Page 1 Sensor/Actuator Connection Data Descriptions Commissioning Diagnostics Valid for Interaction with Control Other Functions SINUMERIK 840D sl SINUMERIK 840D sl (export version) Appendix Drive SINAMICS S120 Index Software version NCU system software 1.5 NCU system software 2.5 HMI Advanced 7.5 05/08 Edition...
Page 2 05/08 6FC5 397–4BP10–2BA0 Trademarks All product designations may be trademarks or product names of Siemens AG or supplier companies whose use by third parties for their own purposes could violate the rights of the owners. We have checked that the contents of this publication agree with the hardware and software described here.
Page 3 For the sake of simplicity, this documentation does not contain all detailed informa- tion about all types of the product and cannot cover every conceivable case of installation, operation, or maintenance. © Siemens AG 2008 All Rights Reserved SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 05.2008 Edition...
Page 4: Technical Support
+49 9131 98 63315 mailto:docu.motioncontrol@siemens.com E- -mail A fax form is available at the end of this document. SINUMERIK Internet address http://www.siemens.com/sinumerik © Siemens AG 2008 All Rights Reserved SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 05.2008 Edition...
Page 5 The 05/08 Edition of the documentation describes the functionality for the following products and software release: SINUMERIK 840D sl with NCU software release 1.5/2.5, HMI Advanced 7.5 © Siemens AG 2008 All Rights Reserved SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 05.2008 Edition...
Page 6: Safety Instructions
Notice indicates that an unintended event or situation can occur if the corresponding information is not taken into account. © Siemens AG 2008 All Rights Reserved SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 05.2008 Edition...
Page 7 ”Certificate of Licence (CoL)” of the SINUMERIK Safety Integrated options. If you have any questions relating to current certifications, please contact your local Siemens office. © Siemens AG 2008 All Rights Reserved SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 05.2008 Edition...
Page 8 EC type--examination certificate of the BGIA (BG Institute for Occupational Safety & Health) acc. to DIN EN ISO 13849--1/DIN EN 61508 © Siemens AG 2008 All Rights Reserved viii SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 05.2008 Edition...
Page 9 PRÜFZERT symbol for certification acc. to DIN EN ISO 13849--1/DIN EN 61508 Symbol of the BGIA Institute Occupational Safety and Health] © Siemens AG 2008 All Rights Reserved SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 05.2008 Edition...
Page 17: Regulations And Standards
US, must fulfill the local US requirements even if the machine manufacturer (OEM) is based in the European Economic Area (EEA). © Siemens AG 2008 All Rights Reserved 1-17 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 18: Functional Safety
Di- rectives apply (e.g. for a machine with electrical equipment, then the Machinery Directive and the Low–Voltage Directive apply). © Siemens AG 2008 All Rights Reserved 1-18 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 19: Machinery Directive (98/37/Ec)
EC Directives for a specific product. These Standards (EN Standards) are published in the Official Journal of the European © Siemens AG 2008 All Rights Reserved 1-19 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 20 The machine manufacturer can then assume that it fulfills the basic requirements of Attachment I of the Machinery Directive (automatic presumption of compliance). © Siemens AG 2008 All Rights Reserved 1-20 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 21: Standards To Implement Safety-Related Controls
EN 61508 Functional safety, safety–related electrical/electronic/ programmable electronic control systems (Part 0 to 7) © Siemens AG 2008 All Rights Reserved 1-21 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 22: En Iso 13849-1 (Previously En 954-1)
(e.g. test interval and/or cyclic test, lifetime). This results in the probabilistic basis in EN ISO 13849–1 (probability of failure per unit time). © Siemens AG 2008 All Rights Reserved 1-22 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 23: En 62061
Both the hardware as well as the software is taken into consideration. EN 62061 also describes the require- ments placed on implementing application programs. © Siemens AG 2008 All Rights Reserved 1-23 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 24 The PFH value of the safety–related control is determined by adding the individ- ual PFH values for subsystems. © Siemens AG 2008 All Rights Reserved 1-24 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 25: Series Of Standards En 61508 (Vde 0803)
