siemens/tia-portal-ai-extensions/safety-commissioning

Safety Commissioning

Overview

Safety commissioning in SINAMICS drives configures PROFIsafe functions such as STO (Safe Torque Off), SImO (Safe Limited Operation), and other safety-related features. Access safety APIs through DriveFunctionInterface.SafetyCommissioning and DriveFunctionInterface.FunctionInUse. Activate safety functions by setting specific parameter bits (e.g., p9601.3 for Basic Safety, p9603.1 for PROFIsafe, p9604.0 for STO). After parameter changes, update safety checksums via UpdateCheckSums().

Required Namespaces

using System.Linq;
using Siemens.Engineering;
using Siemens.Engineering.MC.Drives;
using Siemens.Engineering.MC.Drives.DFI;
using Siemens.Engineering.MC.Drives.Enums;

Required Assemblies

• Siemens.Engineering.Base.dll
• Siemens.Engineering.Step7.dll
• Siemens.Engineering.Startdrive.dll

Common Patterns

SafetyCommissioning.UpdateCheckSums()

Description: Calculate and update safety checksums after safety parameter changes. This is mandatory after modifying any safety-related parameter to ensure the drive accepts the configuration.

Example:

var succeeded = driveFunctionInterface.SafetyCommissioning.UpdateCheckSums();

Key Types and Methods:

• SafetyCommissioning.UpdateCheckSums() — recalculates all safety checksums
• Returns bool indicating success or failure

FunctionInUse.SetSIAxisType

Description: Set the safety axis type (Rotary or Linear) via FunctionInUse. Required for safety functions that depend on axis kinematics (SImO, SLS, SMVO).

Example:

var dfi = driveObject.GetService<DriveFunctionInterface>();
dfi.FunctionInUse.SetSIAxisType(RotaryLinearFlag.Linear);

Key Types and Methods:

• FunctionInUse — manages safety function activation state
• SetSIAxisType(flag) — sets the axis type for safety calculations
• RotaryLinearFlag.Linear / RotaryLinearFlag.Rotary — axis type enumeration

Safety Parameter Bit Activation (STO via p9604)

Description: Enable safety functions (PROFIsafe, STO) by setting specific parameter bits. This is the standard activation pattern for SINAMICS S120 safety functions.

Example:

parameters.Find("p9603").Bits
    .Single(x => x.Name == "p9603.1")
    .Value = 1;  // Enable PROFIsafe
 
parameters.Find("p9604").Bits
    .Single(x => x.Name == "p9604.0")
    .Value = 1;  // Enable STO

Key Types and Methods:

• p9603.1 — PROFIsafe enable bit
• p9604.0 — STO enable bit
• Parameter.Bits[].Value — bit-level write access

Basic Safety PROFIsafe Activation (S120)

Description: Enable Basic Safety via p9601.3 bit on SINAMICS S120. This is a prerequisite for other safety functions.

Example:

var parameters = axis.GetService<DriveObjectContainer>()
    .DriveObjects.First().Parameters;
 
parameters.Find("p9601").Bits
    .Single(x => x.Name == "p9601.3")
    .Value = 1;

Key Types and Methods:

• p9601.3 — Basic Safety enable bit (S120)
• Must be set before activating individual safety functions

SafetyAcceptanceTestProvider

Description: Configure safety acceptance tests. The SafetyAcceptanceTestProvider exposes acceptance test parameters that must be confirmed before safety functions become active on the drive.

Example:

var dfi = driveObject.GetService<DriveFunctionInterface>();
var acceptanceTest = dfi.SafetyCommissioning.SafetyAcceptanceTestProvider;

Key Types and Methods:

• SafetyAcceptanceTestProvider — manages safety acceptance test state
• Accessed via SafetyCommissioning.SafetyAcceptanceTestProvider

Quick Reference

Related Files

• `drive-objects` — obtaining DriveFunctionInterface to access safety APIs
• `parameters` — parameter bit access pattern used for safety activation
• `telegrams` — safety telegram insertion (InsertSafetyTelegram) is required for PROFIsafe
• `networks-and-drivecliq` — PROFINET configuration for safety data exchange

Exception Handling

• UpdateCheckSums() returns false if the safety configuration is invalid. Check the return value and inspect safety parameters.
• Safety parameter writes require the drive to be in an appropriate state. Writing while online may throw EngineeringException.
• SetSIAxisType() may fail if safety functions are already active. Deactivate the drive before changing axis type.
• Always set p9601.3 (Basic Safety) before enabling individual safety functions (p9603.1, p9604.0). The order matters.
• SafetyAcceptanceTestProvider operations may require additional validation. Check the provider state before modifying acceptance tests.