 1)
SBC PROFIBUS Signal change at 16 ms 30 ms
PROFINET the output of the 16 ms + bus cycle time 1)
30 ms + bus cycle time 1)
Safe Brake Relay
1)
Bus cycle time: Time for cyclic data exchange via PROFINET

Table 8-3 Response times when using the extended functions

Func‐ Selection Response Response time

tion via Worst case for a fault-free Worst case for a converter
converter fault
STO PROFIBUS STO is active 54 ms 56 ms
PROFINET 54 ms + bus cycle time 1)
56 ms + bus cycle time 1)

SBC PROFIBUS Signal change at 56 ms 62 ms

PROFINET the output of the 56 ms + bus cycle time 1)
62 ms + bus cycle time 1)
Safe Brake Relay
1)
Bus cycle time: Time for cyclic data exchange via PROFINET

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 System properties
8.5 Response times after selection

Response times when selected via a failsafe digital input

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Table 8-4 Response times when using the basic functions

Func‐ Selection via Response Response time

tion Worst case for a fault- Worst case for a con‐
free converter verter fault
STO F-DI STO is active 4 ms + t_E 1) 6 ms + t_E 1)
Terminals STO_A, 20 ms ---
STO_B on the PM240‑2
or PM240P‑2 Power
Module (HW STO)
Output time of the HW 24 ms ---
STO feedback signals
via a digital output
SBC F-DI Signal change 8 ms + t_E 1) 22 ms + t_E 1)
Terminals STO_A, at the output of 24 ms ---
STO_B on the PM240‑2 the Safe Brake
or PM240P‑2 Power Relay
Module.
1)
When p9651 > 0: t_E = p9651 + 3 ms; p9651: Debounce time
When p9651 = 0: t_E = 4 ms

Table 8-5 Response times when using the extended functions

Func‐ Selec‐ Response Response time

tion tion via Worst case for a fault- Worst case for a con‐
free converter verter fault
STO F-DI STO is active 50 ms + t_E 1) 52 ms + t_E 1)
SBC Signal change at the output of 52 ms + t_E 1) 60 ms + t_E 1)
the Safe Brake Relay
1)
When p10017 > 0: t_E = p10017 + 3 ms; p10017: Debounce time
When p10017 = 0: t_E = 4 ms

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System properties
8.5 Response times after selection

8.5.3 Safe Stop 1 (SS1) and Safe Brake Control (SBC)

The response time of the SS1 function is the time between selecting the SS1 function and the
STO function becoming active.

Response times when selected via PROFIsafe

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Table 8-6 Response times when using the basic functions

Func‐ Selection Response Response time

tion via Worst case for a fault-free Worst case for a converter
converter fault
SS1 PROFIBUS STO is active 14 ms + T 2) 14 ms + T 2)
PROFINET 14 ms + T + bus cycle time
2) 1)
14 ms + T 2) + bus cycle time1)
SBC PROFIBUS Signal 16 ms + T 2) 30 ms + T 2)
PROFINET change at 16 ms + T + bus cycle time
2) 1)
30 ms + T 2) + bus cycle time1)
the output
of the Safe
Brake Relay
1)
Bus cycle time: Time for cyclic data exchange via PROFINET
2)
T = p9652

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 System properties
8.5 Response times after selection

Table 8-7 Response times when using the extended functions

Func‐ Selection Response Response time

tion via Worst case for a fault-free Worst case for a converter
converter fault
SS1 PROFIBUS STO is active 54 ms + T 2) 56 ms + T 2)
PROFINET 54 ms + T 2) + bus cycle time1) 56 ms + T 2) + bus cycle time1)
SBC PROFIBUS Signal 56 ms + T 2)
62 ms + T 2)
PROFINET change at 56 ms + T 2) + bus cycle time1) 62 ms + T 2) + bus cycle time1)
the output
of the Safe
Brake Relay
1)
Bus cycle time: Time for cyclic data exchange via PROFINET
2)
T depends on how safety function SS1 is set:
• SS1 with braking ramp monitoring: T = p9582 + time to brake down to standstill detection
• SS1 with acceleration monitoring: T = the lower of the two times:
– p9556
– Time to brake down to standstill detection

Response times when selected via a failsafe digital input of the Control Unit

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System properties
8.5 Response times after selection

Table 8-8 Response times when using the basic functions

Func‐ Selec‐ Response Response time

tion tion via Worst case for a fault- Worst case for a con‐
free converter verter fault
SS1 F-DI STO is active 4 ms + T 2) + t_E 1) 6 ms + T 2) + t_E 1)
SBC Signal change at the output 8 ms + T 2) + t_E 1) 22 ms + T 2) + t_E 1)
of the Safe Brake Relay
1)
T = p9652
2)
When p9651 > 0: t_E = p9651 + 3 ms; p9651: Debounce time
When p9651 = 0: t_E = 4 ms

Table 8-9 Response times when using the extended functions

Func‐ Selec‐ Response Response time

tion tion via Worst case for a fault- Worst case for a con‐
free converter verter fault
SS1 F-DI STO is active 50 ms + T 2) + t_E 1) 52 ms + T 2) + t_E 1)
SBC Signal change at the output 52 ms + T 2) + t_E 1) 60 ms + T 2) + t_E 1)
of the Safe Brake Relay
1)
When p10017 > 0: t_E = p10017 + 3 ms; p10017: Debounce time
When p10017 = 0: t_E = 4 ms
2)
T depends on how safety function SS1 is set:
• SS1 with braking ramp monitoring: T = p9582 + time to brake down to standstill detection
• SS1 with acceleration monitoring: T = the lower of the two times:
– p9556
– Time to brake down to standstill detection

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 System properties
8.6 Response times when a monitoring function responds

8.6 Response times when a monitoring function responds

Response times when limit values are violated

Table 8-10 Response times

Function Response Response times

Worst case for a fault-free Worst case when a fault ex‐
drive system ists
SS1 STOP A 67 ms 1) 101 ms 1)
SLS STOP A or STOP B 67 ms 1) 113 ms 1)
SDI STOP A or STOP B 61 ms 1)
107 ms 1)
SSM Signal change in PROFIsafe 101 ms 1) 135 ms 1)
bit S_STW1.7
Forced checking procedure 77 ms 1) 113 ms 1)
of the failsafe output F_DO:
1)
Immediately after switching-on the motor, the response times are extended by p9586 (Delay time
actual value sensing).

