Timing when the limit value is exceeded
If the Safe Operating Stop function is active, the timing response when the limit value is
exceeded is as follows:
Figure 7-4
Table 7-1
Explanation of the diagram
Time
Explanation
t
The position control clock cycle, defined by the following MDs:
1
For 840D sl:
MD10050 $MN_SYSCLOCK_CYCLE_TIME
MD10060 $MN_POSCTRL_SYSCLOCK_TIME_RATIO
t
Monitoring clock cycle, defined by the following MD:
2
For 840D sl:
MD10090 $MN_SAFETY_SYSCLOCK_TIME_RATIO
For SINAMICS S120:
r9500 SI Motion monitoring clock cycle (Control Unit)
t
Time until the standstill tolerance value is exceeded
3
t
Time until it has been detected that the standstill tolerance value has been exceeded
4
(typical 0.5 monitoring clock cycles, maximum 1 monitoring clock cycle + 1 position controller clock cycle)
t
Response time required to initiate the configured stop response
5
typical 1.5 monitoring clock cycles, maximum 2 monitoring clock cycles + 1 position controller clock cycle)
(
t
Time until the stop response that was initiated starts
6
typical 2 position controller clock cycles, maximum 2 position controller clock cycles)
(
t
Time required to reach the shutdown speed for STOP B.
7
t
Time required to stop the axis for a STOP B.
8
Safety Integrated
Function Manual, 12/2017, 6FC5397-4BP40-6BA1
Timing when the limit value is exceeded for SBH
Safety functions integrated in the system/drive
7.2 Safe Operating Stop (SBH)
111