LDrvSafe Manual V40

LDrvSafe
Fail-safe SIMATIC library to control the Safety

Siemens
Integrated Functions of the SINAMICS drive family Industry
Online
https://support.industry.siemens.com/cs/ww/en/view/109485794 Support
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Table of contents
Table of contents
Legal information ......................................................................................................... 2
1 Library Overview ................................................................................................ 5
1.1 Permissible Hardware .......................................................................... 5
1.2 Permissible Software ............................................................................ 5
2 Blocks of the library .......................................................................................... 6
2.1 List of blocks ......................................................................................... 6
2.1.1 Signatures of the individual blocks ....................................................... 7
2.2 PROFIsafe control words ..................................................................... 8
2.2.1 SinaGTlg30Control ............................................................................. 10
2.2.2 SinaSTlg30Control ............................................................................. 11
2.2.3 SinaTlg31Control ................................................................................ 13
2.2.4 SinaTlg900Control .............................................................................. 16
2.2.5 SinaTlg901Control .............................................................................. 18
2.2.6 SinaTlg902Control .............................................................................. 21
2.2.7 SinaTlg903Control .............................................................................. 24
2.2.8 PdcTlg30Control ................................................................................. 27
2.2.9 PdcTlg31Control ................................................................................. 28
2.3 PROFIsafe status words .................................................................... 30
2.3.1 SinaGTlg30Status .............................................................................. 32
2.3.2 SinaSTlg30Status ............................................................................... 34
2.3.3 SinaTlg31Status ................................................................................. 36
2.3.4 SinaTlg900Status ............................................................................... 39

2.3.5 SinaTlg901Status ............................................................................... 41
2.3.6 SinaTlg902Status ............................................................................... 45
2.3.7 SinaTlg903Status ............................................................................... 48
2.3.8 PdcTlg30Status .................................................................................. 53
2.3.9 PdcTlg31Status .................................................................................. 55
2.4 Safety Control Channel (SCC) ........................................................... 57
2.4.1 SinaTlg701Control .............................................................................. 59
2.5 Safety Info Channel (SIC) .................................................................. 62
2.5.1 SinaTlg700Status ............................................................................... 64
2.5.2 SinaTlg701Status ............................................................................... 68
2.6 General function blocks ...................................................................... 73
2.6.1 SafeVelocity ....................................................................................... 73
2.6.2 Basics of acyclic communication (LAcycCom) ................................... 77
2.6.3 Common interface parameters ........................................................... 78
2.6.4 SafeBrakeTest .................................................................................... 80
2.6.5 SafeReferencing ................................................................................. 84
2.6.6 HwAcknowledge ................................................................................. 88
2.7 Winder application .............................................................................. 91
2.7.1 Description ......................................................................................... 91
2.7.2 Solution............................................................................................... 92
2.7.3 Requirements for the distance sensors .............................................. 92
2.7.4 Permissible hardware ......................................................................... 93
2.7.5 Permissible hardware setup ............................................................... 93
2.7.6 General instructions ........................................................................... 98
2.7.7 Commissioning ................................................................................. 100
2.7.8 Function sequence ........................................................................... 101
Scaling of distance sensors ............................................................. 101
Masking the measured value of the distance sensor in SINAMICS 102
Unmasking the measured value of the distance sensor in the safety
part of the F-PLC .............................................................. 105
Discrepancy monitoring .................................................................... 105
Averaging the measured values of the distance sensors (optional) 106
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Table of contents
Calculation of the current radius ...................................................... 106

Discrepancy Monitoring .................................................................... 106
Calculation of SLS limit .................................................................... 106
Transferring the calculated SLS limit ............................................... 106
Setting SLS limit 1 of SINAMICS S120 ............................................ 106
2.7.9 UnmaskedValueCalculation ............................................................. 108
2.7.10 DiscrepancyMonitoring ..................................................................... 112
2.7.11 AverageValueCalculation ................................................................. 115
2.7.12 WinderRadius ................................................................................... 117
2.7.13 WinderSLS ....................................................................................... 123
3 Functional test ............................................................................................... 126
3.1 Information for checking the Safety functionality of the machine ..... 126
3.2 Examples for checking the Safety functionality of the F blocks ....... 126
3.2.1 PROFIsafe control words ................................................................. 126
3.2.2 PROFIsafe status words .................................................................. 127
3.2.3 Winder application ............................................................................ 129
3.2.1 SafeVelocity ..................................................................................... 130
4 Working with the library ................................................................................ 131
4.1 Integrating the library into TIA Portal ................................................ 131
4.2 Integrating the library blocks into TIA Portal .................................... 133
4.3 Downloading the blocks to the S7 CPU ........................................... 134
4.4 Online help ....................................................................................... 135
5 Versioning of library LDrvSafe ..................................................................... 136
6 Appendix ........................................................................................................ 137

6.1 Application Support .......................................................................... 137
6.2 Links and Literature .......................................................................... 137
6.3 Change documentation .................................................................... 137
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1 Library Overview
1 Library Overview
The library includes fail-safe S7 blocks to implement various applications in
conjunction with S7-1200F, S7-1500F, S7-1500F Software Controller, SINUMERIK
ONE and SINAMICS or SIMATIC Micro Drive coupled via PROFIsafe.
NOTE The SINAMICS Safety Functions are certified according to SIL2 in accordance
with IEC 61508 or IEC 61800-5-2, as well as PLd and Category 3 according to
ISO 13849-1.
PROFIsafe communication, as well as the failsafe PLC are certified according to
SIL3 in accordance with IEC 61508 or EN 62061, as well as PLe and Category 4
according to ISO 13849-1.
1.1 Permissible Hardware

Permissible are the following PLC families with the corresponding safety system
versions.
Table 1-1: Permissible PLC family

Permissible PLC family Permissible firmware Permissible safety-
version system-sersion
SIMATIC S7-1200F From V4.2 From V2.0
SIMATIC Drive Controller From V2.8 From V2.0
Software Controller
SINUMERIK ONE From V6.13 From V2.0
1.2 Permissible Software

Table 1-2: Permissible software
Component Article number
TIA Portal V16 or higher 6ES7822-1Ax06-xxxx
STEP 7 Safety Advanced V16 or higher 6ES7833-1FA16-0Yxx
Reaction time
The reaction time of the F program also depends on the cycle time of the calling
F-OB. The user must ensure that the reaction time matches the applications
WARNING
requirements.
Further information can be found at
https://support.industry.siemens.com/cs/ww/en/view/58856512
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2 Blocks of the library

2.1 List of blocks
The subsequent table lists all blocks of the LDrvSafe library.
Table 2-1: List of blocks
Block Symbol Classification
FB 29000 SinaGT30Control In-house development
FB 29001 SinaST30Control In-house development
FB 29002 SinaT31Control In-house development
FB 29007 PdcTlg30Control In-house development
FB 29008 PdcTlg31Control In-house development
FB 29010 SinaGT30Status In-house development
FB 29011 SinaST30Status In-house development
FB 29012 SinaT31Status In-house development

FB 29017 PdcTlg30Status In-house development
FB 29018 PdcTlg31Status In-house development
FB 29020 AverageValueCalculation In-house development
FB 29021 DiscrepancyMonitoring In-house development
FB 29022 UnmaskedValueCalculation In-house development
FB 29023 WinderRadius In-house development
FB 29024 WinderSLS In-house development
FB 29030 SafeVelocity In-house development
FB 29100 SafeReferencing In-house development
FB 29101 HwAcknowledge In-house development
FB 29102 SafeBrakeTest In-house development
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2.1.1 Signatures of the individual blocks
The signatures of the individual blocks of this library are listed in the following table.
Table 2-2: Signatures
Block Symbol Signature
FB 29000 SinaGT30Control 8F333427
FB 29001 SinaST30Control AC851398
FB 29002 SinaT31Control 5D03B0ED
FB 29003 SinaT900Control A15F64DB
FB 29004 SinaT901Control 59103094
FB 29005 SinaT902Control 2698E828
FB 29006 SinaT903Control A512028F
FB 29007 PdcTlg30Control FADE7F29
FB 29008 PdcTlg31Control C9F916C6
FB 29010 SinaGT30Status 27131F87
FB 29011 SinaST30Status 44E62E1B
FB 29012 SinaT31Status C67DA100
FB 29013 SinaT900Status B25F3C1C
FB 29014 SinaT901Status 460DF0D
FB 29015 SinaT902Status D82DAFCB

FB 29016 SinaT903Status 4968E86B
FB 29017 PdcTlg30Status 21415888
FB 29018 PdcTlg31Status 2E7280CB
FB 29020 AverageValueCalculation 8471964D
FB 29021 DiscrepancyMonitoring 3587F8C
FB 29022 UnmaskedValueCalculation 7ACEDEFE
FB 29023 WinderRadius 1DCC6934
FB 29024 WinderSLS D1C81A29
FB 29030 SafeVelocity 451D8674
FB 29100 SafeReferencing -
FB 29101 HwAcknowledge -
FB 29102 SafeBrakeTest -
FB 29200 SinaT701Control -
FB 29201 SinaT700Status -
FB 29202 SinaT701Status -
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2.2 PROFIsafe control words

These function blocks are used to simply control the Safety Integrated Functions of
all SINAMICS hardware, which support the Safety Integrated Functions via
PROFIsafe.
The SINAMICS Safety Integrated Functions are represented at the inputs of the
blocks. At the block input, the user interconnects his Safety-related signals or
sensors (e.g. Emergency Stop, guard door ...) with the Safety Integrated Functions.
The input "ackSafetyFaults" is available to acknowledge Safety messages of the
SINAMICS in a failsafe way. These messages are acknowledged using a rising
signal edge.
Example:
Figure 2-1: Interconnecting Emergency Stop command device and acknowledgment signal
The user must interconnect the block output (in this case, "SinaGTlg30Control")
with a variable with the data type of the selected PROFIsafe telegram.
This variable must initially be created in the variable table. The start address (1)
must be the same as the start address (2) of the PROFIsafe telegram in the HWCN
(hardware configuration).
Figure 2-2: Creating a variable with the data type of the selected PROFIsafe telegram (in
this case, "LDrvSafe_typeSinaGTlg30Control") in variable table
1
Figure 2-3: Excerpt of the PROFIsafe configuration from HWCN
Wrong start address of the created variable

If the start address of the created variable is not the same as the start address of
CAUTION
the PROFIsafe telegram, the SINAMICS Safety Integrated Functions can’t be
controlled correctly.
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The data type depends on the used function block.

Table 2-3: Assignment of function block and data type
Function block (symbolic name) Associated data type
LDrvSafe_SinaGTlg30Control LDrvSafe_typeSinaGTlg30Control
LDrvSafe_SinaSTlg30Control LDrvSafe_typeSinaSTlg30Control
LDrvSafe_SinaTlg31Control LDrvSafe_typeSinaTlg31Control
LDrvSafe_PdcTlg30Control LDrvSafe_typePdcTlg30Control
LDrvSafe_PdcTlg31Control LDrvSafe_typePdcTlg31Control
At the end, interconnect the variable created to the block output.

Figure 2-4: Interconnecting the block output
No selection of the Safety Functions

If there is more than one PROFIsafe telegram with the same length, Safety
CAUTION
Functions can be selected in the F-PLC that are not supported or enabled in the
drive.
To detect this error, call the corresponding telegram block "...Status" and
compare the feedback of the safety function "...active" with the control of the
Safety Function.
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2.2.1 SinaGTlg30Control
Description
This function block is used to simply control the Safety Integrated Functions of
SINAMICS G120 via PROFIsafe telegram 30.
Principle of operation
Figure 2-5: Structure of block LDrvSafe_SinaGTlg30Control
At the block input, the user interconnects Safety-related signals or sensors (e.g.
Emergency Stop, guard door ...) with the Safety Integrated Functions.
The user must interconnect output "SinaGTlg30Control" with a variable of data type
"LDrvSafe_typeSinaGTlg30Control".
Details on how to commission the block are provided in chapter PROFIsafe control
words.
Interface
Table 2-4: Input parameters of block LDrvSafe_SinaGTlg30Control
Parameter Data type Description
STO BOOL Controlling the Safety Integrated Function Safe
Torque Off (STO)
1: Deselect STO
0: Select STO
SS1 BOOL Controlling the Safety Integrated Function Safe
Stop 1 (SS1)
1: Deselect SS1
0: Select SS1
SLS BOOL Controlling the Safety Integrated Function Safely-
Limited Speed (SLS)
1: Deselect SLS
0: Select SLS
selectSLSbit0 BOOL Switchover between the four SLS levels (is active in
conjunction with signal "selectSLSbit1")
1: Select "Select SLS bit 0"
0: Deselect "Select SLS bit 0"
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SDIpositive BOOL Controlling the Safety Integrated Function Safe
Direction (SDI) in the positive direction of rotation
1: Deselect SDI positive
0: Select SDI positive
SDInegative BOOL Controlling the Safety Integrated Function Safe
Direction (SDI) in the negative direction of rotation
1: Deselect SDI negative
0: Select SDI negative
ackSafetyFaults BOOL Fail-safe acknowledgment of Safety faults in the
drive using a positive signal edge at this input
Table 2-5: Output parameters of block LDrvSafe_SinaGTlg30Control

SinaGTlg30Control LDrvSafe_type Assignment of the Safety Integrated
SinaGTlg30Control Functions at the block input to the structure
of the PROFIsafe telegram
2.2.2 SinaSTlg30Control
Description
SINAMICS S via PROFIsafe telegram 30.
Figure 2-6: Structure of block LDrvSafe_SinaSTlg30Control
Emergency Stop, protective door ...) with the Safety Integrated Functions.
The user must interconnect output "SinaSTlg30Control" with a variable of data type
"LDrvSafe_typeSinaSTlg30Control".
words.
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NOTE The Safety Function SLP is not supported when using a SINAMICS S110.
Interface
Table 2-6: Input parameters of block LDrvSafe_SinaSTlg30Control
Torque Off (STO)
1: Deselect STO
0: Select STO
Stop 1 (SS1)
1: Deselect SS1
0: Select SS1
Stop 2 (SS2)
1: Deselect SS2
0: Select SS2
SOS BOOL Controlling the Safety Integrated Function Safe
Operating Stop (SOS)
1: Deselect SOS
0: Select SOS
Limited Speed (SLS)

1: Deselect SLS
0: Select SLS
SLP BOOL Controlling the Safety Integrated Function Safely-
Limited Position (SLP)
1: Deselect SLP
0: Select SLP
SLA BOOL Controlling the Safety Integrated Function Safely-
Limited Acceleration (SLA)
1: Deselect SLA
0: Select SLA
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Table 2-7: Output parameters of block LDrvSafe_SinaSTlg30Control

SinaSTlg30Control LDrvSafe_type Assignment of the Safety Integrated
SinaSTlg30Control Functions at the block input to the structure
2.2.3 SinaTlg31Control
Description
SINAMICS via PROFIsafe telegram 31.
Figure 2-7: Structure of block LDrvSafe_SinaTlg31Control
The user must interconnect output "SinaTlg31Control" with a variable of data type
"LDrvSafe_typeSinaTlg31Control".
words.
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Interface
Table 2-8: Input parameters of block LDrvSafe_SinaTlg31Control
Torque Off (STO)
1: Deselect STO
0: Select STO
SS1 BOOL Controlling the Safety Integrated Function Safe Stop
1 (SS1)
1: Deselect SS1
0: Select SS1
2 (SS2)
1: Deselect SS2
0: Select SS2
SS2E BOOL Controlling the Safety Integrated Function Safe Stop
2 with external Stop (SS2E)
1: Deselect SS2E
0: Select SS2E
SS2ESR BOOL Controlling the Safety Integrated Function Safe Stop
2 Extended Stop and Retract (SS2ESR)
1: Deselect SS2ESR
0: Select SS2ESR

1: Deselect SOS
0: Select SOS
Limited Speed (SLS)
1: Deselect SLS
0: Select SLS
1: Deselect SLP
0: Select SLP
selectSLPrange BOOL Switchover between the two SLP traversing ranges
1: SLP traversing range 2
1: Deselect SLA
0: Select SLA
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selectGearboxStage BOOL Switchover between the eight gearbox stages (is
Bit0 active in conjunction with signals
"selectGearboxStageBit1" and
"selectGearboxStageBit2")
switchoverGearbox BOOL Higher position tolerance when switching over the
Stage gearbox stage
1: Increased position tolerance when switching over
the gearbox stage: p9542 * p9543 (without actual
value synchronization p9501.3 = 0); p9549 * p9543
(with actual value synchronization p9501.3 = 1)
0: Position tolerance when switching over the
gearbox stage: p9542