Response time after PROFIsafe communication interruption

The converter receives the PROFIsafe monitoring time from the higher-level-level, failsafe
control (F-CPU).
If the PROFIsafe telegram is not received before the end of the PROFIsafe monitoring time, the
converter activates the STO function.
Depending when the interruption takes place, the converter can signal the following faults:
• Basic functions have been enabled: Fault F01611
• Extended functions have been enabled: Message C01711

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System properties
8.6 Response times when a monitoring function responds

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Appendix A
A.1 About this chapter

What can you find in this Chapter?

In this chapter, you will find answers to the following questions:
• As machine manufacturer or company operating a machine, what standards and regulations
must I observe?
• Where can I find further information on my converter?

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Appendix
A.2 Standards and specifications

A.2 Standards and specifications

A.2.1 General

A.2.1.1 Aims
Manufacturers and operating companies of equipment, machines, and products are responsible
for ensuring the required level of safety. This means that plants, machines, and other equipment
must be designed to be as safe as possible in accordance with the current state of the art. For this
purpose, companies describe in the various standards the current state of the art covering all
aspects relevant to safety. If it can be justifiably assumed that all of the relevant standards are
complied with, this ensures that state-of-the-art technology has been utilized and, in turn, a
plant builder or a manufacturer of a machine or a piece of equipment has fulfilled his appropriate
responsibility.
Safety systems are designed to minimize potential hazards for both people and the environment
by means of suitable technical equipment, without restricting industrial production and the use
of machines more than is necessary. The protection of man and environment must be assigned
equal importance in all countries based on internationally harmonized rules and regulations.
This is also intended to avoid competitive advantages or disadvantages due to different safety
requirements in different countries.
There are different concepts and requirements in the various regions and countries of the world
when it comes to ensuring the appropriate degree of safety. The legislation and the
requirements of how and when proof is to be given and whether there is an adequate level of
safety are just as different as the assignment of responsibilities.
The most important thing for manufacturers of machines and companies that set up plants and
systems is that the legislation and regulations in the country where the machine or plant is being
operated apply. For example, the control system for a machine that is to be used in the US must
fulfill local US requirements even if the machine manufacturer (OEM) is based in the European
Economic Area (EEA).

A.2.1.2 Functional safety

Safety, from the perspective of the object to be protected, cannot be split-up. The causes of
hazards and, in turn, the technical measures to avoid them can vary significantly. This is why a
differentiation is made between different types of safety (e.g. by specifying the cause of possible
hazards). "Functional safety" is involved if safety depends on the correct function.
To ensure the functional safety of a machine or plant, the safety-related parts of the protection
and control devices must function correctly. In addition, the systems must behave in such a way
that either the plant remains in a safe state or it is brought into a safe state if a fault occurs. In
this case, it is necessary to use specially qualified technology that fulfills the requirements
described in the associated Standards. The requirements to implement functional safety are
based on the following basic goals:
• Avoiding systematic faults
• Controlling random faults or failures

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 Appendix
A.2 Standards and specifications

Benchmarks for establishing whether or not a sufficient level of functional safety has been
achieved include the probability of hazardous failures, the fault tolerance, and the quality that
is to be ensured by avoiding systematic faults. This is expressed in the standards using specific
classification. In IEC/EN 61508, IEC/EN 62061 "Safety Integrity Level" (SIL) and EN ISO 13849‑1
"Category" and "Performance Level" (PL).

A.2.2 Machine safety in Europe

The EU Directives that apply to the implementation of products are based on Article 95 of the EU
contract, which regulates the free exchange of goods. These are based on a new global concept
("new approach", "global approach"):
• EU Directives only specify general safety goals and define basic safety requirements.
• Technical details can be defined by means of standards by Standards Associations that have
the appropriate mandate from the commission of the European Parliament and Council
(CEN, CENELEC). These standards are harmonized in line with a specific directive and listed
in the official journal of the commission of the European Parliament and Council. Legislation
does not specify that certain standards have to be observed. When the harmonized
Standards are observed, it can be assumed that the safety requirements and specifications of
the Directives involved have been fulfilled.
• EU Directives specify that the Member States must mutually recognize domestic regulations.
The EU Directives are equal. This means that if several Directives apply for a specific piece of
equipment or device, the requirements of all of the relevant Directives apply (e.g. for a machine
with electrical equipment, the Machinery Directive and the Low-Voltage Directive apply).

A.2.2.1 Machinery Directive

The basic safety and health requirements specified in Annex I of the Directive must be fulfilled
for the safety of machines.
The protective goals must be implemented responsibly to ensure compliance with the Directive.
Manufacturers of a machine must verify that their machine complies with the basic
requirements. This verification is facilitated by means of harmonized standards.
IEC 61800‑5‑2 Adjustable-speed electrical power drive systems Part 5-2 is relevant for the
Machinery Directive: Safety requirements - Functional safety
Within the context of IEC 61508, IEC 61800‑5‑2 considers adjustable speed electric power drive
systems (PDS), which are suitable for use in safety-related applications (PDS(SR)).
IEC 61800‑5‑2 places demands on PDS(SR) as subsystems of a safety-related system. This
therefore permits the implementation of the electrical/electronic/programmable electronic
elements of a PDS(SR) taking into account the safety-relevant performance of the safety
function(s) of a PDS.
Manufacturers and suppliers of PDS(SR) can prove to users (e.g. integrators of control systems,
developers of machines and plants etc.) the safety-relevant performance of their equipment by
implementing the specifications stipulated in standard IEC 61800‑5‑2.

