Siemens SINAMICS S120 Parts list manual

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SINAMICS
S120
Safety Integrated
Function Manual
Valid as of:
Firmware version 5.2
12/2018
6SL3097-5AR00-0BP1
Preface
Fundamental safety
instructions
1
General information about
SINAMICS Safety Integrated
2
Overview of Safety
Integrated functions
3
Description of Safety
Integrated functions
4
Control of the safety
functions
5
Commissioning
6
Acceptance test
7
System features
8
Maintenance
9
Standards and regulations
10
Appendix
A

Siemens AG
Division Digital Factory
Postfach 48 48
90026 NÜRNBERG
GERMANY
Document order number: 6SL3097-5AR00-0BP1
Ⓟ
12/2018 Subject to change
Copyright © Siemens AG 2008 - 2018.
All rights reserved
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.

Safety Integrated
Function Manual, 12/2018, 6SL3097-5AR00-0BP1 3
Preface
SINAMICS documentation
The SINAMICS documentation is organized in the following categories:
●General documentation/catalogs
●User documentation
●Manufacturer/service documentation
Additional information
You can find information on the topics below at the following address
(https://support.industry.siemens.com/cs/de/en/view/108993276):
●Ordering documentation/overview of documentation
●Additional links to download documents
●Using documentation online (find and search in manuals/information)
Please send any questions about the technical documentation (e.g. suggestions for
improvement, corrections) to the following email address
(mailto:[e-mail]).
Siemens MySupport/Documentation
At the following address (https://support.industry.siemens.com/My/ww/en/documentation),
you can find information on how to create your own individual documentation based on
Siemens' content, and adapt it for your own machine documentation.
Training
At the following address (http://www.siemens.com/sitrain), you can find information about
SITRAIN (Siemens training on products, systems and solutions for automation and drives).
FAQs
You can find Frequently Asked Questions in the Service&Support pages at Product Support
(https://support.industry.siemens.com/cs/de/en/ps/faq).
SINAMICS
You can find information about SINAMICS at the following address
(http://www.siemens.com/sinamics).

Preface
4
Safety Integrated
Function Manual, 12/2018, 6SL3097-5AR00-0BP1
Usage phases and their documents/tools (as an example)
Usage phase
Document/tool
Orientation
SINAMICS S Sales Documentation
Planning/configuration •SIZER Engineering Tool
•Configuration Manuals, Motors
Deciding/ordering SINAMICS S120 catalogs
•SINAMICS S120 and SIMOTICS (Catalog D 21.4)
•SINAMICS Converters for Single-Axis Drives and SIMOTICS Motors (Cata-
log D 31)
•SINAMICS Converters for Single-Axis Drives – Built-In Units (D 31.1)
•SINAMICS Converters for Single-Axis Drives – Distributed Converters (D 31.2)
•SINUMERIK 840 Equipment for Machine Tools (Catalog NC 62)
Installation/assembly •SINAMICS S120 Equipment Manual for Control Units and Additional System
Components
•SINAMICS S120 Equipment Manual for Booksize Power Units
•SINAMICS S120 Equipment Manual for Booksize Power Units C/D Type
•SINAMICS S120 Equipment Manual for Chassis Power Units
•SINAMICS S120 Equipment Manual for Chassis Power Units, Liquid-cooled
•SINAMICS S120 Equipment Manual water-cooled chassis power units for com-
mon cooling circuits
•SINAMICS S120 Equipment Manual for Chassis Power Units, Air-cooled
•SINAMICS S120 Equipment Manual for AC Drives
•SINAMICS S120 Equipment Manual Combi
•SINAMICS S120M Equipment Manual Distributed Drive Technology
•SINAMICS HLA System Manual Hydraulic Drives
Commissioning •Startdrive Commissioning Tool
•SINAMICS S120 Getting Started
•SINAMICS S120 Commissioning Manual
•SINAMICS S120 Function Manual Drive Functions
•SINAMICS S120 Safety Integrated Function Manual
•SINAMICS S120 Function Manual Communication
•SINAMICS S120/S150 List Manual
•SINAMICS HLA System Manual Hydraulic Drives
Usage/operation •SINAMICS S120 Commissioning Manual
•SINAMICS S120/S150 List Manual
•SINAMICS HLA System Manual Hydraulic Drives
Maintenance/servicing •SINAMICS S120 Commissioning Manual
•SINAMICS S120/S150 List Manual
References •SINAMICS S120/S150 List Manual