Table 2-9: Output parameters of block LDrvSafe_SinaTlg31Control

SinaTlg31Control LDrvSafe_type Assignment of the Safety Integrated
SinaTlg31Control Functions at the block input to the structure of
the PROFIsafe telegram
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Description
words.
Interface
STO BOOL Controlling the Safety Integrated Function Safe Torque
Off (STO)
1: Deselect STO
0: Select STO
SS1 BOOL Controlling the Safety Integrated Function Safe Stop 1
(SS1)
1: Deselect SS1
0: Select SS1
Limited Speed (SLS)
1: Deselect SLS
0: Select SLS
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ackSafetyFaults BOOL Fail-safe acknowledgment of Safety faults in the drive
using a positive signal edge at this input

SinaTlg900Control Functions at the block input to the structure
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Description
words.
Interface
Torque Off (STO)
1: Deselect STO
0: Select STO
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Stop 1 (SS1)
1: Deselect SS1
0: Select SS1
Stop 2 (SS2)
1: Deselect SS2
0: Select SS2
SS2E BOOL Controlling the Safety Integrated Function Safe
Stop 2 with external Stop (SS2E)
1: Deselect SS2E
0: Select SS2E
SS2ESR BOOL Controlling the Safety Integrated Function Safe
Stop 2 Extended Stop and Retract (SS2ESR)
1: Deselect SS2ESR
0: Select SS2ESR
1: Deselect SOS
0: Select SOS
Limited Speed (SLS)
1: Deselect SLS
0: Select SLS
selectSLSbit0 BOOL Switchover between the four SLS levels (is active
in conjunction with signal "selectSLSbit1")
selectSLSbit1 BOOL Switchover between the four SLS levels (is active
in conjunction with signal "selectSLSbit0")
1: Deselect SLP
0: Select SLP
selectSLPrange BOOL Switchover between the two SLP traversing
ranges
1: Deselect SLA
0: Select SLA
Direction (SDI) in the negative direction of
rotation
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Stage gearbox stage
1: Increased position tolerance when switching
over the gearbox stage: p9542 * p9543 (without
actual value synchronization p9501.3 = 0); p9549
* p9543 (with actual value synchronization
p9501.3 = 1)
variableSLS INT Variable input of SLS level 1
SLS level 1 of SINAMICS is dynamically varied
between 0.01 and 100%


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Description
words.
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Interface
Torque Off (STO)
1: Deselect STO
0: Select STO
1 (SS1)
1: Deselect SS1
0: Select SS1
2 (SS2)
1: Deselect SS2
0: Select SS2
SS2E BOOL Controlling the Safety Integrated Function Safe Stop
2 with external Stop (SS2E)
1: Deselect SS2E
0: Select SS2E
SS2ESR BOOL Controlling the Safety Integrated Function Safe Stop
1: Deselect SS2ESR
0: Select SS2ESR

1: Deselect SOS
0: Select SOS
Limited Speed (SLS)
1: Deselect SLS
0: Select SLS
1: Deselect SLP
0: Select SLP
1: Deselect SLA
0: Select SLA
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Stage gearbox stage
the gearbox stage:p9542 * p9543 (without actual


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Description
words.
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Interface
Torque Off (STO)
1: Deselect STO
0: Select STO
Stop 1 (SS1)
1: Deselect SS1
0: Select SS1
Stop 2 (SS2)
1: Deselect SS2
0: Select SS2
SS2E BOOL Controlling the Safety Integrated Function Safe
Stop 2 with external Stop (SS2E)
1: Deselect SS2E
0: Select SS2E
SS2ESR BOOL Controlling the Safety Integrated Function Safe
Stop 2 Extended Stop and Retract (SS2ESR)
1: Deselect SS2ESR
0: Select SS2ESR

1: Deselect SOS
0: Select SOS
Limited Speed (SLS)
1: Deselect SLS
0: Select SLS
1: Deselect SLP
0: Select SLP
1: Deselect SLA
0: Select SLA
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SCA BOOL Controlling the Safety Integrated Function Safe
Cam (SCA)
1: Deselect SCA
0: Select SCA
Stage gearbox stage
the gearbox stage: p9542 * p9543 (without actual


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2.2.8 PdcTlg30Control
Description
SIMATIC Micro Drive via PROFIsafe telegram 30.
Figure 2-12: Structure of block LDrvSafe_PdcTlg30Control
The user must interconnect output "PdcTlg30Control" with a variable of data type
"LDrvSafe_typePdcTlg30Control".
words.
Interface
Table 2-18: Input parameters of block LDrvSafe_PdcTlg30Control
Torque Off (STO)
1: Deselect STO
0: Select STO
Stop 1 (SS1)
1: Deselect SS1
0: Select SS1
Limited Speed (SLS)
1: Deselect SLS
0: Select SLS
SLT BOOL Controlling the Safety Integrated Function Safely-
Limited Torque (SLT)
1: Deselect SLT
0: Select SLT
Table 2-19: Output parameters of block LDrvSafe_PdcTlg30Control
PdcTlg30Control LDrvSafe_type Assignment of the Safety Integrated
PdcTlg30Control Functions at the block input to the structure
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2.2.9 PdcTlg31Control
Description
Figure 2-13: Structure of block LDrvSafe_PdcTlg31Control
The user must interconnect output "PdcTlg31Control" with a variable of data type
"LDrvSafe_typePdcTlg31Control".
words.
Interface
Table 2-20: Input parameters of block LDrvSafe_PdcTlg31Control
Torque Off (STO)
1: Deselect STO
0: Select STO
Stop 1 (SS1)
1: Deselect SS1
0: Select SS1
Limited Speed (SLS)
1: Deselect SLS
0: Select SLS
SLT BOOL Controlling the Safety Integrated Function Safely-
LDrvSafe
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Limited Torque (SLT)
1: Deselect SLT
0: Select SLT
selectSLTbit0 BOOL Switchover between the four SLT levels (is active in
conjunction with signal "selectSLTbit1")
1: Select "Select SLT bit 0"
0: Deselect "Select SLT bit 0"
selectSLTbit1 BOOL Switchover between the four SLT levels (is active in
conjunction with signal "selectSLTbit0")
1: Select "Select SLT bit 1"
0: Deselect "Select SLT bit 1"
Table 2-21: Output parameters of block LDrvSafe_PdcTlg31Control

PdcTlg31Control LDrvSafe_type Assignment of the Safety Integrated
PdcTlg31Control Functions at the block input to the structure
LDrvSafe
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2.3 PROFIsafe status words

These function blocks are used to simply evaluate the Safety Integrated Functions
of all SINAMICS hardware, which supports the Safety Integrated Functions via
PROFIsafe.
The states of the SINAMICS Safety Integrated Functions are represented at the
output of the block. At the block output, the user interconnects the statuses of the
Safety Integrated Functions with his failsafe signals or actuators (e.g. guard door
release, contactor ...).
Example:
Figure 2-14: Interconnecting signals to display STO and Safety faults
The user must interconnect the block input (in this case, "SinaGTlg30Status") with
a variable with the data type of the selected PROFIsafe telegram.
This variable must initially be created in the variable table. The start address (1)
must be the same as the start address (2) of the PROFIsafe telegram in the HWCN
(hardware configuration).
Figure 2-15: Creating a variable with the data type of the selected PROFIsafe telegram (in
this case, "LDrvSafe_typeSinaGTlg30Status") in variable table
Figure 2-16: Excerpt of the PROFIsafe configuration from HWCN
CAUTION Wrong start address of the created variable

If the start address of the created variable is not the same as the start address of
the PROFIsafe telegram, the SINAMICS Safety Integrated Functions can’t be
evaluated correctly.
LDrvSafe
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The data type depends on the function block used.

LDrvSafe_SinaGTlg30Status LDrvSafe_typeSinaGTlg30Status
LDrvSafe_SinaSTlg30Status LDrvSafe_typeSinaSTlg30Status
LDrvSafe_SinaTlg31Status LDrvSafe_typeSinaTlg31Status
LDrvSafe_PdcTlg30Status LDrvSafe_typePdcTlg30Status
LDrvSafe_PdcTlg31Status LDrvSafe_typePdcTlg31Status
At the end, interconnect the variable created to the block input.

Figure 2-17: Interconnecting the block input
LDrvSafe
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2.3.1 SinaGTlg30Status
Description
This function block is used to simply evaluate the Safety Integrated Functions of
SINAMICS G via PROFIsafe telegram 30.
Figure 2-18: Structure of block LDrvSafe_SinaGTlg30Status
The states of the Safety Integrated Functions of SINAMICS G are represented at

the output of the block.
The user must interconnect input "SinaGTlg30Status" with a variable of data type
"LDrvSafe_typeSinaGTlg30Status".
Details on how to commission the block are provided in chapter PROFIsafe status
words.
Interface
Table 2-23: Input parameters of block LDrvSafe_SinaGTlg30Status
SinaGTlg30Status LDrvSafe_type Assignment of the structure of the
SinaGTlg30Status PROFIsafe telegram at the block input to the
states of the Safety Integrated Functions
Table 2-24: Output parameters of block LDrvSafe_SinaGTlg30Status

safetyFaultActive BOOL Display of Safety faults in the drive:
1: Safety fault in the drive
0: Fault-free operation
STOactive BOOL Status of Safety Integrated Function Safe
Torque Off (STO)
1: STO active
0: STO inactive
SS1active BOOL Status of Safety Integrated Function Safe
Stop 1 (SS1)
1: SS1 active
0: SS1 inactive
LDrvSafe
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SLSactive BOOL Status of Safety Integrated Function Safely-
Limited Speed (SLS)
1: SLS active
0: SLS inactive
SLSbit0Active BOOL Display of the active SLS level (in
conjunction with signal
"selectSLSbit1active")
1: Select SLS bit 0 active
0: Select SLS bit 0 inactive
SLSbit1Active BOOL Display of the active SLS level (in
conjunction with signal
"selectSLSbit0active")
SDIpositiveActive BOOL Status of Safety Integrated Function Safe
Direction (SDI) in the positive direction of
rotation
1: SDI positive active
0: SDI positive inactive
SDInegativeActive BOOL Status of Safety Integrated Function Safe
rotation
1: SDI negative active
0: SDI negative inactive

SSMactive BOOL Status of Safety Integrated Function Safe
Speed Monitor (SSM)
1: SSM active
0: SSM inactive
LDrvSafe
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2.3.2 SinaSTlg30Status
Description
SINAMICS S via PROFIsafe telegram 30.
Figure 2-19: Structure of block LDrvSafe_SinaSTlg30Status
The states of the Safety Integrated Functions of SINAMICS S are represented at

the output of the block.
The user must interconnect input "SinaSTlg30Status" with a variable of data type
"LDrvSafe_typeSinaSTlg30Status".
words.
Interface
Table 2-25: Input parameters of block LDrvSafe_SinaSTlg30Status
SinaSTlg30Status LDrvSafe_type Assignment of the structure of the
SinaSTlg30Status PROFIsafe telegram at the block input to the
Table 2-26: Output parameters of block LDrvSafe_SinaSTlg30Status

LDrvSafe
Entry-ID: 109485794, V4.0, 07/2021 34

STOactive BOOL Status of Safety Integrated Function Safe Torque Off
(STO)
1: STO active
0: STO inactive
SS1active BOOL Status of Safety Integrated Function Safe Stop 1 (SS1)
1: SS1 active
0: SS1 inactive
1: SS2 active
0: SS2 inactive
SOSselected BOOL Status of Safety Integrated Function Safe Operating
Stop (SOS)
1: SOS selected (still not active)
0: SOS deselected
SOSactive BOOL Status of Safety Integrated Function Safe Operating
Stop (SOS)
1: SOS active
0: SOS inactive
SLSactive BOOL Status of Safety Integrated Function Safely-Limited
Speed (SLS)
1: SLS active
0: SLS inactive
SLSbit0Active BOOL Display of the active SLS level (in conjunction with
signal "selectSLSbit1active")
SLPactive BOOL Status of Safety Integrated Function Safely-Limited
Position (SLP)
1: SLP active
0: SLP inactive
SLAactive BOOL Status of Safety Integrated Function Safely-Limited
Acceleration (SLA)
1: SLA active
0: SLA inactive
SDIpositiveActive BOOL Status of Safety Integrated Function Safe Direction
(SDI) in the positive direction of rotation
SDInegativeActive BOOL Status of Safety Integrated Function Safe Direction
(SDI) in the negative direction of rotation
SSMactive BOOL Status of Safety Integrated Function Safe Speed
Monitor (SSM)
1: SSM active
0: SSM inactive
LDrvSafe
Entry-ID: 109485794, V4.0, 07/2021 35
2.3.3 SinaTlg31Status
Description
Figure 2-20: Structure of block LDrvSafe_SinaTlg31Status
The states of the Safety Integrated Functions of SINAMICS are represented at the
output of the block.
The user must interconnect input "SinaTlg31Status" with a variable of data type
"LDrvSafe_typeSinaTlg31Status".
words.
LDrvSafe
Entry-ID: 109485794, V4.0, 07/2021 36
Interface
Table 2-27: Input parameters of block LDrvSafe_SinaTlg31Status
SinaTlg31Status LDrvSafe_type Assignment of the structure of the
SinaTlg31Status PROFIsafe telegram at the block input to the
Table 2-28: Output parameters of block LDrvSafe_SinaTlg31Status

STOactive BOOL Status of Safety Integrated Function Safe Torque
Off (STO)
1: STO active
0: STO inactive
SS1active BOOL Status of Safety Integrated Function Safe Stop 1
(SS1)
1: SS1 active
0: SS1 inactive
(SS2)
1: SS2 active
0: SS2 inactive
SS2Eactive BOOL Status of Safety Integrated Function Safe Stop 2
with external stop (SS2E)
1: SS2E active
0: SS2E inactive
SS2ESRactive BOOL Status of Safety Integrated Function Safe Stop 2
Extended Stop and Retract (SS2ESR)
1: SS2ESR active
0: SS2ESR inactive
SOSselected BOOL Status of Safety Integrated Function Safe
0: SOS deselected
SOSactive BOOL Status of Safety Integrated Function Safe
1: SOS active
0: SOS inactive
Limited Speed (SLS)
1: SLS active
0: SLS inactive
SLSbit0Active BOOL Display of the active SLS level (in conjunction
with signal "selectSLSbit1active")
LDrvSafe
Entry-ID: 109485794, V4.0, 07/2021 37

SLPactive BOOL Status of Safety Integrated Function Safely-
1: SLP active
0: SLP inactive
SLPrangeActive BOOL Display of the active SLP traversing range
1: SLP traversing range 2 active
SLPupperLimit BOOL Display of the upper SLP limit:
Maintained 1: Upper limit maintained
0: Upper limit not maintained
SLPlowerLimit BOOL Display of the lower SLP limit:
Maintained 1: Lower limit maintained
0: Lower limit not maintained
safePositionValid BOOL Status of Safety Integrated Functions Safe
Position (SP) and Safely-Limited Position
(SLP)
1: SP valid
0: SP invalid
safelyReferenced BOOL Status of Safety Integrated Functions Safe
(SLP) to evaluate safe absolute positions
1: Safely referenced/homed
0: Not safely referenced/homed
SLAactive BOOL Status of Safety Integrated Function Safely-

1: SLA active
0: SLA inactive
rotation
Monitor (SSM)
1: SSM active
0: SSM inactive
statusFDI0 BOOL Status of fail-safe digital input F-DI0 (only for
CU310-2):
1: F-DI0 inactive
0: F-DI0 active
CU310-2):
1: F-DI1 inactive
0: F-DI1 active
CU310-2):
1: F-DI2 inactive
0: F-DI2 active
LDrvSafe
Entry-ID: 109485794, V4.0, 07/2021 38
Description
words.
Interface

Off (STO)
1: STO active
0: STO inactive
LDrvSafe
Entry-ID: 109485794, V4.0, 07/2021 39

(SS1)
1: SS1 active
0: SS1 inactive
Limited Speed (SLS)
1: SLS active
0: SLS inactive
with signal "sLSbit1Active")
with signal "sLSbit0Active")
rotation