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Appendix
A.2 Standards and specifications

A.2.2.2 Harmonized European Standards

The two Standards Organizations CEN (Comité Européen de Normalisation) and CENELEC
(Comité Européen de Normalisation Électrotechnique), mandated by the EU Commission, drew-
up harmonized European standards in order to precisely specify the requirements of the EC
directives for a specific product. These standards (EN standards) are published in the official
journal of the commission of the European Parliament and Council and must be included
without revision in domestic standards. They are designed to fulfill basic health and safety
requirements as well as the protective goals specified in Annex I of the Machinery Directive.
When the harmonized standards are observed, it is "automatically assumed" that the Directive is
fulfilled. As such, manufacturers can assume that they have observed the safety aspects of the
Directive under the assumption that these are also covered in this standard. However, not every
European Standard is harmonized in this sense. Key here is the listing in the official journal of the
commission of the European Parliament and Council.
The European Safety of Machines standard is hierarchically structured. It is divided into:
• A standards (basic standards)
• B standards (group standards)
• C standards (product standards)
Type A standards/basic standards
A standards include basic terminology and definitions relating to all types of machine. This
includes EN ISO 12100 (previously EN 292-1) "Safety of Machines, Basic Terminology, General
Design Principles".
A standards are aimed primarily at the bodies responsible for setting the B and C standards. The
measures specified here for minimizing risk, however, may also be useful for manufacturers if no
applicable C standards have been defined.
Type B standards/group standards
B standards cover all safety-related standards for various different machine types. B standards
are aimed primarily at the bodies responsible for setting C standards. They can also be useful for
manufacturers during the machine design and construction phases, however, if no applicable C
standards have been defined.
A further sub-division has been made for B standards:
• Type B1 standards for higher-level safety aspects (e.g. ergonomic principles, safety
clearances from sources of danger, minimum clearances to prevent parts of the body from
being crushed).
• Type B2 standards for protective safety devices are defined for different machine types (e.g.
EMERGENCY STOP devices, two-hand operating circuits, interlocking elements, contactless
protective devices, safety-related parts of controls).
Type C standards/product standards
C standards are product-specific standards (e.g. for machine tools, woodworking machines,
elevators, packaging machines, printing machines etc.). Product standards cover machine-
specific requirements. The requirements can, under certain circumstances, deviate from the
basic and group standards. Type C/product standards have the highest priority for machine
manufacturers who can assume that it fulfills the basic requirements of Annex I of the Machinery
Directive (automatic presumption of compliance). If no product standard has been defined for
a particular machine, type B standards can be applied when the machine is constructed.

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 Appendix
A.2 Standards and specifications

A complete list of the standards specified and the mandated draft standards are available on the
Internet at the following address:
Standards (http://www.newapproach.org/)
Recommendation: Due to the rapid pace of technical development and the associated changes
in machine concepts, the standards (and C standards in particular) should be checked to ensure
that they are up to date. Please note that the application of a particular standard may not be
mandatory provided that all the safety requirements of the applicable EU directives are fulfilled.

A.2.2.3 Standards for implementing safety-related controllers

If the functional safety of a machine depends on various control functions, the controller must
be implemented in such a way that the probability of safety functions failing in a dangerous
fashion is sufficiently minimized. The EN ISO 13849‑1 and IEC61508 standards define principles
for implementing safety-related machine controllers which, when properly applied, ensure that
all the safety requirements of the EC Machinery Directive are fulfilled. These standards ensure
that the relevant safety requirements of the Machinery Directive are fulfilled.

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Figure A-1 Standards for implementing safety-related controllers

The application areas of EN ISO 13849-1, EN 62061, and EN 61508 are very similar. To help users
make an appropriate decision, the IEC and ISO associations have specified the application areas
of both standards in a joint table in the introduction to the standards. EN ISO 13849‑1 or
EN 62061 should be applied depending on the technology (mechanics, hydraulics, pneumatics,
electrics, electronics, programmable electronics), risk classification and architecture.
Further, Standard IEC 61800‑5‑2 is applicable for variable-speed electric drives with integrated
safety functions. IEC 61800‑5‑2 defines requirements and gives recommendations for designing
and developing, integrating and validating safety-related applications regarding their functional

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A.2 Standards and specifications

safety. IEC 61800‑5‑2 is applicable for adjustable speed electric power drive systems, which are
handled in other parts of IEC 61800 standards.

Systems for executing safety-related control EN ISO 13849-1 EN 62061

functions
A Non-electrical (e.g. hydraulic, pneumatic) X Not covered
B Electromechanical (e.g. relay and/or basic elec‐ Restricted to the designated archi‐ All architectures and max. up to
tronics) tectures (see comment 1) and SIL 3
max. up to PL = e
C Complex electronics (e.g. programmable elec‐ Restricted to the designated archi‐ All architectures and max. up to
tronics) tectures (see comment 1) and SIL 3
max. up to PL = d
D A standards combined with B standards Restricted to the designated archi‐ X
tectures (see comment 1) and See comment 3
max. up to PL = e

E C standards combined with B standards Restricted to the designated archi‐ All architectures and max. up to
tectures (see comment 1) and SIL 3
max. up to PL = d
F C standards combined with A standards X X
or
C standards combined with A standards and B See comment 2 See comment 3
standards
"X" indicates that the point is covered by this standard.
Comment 1:
Designated architectures are described in Annex B of EN ISO 13849-1 and provide a simplified basis for the quantification.
Comment 2:
For complex electronics: Using designated architectures in compliance with EN ISO 13849-1 up to PL = d or every architecture
in compliance with EN 62061.
Comment 3:
For non-electrical systems: Use components that comply with EN ISO 13849-1 as sub-systems.

A.2.2.4 DIN EN ISO 13849-1

A qualitative analysis according to DIN EN 13849-1 is not sufficient for modern control systems
due to their technology. Among other things, DIN EN ISO 13849‑1 does not take into account
time behavior (e.g. test interval and/or cyclic test, lifetime). This results in the probabilistic
approach in DIN EN ISO 13849-1 (probability of failure per unit time).
DIN EN ISO 13849‑1 considers complete safety functions and all the devices required to execute
these. With DIN EN ISO 13849‑1, safety functions are considered from both a qualitative as well
as a quantitative perspective. Performance levels (PL), which are based on specific categories,
are used. The following safety-related characteristic quantities are required for devices/
equipment:
• Category (structural requirement)
• PL: Performance level
• MTTFd: Mean time to dangerous failure

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A.2 Standards and specifications

• DC: Diagnostic coverage

• CCF:
Common cause failure
The standard describes how the performance level (PL) is calculated for safety-related
components of the controller on the basis of designated architectures. For deviations from this,
DIN EN ISO 13849-1 refers to IEC 61508.
When combining several safety-related parts to form a complete system, the standard explains
how to determine the resulting PL.