Preface
Safety Integrated
Function Manual, 12/2018, 6SL3097-5AR00-0BP1 5
Where can the various topics be found?
Software
Manual
Alarms
Described in order of ascending numbers
SINAMICS S120/S150 List Manual
Parameters Described in order of ascending numbers SINAMICS S120/S150 List Manual
Function block
diagrams
Sorted according to topic
SINAMICS S120/S150 List Manual
Described in order of ascending numbers
Drive functions
SINAMICS S120 Function Manual Drive Functions
Communication topics SINAMICS S120 Function Manual Communication (from
firmware V5.2)
Safety Integrated
Basic and Extended Functions
SINAMICS S120 Safety Integrated Function Manual
Basic Functions
SINAMICS S120 Function Manual Drive Functions
Commissioning Of a simple SINAMICS S120 drive with
STARTER
Getting Started (up to Firmware V5.1 SP1)
Commissioning With STARTER
SINAMICS S120 Commissioning Manual (up to firmware
V5.1 SP1)
Commissioning Of a simple SINAMICS S120 drive with
Startdrive
Getting Started (from Firmware V5.2)
Commissioning With Startdrive SINAMICS S120 Commissioning Manual (from firmware
V5.2)
Web server
SINAMICS S120 Function Manual Drive Functions
Hardware
Manual
Control Units And expansion com-
ponents:
•Control Units
•Option Boards
•Terminal Modules
•HUB Modules
•VSM10
•Encoder system
connection
SINAMICS S120 Equipment Manual for Control Units
and Additional System Components
Power units
booksize
•Line connection
•Line Modules
•Motor Modules
•DC link compo-
nents
•Braking resistors
•Control cabinet
design
SINAMICS S120 Equipment Manual for Booksize
Power Units
Power units, booksize C/D type format SINAMICS S120 Equipment Manual for Booksize Power
Units
C/D Type
Chassis power units SINAMICS S120 Equipment Manual for Chassis Power
Units, Air-cooled or Liquid-cooled
AC drive components
SINAMICS S120 Equipment Manual for AC Drives
S120 Combi components
SINAMICS S120 Equipment Manual Combi
Diagnostics via
LEDs
STARTER SINAMICS S120 Commissioning Manual (up to firmware
V5.1 SP1)
Startdrive SINAMICS S120 Commissioning Manual (from firmware
V5.2)
Meaning of the LEDs
Equipment Manuals
High Frequency Drive components
SINAMICS S120 System Manual High Frequency Drives

Preface
6
Safety Integrated
Function Manual, 12/2018, 6SL3097-5AR00-0BP1
Target group
This documentation is intended for machine manufacturers, commissioning engineers, and
service personnel who use the SINAMICS drive system.
Benefits
This manual provides all of the information, procedures and operator actions required for the
particular usage phase.
Standard scope
The scope of the functionality described in this document can differ from that of the drive
system that is actually supplied.
●Other functions not described in this documentation might be able to be executed in the
drive system. However, no claim can be made regarding the availability of these functions
when the equipment is first supplied or in the event of service.
●The documentation can also contain descriptions of functions that are not available in a
particular product version of the drive system. Please refer to the ordering documentation
only for the functionality of the supplied drive system.
●Extensions or changes made by the machine manufacturer must be documented by the
machine manufacturer.
For reasons of clarity, this documentation does not contain all of the detailed information on
all of the product types, and cannot take into consideration every conceivable type of
installation, operation and service/maintenance.
Technical Support
Country-specific telephone numbers for technical support are provided in the Internet at the
following address (https://support.industry.siemens.com/sc/ww/en/sc/2090) in the "Contact"
area.
Compliance with the General Data Protection Regulation
Siemens respects the principles of data protection, in particular the data minimization rules
(privacy by design).
For this product, this means:
The product does not process neither store any person-related data, only technical function
data (e.g. time stamps). If the user links these data with other data (e.g. shift plans) or if he
stores person-related data on the same data medium (e.g. hard disk), thus personalizing
these data, he has to ensure compliance with the applicable data protection stipulations.
Notation
The following notation and abbreviations are used in this documentation:

Preface
Safety Integrated
Function Manual, 12/2018, 6SL3097-5AR00-0BP1 7
Notation for faults and alarms (examples):
•
F12345
Fault 12345
•
A67890
Alarm 67890
•
C23456
Safety message
Notation for parameters (examples):
•
p0918
Adjustable parameter
918
•
r1024
Display parameter 1024
•
p1070[1]
Adjustable parameter 1070, index 1
•
p2098[1].3
Adjustable parameter 2098, index 1 bit 3
•
p0099[0...3]
Adjustable parameter 99, indices 0 to 3
•
r0945[2](3)
Display parameter 945, index 2 of drive object 3
•
p0795.4
Adjustable parameter 795, bit 4

Preface
8
Safety Integrated
Function Manual, 12/2018, 6SL3097-5AR00-0BP1

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Function Manual, 12/2018, 6SL3097-5AR00-0BP1 9
Table of Contents
Preface ................................................................................................................................................... 3
1 Fundamental safety instructions............................................................................................................ 17
1.1 Fundamental safety instructions .............................................................................................17
1.1.1 General safety instructions .....................................................................................................17
1.1.2 Warranty and liability for application examples ......................................................................17
1.1.3 Industrial security ....................................................................................................................18
1.2 Fundamental safety instructions for Safety Integrated ...........................................................20
1.3 Residual risk ...........................................................................................................................23
2 General information about SINAMICS Safety Integrated........................................................................ 25
2.1 Supported functions................................................................................................................25
2.1.1 Safety Integrated Basic Functions ..........................................................................................26
2.1.2 Safety Integrated Extended Functions....................................................................................27
2.1.3 Safety Integrated Advanced Functions...................................................................................28
2.2 Supported functions: HLA module ..........................................................................................29
2.2.1 HLA: Safety Integrated Basic Functions.................................................................................29
2.2.2 HLA: Safety Integrated Extended Functions ..........................................................................30
2.2.3 HLA: Safety Integrated Advanced Functions..........................................................................31
2.3 Drive products with integrated safety functions ......................................................................32
2.4 Examples of how the safety/diagnostic functions can be applied ..........................................34
2.5 Drive monitoring with or without encoder................................................................................36
2.6 General information about operating components with Safety Integrated activated..............38
3 Overview of Safety Integrated functions ................................................................................................ 39
3.1 Safety Integrated Basic Functions ..........................................................................................39
3.1.1 Safe Torque Off (STO)............................................................................................................40
3.1.2 Safe Stop 1 (SS1) ...................................................................................................................41
3.1.3 Safe Brake Control (SBC).......................................................................................................42
3.2 Safety Integrated Extended Functions....................................................................................43
3.2.1 Preconditions for Safety Integrated Extended Functions .......................................................43
3.2.2 Control possibilities .................................................................................................................44
3.2.3 Safe Torque Off (STO)............................................................................................................44
3.2.4 Safe Stop 1 (SS1) ...................................................................................................................44
3.2.5 Safe Operating Stop (SOS) ....................................................................................................47
3.2.6 Safe Stop 2 (SS2) ...................................................................................................................48
3.2.7 Safely Limited Speed (SLS)....................................................................................................51
3.2.8 Safe Speed Monitor (SSM).....................................................................................................57
3.2.9 Safe Direction (SDI) ................................................................................................................59
3.2.10 Safe Brake Test (SBT)............................................................................................................61
3.2.11 Safely-Limited Acceleration (SLA) ..........................................................................................62
3.3 Safety Integrated Advanced Functions...................................................................................63

