Siemens SINUMERIK 840D sl Function Manual page 174

Safety Functions Integrated in the System/Drive
6.8 Safety software cams and safety cam track (SN)
Please note:
S It is not possible to assign a cam a multiple number of times to several tracks.
A multiple assignment only functions if an additional cam is parameterized with
the same cam position and assigned to another cam track.
S Cam positions can be freely assigned to a cam range.
S Cams that have not been assigned do not appear on the cam track.
S The cams on a cam track must not overlap.
S The cams on a cam track must have a certain minimum length.
S The cams on a cam track must have a certain minimum distance between
them.
Evaluation of the parameterization
For the evaluation, the following checks are made (for the NCK and drive):
S If $MA_SAFE_CAM_ENABLE > 0, then $MA_SAFE_FUNCTION_ENABLE,
bits 8–15 must be = 0.
S If $MA_SAFE_CAM_ENABLE > 0, then it is not permissible that the enable bit
for cam synchronization is set (($MA_SAFE_FUNCTION_ENABLE, bit 7 = 0)
S Modulo cams are not permissible ($MA_SAFE_MODULO_RANGE must be 0 if
$MA_SAFE_CAM_ENABLE > 0).
S Checking the cam length:
$MA_SAFE_CAM_POS_PLUS[0...29] – $MA_SAFE_CAM_POS_MINUS[0...29] >=
S Checking the distance between 2 cams on a cam track:
$MA_SAFE_CAM_POS_MINUS[y] – $MA_SAFE_CAM_POS_PLUS[x] >=
S It is not permissible to parameterize two cams on the same track and range:
Example:
$MA_SAFE_CAM_TRACK_ASSIGN[2] = 205;
$MA_SAFE_CAM_TRACK_ASSIGN[5] = 205;
As a consequence, it is not possible to assign more than 15 cams to a cam
track.
S If a cam is enabled in $MA_SAFE_CAM_ENABLE, then it must also be as-
signed.
If a violation is determined when making these checks, then alarm 27033 "Parame-
terization invalid"/F01686 "SI motion: Cam position parameterization not permissi-
ble" is output.
The generation of the new cam SGA is shown in Fig. 6-17:
6-174
SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition
$MA_SAFE_CAM_TOL + $MA_SAFE_POS_TOL
$MA_SAFE_CAM_TOL + $MA_SAFE_POS_TOL
© Siemens AG 2008 All Rights Reserved
05.08