Note
DIN EN ISO 13849‑1 and machinery directive
Since May 2007, DIN EN ISO 13849-1 has been harmonized as part of the Machinery Directive.

A.2.2.5 EN 62061
EN 62061 (this is identical to IEC 62061) is a sector-specific standard below IEC/EN 61508. It
describes the implementation of safety-related electrical control systems of machines and takes
into account the complete lifecycle - from the conceptual phase to de-commissioning. The
standard is based on the quantitative and qualitative analyses of safety functions,
whereby it systematically applies a top-down approach to implementing complex control
systems (known as "functional decomposition"). The safety functions derived from the risk
analysis are sub-divided into sub-safety functions, which are then assigned to real devices, sub-
systems, and sub-system elements. Both the hardware and software are covered. EN 62061 also
describes the requirements placed on implementing application programs.
A safety-related control systems comprises different sub-systems. From a safety perspective, the
sub-systems are described in terms of the SIL claim limit and PFHD characteristic quantities.
Programmable electronic devices (e.g. PLCs or variable-speed drives) must fulfill IEC 61508.
They can then be integrated in the controller as sub-systems. The following safety-related
characteristic quantities must be specified by the manufacturers of these devices.
Safety-related characteristic quantities for subsystems:
• SIL CL: SIL claim limit
• PFHD:
Probability of dangerous failures per hour
• T1:
Lifetime
Simple sub-systems (e.g. sensors and actuators) in electromechanical components can, in turn,
comprise sub-system elements (devices) interconnected in different ways with the characteristic
quantities required for determining the relevant PFHD value of the sub-system.

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Safety-related characteristic quantities for subsystem elements (devices):

• λ:
Failure rate
• B10 value: For elements that are subject to wear
• T1:
Lifetime
For electromechanical devices, a manufacturer specifies a failure rate λ with reference to the
number of operating cycles. The failure rate per unit time and the lifetime must be determined
using the switching frequency for the particular application.
Parameters for the sub-system, which comprises sub-system elements, that must be defined
during the design phase:
• T2:
Diagnostic test interval
• β:
Susceptibility to common cause failure
• DC:
Diagnostic coverage
The PFHD value of the safety-related controller is determined by adding the individual PFHD
values for subsystems.
The user has the following options when setting up a safety-related controller:
• Use devices and sub-systems that already comply with EN ISO 13849-1, IEC/EN 61508, or IEC/
EN 62061. The standard provides information specifying how qualified devices can be
integrated when safety functions are implemented.
• Develop own subsystems:
– Programmable, electronic systems and complex systems: Application of IEC 61508 or
IEC 61800-5-2.
– Simple devices and subsystems: Application of EN 62061.
EN 62061 does not include information about non-electric systems. The standard provides
detailed information on implementing safety-related electrical, electronic, and programmable
electronic control systems. DIN EN ISO 13849-1 must be applied for non-electric systems.

Note
Function examples
Details of simple sub-systems that have been implemented and integrated are now available as
"functional examples".

Note
EN 62061 and machinery directive
IEC 62061 has been ratified as EN 62061 in Europe and harmonized as part of the Machinery
Directive.

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A.2.2.6 Series of standards IEC 61508 (VDE 0803)

This series of standards describes the current state of the art.
IEC 61508 is not harmonized in line with any EU directives, which means that an automatic
presumption of conformity for fulfilling the protective requirements of a directive is not implied.
The manufacturer of a safety-related product, however, can also use IEC 61508 to fulfill basic
requirements of European directives in accordance with the latest conceptual design, for
example, in the following cases:
• If no harmonized standard exists for the application in question. In this particular case, the
manufacturer may use IEC 61508. although no presumption of conformity exists here.
• A harmonized European standard (e.g. EN 62061, EN ISO 13849, EN 60204-1) references
IEC 61508. This ensures that the appropriate requirements of the directives are fulfilled
("standard that is also applicable"). When manufacturers apply IEC 61508 properly and
responsibly in accordance with this reference, they can use the presumption of conformity
of the referencing standard.
IEC 61508 covers all the aspects that must be taken into account when E/E/PES systems
(electrical, electronic, and programmable electronic system) are used in order to execute safety
functions and/or to ensure the appropriate level of functional safety. Other hazards (e.g. electric
shock) are not part of the standard, similar to DIN ISO 13849.
IEC 61508 has recently been declared the "International Basic Safety Publication", which makes
it a framework for other sector-specific standards (e.g. EN 62061). As a result, this standard is
now accepted worldwide, particularly in North America and in the automotive industry. Today,
many regulatory bodies already stipulate it (e.g. as a basis for NRTL listing).
Another recent development with respect to IEC 61508 is its system approach, which extends
the technical requirements to include the entire safety installation from the sensor to the
actuator, the quantification of the probability of hazardous failure due to random hardware
failures, and the creation of documentation covering all phases of the safety-related lifecycle of
the E/E/PES.

A.2.2.7 Risk analysis/assessment

Risks are intrinsic in machines due to their design and functionality. For this reason, the
Machinery Directive requires that a risk assessment be performed for each machine and, if
necessary, the level of risk reduced until the residual risk is less than the tolerable risk. To assess
these risks, the following standards must be applied:
• EN ISO 12100 "Safety of Machinery - General Design Principles - Risk Assessment and
Minimizing Risks"
• EN ISO 13849-1 "Safety-related parts of control systems"
EN ISO 12100 focuses on the risks to be analyzed and the design principles for minimizing risk.
The risk assessment is a procedure that allows hazards resulting from machines to be
systematically investigated. Where necessary, the risk assessment is followed by a risk reduction
procedure. When the procedure is repeated, this is known as an iterative process. This can help
eliminate hazards (as far as this is possible) and can act as a basis for implementing suitable
protective measures.