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3.3.1 Preconditions for Safety Integrated Extended Functions ...................................................... 63
3.3.2 Safely-Limited Position (SLP) ................................................................................................ 64
3.3.3 Transferring safe position values (SP)................................................................................... 65
3.3.4 Safe referencing..................................................................................................................... 65
3.3.5 Safe Cam (SCA) .................................................................................................................... 67
4 Description of Safety Integrated functions ............................................................................................. 69
4.1 Safety Integrated basic functions........................................................................................... 70
4.1.1 Safe Torque Off (STO)........................................................................................................... 70
4.1.1.1 Safe Torque Off (STO) for SINAMICS HLA........................................................................... 74
4.1.2 Safe Stop 1 (SS1, time controlled)......................................................................................... 75
4.1.2.1 SS1 with OFF3....................................................................................................................... 75
4.1.2.2 SS1 with external stop ........................................................................................................... 77
4.1.2.3 Function diagrams and parameters ....................................................................................... 78
4.1.3 Safe Brake Control (SBC)...................................................................................................... 78
4.1.3.1 SBC for Motor Modules in the chassis format ....................................................................... 81
4.1.3.2 Hardware required for SBC.................................................................................................... 83
4.1.3.3 Function diagrams and parameters ....................................................................................... 85
4.1.4 Safety faults ........................................................................................................................... 86
4.1.5 Forced checking procedure (test stop) .................................................................................. 88
4.1.6 Function diagrams and parameters ....................................................................................... 89
4.2 Safety Integrated Extended Functions................................................................................... 90
4.2.1 License for Extended Functions or Advanced Functions ...................................................... 90
4.2.2 Differences between Extended Functions "with encoder" and "without encoder"................. 90
4.2.3 Safe Torque Off (STO)........................................................................................................... 97
4.2.4 Safe Stop 1 (SS1) .................................................................................................................. 98
4.2.4.1 Safe Stop 1 with encoder....................................................................................................... 98
4.2.4.2 Safe Stop 1 without encoder................................................................................................ 100
4.2.4.3 Safe Stop 1 with external stop ............................................................................................. 101
4.2.4.4 Function diagrams and parameters ..................................................................................... 102
4.2.5 Safe Brake Control (SBC).................................................................................................... 102
4.2.6 Safe Operating Stop (SOS) ................................................................................................. 103
4.2.7 Safe Stop 2 (SS2) ................................................................................................................ 105
4.2.7.1 SS2 with external stop (SS2E)............................................................................................. 107
4.2.7.2 Safe Stop 2 Extended Stop and Retract (SS2ESR) ............................................................ 109
4.2.7.3 Overview of important parameters....................................................................................... 111
4.2.7.4 Interaction with EPOS.......................................................................................................... 112
4.2.8 Safely-Limited Speed (SLS)................................................................................................. 112
4.2.8.1 Safely Limited Speed (SLS)................................................................................................. 114
4.2.8.2 Safely Limited Speed without encoder ................................................................................ 117
4.2.8.3 Safely-Limited Speed without selection ............................................................................... 119
4.2.8.4 Function diagrams and parameters ..................................................................................... 120
4.2.8.5 EPOS and safe setpoint velocity limitation .......................................................................... 121
4.2.9 Safe Speed Monitor (SSM) .................................................................................................. 121
4.2.9.1 Safe Speed Monitor with encoder........................................................................................ 123
4.2.9.2 Safe Speed Monitor without encoder................................................................................... 125
4.2.9.3 Function diagrams and parameters ..................................................................................... 128
4.2.10 Safe Direction (SDI) ............................................................................................................. 128
4.2.10.1 Safe Direction with encoder ................................................................................................. 129
4.2.10.2 Safe Direction without encoder ............................................................................................ 131
4.2.10.3 Safe Direction without selection........................................................................................... 133
4.2.10.4 Function diagrams and parameters ..................................................................................... 134

