Siemens SINUMERIK 840D sl Function Manual page 171

05.08
Safe software cams for endlessly turning rotary axes
For rotary axes with cams, the modulo range (cam actual value range) can be set
using the following machine data/parameters:
for 840D sl:
MD 36902: $MA_SAFE_IS_ROT_AX
for SINAMICS S120:
p9502: SI motion axis type (Control Unit)
for 840D sl:
MD 36905: $MA_SAFE_MODULO_RANGE
for SINAMICS S120:
p9505: SI motion SCA (SN) modulo value (Control Unit)
The cam actual value range should be selected as wide as the modulo display of
the safe actual value.
For rotary axes, the modulo display of safe actual values is selected and para-
meterized using the following machine data:
for 840D sl:
MD 30300: $MA_IS_ROT_AX
MD 30320: $MA_DISPLAY_IS_MODULO
MD 30330: $MA_MODULO_RANGE
Limiting the cam positions
When parameterizing the cam positions, the following conditions close to the mo-
dulo limits must be maintained.
When cam synchronization is not active:
S – Mod_Pos + Pos_Tol < SN_Pos < Mod_Pos – Pos_Tol
When cam synchronization is active:
S – Mod_Pos + Pos_Tol + Cam_Tol < SN_Pos < Mod_Pos – Pos_Tol – Cam_Tol
Meanings:
Pos_Tol: Actual value tolerance
MD 36942: $MA_SAFE_POS_TOL for 840D sl
p9542: SI motion, actual value comparison tolerance (crosswise) (Control Unit) for
SINAMICS S120
Cam_Tol: Cam tolerance
MD 36940: $MA_SAFE_CAM_TOL for 840D sl
p9540: SI motion SCA (SN) tolerance (Control Unit) for SINAMICS S120
Mod_Pos: Lower/upper modulo value:
MD 36905: $MA_SAFE_MODULO_RANGE for 840D sl
p9505: SI motion SCA (SN) modulo value (Control Unit) for SINAMICS S120
© Siemens AG 2008 All Rights Reserved
SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition
Safety Functions Integrated in the System/Drive
6.8 Safety software cams and safety cam track (SN)
6-171