S If there is no harmonized Standard for the application involved. In this particular case, the manufacturer may use EN 61508. However, it has no presumption of conformity. © Siemens AG 2008 All Rights Reserved 1-25 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 26: Risk Analysis/Assessment
EN ISO 14121–1 describes the iterative process when assessing and reducing risks to achieve the appropriate degree of safety. © Siemens AG 2008 All Rights Reserved 1-26 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 27 Minimizing risks and selecting suitable protective measures are not part of the risk assessment Fig. 1-1 Iterative process to achieve safety in compliance with ISO 14121–1 © Siemens AG 2008 All Rights Reserved 1-27 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 28: Risk Reduction
Residual risks must be clearly referred to in the machine/plant documentation (user information according to EN ISO 12100–2). © Siemens AG 2008 All Rights Reserved 1-28 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 30: Nrtl Listing
S EN 61508, EN 62061, ISO 13849–1/–2, EN 61800–5–2 are mentioned in a note that they are suitable Standards. © Siemens AG 2008 All Rights Reserved 1-30 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 32: Machine Safety In Japan
Emergency Stop concepts) should be clarified with customers at an early phase so that they can be integrated in the risk assessment/risk reduction. © Siemens AG 2008 All Rights Reserved 1-32 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 33: Other Safety-Related Subjects And Issues
(5th Edition and Supplement), Order No. 6ZB5 000–0AA01–0BA1 S Safety Integrated – Terms and Standards – Terminology in the Safety of Machinery (04/2007 Edition), Order No. E86060–T1813–A101–A1 © Siemens AG 2008 All Rights Reserved 1-33 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 34 Regulations and Standards 05.08 1.6 Other safety–related subjects and issues Space for your notes © Siemens AG 2008 All Rights Reserved 1-34 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 35: Brief Description
– e.g. speed or position – up to evaluation. © Siemens AG 2008 All Rights Reserved 2-35 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 36: 2.1 Control/Drive System
This helps reduce the susceptibility to faults – and the integration also reduces the amount of cabling. © Siemens AG 2008 All Rights Reserved 2-36 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 37: System Integrated Safety Technology
System integrated safety technology SINUMERIK Safety Integrated Using the SINUMERIK Safety Integrated function, for SINUMERIK 840D sl, for all power/performance classes, integrated safety functions are available in conjunction with the SINAMICS S120 drive system; these are used to monitor standstill (zero speed), velocity and position.
Page 38: Overview Of The System-Integrated Safety Functions
When a monitoring function or a sensor responds (e.g. a light grid), the drives are safely controlled down to standstill, optimally adapted to the actual oper- ating state of the machine. © Siemens AG 2008 All Rights Reserved 2-38 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 39 Partially automated acceptance test for all safety–related functions. Simple operation of the test process, automatic configuration of Trace functions and automatic generation of an acceptance report. © Siemens AG 2008 All Rights Reserved 2-39 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 40: Safety Technology Integrated In The Drive
S Crosswise result and data comparison with forced checking procedure for the purpose of detecting internal errors even in functions that are not often used (dormant errors). © Siemens AG 2008 All Rights Reserved 2-40 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 41: Overview Of The Safety Functions Integrated In The Drive
The brake is directly controlled at the Motor Module Ô through two channels and monitored S Safe Stop 1 (SS1) Braking along the OFF3 ramp, monitoring the stopping time and transition into © Siemens AG 2008 All Rights Reserved 2-41 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 42: Comparison Of The Function Names For Sinumerik Safety Integrated And Acc. To En 61800-5-2
Sichere Program- Safe program- – – – mierbare Logik mable logic Sicheres Software Safe software – – – – Relais relays © Siemens AG 2008 All Rights Reserved 2-42 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 43: System Features