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4.2.11 Safely Limited Acceleration (SLA) ........................................................................................135
4.2.12 Safe Brake Test (SBT)..........................................................................................................138
4.2.12.1 Communication via SIC/SCC................................................................................................147
4.2.12.2 Function diagrams and parameters ......................................................................................149
4.2.13 Safe Acceleration Monitor (SAM) .........................................................................................150
4.2.14 Safe Brake Ramp (SBR).......................................................................................................152
4.2.15 Safe actual value acquisition ................................................................................................155
4.2.15.1 Notes regarding safe actual value sensing using an encoder system .................................155
4.2.15.2 Notes regarding setting parameters for safe actual value sensing without encoder............165
4.2.16 Safe gearbox stage switchover.............................................................................................168
4.2.17 Forced checking procedure (test stop) .................................................................................172
4.3 Safety Integrated Advanced Functions.................................................................................178
4.3.1 Note regarding PFH values ..................................................................................................178
4.3.2 License for Extended Functions or Advanced Functions .....................................................178
4.3.3 Safely-Limited Position (SLP) ...............................................................................................178
4.3.3.1 Retraction..............................................................................................................................182
4.3.3.2 Function diagrams and parameters ......................................................................................184
4.3.4 Transferring safe position values (SP)..................................................................................185
4.3.4.1 Transferring safe position values..........................................................................................185
4.3.4.2 Synchronous transfer of safe position values.......................................................................188
4.3.4.3 Function diagrams and parameters ......................................................................................189
4.3.5 Safe referencing....................................................................................................................190
4.3.6 Safe Cam (SCA) ...................................................................................................................192
4.3.7 Forced checking procedure (test stop) .................................................................................195
5 Control of the safety functions ............................................................................................................. 201
5.1 Control possibilities ...............................................................................................................201
5.2 Control signals by way of terminals on the Control Unit and Motor / Power Module ...........202
5.2.1 Simultaneity and tolerance time of the two monitoring channels .........................................206
5.2.2 Bit pattern test.......................................................................................................................208
5.2.3 STO via terminals of the Power Modules Blocksize (CU310-2) ...........................................209
5.3 Activation via PROFIsafe......................................................................................................211
5.3.1 Assigning Safety Integrated Functions to PROFIsafe ..........................................................211
5.3.2 Enabling of the control via PROFIsafe..................................................................................212
5.3.3 Selecting a PROFIsafe telegram ..........................................................................................213
5.3.4 Telegram format....................................................................................................................215
5.3.5 Process data .........................................................................................................................217
5.3.5.1 S_STW1 and S_ZSW1 (Basic Functions).............................................................................217
5.3.5.2 S_STW2 and S_ZSW2 (Basic Functions).............................................................................219
5.3.5.3 S_STW1 and S_ZSW1 (Extended/Advanced Functions) .....................................................221
5.3.5.4 S_STW2 and S_ZSW2 (Extended/Advanced Functions) .....................................................223
5.3.5.5 Additional process data.........................................................................................................226
5.3.6 Function diagrams and parameters ......................................................................................229
5.4 Control via TM54F ................................................................................................................230
5.4.1 Assigning Safety Integrated Functions to the F-DI/TM54F...................................................231
5.4.2 Fault acknowledgment..........................................................................................................231
5.4.3 Overview of the F-DIs ...........................................................................................................232
5.4.4 Overview of the F-DOs .........................................................................................................235
5.5 Communication failure via PROFIsafe or with TM54F .........................................................238
5.5.1 STOP B as response to communication failure with PROFIsafe control..............................238

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5.5.2 Initiating ESR for a communication failure........................................................................... 239
5.6 Control of the Extended/Advanced Functions via F-DI (for CU310-2)................................. 241
5.6.1 Assigning Safety Integrated Functions to the F-DI/TM54F.................................................. 243
5.6.2 Overview of the F-DIs .......................................................................................................... 244
5.6.3 Function of the F-DO ........................................................................................................... 246
5.7 Motion monitoring without selection..................................................................................... 249
5.8 Safety Info Channel and Safety Control Channel ................................................................ 251
5.8.1 Safety Info Channel (SIC) .................................................................................................... 251
5.8.2 Safety Control Channel (SCC)............................................................................................. 251
5.8.3 Possible telegram configuration (700, 701) ......................................................................... 251
5.8.4 Configuring........................................................................................................................... 253
5.8.5 Applications.......................................................................................................................... 255
5.8.6 Send data for SIC and SCC................................................................................................. 257
5.8.7 Receive data for SCC .......................................................................................................... 260
5.8.8 Overview of important parameters....................................................................................... 261
6 Commissioning ....................................................................................................................................263
6.1 Safety Integrated firmware versions .................................................................................... 263
6.2 Parameters, checksum, version........................................................................................... 264
6.3 Handling the Safety password ............................................................................................. 266
6.4 DRIVE-CLiQ rules for Safety Integrated Functions ............................................................. 269
6.5 Forced dormant error detection (test stop) .......................................................................... 271
6.6 Safety Integrated and ESR .................................................................................................. 274
6.7 Commissioning Safety Integrated functions ........................................................................ 276
6.7.1 General information ............................................................................................................. 276
6.7.2 Prerequisites for commissioning the Safety Integrated functions........................................ 278
6.7.3 Default settings for commissioning Safety Integrated functions without encoder ............... 278
6.7.4 Setting the sampling times................................................................................................... 280
6.8 Commissioning: Basic procedure ........................................................................................ 282
6.8.1 Making basic settings........................................................................................................... 282
6.8.1.1 Starting the safety commissioning ....................................................................................... 282
6.8.1.2 Making basic safety settings................................................................................................ 282
6.8.1.3 Accepting the settings in the drive ....................................................................................... 286
6.8.1.4 Changing the safety password............................................................................................. 286
6.8.2 Basic Functions.................................................................................................................... 288
6.8.2.1 Commissioning with Startdrive............................................................................................. 288
6.8.2.2 Commissioning via direct parameter access ....................................................................... 290
6.8.3 Extended and Advanced Functions ..................................................................................... 293
6.8.3.1 SS1 (Extended Functions) ................................................................................................... 293
6.8.4 General settings................................................................................................................... 295
6.8.4.1 Parameterizing the actual value acquisition / mechanical system....................................... 295
6.8.4.2 Configuring the control of the safety functions..................................................................... 298
6.8.4.3 Forced checking procedure (test stop) ................................................................................ 300
6.8.4.4 Function status of the Safety Integrated settings................................................................. 303
6.9 Commissioning CU310-2 ..................................................................................................... 305
6.9.1 Basic sequence of commissioning....................................................................................... 305
6.9.2 Forced checking procedure (test stop) of the CU310-2....................................................... 306