Monitor (SSM)
1: SSM active
0: SSM inactive
statusFDI0 BOOL Status of fail-safe digital input F-DI0:
1: F-DI0 inactive
0: F-DI0 active
1: F-DI1 inactive
0: F-DI1 active
1: F-DI2 inactive
0: F-DI2 active
LDrvSafe
Entry-ID: 109485794, V4.0, 07/2021 40
Description
words.
LDrvSafe
Entry-ID: 109485794, V4.0, 07/2021 41
Interface

Off (STO)
1: STO active
0: STO inactive
(SS1)
1: SS1 active
0: SS1 inactive
(SS2)
1: SS2 active
0: SS2 inactive
1: SS2E active
0: SS2E inactive
1: SS2ESR active
0: SS2ESR inactive
0: SOS deselected
1: SOS active
0: SOS inactive
Limited Speed (SLS)
1: SLS active
0: SLS inactive
LDrvSafe
Entry-ID: 109485794, V4.0, 07/2021 42

1: SLP active
0: SLP inactive
Position (SP) and Safely-Limited Position (SLP)
1: SP valid
0: SP invalid
Position (SP) and Safely-Limited Position (SLP)
to evaluate safe absolute positions

1: SLA active
0: SLA inactive
Monitor (SSM)
1: SSM active
0: SSM inactive
1: F-DI0 inactive
0: F-DI0 active
1: F-DI1 inactive
0: F-DI1 active
1: F-DI2 inactive
0: F-DI2 active
variableSLSvalue INT Display of the active SLS limit value of the 1st SLS
level:
Value range: 1 … 32767 (100%)
cycleCounter INT Counter of the Safety clock cycle
Value range: -32768 … 32767
LDrvSafe
Entry-ID: 109485794, V4.0, 07/2021 43

safePosition INT Display of the actual position value as 16-bit value
Value range: ± 32767
LDrvSafe
Entry-ID: 109485794, V4.0, 07/2021 44
Description
words.
LDrvSafe
Entry-ID: 109485794, V4.0, 07/2021 45
Interface
Off (STO)
1: STO active
0: STO inactive
(SS1)
1: SS1 active
0: SS1 inactive
(SS2)
1: SS2 active
0: SS2 inactive
1: SS2E active
0: SS2E inactive
1: SS2ESR active
0: SS2ESR inactive
0: SOS deselected
1: SOS active
0: SOS inactive
Limited Speed (SLS)
1: SLS active
0: SLS inactive
LDrvSafe
Entry-ID: 109485794, V4.0, 07/2021 46

1: SLP active
0: SLP inactive
(SLP)
1: SP valid
0: SP invalid
(SLP) to evaluate safe absolute positions

1: SLA active
0: SLA inactive
rotation
Monitor (SSM)
1: SSM active
0: SSM inactive
1: F-DI0 inactive
0: F-DI0 active
1: F-DI1 inactive
0: F-DI1 active
1: F-DI2 inactive
0: F-DI2 active
variableSLSvalue INT Display of the active SLS limit value of the 1st
SLS level:
Value range: 1 … 32767 (100%)
cycleCounter INT Counter of the Safety clock cycle
Value range: -32768 … 32767
LDrvSafe
Entry-ID: 109485794, V4.0, 07/2021 47

safePosition DINT Display of the actual position value as 32-bit value
Value range: ± 737280000
Description
Figure 2-24: Structure of block LDrvSafe_SinaTlg903Status – part 1
LDrvSafe
Entry-ID: 109485794, V4.0, 07/2021 48

words.
LDrvSafe
Entry-ID: 109485794, V4.0, 07/2021 49
Interface

(STO)
1: STO active
0: STO inactive
1: SS1 active
0: SS1 inactive
1: SS2 active
0: SS2 inactive
SS2Eactive BOOL Status of Safety Integrated Function Safe Stop 2 with

external stop (SS2E)
1: SS2E active
0: SS2E inactive
1: SS2ESR active
0: SS2ESR inactive
SOSselected BOOL Status of Safety Integrated Function Safe Operating
Stop (SOS)
0: SOS deselected
SOSactive BOOL Status of Safety Integrated Function Safe Operating
Stop (SOS)
1: SOS active
0: SOS inactive
Speed (SLS)
1: SLS active
0: SLS inactive
: Select SLS bit 1 active
LDrvSafe
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SLPactive BOOL Status of Safety Integrated Function Safely-Limited
Position (SLP)
1: SLP active
0: SLP inactive
safePositionValid BOOL Status of Safety Integrated Functions Safe Position
(SP) and Safely-Limited Position (SLP)
1: SP valid
0: SP invalid
safelyReferenced BOOL Status of Safety Integrated Functions Safe Position
(SP) and Safely-Limited Position (SLP) to evaluate
safe absolute positions
SLAactive BOOL Status of Safety Integrated Function Safely-Limited

Acceleration (SLA)
1: SLA active
0: SLA inactive
Monitor (SSM)
1: SSM active
0: SSM inactive
1: F-DI0 inactive
0: F-DI0 active
1: F-DI1 inactive
0: F-DI1 active
1: F-DI2 inactive
0: F-DI2 active
SCA1..30 BOOL Status of safe cam 1..30:
1: Position is at cam 1..30
0: Position is not at cam 1..30
SCAactive BOOL Status of Safety Integrated Function Safe Cam (SCA)
1: SCA active
0: SCA inactive
LDrvSafe
Entry-ID: 109485794, V4.0, 07/2021 51

SCAvalid BOOL Status of Safety Integrated Function Safe Cam (SCA)
1: SCA valid
0: SCA invalid
variableSLSvalue INT Display of the active SLS limit value of the 1st SLS
level:
Value range: 1 … 32767 (100%)
LDrvSafe
Entry-ID: 109485794, V4.0, 07/2021 52
2.3.8 PdcTlg30Status
Description
Figure 2-26: Structure of block LDrvSafe_PdcTlg30Status
The states of the Safety Integrated Functions of SIMATIC Micro Drive are
represented at the output of the block.
The user must interconnect input "PdcTlg30Status" with a variable of data type
"LDrvSafe_typePdcTlg30Status".
words.
Interface
Table 2-37: Input parameters of block LDrvSafe_PdcTlg30Status
PdcTlg30Status LDrvSafe_type Assignment of the structure of the
PdcTlg30Status PROFIsafe telegram at the block input to the
Table 2-38: Output parameters of block LDrvSafe_PdcTlg30Status

(STO)
1: STO active
0: STO inactive
1: SS1 active
0: SS1 inactive
Speed (SLS)
1: SLS active
0: SLS inactive
SLTactive BOOL Status of Safety Integrated Function Safely-Limited
Torque (SLT)
1: SLT active
0: SLT inactive
LDrvSafe
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LDrvSafe
Entry-ID: 109485794, V4.0, 07/2021 54
2.3.9 PdcTlg31Status
Description
Figure 2-27: Structure of block LDrvSafe_PdcTlg31Status
The states of the Safety Integrated Functions of SIMATIC Micro Drive are
represented at the output of the block.
The user must interconnect input "PdcTlg31Status" with a variable of data type
"LDrvSafe_typePdcTlg31Status".
words.
Interface
Table 2-39: Input parameters of block LDrvSafe_PdcTlg31Status
PdcTlg31Status LDrvSafe_type Assignment of the structure of the
PdcTlg31Status PROFIsafe telegram at the block input to the
Table 2-40: Output parameters of block LDrvSafe_PdcTlg31Status

(STO)
1: STO active
0: STO inactive
1: SS1 active
0: SS1 inactive
LDrvSafe
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Speed (SLS)
1: SLS active
0: SLS inactive
SLTactive BOOL Status of Safety Integrated Function Safely-Limited
Torque (SLT)
1: SLT active
0: SLT inactive
SLTbit0Active BOOL Display of the active SLT level (in conjunction with
signal "selectSLTbit1active")
1: Select SLT bit 0 active
0: Select SLT bit 0 inactive
SLTbit1Active BOOL Display of the active SLT level (in conjunction with
signal "selectSLTbit0active")
1: Select SLT bit 1 active
0: Select SLT bit 1 inactive

Monitor (SSM)
1: SSM active
0: SSM inactive
LDrvSafe
Entry-ID: 109485794, V4.0, 07/2021 56
2.4 Safety Control Channel (SCC)

These function blocks are used to control the test stop and safe brake test (SBT) of
all SINAMICS hardware, which support the Safety Control Channel.
The control bits for the brake test and the test stop are represented at the inputs of
the blocks. At the block input, the user interconnects the control signals.
Further information about the block status is available at the block output.
Example:
Figure 2-28: Selecting the test stop via telegram 701
The block input "hardwareId" has to be connected according to the hardware-ID of

the corresponding telegram slot of telegram 701 (1).
Figure 2-29: Extract from telegram configuration of SINAMICS S120
LDrvSafe
Entry-ID: 109485794, V4.0, 07/2021 57
The corresponding UDT "LDrvSafe_typeSinaTlg701Control" has to be present in

the PLC data types (2).
Figure 2-30: UDT in the PLC data types
NOTICE Incorrect hardware-ID of the telegram

When an incorrect hardware-ID is assigned, the test stop and safe brake test
cannot be controlled correctly.
LDrvSafe
Entry-ID: 109485794, V4.0, 07/2021 58
Description
This function block is used to control the test stop and the safe brake test of
SINAMICS via telegram 701.
At the block input, the user interconnects the control signals for test stop and safe
brake test.
Details on how to commission the block are provided in chapter Safety Control
Channel (SCC).
The block is processed while the block input "enable" is set.

When an error occurs in the block, the output "error" is set; "status" shows the fault
number. Errors are only acknowledged with a negative edge at input "enable".
Interface
enable BOOL Processing of block
Activating the block with a rising edge.
Acknowledging faults with a falling edge.
testStop BOOL Test stop of Extended / Advanced Safety
Functions:
1: Test stop selected
0: Test stop deselected
closeBrake BOOL Command for closing/releasing the brake from
the control side
1: Close brake
0: Release brake
selectBrakeTest BOOL SBT: Selection of brake test
1: Select brake test
0: Deselect brake test
LDrvSafe
Entry-ID: 109485794, V4.0, 07/2021 59

startBrakeTest BOOL SBT: Start of brake test
1: Start brake test
0: End brake test
brakeSelection BOOL SBT: Brake to be tested
1: Select brake 2
0: Select brake 1
selectDirectionOfRotation BOOL SBT: Test direction
1: Select negative direction
0: Select positive direction
selectTestSequence BOOL SBT: Test sequence
1: Select test sequence 2
0: Select test sequence 1
statusOfExternalBrake BOOL SBT: Status of an external brake
1: External brake closed
0: External brake open
hardwareId HW_IO Hardware-ID
Identification of the telegram via hardware-
identifier


valid BOOL Block active
The block is active, there are no faults and all
output signals are valid
busy BOOL Processing order
The input values are transferred
error BOOL Fault
The error bit is set as soon as an error occurs in
the block.
status WORD Block status
Shows the actual status of the block. As soon as
an error occurs, the corresponding message code
is given out here
Table 2-43: Status- and error display of block LDrvSafe_SinaTlg701Control

Status Description Remedy/information
7000 No call
The block is not executed
7001 First block call
First block call after setting "enable"
7002 Subsequent block calls
Subsequent block calls until the
block is terminated
8600 Undefined state Reset "enable" and execute the
The block internal statemachine order again.
was stopped because of an
unknown error.
LDrvSafe
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80XX Error during cyclic write An error occured during cyclic
communication. Check the correct
integration of the block (Further
information at \7\; The used block is
"SETIO_PART")
LDrvSafe
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2.5 Safety Info Channel (SIC)

These function blocks are used to evaluate the Safety Integrated Functions and the
safe brake test (SBT) of all SINAMICS hardware, which supports the Safety Info
Channel.
The states of the SINAMICS Safety Integrated Functions, the safe brake test and
the test stop are represented at the output of the block. At the block output, the
user interconnects these signals according to the program sequence.
Further information about the block status is available at the block output.
Example:
Figure 2-32: Display of safety faults and the state of STO via telegram 700
The block input "hardwareId" has to be connected according to the hardware-ID of

the corresponding telegram slot of telegram 700 or 701 (1).
Figure 2-33: Extract from telegram configuration of SINAMICS S120
LDrvSafe
Entry-ID: 109485794, V4.0, 07/2021 62
The corresponding UDT has to be present in the PLC data types (2).
Figure 2-34: UDT in the PLC data types
NOTICE Incorrect hardware-ID of the telegram

When an incorrect number is set as hardware-ID, the status information cannot
be evaluated correctly.
The data type depends on the function block used.

LDrvSafe
Entry-ID: 109485794, V4.0, 07/2021 63
Description
SINAMICS via telegram 700.
Details on how to commission the block are provided in chapter Safety Info
Channel (SIC).
The block is processed as long as the block input "enable" is set.

LDrvSafe
Entry-ID: 109485794, V4.0, 07/2021 64
Interface
Activating the block with a rising edge. Acknowledging
faults with a falling edge.
Identification of the telegram 700 via the hardware-
identifier

The block is active, there are no faults, and all
The block is busy. New output values can be
expected.
error BOOL Fault
The error bit is set as soon as an error occurs in the
block.

Shows the actual status of the block. As soon as an
error occurs, the corresponding message code is
given out here
Off (STO)
1: STO active
0: STO inactive
(SS1)
1: SS1 active
0: SS1 inactive
(SS2)
1: SS2 active
0: SS2 inactive
0: SOS deselected
1: SOS active
0: SOS inactive
SLSselected BOOL Status of Safety Integrated Function Safely-
Limited Speed (SLS)
1: SLS selected (still not active)
0: SLS deselected
LDrvSafe
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Limited Speed (SLS)
1: SLS active
0: SLS inactive
1: SLA active
0: SLA inactive
SDIpositiveSelected BOOL Status of Safety Integrated Function Safe Direction
1: SDI positive selected (still not active)
0: SDI positive deselected
SDInegativeSelected BOOL Status of Safety Integrated Function Safe Direction
1: SDI negative selected (still not active)
0: SDI negative deselected

ESRretractRequested BOOL Display of function module Extended stop and
retract (ESR)
1: ESR requested
0: ESR not requested
safetyMessageActive BOOL Display of safety messages in the drive:
1: Safety message active
0: No Safety message active
SLSlimit DWORD Display of the active SLS speed limit
(standardized via p2000, with sign)
4000 0000 hex = speed in p2000
Table 2-47: Status- and error display of block LDrvSafe_SinaTlg700Status

7000 No call
block is terminated
was stopped because of an
unknown error.
LDrvSafe
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80XX Error during cyclic read An error occured during cyclic
"GETIO_PART")
LDrvSafe
Entry-ID: 109485794, V4.0, 07/2021 67
Description
This function block is used to evaluate the Safety Integrated Functions and the
brake test of SINAMICS via telegram 701.
LDrvSafe
Entry-ID: 109485794, V4.0, 07/2021 68

The states of the Safety Integrated Functions and the safe brake test of SINAMICS
are represented at the output of the block.
Details on how to commission the block are provided in chapter Safety Info
Channel (SIC).
The block is processed as long as the block input "enable" is set.

