Siemens Sinumerik 840D sl Function Manual page 143

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The following actions take place at the following instants in time:
t1:
STOP F occurs, no response
t2:
At any time after t1, a monitoring function is activated. At this instant in time, the
transition to a STOP B is started and bits 1 in $A_XFAULTSI and $VA_XFAULTSI
of this axis are set.
t3:
500 ms after t2, braking starts along the parameterized ramp
t4:
STOP B is initiated 2.5 s after t2. The axis is already stationary at this time, which
means that the pulses can be immediately cancelled.
Example 3 for STOP F with interruption by STOP D
A retraction axis shown in Fig. 6-9. As a result of the high velocity of the retraction
motion, the SG monitoring for this axis initiates a STOP. After the transition time
from STOP F to STOP B expires, this braking ramp has still not been completed,
so that now the axis continues to brake with the STOP B response (n
OFF3).
SG
limit
Figure 6-9 Velocity characteristic for retraction with SG violation
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SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 10.2015 Edition
t1
t2
Figure 6-8 Velocity characteristic of an SI axis when stopping with STOP F
Start of retraction
t2
t1
Safety functions integrated in the system/drive
Continue to traverse (ESR)
Braking along a ramp
= stopping (ESR)
t3
Braking along a ramp
(STOP D)
t3
6.3 Safe Stops A- -F
t4 t
=0 or
set
Braking at the
current limit
(STOP B)
t4
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