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A.2 Standards and specifications

The risk assessment involves the following:

• Risk analysis
– Determines the limits of the machine (EN ISO 12100)
– Identification of hazards (EN ISO 12100)
– Estimating the level of risk (EN 1050 Paragraph 7)
• Risk evaluation
As part of the iterative process to achieve the required level of safety, a risk assessment is carried
out after the risk estimation. A decision must be made here as to whether the residual risk needs
to be reduced. If the risk is to be further reduced, suitable protective measures must be selected
and applied. The risk assessment must then be repeated.

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Figure A-2 Iterative process for achieving safety

Risks must be reduced by designing and implementing the machine accordingly (e.g. by means
of controllers or protective measures suitable for the safety-related functions).
If the protective measures involve the use of interlocking or control functions, these must be
designed according to EN ISO 13849-1. For electrical and electronic control systems, EN 62061
can be applied instead of EN ISO 13849-1. Electronic controllers and bus systems must also
comply with IEC 61508.

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A.2.2.8 Risk reduction

Risk reduction measures for a machine can be implemented by means of safety-related control
functions in addition to structural measures. To implement these control functions, special
requirements must be taken into account, graded according to the magnitude of the risk. These
are described in EN ISO 13849-1 or, in the case of electrical controllers (particularly
programmable electronics), in EN 61508 or EN 62061. The requirements regarding safety-
related controller components are graded according to the magnitude of the risk and the level
to which the risk needs to be reduced.
EN ISO 13849-1 defines a risk flow chart that instead of categories results in hierarchically
graduated Performance Levels (PL).
IEC/EN 62061 uses "Safety Integrity Level" (SIL) for classification purposes. This is a quantified
measure of the safety-related performance of a controller. The required SIL is also determined
in accordance with the risk assessment principle according to ISO 12100 (EN 1050). Annex A of
the standard describes a method for determining the required Safety Integrity Level (SIL).
Regardless of which standard is applied, steps must be taken to ensure that all the machine
controller components required for executing the safety-related functions fulfill these
requirements.

A.2.2.9 Residual risk

In today's technologically advanced world, the concept of safety is relative. The ability to ensure
safety to the extent that risk is ruled out in all circumstances – "zero-risk guarantee" – is
practically impossible. The residual risk is the risk that remains once all the relevant protective
measures have been implemented in accordance with the latest state of the art.
Residual risks must be clearly referred to in the machine/plant documentation (user information
according to EN ISO 12100).

A.2.2.10 EC declaration of conformity

The EC Declaration of Conformity for the product can be obtained from your local Siemens
office or in the Internet at:
EC declaration of conformity (https://support.industry.siemens.com/cs/ww/en/view/67385845)

A.2.3 Machine safety in the USA

A key difference between the USA and Europe in the legal requirements regarding safety at work
is that, in the USA, no legislation exists regarding machinery safety that is applicable in all of the
states and that defines the responsibility of the manufacturer/supplier. A general requirement
exists stating that employers must ensure a safe workplace.
You can find further information in the following sections:
• Minimum requirements of the OSHA (Page 336)
• NRTL listing (Page 336)

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• NFPA 79 (Page 336)

• ANSI B11 (Page 337)

A.2.3.1 Minimum requirements of the OSHA

The Occupational Safety and Health Act (OSHA) from 1970 regulates the requirement that
employers must offer a safe place of work. The core requirements of OSHA are specified in
Section 5 "Duties".
The requirements of the OSH Act are managed by the "Occupational Safety and Health
Administration" (also known as OSHA). OSHA employs regional inspectors who check whether
or not workplaces comply with the applicable regulations.
The OSHA regulations are described in OSHA 29 CFR 1910.xxx ("OSHA Regulations (29 CFR)
PART 1910 Occupational Safety and Health"). (CFR: Code of Federal Regulations.)
OSHA (http://www.osha.gov)
The application of standards is regulated in 29 CFR 1910.5 "Applicability of standards". The
concept is similar to that used in Europe. Product-specific standards have priority over general
standards insofar as they cover the relevant aspects. Once the standards are fulfilled, employers
can assume that they have fulfilled the core requirements of the OSH Act with respect to the
aspects covered by the standards.
In conjunction with certain applications, OSHA requires that all electrical equipment and devices
that are used to protect workers be authorized by an OSHA-certified, "Nationally Recognized
Testing Laboratory" (NRTL) for the specific application.
In addition to the OSHA regulations, the current standards defined by organizations such as
NFPA and ANSI must be carefully observed and the extensive product liability legislation that
exists in the US taken into account. Due to the product liability legislation, it is in the interests of
manufacturing and operating companies that they carefully maintain the applicable regulations
and are "forced" to fulfill the requirement to use state-of-the-art technology.
Third-party insurance companies generally demand that their customers fulfill the applicable
standards of the standards organizations. Self-insured companies are not initially subject to this
requirement but, in the event of an accident, they must provide verification that they have
applied generally-recognized safety principles.

A.2.3.2 NRTL listing

To protect employees, all electrical equipment used in the USA must be certified for the planned
application by a "Nationally Recognized Testing Laboratory" (NRTL) certified by the OSHA. NRTLs
are authorized to certify equipment and material by means of listing, labeling, or similar.
Domestic standards (e.g. NFPA 79) and international standards (e.g. IEC/EN 61508 for E/E/PES
systems) are the basis for testing.

A.2.3.3 NFPA 79
Standard NFPA 79 (Electrical Standard for Industrial Machinery) applies to electrical equipment
on industrial machines with rated voltages of less than 600 V. A group of machines that operate
together in a coordinated fashion is also considered to be one machine.