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6.9.2.1 Test mode 1: Evaluation of internal diagnostic signal (passive load)...................................308
6.9.2.2 Test mode 2: Read back F-DO in DI (relay circuit)...............................................................309
6.9.2.3 Test mode 3: Read back F-DO into the DI (actuator with feedback signal) .........................310
6.9.2.4 Test stop mode parameters..................................................................................................311
6.10 Commissioning TM54F.........................................................................................................312
6.10.1 Basic sequence of commissioning........................................................................................312
6.10.2 Forced checking procedure (test stop) of the TM54F...........................................................313
6.10.2.1 Test mode 1: Evaluation of internal diagnostic signal (passive load)...................................317
6.10.2.2 Test mode 2: Read back F-DO in DI (relay circuit)...............................................................318
6.10.2.3 Test mode 3: Read back F-DO into the DI (actuator with feedback signal) .........................319
6.10.2.4 Test stop mode parameters..................................................................................................320
6.11 PROFIsafe communication...................................................................................................321
6.11.1 PROFIsafe via PROFIBUS ...................................................................................................321
6.11.2 PROFIsafe via PROFINET ...................................................................................................322
6.11.3 PROFIsafe configuration with Startdrive...............................................................................322
6.11.3.1 Selecting a PROFIsafe telegram ..........................................................................................323
6.12 Modular machine concept Safety Integrated ........................................................................325
6.13 Information pertaining to series commissioning ...................................................................326
6.14 Application examples............................................................................................................328
7 Acceptance test .................................................................................................................................. 331
7.1 General information about the acceptance test....................................................................332
7.2 Contents and depth of the acceptance test ..........................................................................336
7.2.1 Content of the complete acceptance test .............................................................................336
7.2.2 Content of the partial acceptance test ..................................................................................338
7.2.3 Test scope for specific measures .........................................................................................341
7.2.4 Relevant checksums for the acceptance ..............................................................................342
7.3 Acceptance test with Startdrive ............................................................................................344
7.3.1 Notes.....................................................................................................................................344
7.3.2 Preparing the acceptance test ..............................................................................................345
7.3.3 Performing the acceptance test (example) ...........................................................................346
7.3.4 Completing the acceptance test with report .........................................................................348
7.3.5 Transferring acceptance test results.....................................................................................349
7.4 Safety logbook ......................................................................................................................350
8 System features.................................................................................................................................. 351
8.1 Latest information .................................................................................................................351
8.2 Certification ...........................................................................................................................353
8.3 Probability of failure of the safety functions (PFH value)......................................................354
8.4 Response times ....................................................................................................................355
8.4.1 Control of Basic Functions via terminals on the Control Unit and Motor Module
(CU310-2 and CU320-2).......................................................................................................356
8.4.2 Control of Basic Functions via PROFIsafe (CU310-2 and CU320-2)...................................357
8.4.3 Control of Basic Functions via TM54F..................................................................................358
8.4.4 Control of Extended Functions with encoder via PROFIsafe (CU310-2 and CU320-2).......359
8.4.5 Control of Extended Functions with encoder via TM54F (CU310-2 and CU320-2) .............361
8.4.6 Control of Extended Functions with encoder via terminals (only CU310-2) .........................362