S SINUMERIK 840D sl; all NCU types can be used. S The measuring circuit cables must comply with the specifications of the SINAM- ICS S120. © Siemens AG 2008 All Rights Reserved 3-43 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 44: 3.1 System Requirements
Only the F–Configuration Pack is necessary to connect fail–safe SIMATIC modules to SINUMERIK. Neither SIMATIC S7 Distributed Safety nor SIMATIC S7 F systems are required. © Siemens AG 2008 All Rights Reserved 3-44 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 45: Latest Information
Your subscription should cover the following product areas: S SINUMERIK Safety Integrated S SINAMICS Safety Integrated S SIMATIC S7–300 S Distributed I/O S SIMATIC software © Siemens AG 2008 All Rights Reserved 3-45 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 46: Certification
Additional information on the certification (test certification, PRÜFZERT mark) is provided in the Preface. Probability of failure Please contact your local Siemens office on how to calculate PFH values. © Siemens AG 2008 All Rights Reserved 3-46 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 47: Safety Information & Instructions And Residual Risks
S Component malfunctions S Software errors S Operating and/or ambient conditions not within the scope of the specification S External influence/damage © Siemens AG 2008 All Rights Reserved 3-47 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 48 For more information about residual risks, refer to the relevant chapters in the technical user documentation. © Siemens AG 2008 All Rights Reserved 3-48 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 49: Additional Safety Information & Instructions And Residual Risks For Safety Integrated
Risk assessment enables the machine manufacturer to determine the residual risk for his machine with respect to Safety Integrated. The following residual risks are known. © Siemens AG 2008 All Rights Reserved 3-49 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 50 For a synchronous linear motor, the movement can be a maximum of one pole width. This corresponds to the following distances: 1FN1–07 27 mm 1FN1–12/–18/–24 36 mm 1FN3 20 mm © Siemens AG 2008 All Rights Reserved 3-50 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 51 S An additional residual risk is obtained as a result of the possible random hardware faults for electronic systems, arising from their very principle, which is expressed using this PFH value. © Siemens AG 2008 All Rights Reserved 3-51 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 52 S Use a 2–encoder system (in this case it is not permissible that the encoders are mounted on same shaft). © Siemens AG 2008 All Rights Reserved 3-52 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 53: Safety Functions Integrated In The Drive
The monitoring functions in each monitoring channel work on the principle that a defined status must prevail before each action is carried out and a specific acknowledgement made after each action. © Siemens AG 2008 All Rights Reserved 4-53 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 54 The stop response is transferred to the other monitoring channel so that two–chan- nel stopping can be carried out. Detailed information on the stop responses, see Chapter 6.3 ”Safe Stops A–F”. © Siemens AG 2008 All Rights Reserved 4-54 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 55: Supported Functions
Unit) even when the safety functions are enabled (p9601 = p9801 0 0). S They are password–protected against accidental or unauthorized changes. © Siemens AG 2008 All Rights Reserved 4-55 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 56 (automatic firmware update (p7826) must be equal to 1) Scenario b) is only permissible if this combination has been explicitly approved by the manufacturer. © Siemens AG 2008 All Rights Reserved 4-56 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 57 Parameter overview (see Chapter 8.2.2 ”Description of the parameters”) S p9761 Enter SI password S p9762 New SI password S p9763 Confirm SI password © Siemens AG 2008 All Rights Reserved 4-57 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 58: Forced Checking Procedure
S When the protective door is opened. S In defined cycles (e.g. every 8 hours). S In the automatic mode (time and event dependent). © Siemens AG 2008 All Rights Reserved 4-58 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 59: Safe Torque Off (Sto)