Interface
Activating the block with a rising edge. Acknowledging
faults with a falling edge.
Identification of the telegram via the hardware-identifier

LDrvSafe
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expected.
error BOOL Fault
the block.
Shows the actual status of the block. As soon
as an error occurs, the corresponding message
code is given out here
STOactive BOOL Status of Safety Integrated Function Safe
Torque Off (STO)
1: STO active
0: STO inactive
SS1active BOOL Status of Safety Integrated Function Safe Stop
1 (SS1)
1: SS1 active
0: SS1 inactive
SS2active BOOL Status of Safety Integrated Function Safe Stop
2 (SS2)
1: SS2 active
0: SS2 inactive
SS2Eactive BOOL Status of Safety Integrated Function Safe Stop
2 with external stop (SS2E)
1: SS2E active
0: SS2E inactive
SS2ESR active BOOL Status of Safety Integrated Function Safe Stop
1: SS2ESR active
0: SS2ESR inactive
0: SOS deselected
1: SOS active
0: SOS inactive
SLSselected BOOL Status of Safety Integrated Function Safely-
Limited Speed (SLS)
1: SLS selected (still not active)
0: SLS deselected
Limited Speed (SLS)
1: SLS active
0: SLS inactive
1: SLA active
0: SLA inactive
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SDIpositiveSelected BOOL Status of Safety Integrated Function Safe
rotation
SDInegativeSelected BOOL Status of Safety Integrated Function Safe
rotation
ESRretractRequested BOOL Display of function module Extended stop and
retract (ESR)
1: ESR requested
0: ESR not requested
safetyMessageActive BOOL Display of safety messages in the drive:
1: Safety message active

0: No Safety message active
SLPrangeSelected BOOL Display oft he selected SLP position range
1: SLP range 2 selected
0: SLP range 1 selected
SLPselectedAndUser BOOL Stauts of user agreement for safe referencing
Agreement 1: SLP selected and user agreement set
0: SLP selected or user agreement not set
SDIpositive BOOL Status of Safety Integrated Function Safe
rotation
SDInegative BOOL Status of Safety Integrated Function Safe
rotation
testStopActive BOOL Status of test stop for Extended / Advanced
Safety Functions:
1: Test stop active
0: Test stop inactive
testStopRequired BOOL Display whether test stop has to be executed.
1: Test stop required
0: Test stop not required
referencePosition BOOL Display whether safe referencing has to be
Required executed
1: Reference position required
0: Reference position not required
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referencePositionValid BOOL Status of reference position in the drive
1: Reference trigger command identified or
reference position valid
0: No reference trigger command identified or
reference position invalid
SLSlimit DWORD Display of the active SLS speed limit
(standardized via p2000, with sign)
4000 0000 hex = speed in p2000
brakeTestSelected BOOL SBT: State of selection
1: Brake test selected
0: Brake test deselected
setpointInput BOOL SBT: Selected setpoint source
1: Setpoint specification for the drive
0: Setpoint specification, external (controller)
activeBrake BOOL SBT: Active brake
1: Test brake 2 active
0: Test brake 1 active
brakeTestActive BOOL SBT: State of activation
1: Test active
0: Test inactive
brakeTestResult BOOL SBT: Result
1: Test successful
0: Test error
brakeTestCompleted BOOL SBT: Execution
1: Test run finished
0: Test incomplete
externalBrakeRequest BOOL SBT: State of the external brake
1: Colse brake
0: Open brake
currentLoadSign BOOL SBT: Active test direction
1: Negative sign
0: Positive sign
acceptanceTestSLP BOOL Display of acceptance test mode for SLP
selected 1: Acceptance test SLP (SE) selected
0: Acceptance test SLP (SE) deselected
acceptanceTestMode BOOL Display of acceptance test mode for setpoint
Selected limitation
1: Acceptance test mode selected
0: Acceptance test mode deselected
Table 2-50: Status- and error display of block LDrvSafe_SinaTlg701Status

7000 No call
Subsequent block calls until the block is
terminated
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The block internal statemachine was order again.
stopped because of an unknown error.
80XX Error during cyclic read An error occured during cyclic
"GETIO_PART")
2.6 General function blocks

2.6.1 SafeVelocity
Fig. 2-38: Block SafeVelocity

Description
The function block is used to calculate the velocity in a safety-relevant fashion,
based on the safe position and the clock cycle counter.
The block can monitor both modulo as well as linear axes
• Minimum velocity for linear axes: 1 mm/min
• Maximum velocity for linear axes: 73 000 000 mm/min
• Minimum velocity for modulo axes: 1 °/s
• Maximum velocity for modulo axes: (¼ * ModuloRange) / Safety program cycle
Interface
Parameters
IN
EN Bool Enable input, not used
axisType Bool Axis type
Defines in which unit the velocity is calculated (p9502).
For a linear axis [0] in mm/min.
For a rotary axis [1] in °/s.
Default assignment: 0
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Parameters
safePosition DInt Actual position of the axis
Position actual value of the axis in the 32-bit format
Default assignment:0
safePositionValid Bool Safe position actual value valid
The transferred position actual value of the PROFIsafe telegram is
valid
moduloRange DInt Modulo range
Defined value range of the rotary axis (p9505). 0.001° is entered
This input is only evaluated for an active rotary axis (axisType = 1).
safetyCycleCounter Int Clock cycle counter
Safety clock cycle counter
Default assignment:0
safetyMonitoringCycle DInt Monitoring clock cycle
Parameterized monitoring clock cycle of the safety functions
(p9500) in ms
Default assignment:12 ms
ack Bool Acknowledgment
Errors in the block are acknowledged with a rising edge.
OUT
actVelocity DInt Velocity
Calculated velocity in unit mm/min or °/s

error Bool Error
The error bit is set as soon as an error occurs in the block.
diag Int Diagnostic word
Provides information as to why the velocity calculation was not
successful
ENO Bool Enable for next block, not used
Bit Description Reset condition

0 The velocity is correctly calculated; however, the For very small position differences, the
result lies between 0 mm/min or °/s and 1 integer data type cannot be used to
mm/min or °/s. calculate the velocity. The result would lie
between 0 and 1.
1 Parameterizing error: An input variable does not Check the value range of the inputs:
correspond to the permissible value range. safePosition: -737 280 000 to 737 280 000
safetyMonitoringCycle: 1 to 25
moduloRange:0 to 737 280 000
2 The velocity cannot be calculated if a safe Ensure that you have interconnected bit
position is not available. "SafePositionValid" at the input, and this
has a HIGH signal
Signal "SafePositionValid" is transferred
from the drive with a certain delay, and in
the first clock cycle of the block results in
this error.
3 The parameterized modulo range is less than Check input "moduloRange". This must
the actual position value match parameter p9505 in the SINAMICS.
The input of the modulo range is realized in
0.001°.
4 Overflow of the value range when scaling the The maximum permissible velocity was
velocity unit to mm/min. exceeded. An additional calculation is not
possible.
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Bit Description Reset condition

5 Overflow of the value range for the clock cycle The number of block calls must be
counter difference calculation increased (the F-OB cycle must be
decreased).
6 Internal calculation overflow Activate acknowledgment input "ack"
NOTE Jumps (chitter/noise) in the safe position can lead to availability problems
(Diag=16), since the block cannot distinguish between a change in direction of
rotation or an overflow.
The behavior is caused by high-resolution encoders at low operating speeds or
at standstill. The availability problems can occur at position value zero, or at the
positive and negative maximum, but do not lead to an unsafe condition.
In the case of availability problems at standstill at position zero, manual setting of
the safe position to a value other than zero provides a remedy.
To do this, a new position must be entered in the parameter list of the drive in
parameter p9572 "SI Motion reference position (Control Unit)". This position is
then accepted by setting parameter p9573 "SI Motion accept reference position
(Control Unit)". The value must be selected so that the safe position at standstill
only accepts values that are either in the positive or negative range.
Function
1. The block is based on the fundamental principle of the velocity calculation:
𝑃𝑜𝑠𝑑𝑖𝑓𝑓 = 𝑃𝑜𝑠𝑛𝑒𝑤 − 𝑃𝑜𝑠𝑜𝑙𝑑
𝐶𝑦𝑐𝑙𝑒 𝑑𝑖𝑓𝑓 = 𝑐𝑦𝑐𝑙𝑒 𝑐𝑜𝑢𝑛𝑡𝑒𝑟𝑛𝑒𝑤 − 𝐶𝑦𝑐𝑙𝑒𝑐𝑜𝑢𝑛𝑡𝑒𝑟𝑜𝑙𝑑
𝑇𝑖𝑚𝑒𝑑𝑖𝑓𝑓 = 𝐶𝑦𝑐𝑙𝑒𝑑𝑖𝑓𝑓 ∙ 𝑆𝑎𝑓𝑒𝑡𝑦𝑐𝑦𝑐𝑙𝑒
𝑃𝑜𝑠𝑑𝑖𝑓𝑓
𝑣 =
𝑇𝑖𝑚𝑒𝑑𝑖𝑓𝑓
2. The safe position transferred via PROFIsafe from the drive is interconnected at
input safePosition.
3. To be certain that the position value is valid, bit "Safe position valid" of the
PROFIsafe telegram is interconnected at input safePositionValid.
4. The cycle counter transferred from the drive is interconnected at input
safetyCycleCounter.
5. To calculate the time difference, the safety monitoring cycle
safetyMonitoringCycle (p9500) of SINAMICS is also required.
6. If the cycle difference of the block is zero, then the last calculated velocity is
output again. This step is repeated until a cycle difference occurs or the block
goes into the error state.
7. The calculated velocity is output formatted at ActVelocity. In order that the
velocity unit matches that of the drive, the user defines the type of linear axis
(FALSE) or rotary axis (TRUE) at input axisType.
8. In the rotary axis mode, the modulo range can be parameterized using input
moduloRange. This value is only valid in the "Rotary axis" mode.
9. Specifying a modulo range in the linear axis mode does not influence how the
block functions.
10. The error bit is set as soon as an error occurs in the block, and an error
number is displayed at Diag.
11. The user must specify the error response in the user program.
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12. Acknowledgment is realized using a positive signal edge at input ack.

13. The precondition for using this block is active PROFIsafe communication
between the F-PLC and SINAMICS using telegram 902. (Telegram 901 can be
used with the appropriate scaling in the drive and reverse calculation in the
safety program).
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2.6.2 Basics of acyclic communication (LAcycCom)
NOTE The subsequently described function blocks are called in the standard user
program. These are no failsafe blocks.
The following blocks use acyclic communication with DPV1 services. To ensure a
collision-free communication, the library LAcycCom is used. Below is a brief
description which blocks are needed for the LDrvSafe. All required blocks are
delivered with the LDrvSafe. Further information and the download for the library
LAcycCom are to be found at the according documentation \6\.
Open the project and the library "LAcycCom". Subsequently insert the marked
folder via drag&drop in your project:
Figure 2-39: Relevant blocks of LAcycCom
Subsequently call the block "LAcycCom_ResourceManager" in OB1 and connect

the block input "requestBuffer" with the data block "LAcycCom_RequestBuffer".
Connect the input "enable" according to your user program.
Figure 2-40: Connection of block ResourceManager
NOTICE Cyclic block call

The block "LAcycCom_ResourceManager" must be called every cycle of OB1.
The remaining in- and outputs are not relevant for further use with the library
LDrvSafe.
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2.6.3 Common interface parameters
Because of the library "LAcycCom" there are identical inputs in the following
blocks.
These are connected as shown in the example with block "HwAcknowledge". The
block is subsequently connected with "Axis1" of SINAMICS S120.
Figure 2-41: Example connection
driveObjectId
Figure 2-42: Source of "driveObjectId"
Open "Devices & networks" in the project navigation. Mark the SINAMICS S120
and select the "Device view" (1). The device view lists all available modules. Select
the axis for which the Block should be used (2) and interconnect the input
"driveObjectId" with the corresponding drive object id.
Further information and the download for the library are found at the according
documentation for LAcycCom \6\.
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hardwareId
Figure 2-43: Source of "hardwareId"
Navigate in the project navigation to the "Default tag table" and open it (1). Open
the tab "System constants" (2) and select the constant which name contains the
name of the control unit and the addition "ModuleAccessPoint" (3). Interconnect
this variable of the data type "Hw_SubModule" with the input "hardwareId".
Further information and the download for the library are found at the according
documentation for LAcycCom \6\.
requestBuffer
Set the input “enable” to “true” and connect the input "requestBuffer" with the data
block "LAcycCom_RequestBuffer".
Figure 2-44: RequestBuffer
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2.6.4 SafeBrakeTest
Description
This function block is for the automatic execution of the Safety Integrated Function
Safe Brake Test (SBT) in combination with technology objects after an enabling
signal.
Figure 2-45: Structure of block LDrvSafe_SafeBrakeTest
Interconnect the inputs “driveObjectId”, “hardwareId” and “requestBuffer” as

described in chapter Common interface parameters. Acyclic communication is
used to detect drive faults caused by the Safe Brake Test.
The input “axis” must be connected to the data block of the technology object of
the drive. Attach “statRecvBuf” of the data block “LDrvSafe_SinaTlg701Status_DB”
(SinaTlg701Status) to the signal “SinaTlg701_Status”. Additionally, the function
block “LDrvSafe_SinaTlg701Control” (SinaTlg701Control) must be called. At its
inputs, the brake test is set and the signals “selectBrakeTest” and “startBrakeTest”
are connected.
With a rising edge at block input “execute” the block is started. Afterwards, the
necessary Signals are set in order to execute the safe brake test. Further
information can be found in the SINAMICS S120 Safety Integrated Function
Manual Fehler! Verweisquelle konnte nicht gefunden werden..
When the signal at input “execute” is withdrawn before the order was executed, the
outputs “done” and “error” are set for only one cycle, the block execution is not
aborted.
As long as the block is executing the order, the output “busy” is set. Once the block
has finished execution, the output “busy” is reset and the output “done” is set until
“execute” is withdrawn.
The output “error” is set when an error occurs in the acyclic communication. If this
is the case, the bit “busy” is reset. Faults are only acknowledged with a falling edge
at block input “execute”. If the output “safetyAckReq” is set, too, a failsafe
acknowledge must be done after a falling edge at the input “execute”.
At the output “status” the actual block status is given out.
Execution
To start the brake test, it must be ensured that the drive is at standstill, no errors
are present at the technology object, the drive is switched on via the
"MC_POWER" block and the brake is released. The function block can then be
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started via a rising edge at the "execute" input. This selects the SBT via the
"selectBrakeTest" output. Subsequently, the warning buffer of the drive is read out
via acyclic communication. If a warning occurred when selecting the SBT, the
brake test is deselected and the corresponding message is output at "status".
By selecting the SBT, the TO generates the technology alarm 550, which indicates
that the setpoints are to be tracked, since the drive executes drive-autonomous
movements because of the SBT. The message is automatically acknowledged by
reinitializing the TO via the "resetTo" output. For this purpose, the bit must be
connected to the "execute" input of the "MC-RESET" motion control module.
After the TO has been restarted, the brake test is performed. For this purpose, it is
started via the "startBrakeTest" output. The brake test procedure can be found in
the Safety Integrated S120 function manual (\4\)
If the brake test was completed successfully, the "done" output is set. If the brake
test failed, the "error" output is set and the cause of the error is displayed at
"status".
Interface
Table 2-51: Input parameters of block LDrvSafe_SafeBrakeTest
execute BOOL Execute
Starting the block with a rising edge.
Faults are acknowledged with a falling
edge.
A falling edge does not stop the
execution of the block.
axis TO_SpeedAxis Data block of the technology object of
the drive. The variable can also be of
another data type e.g.
TO_PositioningAxis..
driveObjectId USInt Drive Object No.
Identification of the drive via the object
number (Further information at \6\)
hardwareId HW_IO Hardware identifier
Identification of the drive via the
Hardware identifier (Further information
at /6/
SinaTlg701_Status LDrvSafe_typeSina Allocation of the PROFIsafe-telegram at
Tlg701Status the input of the block to the status of the
Safety Integrated functions.
Table 2-52: In-/Ouput parameters of block LDrvSafe_SafeBrakeTest

requestBuffer LAcycCom_typeRequestBuffer Connection to Request Buffer
data block
Table 2-53: Output parameters of block LDrvSafe_SafeBrakeTest

done BOOL Order completed
The block has executed the order successfully
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expected
error BOOL Fault
block.
error occurs, the corresponding message code is
given out here
selectBrakeTest BOOL Allocation to the signal “selectBrakeTest” of SCC
startBrakeTest BOOL Allocation to the signal “startBrakeTest” of SCC
resetTo BOOL Allocation to the signal “execute” of Motion Control
block “MC_Reset”
safetyAckReq BOOL Safe acknowlede necessary
Indicates that a safe acknowledgement must be
executed by the operator
Table 2-54: Status- and error display of block LDrvSafe_SafeBrakeTest