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A.2 Standards and specifications

For programmable electronics and communication buses, NFPA 79 states as a basic requirement
that these must be listed if they are to be used to implement and execute safety-related
functions. If this requirement is fulfilled, then electronic controls and communication buses can
also be used for Emergency Stop functions, Stop Categories 0 and 1 (refer to
NFPA 79 9.2.5.4.1.4). Just the same as EN 60204-1, NFPA 79 no longer specifies that the
electrical energy must be disconnected by electromechanical means for emergency stop
functions.
The core requirements regarding programmable electronics and communication buses in
accordance with NFPA 79 9.4.3:
1. Control systems that contain software-based controllers must:
– In the event of a single fault
(a) Initiate that the system switches to a safe shutdown mode
(b) Prevent the system from restarting until the fault has been rectified
(c) Prevent an unexpected restart
– Offer the same level of protection as hard-wired controllers
– Be implemented in accordance with a recognized standard that defines the requirements
for such systems.
2. IEC 61508, IEC 62061, ISO 13849-1, ISO 13849‑2 and IEC 61800-5-2 are specified as suitable
standards in a note.
Underwriter Laboratories Inc. (UL) has defined a special category for "Programmable Safety
Controllers" for implementing this requirement (code NRGF). This category covers control
devices that contain software and are designed for use in safety-related functions.
A precise description of the category and a list of devices that fulfill this requirement can be
found on the Internet at the following address:
NRGF (http://www.ul.com) → Online Certifications Directory → UL Category code/Guide
information → search for category "NRGF"
TUV Rheinland of North America, Inc. is also an NRTL for these applications.

A.2.3.4 ANSI B11

ANSI B11 standards are joint standards developed by associations such as the Association for
Manufacturing Technology (AMT) and the Robotic Industries Association (RIA).
The hazards of a machine are evaluated by means of a risk analysis/assessment. The risk analysis
is an important requirement in accordance with NFPA 79, ANSI/RIA 15.06, ANSI B11.TR-3 and
SEMI S10 (semiconductors). The documented results of a risk analysis can be used to select a
suitable safety system based on the safety class of the application in question.

A.2.4 Machine safety in Japan

The situation in Japan is different from that in Europe and the US. Legislation such as that
prescribed in Europe does not exist. Similarly, product liability does not play such an important
role as it does in the US.

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Instead of legal requirements to apply standards have been defined, an administrative

recommendation to apply JIS (Japanese Industrial Standard) is in place. Japan bases its approach
on the European concept and uses basic standards as national standards:

Table A-1 Japanese standards

ISO/IEC number JIS number Comment

ISO12100 (EN 1050) JIS B 9700, JIS B 9702 Earlier designation TR B 0008 and TR B 0009
ISO13849-1 JIS B 9705-1 -
ISO13849-2 JIS B 9705-1 -
IEC 60204-1 JIS B 9960-1 Without annex F or route map of the European
foreword
IEC 61508-0 to -7 JIS C 0508 -
IEC 62061 - JIS number not yet assigned

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A.2.5 Equipment regulations

In addition to the requirements of the guidelines and standards, company-specific requirements
must be taken into account. Large corporations in particular (e.g. automobile manufacturers)
make stringent demands regarding automation components, which are often listed in their own
equipment specifications.
Safety-related issues (e.g. operating modes, operator actions with access to hazardous areas,
EMERGENCY STOP concepts, etc.) should be clarified with customers early on so that they can be
integrated in the risk assessment/risk reduction process.

A.2.6 Other safety-related issues

A.2.6.1 Information sheets issued by the Employer's Liability Insurance Association

Safety-related measures to be implemented cannot always be derived from directives,
standards, or regulations. In this case, supplementary information and explanations are
required.
Some regulatory bodies issue publications on an extremely wide range of subjects.

Note
These publications are in German. In some instances, they are also available in English and
French.

Information sheets covering the following areas are available, for example:
• Process monitoring in production environments
• Axes subject to gravitational force
• Roller pressing machines
• Lathes and turning centers - purchasing/selling
These information sheets issued by specialist committees can be obtained by all interested
parties (e.g. to provide support in factories, or when regulations or safety-related measures for
plants and machines are defined). These information sheets provide support for the fields of
machinery construction, production systems, and steel construction.
You can download the information sheets from the Internet address (http://www.bghm.de/)
(website is in German, although some of the sheets are available in English):
1. First select the area "Arbeitsschützer", followed by the menu item "Praxishilfen" and finally
"DGUV-Informationen".

A.2.6.2 Additional references

• Safety Integrated, The Safety Program for Industries of the World (5th Edition and
Supplement), Article No. 6ZB5 000-0AA01-0BA1
• Safety Integrated - Terms and Standards - Machine Safety Terminology (Edition 04/2007),
Article No. E86060-T1813-A101-A1

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A.3 Manuals and technical support

A.3 Manuals and technical support

A.3.1 Overview of the manuals

You can find manuals here with additional information that can be downloaded
• Operating instructions
Installing, commissioning and maintaining the converter. Advanced commissioning

– CU250S-2 operating instructions (https://support.industry.siemens.com/cs/ww/en/

view/109482997)
– CU240B/E-2 operating instructions (https://
support.industry.siemens.com/cs/ww/en/view/109482994)
– SINAMICS G120C operating instructions. (https://support.industry.siemens.com/cs/
ww/en/view/109482993)
– Operating instructions SINAMICS G120D with CU240D-2 (https://
support.industry.siemens.com/cs/ww/en/view/109477366)
– Operating instructions SINAMICS G120D with CU250D-2 (https://
support.industry.siemens.com/cs/ww/en/view/109477365)
– SINAMICS G110M operating instructions (https://support.industry.siemens.com/cs/
ww/en/view/109478193)
• Function Manuals

– "Safety Integrated" function manual (https://

support.industry.siemens.com/cs/ww/en/view/109751320)
Configuring PROFIsafe.
Installing, commissioning and operating failsafe functions of the converter (this manual).
– "Fieldbus" function manual (https://support.industry.siemens.com/cs/ww/en/view/
109751350)
Configuring fieldbuses
– "Basic positioner" function manual (https://
support.industry.siemens.com/cs/ww/en/view/109477922)
Commissioning the basic positioner
• List Manuals

– CU240B/E-2 List Manual (https://support.industry.siemens.com/cs/ww/en/view/

109482961)
– CU250S-2 List Manual (https://support.industry.siemens.com/cs/ww/en/view/
109482981)
– SINAMICS G120C List Manual (https://support.industry.siemens.com/cs/ww/en/
view/109482977)
– List manual SINAMICS G120D (https://support.industry.siemens.com/cs/ww/en/
view/109477255)

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A.3 Manuals and technical support

– SINAMICS G110M List Manual (https://support.industry.siemens.com/cs/ww/en/

view/109478707)

Finding the most recent edition of a manual

If there a multiple editions of a manual, select the latest edition:

Configuring a manual
Further information about the configurability of manuals is available in the Internet:
MyDocumentationManager (https://www.industry.siemens.com/topics/global/en/
planning-efficiency/documentation/Pages/default.aspx).
Select "Display and configure" and add the manual to your "mySupport-documentation":

Not all manuals can be configured.

