Siemens SINUMERIK 840D sl Function Manual page 166

Safety functions integrated in the system/drive
7.8 Safety software cams and safety cam track (SN)
Parameterizing the cam range assignment (all cams that have been enabled are assigned to
cam track 2)
● $MA_SAFE_CAM_TRACK_ASSIGN[0] = 201
(cam SN1 is assigned cam range 1)
● $MA_SAFE_CAM_TRACK_ASSIGN[1] = 203
(cam SN2 is assigned cam range 3)
● $MA_SAFE_CAM_TRACK_ASSIGN[2] = 202
(cam SN3 is assigned cam range 2)
● $MA_SAFE_CAM_TRACK_ASSIGN[5] = 204
(cam SN6 is assigned cam range 4)
● $MA_SAFE_CAM_TRACK_ASSIGN[7] = 205
(cam SN8 is assigned cam range 5)
Response of the SGA
The SGA "cam track" is the OR logic operation of all individual cams on a cam track. If an axis
is at a cam on a cam track, then the SGA of this cam track is set to 1. Together with the SGA
"cam range", information is available as to which cam is presently active.
The SGA "cam range" starts at the lower end of the traversing range with the range of the 1st
cam - assigned in $MA_SAFE_CAM_TRACK_ASSIGN[n] - on this cam track, i.e. in this case
"3". At the upper end after the last cam on this cam track, the range SGA is set to "15". The
transition of the range to the next value is realized when moving in the positive direction always
at the falling edge of an individual cam.
The enable machine data as well as all cam limit values and range assignments are compared
crosswise between the NCK and drive.
The user can use the following to connect to the SPL interface ($A_INSI / $A_OUTSI)
●
$MA_SAFE_CAM_TRACK_OUTPUT[0...3] and for the
● SGA "cam range", MD37901-37904:
$MA_SAFE_CAM_RANGE_OUTPUT_1/2/3/4[0...3] and for the
● SGA "cam range bits", machine data 37906-37909
$MA_SAFE_CAM_RANGE_BIN_OUTPUT_1/2/3/4[0...14].
166
SGA "cam track", MD37900
Function Manual, 12/2017, 6FC5397-4BP40-6BA1
Safety Integrated