0000 Order completed
The current order is completed
7000 No call
First block call after setting “execute”
Subsequent block calls until the block
is terminated
8400 SBT When selected, the brake is Compare A01780 of the drive in the
closed list manual
8401 SBT brake opening time exceeded Compare A01781 of the drive in the
list manual
8402 SBT brake test incorrect control Compare A01782 of the drive in the
list manual
8403 SBT brake closing time exceeded Compare A01783 of the drive in the
list manual
8404 SBT brake test canceled with fault Compare A01784 of the drive in the
list manual
8405 SBT brake test configuration error Compare A01785 of the drive in the
list manual
8406 SCC signal source changed Compare F01786 of the drive in the
list manual
8407 SBT motor type different Compare F01787 of the drive in the
list manual
8611 Undefined state Reset “execute” and execute the
The block internal statemachine was order again.
stopped because of an unknown Also indicates undefined status of
error. the subordinate block
“WriteDriveSingleParam”.
86XX Error during acyclic write An error occurred during acyclic
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integration of LAcycCom (Further
information at \6\; The following
block was used:
“WriteDriveSingleParam”)
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2.6.5 SafeReferencing
Description
This function block is for setting a safe absolute position in the drive. The safe
absolute position is needed for the Safety Functions SLP, SP and SCA.
Figure 2-46: Structure of block LDrvSafe_SafeReferencing
Interconnect the inputs "driveObjectId", "hardwareId" and "requestBuffer" as

described in chapter Common interface parameters
.Acyclic communication is used to write the necessary drive parameters as well as
to detect drive faults caused by safe referencing.
With the input "setReference", the position connected to "actPosition" is transferred

to the drive (p9572) and confirmed (p9573 = 89). When the position was
successfully confirmed, the output "referenced" is set. If the user agreement was
not given before, the bit "userAgreement1Required" is set additionally.
The user agreement is needed to safely reference the drive. Further information
about safely referencing the drive is found in the SINAMICS S120 Safety
Integrated Function Manual Fehler! Verweisquelle konnte nicht gefunden
werden.. The routine for setting the user agreement is as follows:
1. Check if output "userAgreement1Required" is active
2. When the output is set, generate a rising edge at input "userAgreement1"
(p9726 = AChex)
3. Check if output "userAgreement2Required" is active
4. When the output is set, there is a 4 second time window to generate a rising
edge at input "userAgreement2" (p9740 = AC hex). Otherwise an error message
is given out.
5. If the procedure was successful, the output "safelyReferenced" is set, the drive
is safely referenced
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NOTE The drive state is not checked periodically. Switch on the block with "enable =
true" when you want to safely reference a drive. Afterwards switch it off with
"enable = false".
NOTE When the block Safe Referencing is used in conjunction with TOs, it is required
to convert the data type of the input connect to "actPosition" into "REAL".
NOTE For setting the user agreement, "setUserAgreement1" must be set first and
subsequently "setUserAgreement2".
Both signals must not be connected to the same source.
Figure 2-47: Procedure safe referencing

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Interface
Table 2-55: Input parameters of block LDrvSafe_SafeReferencing
enable BOOL Activation
Activating the block with a rising edge.
Acknowledging faults with a falling edge.
actPosition REAL Actual position
Actual position of the drive as provided from the
controller
setReference BOOL Set reference position
Transferring the position "actPosition" to the drive
and confirming this position as new safe position
in the drive
setUserAgreement1 BOOL User agreement 1
Step 1 of user agreement
setUserAgreement2 BOOL User agreement 2
Step 2 of user agreement. This input has to be set
within four seconds after "setUserAgreement1"
was set, to safely reference the drive.
driveObjectId INT Drive Object No.
Identification of the drive via the object number
(Further information at \6\)

Identification of the drive via the Hardware
identifier (Further information at \6\)
Table 2-56: In-/Output parameters of block LDrvSafe_SafeReferencing

requestBuffer LAcycCom_type Connection to Request Buffer data block
RequestBuffer
Table 2-57: Output parameters of block LDrvSafe_SafeReferencing

expected.
error BOOL Fault
the block.
status DWORD Block status
Shows the actual status of the block. As soon as
an error occurs, the corresponding message code
is given out here
referenceRequired BOOL Referencing needed
The drive is not referenced; this can be started
with the input "setReference".
referenced BOOL Referenced
The drive is referenced.
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userAgreement1 BOOL User agreement 1 required
Required To safely reference the drive, user agreement 1
"setUserAgreement1" must be given.
userAgreement2 BOOL User agreement 2 required
Required This output is set when the first user agreement is
given. The user has four seconds to give the
second user agreement with
"setUserAgreement2"
safelyReferenced BOOL Safely referenced
The drive is safely referenced. The safe position
is valid.
Table 2-58: Status- and error display of block LDrvSafe_SafeReferencing

7000_0000 No call
7001_0000 First block call
First block call after setting
"enable"
7002_0000 Subsequent block calls
Subsequent block calls until
the block is terminated

8001_03EA Safety message The second user agreement was not set
User agreement on both within four seconds.
inputs is different after Note that the rising edge at block input
expiration of the timer "setUserAgreement2" is only evaluated
when the output
"userAgreement2Required" is "TRUE"
8001_03EB Safety message The difference between the actual
Tolerance exceeded position and the last valid safe position
before switching off the SINAMICS
(remanently stored in the SINAMICS) is
greater than the parameterized tolerance
(p9544).
8001_03EC Safety message • The user agreement was given
Plausibility error at user again on a safely referenced drive
agreement • The user agreement was given
although the drive is not referenced.
8600_0000 Undefined state Reset "enable" and execute the order
The block internal again.
statemachine was stopped
because of an unknown
error.
8601_XXXX Error during acyclic read An error 87ccurred during acyclic
8602_XXXX Error during acyclic write communication. Check the correct
information at \6\ The following blocks
were used: “ReadDriveParams” and
“WriteDriveSingleParam”)
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2.6.6 HwAcknowledge
Description
This function block is used for adapting hardware checksums when using
Extended/Advanced Safety Functions and hardware is changed e.g. at series
commissioning.
Figure 2-48: Structure of block LdrvSafe_HwAcknowledge
Interconnect the inputs “driveObjectId”, “hardwareId” and “requestBuffer” as

described in chapter Common interface parameters
The acyclic communication is used to detect drive faults caused by the Safe Brake
Test. The acyclic communication is used to write the necessary drive parameters
and to detect drive faults caused by the component exchange.
With a rising edge at block input “execute” the block is started. Subsequently the
sequence of acyclic write requests is started which is necessary to acknowledge
tha hardware change. Further information to this topic is found in SINAMICS S120
Safety Integrated Function Manual Fehler! Verweisquelle konnte nicht gefunden
werden..
When the signal at input “execute” is withdrawn before the order was executed, the
outputs “done” and “error” are set for only one cycle, the block execution is not
aborted.
In case the input “enableRamToRom” is set when a rising edge is detected at block
input “execute”, additionally the drive parameters are stored in the non-volatile
ROM.
As long as the block is executing the order, the output “busy” is set. Once the block
has finished execution, the output “busy” is reset and the output “done” is set until
“execute” is withdrawn.
The output “error” is set when an error occurs in the acyclic communication. If this
is the case, the bit “busy” is reset. Faults are only acknowledged with a falling edge
at block input “execute”.
At the output “status” the actual block status is given out.
NOTE If you acknowledge the exchange of several drive objects of a device, wait after
each RAM to ROM until “busy” is set to “false” again.
Alternatively, carry out a RAM to ROM of the entire device after all blocks.
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Interface
Table 2-59: Input parameters of block LdrvSafe_HwAcknowledge
execute BOOL Execute
Starting the block with a rising edge. Faults are
acknowledged with a falling edge.
A falling edge does not stop the execution of the
block.
enableRamToRom BOOL Copy RAM to ROM
When this input is set, additionally all drive
parameters are saved in the non-volatile ROM
driveObjectId INT Drive Object No.
Identification of the drive via the object number
Identification of the drive via the Hardware identifier
mode BOOL Mode of hardware acknowledge
False: Hardware acknowledge with p9702
True: Hardware acknowledge with safety
commissioning
Table 2-60: In-/Ouput parameters of block LdrvSafe_HwAcknowledge

requestBuffer LAcycCom_type Connection to Request Buffer data block
RequestBuffer
Table 2-61: Output parameters of block LdrvSafe_HwAcknowledge

done BOOL Order completed
The block has executed the order successfully
The block is busy. New output values can be expected.
Error BOOL Fault
block.
Status WORD Block status
error occurs, the corresponding message code is given
out here
Table 2-62: Status- and error display of block LdrvSafe_HwAcknowledge

0000 Order completed
The current order is completed
7000 No call
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First block call after setting
“execute”
block is terminated
8600 Undefined state Reset “execute” and execute the
was stopped because of an Also indicates undefined status of the
unknown error. subordinate block
“WriteDriveSingleParam”.
86XX Error during acyclic write An error 90ccurred during acyclic
information at \6\; The following block
was used: “WriteDriveSingleParam”)
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2.7 Winder application

2.7.1 Description
Winder applications involve feeding material (e.g. foil, rubber, paper) to a specific
process (e.g. printing, labeling, coating) with a constant web velocity.
Figure 2-49: Description winding application
If the material is being unwound, then as the radius of the roll decreases, the
speed setpoint of the unwinder must be increased so that the web velocity is kept
constant. The situation is the inverse when winding.
Safety requirements of this application:

• The maximum web velocity must be monitored

• Set-up operation where the web velocity is safely monitored
In both of these use cases, the web velocity is monitored and compared safely with
a parameterizable maximum value (SLS limit value). A parameterizable stop
response is initiated if the axis exceeds the currently valid SLS limit value.
The objective is to measure the roll radius in a failsafe way and, depending on the
roll radius, monitor the speed of the axis in a failsafe way. The application shall be
designed for PLd in accordance to EN ISO 13849-1.
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2.7.2 Solution
The Safety concept involves measuring the roll radius using two redundant
distance sensors. The measured values are then read into the F-PLC via two
different diverse data paths.
In the F-PLC the safe speed limit is calculated depending on the roll radius and as
a function of this radius, the SLS limit of the SINAMICS S120 is adapted via
PROFIsafe.
Figure 2-50: Solution winding application
2.7.3 Requirements for the distance sensors
Two different distance sensors with different measuring ranges and measuring
principles (e.g. current and voltage) must be used to exclude common cause
failures (CCF according to EN ISO 13849-1).
When selection the distance sensors, make sure that the sensors have a
measuring range that is suitable for the application.
NOTICE Measuring range of the distance sensors

The distance sensors have to be designed in a way that all input values of the
blocks WinderRadius and WinderSLS are covered by the measuring ranges of
the distance sensors.
NOTICE Wiring of the distance sensors

Make sure that the distance sensors are wired correcty (current/voltage input);
otherwise fault-free operation can no longer be guaranteed.
In order to be able to calculate the safety chain, use sensors that provide safety-
related characteristic values (e.g. MTTFd). Information concerning those values can
be taken from the data sheet or requested from the manufacturer.
The distance sensors are not part of this application description and therefore not
considered any further.
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2.7.4 Permissible hardware
The following hardware from SINAMICS is permitted:

Table 2-63: Permissible hardware
Permissible hardware SINAMICS Article number
Terminal Board 30 6SL3055-0AA00-2TA0
Terminal Module 31 6SL3055-0AA00-3AA1
Terminal Module 41 6SL3055-0AA00-3PA1
CU310-2 DP from firmware V4.5 6SL3040-1LA00-0AA0
CU310-2 PN from firmware V4.5 6SL3040-1LA01-0AA0
CU320-2 DP from firmware V4.5 6SL3040-1MA00-0AA0
CU320-2 PN from firmware V4.5 6SL3040-1MA01-0AA0
All versions of SIMOTION D
2.7.5 Permissible hardware setup
The hardware setup has to be diverse to exclude common cause failures (CCF
according to EN ISO 13849-1).
Therefore distance sensor 1 is connected to a central or decentral analog input
module of the SIMATIC series. The measured values are transferred to the F-PLC
via backplane bus or PROFIBUS/PROFINET.
Distance sensor 2 is connected to an analog input of SINAMICS S120 via TB30,
TM31, TM41 or onboard analog input of CU310-2. The measured values are
transferred to the F-PLC via PROFIBUS/PROFINET.
Diversity is therefore given up to the transfer via PROFIBUS/PROFINET or up to
the process image of the inputs of the F-PLC.
CAUTION Component replacement

When replacing components only components of the same type (manufacturer,
type number, same parameterization so both characteristics respectively scaled
values match) may be used.
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Central setup with CU320-2 and TB30

Figure 2-51: Central setup with CU320-2 and TB30
Central setup with CU320-2 and TM31 or TM41

Figure 2-52: Central setup with CU320-2 and TM31 or TM41
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Central setup with CU310-2

Figure 2-53: Central setup with CU310-2
Central setup with CU310-2 and TM31 or TM41

Figure 2-54: Central setup with CU310-2 and TM31 or TM41
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Decentral setup with CU320-2 and TB30

Figure 2-55: Decentral setup with CU320-2 and TB30
Decentral setup with CU320-2 and TM31 or TM41

Figure 2-56: Decentral setup with CU320-2 and TM31 or TM41
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Decentral setup with CU310-2

Figure 2-57: Decentral setup with CU310-2
Decentral setup with CU310-2 and TM31 or TM41

Figure 2-58: Decentral setup with CU310-2 and TM31 or TM41
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2.7.6 General instructions
Manipulation of input data

Interconnet the physical input addresses directly. When using a coupling DB it is
CAUTION
not ensured that the manipulation is detected. In case of a direct interconnection
a change also affects the F-signature and is therefore detected.
No automated error reaction

The error reaction must be initiated by the user.
CAUTION If an error occurs on at least one component of the application, the radius and
the SLS value must no longer be evaluated. The error reaction must be initiated.
Re-parameterization of the distance sensors

If it is possible to re-parameterize the measuring system or there are special
functions (e.g. intermediate storage of values) which suspend require additional
WARNING
diagnostic measures they have to be excluded by the user. Otherwise the use in
a safety-related application is not permitted.
Overwriting of data areas

Data areas which contain the measured values must not be overwritten in any
case. Once configuration has been completed this has to be verified, e.g. with a
WARNING
cross reference check. The failsafe block cannot always detect specific
manipulation.
NOTICE Configuration control

Configuration control/option handling is not permissible in conjunction with this
application.
Passing the full measuring range

To exclude various fault models it is necessary to check the A-D converters of the
analog modules for correct function in a defined interval.
The determination of the test interval is the users responsibility. He has to decide
on varous criteria how often the test has to be performed.
• How often the measuring range is passed in regular operation?
• What are the MTBF-values of the used modules/sensors?
• Can stuck-at errors be excluded (frequent module exchange or similar)?
As lower limit, a duration of one year is set. At least once a year the entire
measuring range must be passed. It is mandatory to examine the upper and lower
limit.
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In this measure the modules must be examined for a potentially available drift. For
this purpose it is possible to verify the measured value with known value and start
a (possibly necessary) calibration of the module.
CAUTION Disregarding the test interval

Within the scope of tets it is necessary to pass the entire measuring range of the
process to be monitored to exclude a drift of the modules.
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2.7.7 Commissioning
Please use the Excel-file "LDrvSafe_Winder_Commissioning.xlsm", which supports

the commissioning of this application.
Enter all data (green marked cells) in worksheet "Parameter” (1). After confirming
the entered data with command button "Confirm” (2), the parameter values for the
function blocks (yellow marked cells) are calculated.
Furthermore you can reset all inputs to factory settings (3).
Figure 2-59: Commissioning example: Enter sensor values and calculation of block
interconnection
2 3
1 4
With the diagram you can have a look at the trend of the SLS limit and compare
with standard velocity.
The sequence of the program is shown in worksheet "Example" (4).
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2.7.8 Function sequence
In the following all values which relate to distance sensor 1 are shown blue, all
values which relate to distance sensor 2 are shown in orange. This serves better
clarity.
CAUTION Wiring of the distance sensors

The distance sensor which has the smaller minimum measured value (see data
sheet of the sensors) must be connected to the analog input module of SIMATIC.
Scaling of distance sensors

