Siemens Sinumerik 840D sl Function Manual page 139

Sinumerik safety integrated

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STOP E only produces a different response than STOP D if the user has

configured the ESR function -- extended stop and retract -- and initiation of the

ESR is programmed depending on $VA_STOPSI or $A_STOPESI.

If ESR is not active, the STOP E behaves like a STOP D. However, if the ESR

configuration is incorrect, there is a delay of up to 2 IPO cycles compared to

STOP D until the braking operation is initiated. Possible causes:

S The initiation of the ESR as static synchronous action does not take into

account the system variables $VA_STOPSI or $A_STOPESI.

S ESR is neither parameterized nor enabled.

S For individual PLC controlled axes, only the axis--specific ESR is used via

$AA_ESR_TRIGGER. This trigger may be used in addition to the

channel--specific trigger.

For other incorrect ESR programming, a delay by the time entered in

$MC_ESR_DELAY_TIME1 and $MC_ESR_DELAY_TIME2 is possible. After these

times have expired, braking is initiated at the current limit. Possible cause:

S The retraction position cannot be reached within the specified time.

The ESR integrated in the drive can by triggered by writing to the system variable

$AN_ESR_TRIGGER (see also /FB3/, M3 "Axis couplings and ESR"). The STOP

E delay time in MD36954 $MA_SAFE_SWITCH_TIME_E or drive parameter in

p9554 should be selected, so that the timer for ESR in p0892 is covered by the

SINAMICS basic system.

See also Chapter 11.10.1 "Delayed pulse cancellation in the event of a

communication failure".

SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 10.2015 Edition

Safety functions integrated in the system/drive

6.3 Safe Stops A- -F

Sinamics s120