S Synchronous linear motors: Max. movement = pole width S The status of the Safe Torque Off function is displayed using parameters. © Siemens AG 2008 All Rights Reserved 4-59 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 60 S r9872 CO/BO: SI status (Motor Module) S r9773 CO/BO: SI status (Control Unit + Motor Module) S 9774 CO/BO: SI Status (Safe Torque Off group) © Siemens AG 2008 All Rights Reserved 4-60 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 61: Safe Stop 1 (Ss1, Time-Controlled)
OFF3 ramp, only through one channel. Enabling the SS1 function The function is enabled by entering the delay time in p9652 and p9852. © Siemens AG 2008 All Rights Reserved 4-61 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 62 S p9652 SI Safe Stop 1 delay time (Control Unit) S p9852 SI Safe Stop 1 delay time (Motor Module) © Siemens AG 2008 All Rights Reserved 4-62 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 63: Safe Brake Control (Sbc)
The Safe Brake Control function only becomes active if at least one safety monitor- ing function is enabled (i.e. p9601 = p9801 0). © Siemens AG 2008 All Rights Reserved 4-63 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 64 S Maximum response time that can occur when an error develops 8x safety monitoring clock cycle CU (r9780) + inputs/outputs, sampling time (p0799) © Siemens AG 2008 All Rights Reserved 4-64 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 65: Control Via Terminals On The Control Unit And The Power Unit
The input terminal is the ”EP” (”Enable Pulses”) terminal. Both terminals must be simultaneously energized, otherwise a fault will be issued. © Siemens AG 2008 All Rights Reserved 4-65 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 66 The assignment is checked while testing the shutdown paths. The operator selects Safe Torque Off for each group. The check is drive–specific. © Siemens AG 2008 All Rights Reserved 4-66 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 67 The number of indexes in p9620 corre- sponds to the number of parallel chassis components in p0120. © Siemens AG 2008 All Rights Reserved 4-67 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 68 In this case, the pulses have already been canceled as a result of the selec- tion through one channel. © Siemens AG 2008 All Rights Reserved 4-68 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 69: Commissioning The Sto, Sbc And Ss1 Functions
– Motor Module: Terminal ”EP” 4. For operation with SBC, the following applies: A brake must be connected to the appropriate Motor Module connector. © Siemens AG 2008 All Rights Reserved 4-69 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 70: Procedure For Commissioning Sto, Sbc And Ss1
STO function cannot be selected/deselected while safety commissioning mode is active because this would constantly force safe pulse cancellation. © Siemens AG 2008 All Rights Reserved 4-70 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 71 The Safe Stop 1 function only becomes active if at least one safety monitor- ing function is enabled (i.e. p9601 = p9801 0 0). © Siemens AG 2008 All Rights Reserved 4-71 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 72 Both parameters are contained in the crosswise data comparison and must, therefore, be ”identical”. A difference of one safety monitoring clock cycle is tolerated. © Siemens AG 2008 All Rights Reserved 4-72 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 73 Changing the safety password does not mean that you have to change the checksums in p9799 and p9899. © Siemens AG 2008 All Rights Reserved 4-73 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 74: Safety Faults
(see Chapter 4.8 ”Acceptance test and acceptance report”). 4.6.3 Safety faults Stop response When Safety Integrated faults occur, the following stop responses can be initiated: © Siemens AG 2008 All Rights Reserved 4-74 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 75 STOP A/F is initiated. This can be prevented by using safe brake control (SBC) and a brake with sufficient holding force (not safe). © Siemens AG 2008 All Rights Reserved 4-75 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 76 The faults and alarms for SINAMICS Safety Integrated are described in the following documentation: Reference: /LH1/ SINAMICS S List Manual © Siemens AG 2008 All Rights Reserved 4-76 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 77: Overview Of Parameters And Function Diagrams
