Siemens SINUMERIK MC Commissioning Manual page 121

configured gear stages. If the set braking time is too short, then alarm 22002 "Channel %1 block
%2 axis %3: braking time %6 [s] longer than the stop D time. Reason: %5" is output.
If the spindle is in axis operation, then it behaves just like an axis.
Adaptation of the dynamic response for coupling
For a coupling group, if all coupled axes and spindles can no longer be reliably and safely
stopped in synchronism within a transition time parameterized in p9553, a STOP D is
automatically triggered for all axes of the coupled group.
For a synchronous spindle coupling, the coupling is always kept when synchronous operation
is reached. The coupling group is always braked via the leading spindle. If the following spindle
requires a longer braking time than the leading spindle, p9553 must be increased accordingly
for the leading spindle.
When a synchronous spindle is active, STOP D should also be triggered for the leading and
following spindle.
Endlessly rotating axes are braked at the acceleration limit.
The SOS function is automatically activated after the transition time set in p9553 expires.
Alarms are triggered for:
The following formulas are applied when initiating the two alarms 22001/22002:
METRIC:
INCH/ROT/SPINDLE:
For axes with jerk limitation, the minimum braking time is increased by the additional
component:
2 * MAX_ACCEL / MAX_AX_JERK
The check is made for NEWCONF, RESET, unparking an axis and for programming ACC or
JERKLIM.
The MD names contained in the formulas must, corresponding to the alarm situation (the alarm
occurs when parameterizing or when programming), be replaced by other values when
required.
MD
MAX_AX_VE‐
LO
MAX_AX_AC‐
CEL
MAX_AX_JER
K
Safety Integrated (with SINAMICS S120)
Commissioning Manual, 02/2020, A5E46305916B AB
p9553 > MAX_AX_VELO * 1/60000 / MAX_AX_ACCEL
p9553 > MAX_AX_VELO * 1/60 / MAX_AX_ACCEL
Alternative MD
min(JOG_VELO, JOG_VE‐
LO_RAPID)
MAX_AX_ACCEL
JOG_AND_POS_MAX_JERK
Safety functions integrated in the drive
Gearbox stage-specific MD spindle
$MA_GEAR_STEP_MAX_VE‐
LO_LIMIT[0...max]
$MA_GEAR_STEP_PC_MAX_VE‐
LO_LIMIT[0...max]
$MA_GEAR_STEP_SPEEDCTRL_
ACCEL[0...max]
$MA_GEAR_STEP_POSCTRL_AC‐
CEL[0...max]
4.6 SS2
Program
command
-
ACC
JERKLIM
121