Siemens SINUMERIK 840D sl Function Manual page 60

Safety Functions integrated in the drive
5.3 Safe Torque Off (STO)
Note
If Safe Torque Off is selected and deselected again through one channel within the time in
p9650, the pulses are canceled but a signal is not output.
However, if you want a message to be displayed, then you must reconfigure N01620 as an
alarm or fault using p2118 and p2119.
Restart after the Safe Torque Off function has been selected
1. Deselect the function in each monitoring channel via the input terminals.
2. Issue drive enable signals.
3. Cancel the power-on inhibit and power-up again.
1/0 edge at input signal "ON/OFF1" (cancel "switching on inhibited")
0/1 edge at input signal "ON/OFF1" (switch on drive)
Status for Safe Torque Off
The status of the Safe Torque Off (STO) function is displayed using the parameters r9772,
r9872, r9773 and r9774:
As an alternative, the status of the function can be displayed using the configurable message
N01620 (configured using p2118 and p2119).
Response times for the Safe Torque Off function
The following values can be specified for the response times when the function is selected/
deselected via the input terminals:
● Typical response time
2 x safety monitoring clock cycle CU (r9780) + input/output time sampling time (p0799)
● Maximum response time that can occur when a fault develops:
4 x safety monitoring clock cycle CU (r9780) + input/output time sampling time (p0799)
Examples, booksize
Assumption
Safety monitoring clock cycle CU (r9780) = 4 ms and
Inputs/outputs sampling time (r0799) = 4 ms
t
R_type
t
R_max
60
= 2x r9780 (4 ms) + r0799 (4 ms) = 12 ms
= 4x r9780 (4 ms) + r0799 (4 ms) = 20 ms
Function Manual, 12/2017, 6FC5397-4BP40-6BA1
Safety Integrated