Actual checksum Safety Integrated parameters – p9799 p9899 Reference checksum, Safety Integrated Safety Integrated parameters commissioning (p0010 = 95) © Siemens AG 2008 All Rights Reserved 4-77 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 78 Also see Chapter 8.2.2 ”Description of parameters”. Note The SINAMICS Safety Integrated parameters are described in the following document: Reference: /LH1/ SINAMICS S List Manual © Siemens AG 2008 All Rights Reserved 4-78 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 79: Acceptance Test And Acceptance Report
Modules involved in the safety functions must be read out, logged and checked against the following list. http://support.automation.siemens.com/WW/view/de/28554461 Every line in the table represents a permissible combination of safety firmware ver- sions. © Siemens AG 2008 All Rights Reserved 4-79 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 80 3. Verify the data backups (archives) 4. Countersignatures Appendix Measurement records for functional test parts 1 and 2. S Alarm logs S Trace recordings © Siemens AG 2008 All Rights Reserved 4-80 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 81: Documentation
Machine description and overview diagram Designation Type Serial number Manufacturer End customer Electrical axes Other axes Spindles Block diagram of the machine © Siemens AG 2008 All Rights Reserved 4-81 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 82 = r9780 = r9880 = r9780 = r9880 = Table 4-6 SI functions for each drive Drive number SI function © Siemens AG 2008 All Rights Reserved 4-82 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 83 Description of safety equipment Examples: Wiring of STO terminals (protective door, Emergency Stop), grouping of STO terminals, holding brake for vertical axis, etc. © Siemens AG 2008 All Rights Reserved 4-83 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 84: Acceptance Test For Safe Torque Off (Sto)
For terminal grouping for ”Safe Torque Off”: r9774.0 = r9774.1 = 1 (STO selected and active – group) Deselect STO © Siemens AG 2008 All Rights Reserved 4-84 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 85: Acceptance Test For Safe Stop 1, Time-Controlled (Ss1)
= r9773.1 = 0 (STO deselected and inactive – drive) r9772.2 = r9872.2 = 0 (SS1 not requested – CU and MM) Run the drive © Siemens AG 2008 All Rights Reserved 4-85 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 86 Acknowledge power–on inhibit and run the drive Ensure that the correct drive is running The following is tested: Correct parameterization of the SS1 function © Siemens AG 2008 All Rights Reserved 4-86 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 87: Acceptance Test For Safe Brake Control (Sbc)
= r9773.1 = 1 (STO selected and active – drive) r9772.4 = r9872.4 = 1 (SBC requested – CU and MM) Deselect STO © Siemens AG 2008 All Rights Reserved 4-87 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 88: Completing The Log
Routine for forced checking procedure of the brake control 4.8.6 Completing the log Safety Integrated parameters Were the specified values checked? Control Unit Motor Module © Siemens AG 2008 All Rights Reserved 4-88 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 89 System startup engineer This confirms that the tests and checks have been correctly carried out. Date Name Company/ Signature Department © Siemens AG 2008 All Rights Reserved 4-89 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 90 4.8 Acceptance test and acceptance report Machine manufacturer This confirms that the parameterization recorded above is correct. Date Name Company/ Signature Department © Siemens AG 2008 All Rights Reserved 4-90 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 91: Basics On The Safety Functions Integrated In The System/Drive
(refer to Chapter 8.1.2, ”Description of machine data”). for SINAMICS S120 p9500 SI motion monitoring clock cycle (Control Unit) (refer to Chapter 8.2.2, ”Description of parameters”) © Siemens AG 2008 All Rights Reserved 5-91 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 93: Crosswise Data Comparison
MD 10092: $MN_INFO_CROSSCHECK_CYCLE_TIME. If the monitoring clock cycle is modified, then the crosswise comparison clock cycle is also changed. © Siemens AG 2008 All Rights Reserved 5-93 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 94: Forced Checking Procedure
S In defined cycles (e.g. every 8 hours – a maximum of once every year is per- missible). S In the automatic mode, dependent on the time and event. © Siemens AG 2008 All Rights Reserved 5-94 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 95 If the crosswise data comparison identifies an error, then this results in a stop response (refer to Chapter 6.3, ”Safe Stops A–F”). © Siemens AG 2008 All Rights Reserved 5-95 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 96: Actual Value Conditioning