In the standard user program of SINAMICS (e.g. Drive Control Chart or Structured
Text in SIMOTION, …) both distance sensors have to be scaled. Objective is that
both sensors give the same analog value for the same distance.
Figure 2-60: Characteristic curve distance sensor 1
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Figure 2-61: Characteristic curve distance sensor 2
The measuring range of distance sensor 2 is scaled to the measuring range of

distance sensor 1 with the following formula:
𝑚𝑎𝑥𝑉𝑎𝑙𝑆2 − 𝑚𝑖𝑛𝑉𝑎𝑙𝑆2 27648

𝑎𝑐𝑡𝑉𝑎𝑙𝑆2𝑆𝑐𝑎𝑙𝑒𝑑 = (𝑎𝑐𝑡𝑉𝑎𝑙𝑆2 ∗ + 𝑚𝑖𝑛𝑉𝑎𝑙𝑆2 − minValS1) ∗
27648 maxValS1 − minValS1
Table 2-64: Formula for scaling the distance sensors – Explanation of the used
abbreviations
Abbreviation Description
actValS2Scaled Scaled value of distance sensor 2, referred to the measuring range of
distance sensor 1, so both sensors give the same analog value for
the same distance
actValS2 Current measured value of distance sensor 2
maxValS2 Maximum measured value of distance sensor 2 according to
datasheet
minValS2 Minimum measured value of distance sensor 2 according to
datasheet
maxValS1 Maximum measured value of distance sensor 1 according to
datasheet
minValS1 Minimum measured value of distance sensor 1 according to
datasheet
Masking the measured value of the distance sensor in SINAMICS

The measured value of the distance sensor connected to SINAMICS (in the
following distance sensor 2 or S2) is masked in the standard user program of
SINAMICS. This can be realized with the programming language Structured Text in
SIMOTION or DCC in SINAMICS.
There, the following conversion takes place:
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𝑎𝑐𝑡𝑉𝑎𝑙𝑆2𝑆𝑐𝑎𝑙𝑒𝑑
𝑚𝑎𝑠𝑘𝑒𝑑𝑉𝑎𝑙𝑢𝑒 = + 𝑜𝑓𝑓𝑠𝑒𝑡
𝑓𝑎𝑐𝑡𝑜𝑟
Table 2-65: Formula for masking the distance sensors – Explanation of the used
abbreviations
maskedValue Masked and scaled value of distance sensor 2
actValS2Scaled Scaled value of distance sensor 2, referred to the
measuring range of distance sensor 1
factor Is used for masking the measured value. Measured value
is divided by "factor"
offset Is used for masking the measured value. Previous result of
the division is added to "offset".
The parameters "factor" and "offset" are fixed values and must not be changed.
A sign change of the masked value "maskedValueS2" is expected after ever call of
the safety user program in the F-PLC. The standard user program of SINAMICS
has to evaluate that expectation to send the masked value to the F-PLC with a
positive or negative sign.
The scaled measured value of distance sensor 2 "actValS2Scaled" and the
masked value "maskedValue" are in each case transferred in a 16bit format to the
F-PLC with a cyclic standard telegram.
With these measures errors during the not safe data transmission between
SINAMICS and F-PLC can be detected.
Characteristics of parameter "factor":
• "factor" must be chosen greater than "1"
• The larger "factor" the less precise is the subsequently unmasked value. The
maximum deviation of the unmasked value "actValS2Scaled" and the masked
value "maskedValue" is "factor"
• Recommendation: Choose "factor" with value "2" to achieve the highest
accuracy
• When multiple sensors are connected to the SINAMICS, "factor" must be
unique for every sensor to exclude an interchange of sensors.
Characteristics of parameter "offset":
• "offset" must be chosen samller than (32767 – 32767/"factor"), otherwise the
limits of integer range are exceeded.
• The larger "offset" the smaller error factors are detected.
• Recommendation: Choose "offset" with values beginning from "2000" so that
errors from 0.1% of the analog measured value are detected.
• When multiple sensors are connected to the SINAMICS, "offset" must be
unique for every sensor to exclude an interchange of sensors.
Masking of the measured values

When monitoring more than one winder in a F-PLC, the interchanging of
measured values/distance sensors must be excluded.
WARNING
This can be achieved by e.g. different masking of the measured values of the
distance sensors. Every subsystem mus be masked with its own data set. The
data sets must be different in a way that an interchange of values is detected.
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Evaluation of QBAD and value status in the safety part of the F-PLC
CAUTION Evaluation of QBAD and value status

The value status of the standard analog input module of SIMATIC as well as the
QBAD signal of the PROFIsafe telegram to the SINAMICS must be evaluated in
the failsafe user program.
To detect data loss or falsification during data transmission, the signals "QBAD" of
the PROFIsafe F-IO-DB of SINAMICS and the value status of the analog input
module to which the distance sensor is connected must be monitored in the failsafe
program of the F-PLC.
As soon as the "QBAD" signal delivers the value "true" or the value status returns
"false" there is an error. The error reaction must be definded from the user.
Figure 2-62: Evaluation QBAD and value status
You find the "QBAD" signal in the project unter the F-PLC "Program blocks >
System blocks > STEP 7 Safety > F-IO data blocks". In this example the
PROFIsafe F-IO-DB is called "F00010_DOSERVO_1". With the addition ".QBAD"

thus "F00010_DOSERVO_1.QBAD" you receive the signal.
Figure 2-63: QBAD
You enable the value status of the analg input module in the device configuration.
Click on the analog input module and select the tab "Properties > General >
Module parameters > AI configuration" and check the checkbox "Value Status".
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Figure 2-64: Evaluation of value status

In the tab "IO tags" you find all input variables of the analog input module. The
value status is available for ever channel. Select the channel to which the distance
sensor is connected and assign a variable name. In this example channel 0 is used
and the variable "analogInputS1VS" is created.
Figure 2-65: Creating a variable for the value status
Unmasking the measured value of the distance sensor in the safety part of the F-PLC
To detect errors in data transmission of both values the masked value is unmasked
again in the safety user program of the F-PLC.
For this task the block UnmaskedValueCalculation is available.
Discrepancy monitoring
The transferred scaled and masked measured value of distance sensor 2
"maskedValue" and the unmasked value of distance sensor 2 "unmaskedValue"
are checked for equality minus a parameterizable tolerance. When both values are
different (both values differ more than the parameterizable tolerance) it can be
assumend that one measured value was falsified.
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For this task the block DiscrepancyMonitoring is available.

The "tolerance" must be set to at least to the value of "factor" to compensate
inaccuracies from the division with integers. Are both values ("maskedValue" and
"actValS2Scaled") up do date when sending the telegram, this is the recommended
value.
Averaging the measured values of the distance sensors (optional)

The measured value of distance sensor 2 "unmaskedValue" and the measured
value of the distance sensor connected the the SIMATIC (in the following distance
sensor1 or S1) could show peaks or signal noise. Therefore over an user defined
duration the average value can be calculated.
For this task the block AverageValueCalculation is available.
Calculation of the current radius

From the unmasked value of distance sensor 2 "unmaskedValue" and the
measuring value of distance sensor 1 the current roll radius is calculated.
For this task the block WinderRadius is available.
Discrepancy Monitoring
The both calculated radii "calcRadiusS1" and "calcRadiusS2" are checked for
equality minus a parameterizable tolerance. When both values are different (both
values differ more than the parameterizable tolerance) it can be assumend that one
measured value was falsified.
For this task the block DiscrepancyMonitoring is available.

To detect a frozen distance sensor the discrepancy monitoring must be executed
until the values from the distance sensors have changed by at least the "tolerance",
set at the block input.
Calculation of SLS limit

Subsequently the SLS-Limit (Safety Integrated Function "Safely-Limited Speed of
the SINAMICS S120") is updated depending on the calculated current average
radius.
For this task the block WinderSLS is available.
Transferring the calculated SLS limit

The previously calculated SLS limt has to be transferred to the SINAMICS via
PROFIsafe.
For this task, the block SinaTlg902Control is available.
Setting SLS limit 1 of SINAMICS S120

To create an absolute reference with the previosely calculated SLS limit
"variableSLS", the Safety Function SLS (Safely-Limited Speed) of the SINAMICS
S120 must be parameterized as follows:
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Figure 2-66: Parameterizing SLS limit 1
(1) Enabling the variable SLS limit 1 via PROFIsafe (p9501.24)

(2) Setting the time between selection SLS and SLS active (p9551)
Activating the new SLS limt value via PROFIsafe

When a lower SLS limit is transferred via PROFIsafe, the limit becomes active
after a delay time (p9551) (2) is expired.
WARNING
The delay time is restarted when a lower SLS limit is transferred.
This means that a continuous reduction of the SLS limit fron the user program of
the S7 continuously restarts the delay time (p9551) (2).
The delay time must be set to a value so the new SLS limit becomes active in
time. It may be useful setting the delay time to 0ms.
(3) Entering the SLS limit in limit 1 (p9531[0]), calculation according to formula:
𝑤𝑒𝑏𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦
𝑝9531[0] =
2 ∗ 𝜋 ∗ 𝑚𝑖𝑛𝑅𝑎𝑑𝑖𝑢𝑠
Table 2-66: Formula for calculating the absolute SLS limit – Explanation of the used
abbreviations
p9531[0] Parameter for the first SLS limit of SINAMICS S120
webVelocity Web velocity to be monitored, e.g. 15 m/min
minRadius Roll radius without material wound up, e.g. 0.1 m
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2.7.9 UnmaskedValueCalculation
Description
This function block is used for unmasking signals of the data type integer. Thus,
previousely masked values can be unmasked to deteckt faults during unsafe data
transmission (Corruption, freezing).
Figure 2-67: Structure of block LDrvSafe_UnmaskedValueCalculation
NOTICE Value range of the actual measuring value of the distance sensor
The actual unmasked value "unmaskedValue" must be in a value range of 1 to
32767, the negative values at the input "maskedValue" serve the purpose of
detecting a frozen process image on SIMATIC and SINAMCIS.
At the block input "maskedValue" the scaled and masked measuring value of
distance sensor 2 is interconnected by the user. This value is transferred via
standard protocol from SINAMICS to the F-PLC.
The block output "toggle" indicates wheter this value is transferred with a positive
or negative sign. This means the output "toggle" is transferred to the SINAMICS, at
the input "maskedValue" the scaled and masked value of distance sensor 2 arrives
with positive or negative sign from the SINAMICS.
• Expectation at "toggle" = false: Positive value at input "maskedValue"
• Expectation at "toggle" = true: Negative value at input "maskedValue"
The bit "toggle" is inverted after every pass of the function block.
The block internally executes the following calculation:
𝑢𝑛𝑚𝑎𝑠𝑘𝑒𝑑𝑉𝑎𝑙𝑢𝑒 = (|𝑚𝑎𝑠𝑘𝑒𝑑𝑉𝑎𝑙𝑢𝑒| – 𝑜𝑓𝑓𝑠𝑒𝑡) ∗ 𝑓𝑎𝑐𝑡𝑜𝑟
Table 2-67: Formula for unmasking the distance sensors – Explanation of the used
abbreviations
unmaskedValue Unmasked value of distance sensor 2
maskedValue Masked and scaled value of distance sensor 2
offset Is used for unmasking the measured value of distance sensor 2,
"offset" is substracted from the masked value
factor Is used for unmasking the measured value of distance sensor 2,
previous result of the subtraction is multiplied with "factor"
The parameters "factor" and "offset" must be the same as the parameters from
masking
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Masking the measured value of the distance sensor in SINAMICS.
NOTICE No error detection in data transmission

When the output "unmaskedValue" returns the value "0", corruption during data
transmission of the measured values from SINAMICS to the F-PLC cannot be
fully detected.
This is not covered by this function block! This fault can be detected by a
following discrepancy monitoring. For this task you can use the block
DiscrepancyMonitoring.
When the block detects an error, the output "error" is set. "toggle" takes the value
"false" and the output "unmaskedValue" returns the value "0". The error cause is
displayed at the output "diag".
The output "ackReq" is set when "error" is active an all conditions that led to that
error are remedied.
Acknowledgement is done with a rising edge on the input "ack" and only possible
when "error" is set.
Interface
Table 2-68: Input parameters of block LDrvSafe_UnmaskedValueCalculation
maskedValue INT Masked value
• Value which is unmasked by this block

• Permissible value range:
-32767 ≤ "maskedValue" ≤ 32767
factor INT Factor
• Formula with which the masked value is unmasked:
unmaskedValue = (|maskedValue| − 𝑜𝑓𝑓𝑠𝑒𝑡) ∗
1 ≤ "factor" ≤ 32767
• Default: "2"
offset INT Offset
• Formula with which the masked value is unmasked:
unmaskedValue = (|maskedValue| − 𝑜𝑓𝑓𝑠𝑒𝑡) ∗
1 ≤ "offset" ≤ 32767
• Default: "2000"
ack BOOL Acknowledgement
• Faults at the block are acknowledged with a rising
edge
• Acknowledgement is only possible when "error" is
set and a rising edge is detected at "ack"
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Table 2-69: Output parameters of block LDrvSafe_UnmaskedValueCalculation

toggle BOOL Detecting a frozen process image of F-PLC and
SINAMICS
• Expectation at "toggle" = "false":
1 ≤ "maskedValue" ≤ 32767
• Expectation at "toggle" = "true":
-32767 ≤ "maskedValue" ≤ -1
Inverting of "toggle" after every pass of the function
block
unmaskedValue INT Unmasked value
Formula with which the masked value is unmasked:
unmaskedValue = (|maskedValue| − 𝑜𝑓𝑓𝑠𝑒𝑡) ∗ 𝑓𝑎𝑐𝑡𝑜𝑟
error BOOL Error
• This bit is set as soon as an error occurs in the
block
• Reset "toggle" to the value "false"
ackReq BOOL Acknowledgement necessary
Shows that "error" is pending and all causes which
led the the error are remedied
diag WORD Error diagnostics
Shows detailed information for the error
Table 2-70: Structure of diagnostic word LDrvSafe_UnmaskedValueCalculation

diag Description
Bit 0 Implausible value
Value "maskedValue" out of permissible value range
Remedy
Adapt value range -32767 ≤ "maskedValue" ≤ 32767
Value "factor" out of permissible value range
Remedy
Adapt value range 1 ≤ "factor" ≤ 32767
Value "offset" out of permissible value range
Remedy
Adapt value range 1 ≤ "offset" ≤ 32767
Bit 3 Process image frozen
• At "toggle" = "false" the value at input "maskedValue" is negative
• At "toggle" = "true" the value at input "maskedValue" is positive
Remedy
• Check that communication is established between F-PLC and SINAMICS
• Faster transmission of the masked value from SINAMICS to F-PLC
• Increasing the cycle time of the failsafe program in the F-PLC
• Replacement of the defective Hardware
Value "unmaskedValue" is negative
Remedy
• Check the masked value "maskedValue"
• Check that the parameter "offset" and "factor" at this block matches the
parameters for masking on the SINAMICS side
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diag Description
Bit 5 Overflow detected
The unmasking unmaskedValue = (|maskedValue| − 𝑜𝑓𝑓𝑠𝑒𝑡) ∗ 𝑓𝑎𝑐𝑡𝑜𝑟 would
cause an overflow of the data type integer
Remedy
Check parameters "offset" and "factor"
NOTE Occurance of multiple errors:

Up to acknowledgement only the error which appeared first is displayed in the
diagnostic word. After acknowledgement the errors are shown in the diagnostic
word in order of priority.
Checking the input parameters for valid values has the highest priority in error
detection.
Other error detections are according to their order in the diagnostic word
descending in priority i.e. an error with higher priority disables the recognition of
an error with lower priority after the diagnostic word was updated via "ack". Only
the fault with the highest priority is displayed in the diagnostic information.
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2.7.10 DiscrepancyMonitoring
Description
This function block is used for discrepancy monitoring of two integer values within a
user-defined period of time.
Figure 2-68: Structure of block LDrvSafe_DiscrepancyMonitoring
With the two block inputs "value1" and "value2" the values to be monitored for
discrepancy are entered.
When "value1" and "value2" differ more that the specified "tolerance", the time
"toleranceTime" is started. When the difference between "value1" and "value2"
becomes smaller than the parameter "tolerance" before "toleranceTime" is expired,
the time "toleranceTime" is reset. Otherwise the "error" bit is set.
NOTICE Cyclic switching pulses

