Siemens SINUMERIK 840D sl Function Manual page 133

03.06
Speed tolerance
Fig. 6-10
Calculating the SBR tolerance of the actual speed
The following applies when parameterizing the SBR tolerance:
The possible speed increase after initiating a STOP B/C is obtained from the effec-
tive acceleration a and the duration of the acceleration phase. The acceleration
phase lasts from one monitoring clock cycle ÜT (delay from detecting a STOP B/C
until n = 0):
set
SBR tolerance
Actual speed for SBR = acceleration * acceleration duration
The following setting rules apply:
For a linear axis:
SBR tolerance [mm/min] = a [m/s
For rotary axis/spindle:
SBR tolerance [rev/min] = a [rev/s
The following machine data should be taken into account when determining the
acceleration:
MD 32300: MAX_AX_ACCEL
MD 35200: GEAR_STEP_SPEEDCTRL_ACCEL
MD 35210: GEAR_STEP_POSCTRL_ACCEL
MD 35410: SPIND_OSCILL_ACCEL
Recommendation:
The value entered for the SBR tolerance should be approx. 20% higher than the
calculated value.
© Siemens AG, 2006. All rights reserved
SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition
n
n
act
n
x
Characteristics of the stopping limit value for SBR
Safety Functions Integrated in the System/Drive
6.4 Safe braking ramp (SBR)
Stopping limit value
STOP B/C initiated
] * ÜT [s] * 1000 [mm/m] * 60 [s/min]
2
] * ÜT [s] * 60 [s/min]
2
t
6-133