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8.4.7 Control of Extended Functions without encoder via PROFIsafe (CU310-2 and
CU320-2).............................................................................................................................. 363
8.4.8 Control of Extended Functions without encoder via terminals (only CU310-2) ................... 365
8.4.9 Control of Extended Functions without encoder via TM54F (CU310-2 and CU320-2) ....... 366
8.4.10 Control of Advanced Functions with encoder via PROFIsafe (CU310-2 and CU320-2) ..... 367
8.4.11 Control of Advanced Functions with encoder via TM54F (CU310-2 and CU320-2)............ 368
8.4.12 Control of Advanced Functions with encoder via terminals (only CU310-2) ....................... 369
8.4.13 Advanced Functions without encoder via PROFIsafe (CU310-2 and CU320-2)................. 370
9 Maintenance ........................................................................................................................................371
9.1 Information pertaining to component replacements............................................................. 371
9.2 Note regarding firmware update .......................................................................................... 374
9.3 Safety faults ......................................................................................................................... 375
9.3.1 Stop responses .................................................................................................................... 375
9.3.2 Stop response priorities ....................................................................................................... 379
9.3.3 Acknowledging safety faults................................................................................................. 381
9.4 Message buffer .................................................................................................................... 382
10 Standards and regulations ...................................................................................................................385
10.1 General information ............................................................................................................. 385
10.1.1 Aims ..................................................................................................................................... 385
10.1.2 Functional safety.................................................................................................................. 386
10.2 Safety of machinery in Europe............................................................................................. 387
10.2.1 Machinery Directive ............................................................................................................. 387
10.2.2 Harmonized European Standards........................................................................................ 388
10.2.3 Standards for implementing safety-related controllers ........................................................ 390
10.2.4 DIN EN ISO 13849-1 ........................................................................................................... 392
10.2.5 EN 62061 ............................................................................................................................. 393
10.2.6 Series of standards IEC 61508 (VDE 0803) ........................................................................ 394
10.2.7 Risk analysis/assessment.................................................................................................... 395
10.2.8 Risk reduction ...................................................................................................................... 397
10.2.9 Residual risk......................................................................................................................... 397
10.2.10 EC declaration of conformity................................................................................................ 397
10.3 Machine safety in the USA................................................................................................... 398
10.3.1 Minimum requirements of the OSHA ................................................................................... 398
10.3.2 NRTL listing.......................................................................................................................... 398
10.3.3 NFPA 79............................................................................................................................... 399
10.3.4 ANSI B11 ............................................................................................................................. 399
10.4 Machine safety in Japan ...................................................................................................... 400
10.5 Equipment regulations ......................................................................................................... 401
10.6 Other safety-related issues .................................................................................................. 402
10.6.1 Information sheets issued by the Employer's Liability Insurance Association..................... 402
10.6.2 Additional references ........................................................................................................... 402
A Appendix .............................................................................................................................................403
A.1 Modules available in Startdrive ............................................................................................ 403
A.2 List of abbreviations ............................................................................................................. 404

Table of Contents
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Function Manual, 12/2018, 6SL3097-5AR00-0BP1 15
A.3 Documentation overview ......................................................................................................413
A.4 Change history......................................................................................................................414
A.5 Stop versions ........................................................................................................................415
Index................................................................................................................................................... 417

Table of Contents
16
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Function Manual, 12/2018, 6SL3097-5AR00-0BP1

Safety Integrated
Function Manual, 12/2018, 6SL3097-5AR00-0BP1 17
Fundamental safety instructions
1
1.1 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 (parameter assignments) against unauthorized access.
•Handle possible malfunctions by taking suitable measures, e.g. emergency stop or
emergency off.
1.1.2 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.

Fundamental safety instructions
1.1 Fundamental safety instructions
18
Safety Integrated
Function Manual, 12/2018, 6SL3097-5AR00-0BP1
1.1.3 Industrial security
Note
Industrial security
S
iemens 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 impl
ement – 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,
m
achines 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
seg
mentation) are in place.
For additional information on industrial security measures that may be implemented, please
visit:
Industrial security (
http://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 at:
Industrial security (
http://www.siemens.com/industrialsecurity)
Further information is provided on the Internet:
Industrial Security Configuration Manual
(https://support.industry.siemens.com/cs/ww/en/view/108862708)