Siemens Sinumerik 840D sl Function Manual page 181

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S The modulo function is not supported. If the "safe cam track" function is ena-
bled and a value > 0 entered in the MD36905 $MA_SAFE_MODULO_RANGE /
p9505 SI Motion SCA (SN) modulo value (Control Unit), then alarm 27033 "Axis
%1 parameterization of the MD $MA_SAFE_REFP_STATUS_OUTPUT[0] inva-
lid, error code %4" is output with a reference to $MA_SAFE_MO-
DULO_RANGE.
S The safe cams must be configured:
The required cams are enabled using machine data
for 840D sl:
36903 $MA_SAFE_CAM_ENABLE, bits 0...29 and parameter
for SINAMICS S120:
p9503 SI Motion SCA (SN) enable (Control Unit), bits 0...29
SGA assignment is defined using machine data
for 840D sl:
36988 $MA_SAFE_CAM_PLUS_OUTPUT[n] and
36989 $MA_SAFE_CAM_MINUS_OUTPUT[n]
Defining the cam positions
The cam positions are defined in the following machine data/parameters:
for 840D sl:
36936 $MA_SAFE_CAM_POS_PLUS[0...29]
36937 $MA_SAFE_CAM_POS_MINUS[0...29]
for SINAMICS S120:
p9536[0...29] SI Motion SCA (SN) plus cam position (Control Unit)
p9537[0...29] SI Motion SCA (SN) plus cam position (Control Unit)
Note
The minus position of cam x must be less than the plus position of cam x,
otherwise alarm 27033 "Invalid parameterization" is output. For an incorrect
parameterization, also alarm F01686 "SI Motion: Cam position parameterization
not permissible" of the drive is also output.
Assignment, cam to cam track
The cams defined in $MA_SAFE_CAM_POS_PLUS[0...29] and
$MA_SAFE_CAM_POS_MINUS[0...29] are assigned to a cam track as follows:
for 840D sl:
36938 $MA_SAFE_CAM_TRACK_ASSIGN[0...29]
for SINAMICS S120:
p9538[0...29] SI Motion cam track assignment (Control Unit)
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SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 10.2015 Edition
Safety functions integrated in the system/drive
6.8 Safety software cams and safety cam track (SN)
6-181