For cyclic switching pulses at the inputs "value1" or "value2" with pulse duration
shorter than the "toleranceTime", no discrepancy error is detected.
When the block detects an error, the output "error" is set. The error cause is
displayed at the output "diag".
error are remedied.
InterfaceTable 2-71: Input parameters of block LDrvSafe_DiscrepancyMonitoring
value1 INT Monitored value 1
• Value that is checked for discrepancy with
"value2"
-32767 ≤ "value1" ≤ 32767
value2 INT Monitored value 2
• Value that is checked for discrepancy with
"value1"
-32767 ≤ "value2" ≤ 32767
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tolerance INT Permissible tolerance
• Permissible tolerance between "value1" and
"value2"
0 ≤ "tolerance" ≤ 32767
• Default: "10"
toleranceTime TIME Tolerance time
• When "value1" and "value2" differ more that
the specified "tolerance", the time
"toleranceTime" is started
• When both values "value1" and "value2" are
not within "tolerance" after the expiration of
"toleranceTime", a discrepancy error is
detected
0 ≤ "toleranceTime"
• Default: "200ms"
• Faults at the block are acknowledged with a
rising edge
• Acknowledgement is only possible when "error"
is set and a rising edge is detected at "ack"
Table 2-72: Output parameters of block LDrvSafe_DiscrepancyMonitoring

error BOOL Error
This bit is set as soon as an error occurs in the block
Shows that "error" is pending and all causes which led
the the error are remedied
Table 2-73: Structure of diagnostic word LDrvSafe_DiscrepancyMonitoring

diag Description
Value "value1" out of permissible value range
Remedy
Adapt value range -32767 ≤ "value1" ≤ 32767
Value "value2" out of permissible value range
Remedy
Adapt value range -32767 ≤ "value2" ≤ 32767
Value "tolerance" out of permissible value range
Remedy
Adapt value range 0 ≤ "tolerance" ≤ 32767
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diag Description
Value "toleranceTime" out of permissible value range
Remedy
Adapt value range 0 ≤ "toleranceTime"
The calculation |(𝑣𝑎𝑙𝑢𝑒1 − 𝑣𝑎𝑙𝑢𝑒2)|
would cause an overflow of the data type integer
Remedy
Check parameter "value1" und "value2"
Bit 5 Discrepancy detected
Both values "value1" und "value2" are not within the "tolerance" after the
"toleranceTime" expired
Remedy
• Check parameter "value1" and "value2"
• Increase "tolerance"

detection.
LDrvSafe
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2.7.11 AverageValueCalculation
Description
This function block is used to calculate the average value of an analog signal with
data type integer over a user-defined duration in a failsafe way.
Figure 2-69: Structure of block LDrvSafe_AverageValueCalculation
The block calculates the average of the value which is connected to the input
"actValue". The average value is calculated over the number of block calls.
NOTE A value change at the input "numberOfCycles" only becomes active when the
block has calculated and given out a new average value "avgValue".
As soon as an average value is calculated, the output "avgValue" is updated and

the bit "updatedValue" is set for one cycle.
When the block detects an error, the output "error" is set. The output
"updatedValue" takes the value "false" and the output "avgValue" returns the value
"0". The error cause is displayed at the output "diag".
error are remedied.
Interface
Table 2-74: Input parameters of block LDrvSafe_AverageValueCalculation
actValue INT Actual value
• Value from which the average value is calculated
0 ≤ "actValue" ≤ 32767
numberOfCycles INT Number of Cycles
• Number of block calls over which the average
value of "actValue" is calculated
2 ≤ "numberOfCycles" ≤ 32767
• Default: "3"
rising edge
• Acknowledgement is only possible when "error"
is set and a rising edge is detected at "ack"
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Table 2-75: Output parameters of block LDrvSafe_AverageValueCalculation

avgValue INT Average value
Shows the average value of "actValue" over the
number of block calls "numberOfCycles"
updatedValue BOOL Average value updated
Indicates wheter a new average value is available
error BOOL Error
Shows that "error" is pending and all causes which
led the the error are remedied
Table 2-76: Structure of diagnostic word LDrvSafe_AverageValueCalculation

diag Description
Value "actValue" out of permissible value range
Remedy
Adapt value range 0 ≤ "actValue" ≤ 32767

Value "numberOfCycles" out of permissible value range
Remedy
Adapt value range 2 ≤ " numberOfCycles" ≤ 32767

LDrvSafe
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2.7.12 WinderRadius
Description
This function block is used to calculate the radius of a roll with two distance
sensors.
Figure 2-70: Structure of block LDrvSafe_WinderRadius
Because the measured values of the distance sensors 1 and 2 can attain negative
values, the characteristic curve of the sensors has to be shifted into the zero point.
Figure 2-71: Shifting characteristic curve of distance sensor 1
At first the user has to calculate the offset by wich the characteristic curve has to
be switched. This is done with the following equation:
27648
𝑜𝑓𝑓𝑠𝑒𝑡𝐶ℎ𝑎𝑟𝑎𝑐𝑡𝑒𝑟𝑖𝑠𝑡𝑖𝑐𝑆1 = |27648 − ( ∗ 𝑚𝑎𝑥𝑉𝑎𝑙𝑆1)|
𝑚𝑎𝑥𝑉𝑎𝑙𝑆1−𝑚𝑖𝑛𝑉𝑎𝑙𝑆1
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Table 2-77: Formula to shift the characteristic curve into the zero point – Explanation of the
used abbreviations
offsetCharacteristicS1 Offset, um die Kennlinie von distance sensor 1 in den
Nullpunkt zu verschieben
maxValS1 Maximum measuring value of distance sensor 1 according to
data sheet
minValS1 Minumum measuring value of distance sensor 1 according to
data sheet
This way, all input values refer to the characteristic curve of distance sensor 1,
shifted into the zero point.
Subsequently the radius is calculated as follows:
Figure 2-72: Radius calculation
𝑐𝑎𝑙𝑐𝑅𝑎𝑑𝑖𝑢𝑠𝑆2 = 𝑚𝑎𝑥𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒𝑆2 − 𝑎𝑐𝑡𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒𝑆2 − 𝑜𝑓𝑓𝑠𝑒𝑡𝐶ℎ𝑎𝑟𝑎𝑐𝑡𝑒𝑟𝑖𝑠𝑡𝑖𝑐𝑆1 + 𝑚𝑖𝑛𝑅𝑎𝑑𝑖𝑢𝑠

𝑐𝑎𝑙𝑐𝑅𝑎𝑑𝑖𝑢𝑠𝑆1 = 𝑚𝑎𝑥𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒𝑆1 − 𝑎𝑐𝑡𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒𝑆1 − 𝑜𝑓𝑓𝑠𝑒𝑡𝐶ℎ𝑎𝑟𝑎𝑐𝑡𝑒𝑟𝑖𝑠𝑡𝑖𝑐𝑆1 + 𝑚𝑖𝑛𝑅𝑎𝑑𝑖𝑢𝑠
From both values the average value is calculated:
𝑐𝑎𝑙𝑐𝑅𝑎𝑑𝑖𝑢𝑠𝑆1 𝑐𝑎𝑙𝑐𝑅𝑎𝑑𝑖𝑢𝑠𝑆2
𝑎𝑣𝑔𝐶𝑎𝑙𝑐𝑅𝑎𝑑𝑖𝑢𝑠 = +
2 2
Table 2-78: Formula for calculating the radius – Explanation of the used abbreviations
calcRadiusS1 Current radius, calculated on the basis of distance sensor 1
calcRadiusS2 Current radius, calculated on the basis of distance sensor 2
avgCalcRadius Average value of "calcRadiusS1" and "calcRadiusS2"
maxDistanceS1 Maximum distance of distance sensor 1 to the roll without
material wound up
maxDistanceS2 Maximum distance of distance sensor 2 to the roll without
material wound up
actDistanceS1 Aktuelle Entfernung distance sensor 1 to the roll, entspricht
dem Messwert des distance sensor 1 an der SIMATIC-
Baugruppe
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actDistanceS2 Aktuelle Entfernung distance sensor 2 to the roll, entspricht
dem Wert "unmaskedValue"
minRadius Roll radius without material wound up
Due to external influences it might happen that the current distance of both
distance sensors to the roll "actDistanceS1" and "actDistanceS2" is bigger than the
parameterized maximum distance "maxDistanceS1" and "maxDistanceS2". To
compensate those influnences the block input "minRadiusHysteresis" is available.
A plausibility error is only detected when:
actDistanceS1 + offsetCharacteristicS1 − 𝑚𝑖𝑛𝑅𝑎𝑑𝑖𝑢𝑠𝐻𝑦𝑠𝑡𝑒𝑟𝑒𝑠𝑖𝑠 > maxDistanceS1
or
𝑎𝑐𝑡𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒𝑆2 + offsetCharacteristicS1 − 𝑚𝑖𝑛𝑅𝑎𝑑𝑖𝑢𝑠𝐻𝑦𝑠𝑡𝑒𝑟𝑒𝑠𝑖𝑠 > 𝑚𝑎𝑥𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒𝑆2
When the block detects an error, the output "error" is set. The outputs
"calcRadiusS1", "calcRadiusS2" and "avgCalcRadius" take the value "0". The error
cause is displayed at the output "diag".
error are remedied.
Interface
Table 2-79: Input parameters of block LDrvSafe_WinderRadius

maxDistanceS1 INT Maximum distance distance sensor 1
• Maximum distance of distance sensor 1 to
the roll without material wound up
1 ≤ "maxDistanceS1" ≤ 32767
• Default: "13824"
maxDistanceS2 INT Maximum distance distance sensor 2
• Maximum distance of distance sensor 2 to
the roll without material wound up
1 ≤ "maxDistanceS2" ≤ 32767
• Default: "13824"
actDistanceS1 INT Current distance distance sensor 1
• Current distance of distance sensor 1 to the
roll
1 ≤ "actDistanceS1" ≤ 32767
actDistanceS2 INT Current distance distance sensor 2
• Current distance of distance sensor 2 to the
roll
1 ≤ "actDistanceS2" ≤ 32767
offsetCharacteristicS1 INT Offset Kennlinie Distanzsensor 1
• Because "actDistanceS1" and
"actDistanceS2" can attain negative values,
the characteristic curve of the sensors has to
be shifted.
0 ≤ "offsetCharacteristicS1" ≤ 32767
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minRadius INT Minimum roll radius
• Roll radius without material wound up
1 ≤ "minRadius" ≤ 32767
• Default: "150"
minRadiusHysteresis INT Hysteresis at minimum roll radius
• Due to external influences it might happen
that "actDistance" > "maxDistance". To
compensate this, a plausibility error is only
detected when ("actDistance" –
"minRadiusHysteresis") > "maxDistance"
0 ≤ "minRadiusHysteresis" ≤ 32767
rising edge
• Acknowledgement is only possible when
"error" is set and a rising edge is detected at
"ack"
Table 2-80: Output parameters of block LDrvSafe_WinderRadius

calcRadiusS1 INT Calculated radius 1

Current radius, calculated on the basis of distance
sensor 1
calcRadiusS2 INT Calculated radius 2
Current radius, calculated on the basis of distance
sensor 2
avgCalcRadius INT Average radius
Average value of "calcRadiusS1" and "calcRadiusS2"
error BOOL Error
Table 2-81: Structure of diagnostic word LDrvSafe_WinderRadius

diag Description
Value "maxDistanceS1" out of permissible value range
Remedy
Adapt value range 1 ≤ "maxDistanceS1" ≤ 32767
Value "maxDistanceS2" out of permissible value range
Remedy
Adapt value range 1 ≤ "maxDistanceS2" ≤ 32767
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diag Description
Value "actDistanceS1" out of permissible value range
Remedy
Adapt value range 1 ≤ "actDistanceS1" ≤ 32767
Value "actDistanceS2" out of permissible value range
Remedy
Adapt value range 1 ≤ "actDistanceS2" ≤ 32767
Value "offsetCharacteristicS1" out of permissible value range
Remedy
Adapt value range 0 ≤ "offsetCharacteristicS1" ≤ 32767
Value "minRadius" out of permissible value range
Remedy
Adapt value range 1 ≤ "minRadius" ≤ 32767
Value "minRadiusHysteresis" out of permissible value range
Remedy
Adapt value range 0 ≤ "minRadiusHysteresis" ≤ 32767
The calculation "actDistanceS1" + "offsetCharacteristicS1" would cause an

overflow of the data type integer
Remedy
• Check parameter "actDistanceS1"
• Check parameter "offsetCharacteristicS1"
The calculation "actDistanceS2" + "offsetCharacteristicS1" would cause an
overflow of the data type integer
Remedy
• Check parameter "actDistanceS2"
Current radii, calculated on the basis of distance sensor 1 or 2 are smaller
than the parameterized minimal roll radius "minRadius" at the block input
→ "maxDistanceS1" < "actDistanceS1" + "offsetCharacteristicS1" –
"minRadiusHysteresis" or
→ "maxDistanceS2" < "actDistanceS2" + "offsetCharacteristicS1" –
"minRadiusHysteresis"
Remedy
• Check parameter "actDistanceS1" and "actDistanceS2"
• Increase parameter "minRadiusHysteresis"
The calculation "maxDistanceS1" - "actDistanceS1" + "offsetCharacteristicS1"
+ "minRadius" would cause an overflow of the data type integer
Remedy
• Check parameter "maxDistanceS1"
• Check parameter "minRadius"
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diag Description
The calculation "maxDistanceS2" – "actDistanceS2" + "offsetCharacteristicS1"
+ "minRadius" would cause an overflow of the data type integer
Remedy
• Check parameter "maxDistanceS2"
• Check parameter"minRadius"

detection.
LDrvSafe
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2.7.13 WinderSLS
Description
This function block is used to calculate the SLS limit depending on the previously
calculated roll radius.
Figure 2-73: Structure of block LDrvSafe_WinderSLS
Depending on the calculated average current roll radius the SLS limit (Safety
Integrated Function "Safely-Limited Speed" of SINAMICS S120) is updated.
As long as the current roll radius does not exceed the current radius, the following
calculation takes place in the safety user program of the F-PLC:
32767
𝑣𝑎𝑟𝑖𝑎𝑏𝑙𝑒𝑆𝐿𝑆 = ∗ 𝑚𝑖𝑛𝑅𝑎𝑑𝑖𝑢𝑠
𝑎𝑣𝑔𝐶𝑎𝑙𝑐𝑅𝑎𝑑𝑖𝑢𝑠
Falls der aktuelle Radius größer als der maximale Rollenradius ist, so wird die
SLS-Grenze bei kleinstem Radius berechnet:
When the current radius is bigger than the maximum roll radius, the SLS limit is
calculated with the minimum radius:
32767
𝑣𝑎𝑟𝑖𝑎𝑏𝑙𝑒𝑆𝐿𝑆 = ∗ 𝑚𝑖𝑛𝑅𝑎𝑑𝑖𝑢𝑠
𝑚𝑎𝑥𝑅𝑎𝑑𝑖𝑢𝑠
In this case the output "fixedSLSvalue" is set.
The SLS limit must be transferred to the SINAMICS via PROFIsafe. Use the block
SinaTlg902Control for this task and connect the variable with the input
"variableSLS".
Table 2-82: Formula for calculating the relative SLS limit – Explanation of the used
abbreviations
variableSLS SLS limit, depending on the current radius
avgCalcRadius Current radius, corresponds to the output "avgCalcRadius" of
block "WinderRadius"
minRadius Roll radius without material wound up
maxRadius Roll radius from which a fixed SLS limit is given out
(when "avgCalcRadius" ≥ "maxRadius")
When the block detects an error, the output "error" is set. "fixedSLSvalue" takes
the value "false" and the output "variableSLS" returns the value "32767". The error
cause is displayed at the output "diag".
error are remedied.
LDrvSafe
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Interface
Table 2-83: Input parameters of block LDrvSafe_WinderSLS
avgCalcRadius INT Current roll radius
• Corresponds to the average roll radius from block
"LDrvSafe_WinderRadius"
1 ≤ "avgCalcRadius" ≤ 32767
minRadius INT Minimal roll radius
• Roll radius without material wound up
• Corresponds to the minimal roll radius from block
"LDrvSafe_WinderRadius"
1 ≤ "minRadius" ≤ 32767
• Default: "150"
maxRadius INT Roll radius from which a substitute value is put out
• When the current radius "avgCalcRadius" ≥
"maxRadius", a substitute value is given out
2 ≤ "maxRadius" ≤ 32767
• Default: "13000"
scalingFactor INT Scaling factor
Radius • This parameter is provided to compensate
inaccuracies resulting from the integer division
• All input parameters of data type integer are divided
by this value
1 ≤ "scalingFactorRadius" ≤ 27648
• Default: "100"
• Faults at the block are acknowledged with a rising
edge
• Acknowledgement is only possible when "error" is
set and a rising edge is detected at "ack"
Table 2-84: Output parameters of block LDrvSafe_WinderSLS

variableSLS INT Calculated SLS limit
Calculated SLS limit, depending on the current radius
fixedSLSvalue BOOL Substitute value
• When current radius "avgCalcRadius" ≥
"maxRadius", this output is set
• The output "variableSLS" gives out a constant
value depending on the maximum radius
error BOOL Error
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Table 2-85: Structure of diagnostic word LDrvSafe_WinderSLS
diag Description
Value "avgCalcRadius" out of permissible value range
Remedy
Adapt value range 1 ≤ "avgCalcRadius" ≤ 32767
Value "minRadius" out of permissible value range
Remedy
Adapt value range 1 ≤ "minRadius" ≤ 32767
Value "maxRadius" out of permissible value range
Remedy
Adapt value range 2 ≤ "maxRadius" ≤ 32767
• Value "scalingFactorRadius" out of permissible value range
• "scalingFactorRadius" > "minRadius"
Remedy
• Adapt value range 1 ≤ "scalingFactorRadius" ≤ 27648