The configured manual can be exported in RTF, PDF or XML format.

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A.3 Manuals and technical support

A.3.2 Configuring support

Catalog
Ordering data and technical information for the converters SINAMICS G.

Catalogs for download or online catalog (Industry Mall):

Everything about SINAMICS G120 (www.siemens.en/sinamics-g120)

SIZER
The configuration tool for SINAMICS, MICROMASTER and DYNAVERT T drives, motor starters, as
well as SINUMERIK, SIMOTION controllers and SIMATIC technology

SIZER on DVD:
Article number: 6SL3070-0AA00-0AG0
Download SIZER (https://support.industry.siemens.com/cs/ww/en/view/54992004)

EMC (electromagnetic compatibility) technical overview

Standards and guidelines, EMC-compliant control cabinet design

EMC overview (https://support.industry.siemens.com/cs/ww/en/view/103704610)

EMC Guidelines configuration manual

EMC-compliant control cabinet design, potential equalization and cable routing

EMC installation guideline (http://support.automation.siemens.com/WW/view/en/

60612658)

Safety Integrated for novices technical overview

Application examples for SINAMICS G drives with Safety Integrated

Safety Integrated for novices (https://support.industry.siemens.com/cs/ww/en/view/

80561520)

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Safety Evaluation Tool

The TÜV-approved "Safety Evaluation Tool" for the standards IEC 62061 and ISO 13849-1 helps
you to evaluate the safety functions of your machine. This online tool provides you with a
standards-compliant report that can be integrated in the documentation as proof of safety:
Safety Evaluation Tool (www.siemens.com/safety-evaluation-tool)

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Appendix
A.3 Manuals and technical support

A.3.3 Product Support

Overview
You can find additional information about the product on the Internet:
Product support (https://support.industry.siemens.com/cs/ww/en/)
This URL provides the following:
• Up-to-date product information (product announcements)
• FAQs
• Downloads
• The Newsletter contains the latest information on the products you use.
• The Knowledge Manager (Intelligent Search) helps you find the documents you need.
• Users and specialists from around the world share their experience and knowledge in the
Forum.
• You can find your local representative for Automation & Drives via our contact database
under "Contact & Partner".
• Information about local service, repair, spare parts and much more can be found under
"Services".
If you have any technical questions, use the online form in the "Support Request" menu:

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

344 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
Index
Control Unit
CU230P-2, 22, 24
3 CU240B-2, 22, 24
CU240D-2, 22, 24
3RK3 (modular safety system), 71, 85, 95, 103
CU240E-2, 22, 24
3SK1 (safety relay), 69, 93
CU250D-2, 22, 24
CU250S-2, 22, 24
Control word 1, 52, 53
A Control word 5, 54, 55
Acceleration voltage tolerance, 148 Converter
Acceptance mode, 170, 178 Update, 309
Acceptance test, 114, 186 Converter signals, 292
Complete, 186 Copy
Reduced scope, 187, 188, 309 Series commissioning, 185, 187, 188
Test scope, 187 Copy parameter
Acceptance test record, 186 Series commissioning, 188
Acknowledge Copy parameters
F-DI, 275 Series commissioning, 185
internal event, 275 Copy parameters (series commissioning), 187
PROFIsafe, 52, 53, 275 Crane trolley, 42
Standard, 275
with a failsafe signal, 275
Actual value tolerance, 148 D
Alarm, 294
Data set changeover, 141, 180, 181
Application example, 56
DC braking, 28
Debounce time, 319, 322
Delay time, 148
B Delay time actual value sensing, 323
Back up parameters, 184 DI (Digital Input), 60, 141, 181
Basic functions, 22, 59, 60 Digital inputs
Multiple assignment, 140, 141, 180, 181
Discrepancy, 72, 96, 267, 268, 277
C SDI, 263
SLS, 243
Cable break, 202, 205, 221, 224
SS1, 222, 224
Cat. (category), 314
STO, 202
Catalog, 342
Distributed I/O, 75, 97
CDS (Command Data Set), 141, 180, 181
DO (digital output), 107
Centrifuge, 44
Download, 184
Certification, 314
Commissioning, 114
Offline, 116
Online, 116
E
Overview, 121 EC Declaration of Conformity, 315
Commissioning engineer, 15 EC type-examination certificate, 314
Compound braking, 28 Electromechanical sensor, 63, 65, 66, 67, 68
Configuring support, 342 EMERGENCY OFF, 44
Control mode, 26 EMERGENCY STOP, 44
Emergency Stop button, 32

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 345
Index

Emergency Stop command device, 65, 90

EN 60204‑1, 44
EN 61800-5-2, 32, 34 H
Encoderless, 26
Horizontal conveyors, 39
Encoderless actual value sensing, 148
Hotline, 344
ET 200pro, 75, 97
ET 200S, 75, 97
ET 200SP, 75, 97
Extended functions, 22, 59, 60
I
I/O module, 75, 78, 97, 99
Induction motor, 26
F Industry Mall, 342
Internal event, 270, 292
Factory settings
Restoring the, 118
Failsafe acknowledgment, 153, 277, 292
Failsafe digital input, 60, 114, 149, 154
L
Failsafe digital output, 107 Limit value violation, 270
Feedback input, 160 Line contactor, 31
Safe state signal selection, 160 List Manual, 340
Signal sources, 160 Load revolutions, 148
Test mode, 160
Fault, 294
Fault detection, 190 M
Fault response
Machine manufacturer, 15, 312
SDI, 265
Main screen form (basic functions), 129
SLS, 245
Manufacturer declaration, 314
SS1, 226
Minimum current, 148
SSM, 273
Mission time, 312
STO, 272
Modular Safety System, 71, 85, 95, 103
F-CPU, 50
Motor data identification, 28
F-DI (Failsafe Digital Input), 60, 114
Motor holding brake, 31
F-DO (Failsafe Digital Output), 107
Motor revolutions, 148
Filter for failsafe digital input, 131
Multiple assignment
Firmware update, 309
Digital inputs, 140, 141, 180, 181
Flying restart, 28, 148
Forced checking procedure, 133, 145, 154, 312
Extended Functions, 145
Failsafe digital output, 155
N
Performing, 192 Number of pole pairs, 148
Setting, 133
Function Manual, 340
Functional expansions, 187, 188 O
Functional safety, 326
OFF3, 270
Offline commissioning, 116, 184
Online commissioning, 116
G Operating instruction, 17
Gearbox, 148 Operating Instructions, 340
Gearbox ratio, 148, 168 OSSD (output signal switching device), 73
Group drive, 26 Overview
Chapter, 18, 19
Commissioning, 121