Comments 1–encoder system 1–encoder system 2–encoder system 2–encoder system 2–encoder system 2–encoder system Note: x –> encoder connection © Siemens AG 2008 All Rights Reserved 5-96 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 97 Sensor Module cabinet mounted (not used for encoders with DRIVE–CLiQ interface) Fig. 5-1 1–encoder system for a feed drive (FD) © Siemens AG 2008 All Rights Reserved 5-97 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 98 (not used for encoders with DRIVE–CLiQ interface) Fig. 5-2 2–encoder system for a feed drive (FD), connected through 2 Sensor Modules © Siemens AG 2008 All Rights Reserved 5-98 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 99: Encoder Adjustment, Calibrating The Axes
(for synchronous drives) is obtained from one encoder. It is no longer possible to adjust the encoders in motor measuring sys- tems in the conventional sense. © Siemens AG 2008 All Rights Reserved 5-99 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 100: Axis States
”Reference point reached” = ”0” Axis state ”Axis not referenced” for 840D sl DB31–61, DBX60.4/DBX60.5 (refer to Fig. 5-5 ”Axis states when referencing”) © Siemens AG 2008 All Rights Reserved 5-100 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 102 (including the traversing distance to the refer- ence point with ERN) must be within a tolerance window specified using the appropriate machine data. © Siemens AG 2008 All Rights Reserved 5-102 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 103: User Acknowledgement
An axis/spindle with integrated safety functions can have the following status: User agreement = yes, or User agreement = no © Siemens AG 2008 All Rights Reserved 5-103 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 104 NC and drive). When the user agreement is can- celled, the axis state ”axis safely referenced” is always reset (refer to Fig. 5-5 ”Axis states when referencing”). © Siemens AG 2008 All Rights Reserved 5-104 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 105: Taking Into Account Control Gears
– e.g. interdependency on the operating mode of the spindle. These 8 pairs must be parameterized and se- lected depending on the encoder configuration. © Siemens AG 2008 All Rights Reserved 5-105 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 106 The user is responsible in bringing the axis back into the ”axis safely referenced” state if the functions ”safe software limit switch” or ”safe cams” are used. © Siemens AG 2008 All Rights Reserved 5-106 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 107: Actual Value Synchronization (Slip For 2-Encoder Systems)
Actual values are only synchronized when there is an actual value difference between the two channels of 2 mm or 2 m degrees in each SI monitoring clock cycle. © Siemens AG 2008 All Rights Reserved 5-107 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 108: Encoder Limit Frequency
(depending on the context); when the en- coder limit frequency is exceeded, an appropriate alarm is output (refer to Chapter 6.5 ”Safely reduced speed”) © Siemens AG 2008 All Rights Reserved 5-108 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 109: Enabling The Safety-Related Functions
S SE S SN S SG override S Actual value synchronization S External STOPs S Cam synchronization S STOP E © Siemens AG 2008 All Rights Reserved 5-109 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 110 S The maximum number of axes that may operate with SI and SPL SGE/SGAs is the number that was enabled using the options. © Siemens AG 2008 All Rights Reserved 5-110 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 111: Switching The System On/Off
We recommend that the ”safe operating stop (SBH)” function is selected. For axes with SE/SN, the stop position is used to internally check the position when powering–up. © Siemens AG 2008 All Rights Reserved 5-111 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 112 For axes with safety SE and SN functions, when powering–up, a user agreement is again required after the position has been checked. © Siemens AG 2008 All Rights Reserved 5-112 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 113: Safety Functions Integrated In The System/Drive
