Siemens SINUMERIK 828D Function Manual page 47

Canceling the controller enable when the machine axis is in motion:
If a machine axis is part of an interpolatory path movement or coupling and the controller enable for this is
canceled, all axes involved are stopped with a fast stop (speed setpoint = 0) and an alarm is displayed:
Alarm: "21612 Controller enable reset during movement"
• The machine axis is decelerated taking into account the parameterized duration of the braking ramp for error
states with a fast stop (speed setpoint = 0):
MD36610 $MA_AX_EMERGENCY_STOP_TIME (max. time duration of the braking ramp in event of errors)
An alarm is displayed:
Alarm: "21612 Controller enable reset during movement"
Note
The controller enable is canceled at the latest when the cutout time expires:
MD36610 $MA_AX_EMERGENCY_STOP_TIME
• The machine axis position control loop opens. Feedback via interface signal:
DB31, ... DBX61.5 == 0 (position controller active).
The time for the parameterized cut-off delay of the controller enable is started by the machine data:
MD36620 $MA_SERVO_DISABLE_DELAY_TIME (switch­off delay controller enable)
• As soon as the actual speed has reached the zero speed range, the drive controller enable is canceled.
Feedback via interface signal:
DB31, ... DBX61.6 == 0 (speed controller active)
• The position actual value of the machine axis continues to be acquired by the control.
• At the end of the braking operation, the machine axis is switched to follow-up mode, regardless of the
corresponding NC/PLC interface signal. Zero-speed and clamping monitoring are not effective. See the
description above for the interface signal:
DB31, ... DBX1.4 (follow-up mode).
Basic Functions
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
A2: Various NC/PLC interface signals and functions
1.2 NC/PLC interface signals
47