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346 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
 Index

Safety functions
Activating the, 24
P Safety Integrated
Functional safety, 326
Performance level, 314
Machinery Directive, 327
PFHD (Probability of Failure per Hour), 312
Safety integrity level, 314
PL (Performance level), 314
Safety relay, 69, 93
Plant manufacturer, 15
SAM (Safe Acceleration Monitor), 161, 166, 217
Position switches, 90
active, 292
Pressure cylinder, 42
SBC (Safe Brake Control), 33
Printing machine, 42
Requested, 208, 292
Probability of failure, 312
SBR (Safe Brake Ramp), 161, 215, 229, 235, 236
Probability of Failure per Hour, 312
active, 292
Procedure, 17
SDI (Safe Direction), 41
PROFIsafe, 49, 114
active, 292
Control word 1, 52, 53
Delay time, 176
Control word 5, 54, 55
deselect, 292
Start communication, 183
Discrepancy, 263
Status word 1, 52, 53, 272
Fault response, 265
Status word 5, 54, 55
select, 257
Telegram 30, 51
Switch off the motor, 258
Telegram 900, 51
Switch on motor, 260
Protection against jamming, 42
Tolerance, 176
Self-test, 133, 154
Self-test (forced checking procedure), 145
Q Series commissioning, 185, 187, 188
Questions, 344 Service personnel, 15
Setpoint speed limit, 233
Shared Device, 49, 182
R Signals, 292
SIL (Safety Integrity Level), 314
Reference speed, 169
SIMATIC S7 block, 57
Replace
SINAMICS G110M, 22, 24
Control Unit, 309
SINAMICS G115D, 22, 24
Gear unit, 309
SINAMICS G120
Hardware, 309
CU230P-2, 22, 24
Motor, 309
CU240B-2, 22, 24
Power Module, 309
CU240E-2, 22, 24
Reset
CU250S-2, 22, 24
Parameter, 118
SINAMICS G120C, 22, 24
Response time, 317
SINAMICS G120D
Risk analysis, 26
CU240D-2, 22, 24
Risk assessment, 26
CU250D-2, 22, 24
Rolling shutter gate, 42
SIZER, 342
SLS (Safely-Limited Speed), 38, 228
active, 292
S Active, 232
S_STW (safety control word), 51 Braking ramp monitoring, 169
S_ZSW (safety status word), 51 Delay time, 169
S7-1500, 75, 97 deselect, 229, 292
S7-300, 75, 97 Discrepancy, 243
Safe Brake Ramp, 229 Fault response, 245

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG 347
Index

Level, 235 STO (Safe Torque Off), 31

Level active, 237, 292 active, 292
Monitoring mode, 228 Discrepancy, 202
Monitoring threshold, 236 Fault response, 272
Response, 168 select, 31, 292
select, 229, 231, 233 Stop
Select level, 237, 292 Category 1, 270
Setpoint speed limit, 168 STOP A, 226, 245, 265, 270
Speed monitoring, 169 STOP B, 245, 265, 270
Standstill monitoring, 239 Stop category 1, 45
Switch off the motor, 239 STOP F, 271, 273
Switch on motor, 241 Support, 344
Switching monitoring threshold, 235 Switch-off signal paths, 133, 154
Switching over speed monitoring, 236, 238 Switch-off signal paths (forced checking
Speed monitoring, 270 procedure), 145
Speed ratio, 148 Switchover
Spindle drive, 40 SLS level, 235
SS1 (Safe Stop 1), 35 Symbols, 17
active, 292 Synchronous motor, 26
Delay time, 161, 162, 163, 165, 166 Synchronous reluctance motor, 26
Delay time for SBR, 161
deselect, 292
Discrepancy, 221, 224 T
Fault response, 226
Telegram 30, 51
Monitoring mode, 161
Telegram 900, 51
Monitoring time, 163
Test interval, 312
Reference speed, 163
Test mode F-DO, 159
Reference speed (reference velocity), 163
Test stand, 27
Reference velocity (reference speed), 163
Test stop
select, 161, 213, 215, 217
Performing, 194
Shutdown speed, 161, 162, 164, 165, 166
Test stop (forced checking procedure), 145
Speed tolerance, 165
Turning machine, 39
Standstill monitoring, 161, 162, 215, 217
Switch off the motor, 219
Tolerance, 161, 166
Zero speed detection, 164
U
SSM (Safe Speed Monitoring), 43 U/f control, 26
Fault response, 273 Update
Feedback signal active, 248, 292 Firmware, 309
Filter, 173
Hysteresis, 172
Speed limit, 171 V
Switch off the motor, 249
Vector control, 26
Switch on motor, 253
Time response, 248
Standard acknowledgment, 277, 292
Startdrive
W
Download, 116 Winders, 27
STARTER
Download, 116
Status word 1, 52, 53
Status word 5, 54, 55

Safety Integrated - SINAMICS G110M, G115D, G120, G120C and G120D

348 Function Manual, 09/2020, FW V4.7 SP13, A5E34261271B AG
Further information
SINAMICS converters:
www.siemens.com/sinamics
Safety Integrated:
www.siemens.com/safety-integrated

Siemens AG
Digital Factory
Motion Control
Postfach 3180
91050 ERLANGEN
Germany

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