• Check that "scalingFactorRadius" ≤ "minRadius"
"maxRadius" ≤ "minRadius"
Remedy
Check that "maxRadius" > "minRadius"
"avgCalcRadius" < "minRadius"
Remedy
Check that "avgCalcRadius" ≥ "minRadius"

detection.
LDrvSafe
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3 Functional test
3 Functional test
3.1 Information for checking the Safety functionality of the
machine
CAUTION Function test

The perfect functioning of all Safety Functions of the programmed user program
must be carefully checked and documented by carrying out a complete function
check at the machine.
The plausibility of the failsafe monitoring times of the I/O and the control must be
checked corresponding to the SIMATIC Safety Configuring and Programming
Manual.
The configuration must be documented by printing it out.
3.2 Examples for checking the Safety functionality of the F

blocks
In this chapter, using examples, it is shown how the interaction between the
hardware wiring and software evaluation can be tested for the individual blocks.
These function tests only involve individual tests for the particular block. They do
not replace the function test of the user program on the machine.
3.2.1 PROFIsafe control words
SinaGT30Control
Table 3-1: Function test of block LdrvSafe_SinaGT30Control
Execution Expected response Result
Select one of the Safety The selected Safety Function becomes
Functions being used at the active at the addressed drive
block input. (r9773.x or r9720.x = 0).
Then deselect this Safety The selected Safety Function becomes
Function being used at the block inactive at the addressed drive
input. (r9773.x or r9720.x = 1).
Repeat these two steps for all of See the previous lines.
the Safety Functions being
used.
SinaST30Control
See SinaGT30Control
SinaT31Control
See SinaGT30Control
SinaT900Control
See SinaGT30Control
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3 Functional test
SinaT901Control
Table 3-2: Function test of block LdrvSafe_SinaT901Control
See SinaGT30Control
Enter any value between 1 and The SLS limit value in level 1 (p9531[0])
32,767 at input “variableSLS” is changed and becomes active after
and select the SLS Safety the delay time in p9551 has expired:
Function with level 1. r9714[2] = “variableSLS” / 32,767 *
p9531[0]
SinaT902Control
See SinaGT30Control
and SinaT901Control
SinaT903Control
See SinaGT30Control
and SinaT901Control
PdcTlg30Control
See SinaGT30Control
PdcTlg31Control
See SinaGT30Control
3.2.2 PROFIsafe status words
SinaGT30Status
Table 3-3: Function test of block LdrvSafe_SinaGT30Status
Select one of the Safety The feedback signal of the selected
Functions being used and wait Safety Function becomes active (“1”) in
until this Safety Functions the corresponding block.
becomes active
(r9773.x or r9722.x = 1).
Then deselect this Safety The feedback signal of the selected
Function being used and wait Safety Function becomes inactive (“0”)
until this Safety Functions in the corresponding block.
becomes inactive
(r9773.x or r9722.x = 0).
Repeat these two steps for all of See the previous lines.
the Safety Functions being
used.
SinaST30Status
See SinaGT30Status
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3 Functional test
SinaT31Status
See SinaGT30Status
SinaT900Status
See SinaGT30Status
SinaT901Status
Table 3-4: Function test of block LdrvSafe_SinaT901Status
See SinaGT30Status
Vary the value for SLS level 1 The value of “variableSLSvalue”

dynamically and select the SLS receives this value:
Safety Function with level 1. “variableSLSvalue” = r9714[2] /
To do that, you can use input p9531[0] * 32.767
“variableSLS” of function block
“LdrvSafe_SinaT901Control”.
- The value “cycleCounter” at block
output is incremented in the clock cycle
of the Safety Integrated Functions
(p9500).
- The value “safePosition” at block output
corresponds to parameter r9713[4].
SinaT902Status
See SinaT901Status
SinaT903Status
Table 3-5: Function test of block LdrvSafe_SinaT903Status
See SinaGT30Status
Vary the value for SLS level 1 The value of “variableSLSvalue”

dynamically and select the SLS receives this value:
Safety Function with level 1. “variableSLSvalue” = r9714[2] /
To do that, you can use input p9531[0] * 32.767
“variableSLS” of function block
“LdrvSafe_SinaT903Control”.
PdcTlg30Status
See SinaGT30Status
PdcTlg31Status
See SinaGT30Status
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3 Functional test
3.2.3 Winder application
UnmaskedValueCalculation
Table 3-6: Function test of block LdrvSafe_UnmaskedValueCalculation
Interconnect the block inputs Verify that the unmasked value
according to the description “unmaskedValue” corresponds with the
UnmaskedValueCalculation. actual unmasked value.
DiscrepancyMonitoring
Table 3-7: Function test of block LdrvSafe_DiscrepancyMonitoring
Interconnect the block inputs The block identifies a discrepancy error
according to the description and sets the “error” bit. At output “diag”
DiscrepancyMonitoring. Bit 5 is set.
Initiate a discrepancy error by
e.g. affecting the detection
range of one sensor (connected
to inputs “value1” or “value2”)
AverageValueCalculation
Table 3-8: Function test of block LdrvSafe_AverageValueCalculation

Interconnect the block inputs The value “avgValue” is updated when
according to the description the number of cycles run through
AverageValueCalculation. reaches the number of cycles specified
at “numberOfCycles”.
At this time the output “updatedValue”
is set for one cycle.
You can verify the behavior with the
trace functionality.
WinderRadius
Table 3-9: Function test of block LdrvSafe_WinderRadius
Interconnect the block inputs At the block output the current radius
according to the description “avgCalcRadius” is given out.
WinderRadius. This calculated radius must match the
Equip the winder with an empty parameterized minimal radius
roll. “minRadius”.
Equip the winder with a roll that At the block output the current radius
has material wound up or wind “avgCalcRadius” is given out.
up material on the empty roll. This calculated radius (converted in the
physical units) must correspond to the
actual radius.
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3 Functional test
WinderSLS
Table 3-10: Function test of block LdrvSafe_WinderSLS
Interconnect the block inputs The SLS limit r9714[2] is updated
according to the description continuously depending on the current
WinderSLS. radius of the roll.
Wind the roll with wound up The distance to the standard speed
material. fulfills the requirement from the risk
Start a trace measurement with evaluation.
the current standard speed and
the calculated SLS limit r9714[2]
Wind the material until the The block output “fixedSLSvalue”
current radius “avgCalcRadius” assumes the value “1” as long as
exceeds the maximum radius “avgCalcRadius” ≥ “maxRadius”
“maxRadius”.
(Only required if the application
actually permits this).
3.2.1 SafeVelocity
Note Carefully observe Chapter 11 "System acceptance" in the "SIMATIC Safety -

Configuring and Programming" Manual.
The plausibility of the F-monitoring times of the I/O and the open-loop control must
be carefully tested as described in the "SIMATIC Safety - Configuring and
Programming" Manual.
The configuration must be printed-out for documentation purposes.
Examples for performing a block function test:

Table 3-11
Procedure Expected response Result
Traverse the axis with different The block outputs the corresponding
velocities/speeds. value.
For modulo axes, perform the test for several The block outputs the correct velocity
revolutions. value.
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4 Working with the library

This chapter consists of instructions for integrating the LdrvSafe library into your
TIA project and instructions for using the library blocks.
4.1 Integrating the library into TIA Portal

The table below lists the steps for integrating the LdrvSafe library into your TIA
project. Subsequently, you can use the blocks of the LdrvSafe library.
NOTE The following section assumes that a TIA project exists.
Table 4-1: Integration of the library

No. Action Note
1. First of all, depack the delivered application.
Therefore klick on the application with right mouse button and depack the file.
2. Open the “TIA Portal” engineering tool.

3. Search for your existing project and open it.
4. Click on the “Libraries” tab at the right-hand

edge of the screen (1).
Then click on button “Open global library” (2).
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No. Action Note

5. Enter the path in which the LdrvSafe library is saved and open the unzipped library.
6. The library is now opened. You can now use all

of the blocks in the LdrvSafe library in the
“Master copies” subfolder in your project.
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4.2 Integrating the library blocks into TIA Portal

The table below lists the steps for integrating the blocks of the LdrvSafe library into
your TIA program.
Table 4-2: Integration of the library blocks
No. Action Note
1. You can now drag the blocks from the library and drop them into your project.
• In this diagram the folder “S7-1500F” is dragged to folder “Program blocks”
• The same folder is also dragged to the folder “PLC data types”
As a result, all the blocks of the library are available in your project.
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4.3 Downloading the blocks to the S7 CPU

The table below lists the steps for downloading all blocks of your user program to
the S7 CPU.
Table 4-3: Loading the blocks
No. Action Note
1. In the project tree, select the F-PLC that you wish to load (1).
Then click on the download symbol (2).
2. When loading the safety program to the control, the following window is displayed.
In column “Action” (1), set all lines so that there is a blue checkmark set in every line (2).
Enter your password to access failsafe data.
2 1
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4.4 Online help

For all function blocks of this library, there exists an online help, which contains
information relating to principle of operation and meaning of all in- and outputs.
Note The help files are available in German and English language and open
accordingly to the user interface language of TIA-Portal. If neither German nor
English is chosen as user interface language, always the English version opens
by the call of a help file.
Table 4-4 Open the online help out of the library directory
No. Action Note
1. To open the help for a block directly out of the library, you have to mark a block and
press “Shift + F1” on the keyboard. At first a security warning appears, which you
have to confirm with “Yes”.
2. Now an overview site opens in your web browser. On this site you can click on the
link of the block you want the help to open.
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5 Versioning of library LDrvSafe
5 Versioning of library LDrvSafe

The steps listed below show you how to check if your library is up-to-date.
Table 5-1: Actuality of the library
No. Action Note
1. To check the version of the LdrvSafe library,
proceed as follows:
(6) Click on the “Libraries” tab at the right-
hand edge of the screen
(2) Under “Global libraries”, select the library

and press the right-hand mouse key (3).
(4) Now click on “Properties”.

2. The library version is shown (2) under menu item “Library” (1).
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6 Appendix
6 Appendix
6.1 Application Support
Siemens AG
Digital Industries
Factory Automation
Production Machines
DI FA PMA APC
Frauenauracher Str. 80
91056 Erlangen, Germany
mailto : tech.team.motioncontrol@siemens.com
6.2 Links and Literature

Table 6-1: Literature
No. Topic
\1\ Siemens Industry Online Support
https://support.industry.siemens.com
\2\ Link to this entry page of this application example

\3\ SIMATIC Industrial Software SIMATIC Safety – Configuring and Programming
\4\ SINAMICS S120 Safety Integrated Function Manual
\5\ Safety Integrated Function Manual for SINAMICS G110M, G120, G120C, G120D
and SIMATIC ET 200pro FC-2
\6\ SIMATIC S7-1200/S7-1500 and SIMOTION: Acyclic Data Exchange
https://support.industry.siemens.com/cs/ww/de/view/109479553/en
\7\ SIMATIC STEP 7 Basic/Professional V16 and SIMATIC WinCC V16
\8\ SINAMICS S210/SIMOTICS S-1FK2 and S-1FT2
\9\ SIMATIC MICRO-DRIVE Drive controller PDC
6.3 Change documentation

Table 6-2: History
Version Date Modifications
V1.0 03/2016 First version
V1.1 10/2016 Addition of blocks for PROFIsafe control
V1.2 01/2017 Addition of blocks for Software controller S7-1500F and
revision documentation of function block
“LdrvSafe_WinderRadius”
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6 Appendix
Version Date Modifications

V1.3 06/2017 Adaption of documentation to new layout, minor changes
Adapting of the blocks for usage of PLCSIM Advanced
Removal of block “LdrvSafe_WinderRadius”
V2.0 02/2018 Revision of all blocks according to style guide
Revision of winder application
V2.1 06/2018 Addition of blocks:
• SafeReferencing
• HwAcknowledge
V2.2 08/2018 Addition of blocks for control via SIC / SCC
V2.2.1 10/2018 Adapted folder names
V2.2.2 08/2019 • Improvements and corrections in manual and online
help
• Improvements in blocks SafeReferencing and
HwAcknowledge. Ram2Rom now works on DO level,
not device level
V2.2.3 11/2019 • Fault correction in block SafeReferencing
• Fault corrections in documentation
V3.0 11/2019 • Upgrading the LDrvSafe to V15
• Improvement of block HwAcknowledge
• Addition of block SafeVelocity
•
V4.0 07/2021 Upgrading the LDrvSafe to V16

• Addition of block SafeBrakeTest
• Addition of SINUMERIK ONE
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LDrvSafe

Fail-safe SIMATIC library to control the Safety

2.3.4 SinaTlg900Status ............................................................................... 39

Calculation of the current radius ...................................................... 106

6 Appendix ........................................................................................................ 137

1.1 Permissible Hardware

Table 1-1: Permissible PLC family

1.2 Permissible Software

2 Blocks of the library

FB 29013 SinaT900Status In-house development

2.1.1 Signatures of the individual blocks

FB 29015 SinaT902Status D82DAFCB

2.2 PROFIsafe control words

Wrong start address of the created variable

The data type depends on the used function block.

At the end, interconnect the variable created to the block output.

No selection of the Safety Functions

Parameter Data type Description

Table 2-5: Output parameters of block LDrvSafe_SinaGTlg30Control

Limited Speed (SLS)

Table 2-7: Output parameters of block LDrvSafe_SinaSTlg30Control

SOS BOOL Controlling the Safety Integrated Function Safe

Parameter Data type Description

ackSafetyFaults BOOL Fail-safe acknowledgment of Safety faults in the

Table 2-9: Output parameters of block LDrvSafe_SinaTlg31Control

Parameter Data type Description

Table 2-11: Output parameters of block LDrvSafe_SinaTlg900Control

Parameter Data type Description

Parameter Data type Description

ackSafetyFaults BOOL Fail-safe acknowledgment of Safety faults in the

Table 2-13: Output parameters of block LDrvSafe_SinaTlg901Control

SOS BOOL Controlling the Safety Integrated Function Safe

Parameter Data type Description

variableSLS INT Variable input of SLS level 1

Table 2-15: Output parameters of block LDrvSafe_SinaTlg902Control

SOS BOOL Controlling the Safety Integrated Function Safe

Parameter Data type Description

the gearbox stage: p9542 * p9543 (without actual

Table 2-17: Output parameters of block LDrvSafe_SinaTlg903Control

Parameter Data type Description

Table 2-21: Output parameters of block LDrvSafe_PdcTlg31Control

2.3 PROFIsafe status words

Figure 2-16: Excerpt of the PROFIsafe configuration from HWCN

CAUTION Wrong start address of the created variable

The data type depends on the function block used.

At the end, interconnect the variable created to the block input.

The states of the Safety Integrated Functions of SINAMICS G are represented at

Table 2-24: Output parameters of block LDrvSafe_SinaGTlg30Status

Parameter Data type Description

0: SDI negative inactive

The states of the Safety Integrated Functions of SINAMICS S are represented at

Table 2-26: Output parameters of block LDrvSafe_SinaSTlg30Status

Parameter Data type Description

Table 2-28: Output parameters of block LDrvSafe_SinaTlg31Status

Parameter Data type Description

SLAactive BOOL Status of Safety Integrated Function Safely-

Table 2-30: Output parameters of block LDrvSafe_SinaTlg900Status

Parameter Data type Description

1: SDI negative active

Table 2-32: Output parameters of block LDrvSafe_SinaTlg901Status

Parameter Data type Description

SLAactive BOOL Status of Safety Integrated Function Safely-

Parameter Data type Description