(parameters, alarms etc.). The standard pre–assignment (default setting) of the associated parameters is generally sufficient in the context of the motion monitoring functions. © Siemens AG 2008 All Rights Reserved 6-113 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 114 After the machine has been powered–up, the ”safe standstill” function must always be tested for all of the axes/spindles by testing the shutdown path using Safety Integrated. © Siemens AG 2008 All Rights Reserved 6-114 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 115: Shutdown Paths
CU that the pulses must be cancelled in the SI monitoring chan- nel integrated in the drive. © Siemens AG 2008 All Rights Reserved 6-115 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 116: Testing The Shutdown Paths
The user (machine manufacturer) must configure the execution of the test stop phase. © Siemens AG 2008 All Rights Reserved 6-116 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 117 The test stop can be carried out independently of the status of the standard pulse cancellation. Message The ”test stop running” message is displayed during the ”test stop”. © Siemens AG 2008 All Rights Reserved 6-117 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 118: Safe Operating Stop (Sbh)
In this case, the encoder coarse position must be taken into account for a 1–encoder system (see Chapter 5.4 ”Actual value conditioning”). © Siemens AG 2008 All Rights Reserved 6-118 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 119: Selecting/Deselecting The Safe Operating Stop
–> Any signal state The active SG stage is displayed using SGA ”SGA active bit 0” and ”SG active bit 1”. © Siemens AG 2008 All Rights Reserved 6-119 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 120 (for 840D sl: 27010, for SINAMICS S120: F01707) and STOP B/A initiated! © Siemens AG 2008 All Rights Reserved 6-120 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 121 The NCK–SGA ”SBH active” is configured using the following machine data: for 840D sl MD 36981: $MA_SAFE_SS_STATUS_OUTPUT Configuring NCK–SGEs for 840D sl MD 36971: $MA_SAFE_SS_DISABLE_INPUT © Siemens AG 2008 All Rights Reserved 6-121 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 122: Effects When The Limit Is Exceeded For Sbh
S120: p9560 SI motion pulse cancelation shutdown speed (Control Unit) S An alarm is generated (for 840D sl: 27010, for S120: F01707) © Siemens AG 2008 All Rights Reserved 6-122 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 123 Time required to reach the shutdown speed for STOP B. Time required to stop the axis for a STOP B. © Siemens AG 2008 All Rights Reserved 6-123 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 124 Each axis must be measured during commissioning (start–up) to determine the distance that it travels between the limit switch being violated and it coming to a standstill. © Siemens AG 2008 All Rights Reserved 6-124 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 126 + timer t the programmed retrac- started tion and stopping mo- =0: SBH is activated tion (ESR). SBH active © Siemens AG 2008 All Rights Reserved 6-126 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 127 * There is an immediate transition from STOP B to A if t = 0 or the parameterized speed threshold is exceeded. © Siemens AG 2008 All Rights Reserved 6-127 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 128 When the external stops are selected, there is the exception that the actual low–priority STOP F can be initiated in spite of this. © Siemens AG 2008 All Rights Reserved 6-128 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 129 Configuring NCK–SGEs for 840D sl: MD 36977: $MA_SAFE_EXT_STOP_INPUT[n]: (input assignment, external stop request) with n = 0, 1, 2, 3. © Siemens AG 2008 All Rights Reserved 6-129 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 130 SGE ”deselect ext. STOP D”: via SGA ”STOP D active” for SGE ”deselect ext. STOP E”: via SGA ”STOP E active” © Siemens AG 2008 All Rights Reserved 6-130 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 131 S A higher stop request (STOP A; B; C or D) with a higher priority is received from an internal monitoring function © Siemens AG 2008 All Rights Reserved 6-131 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 132: Description Of Stop A
STOP A. S Alarm message for an internally initiated STOP A: The alarm message ”STOP A initiated” is displayed. © Siemens AG 2008 All Rights Reserved 6-132 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 133 MD 36977: $MA_SAFE_EXT_STOP_INPUT[0] is used to define the selection/ deselection of the external brake request, in this case, ”deselect external STOP A” (SH, pulse cancellation). © Siemens AG 2008 All Rights Reserved 6-133 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 134: Description Of Stop B
This signal indicates that STOP A/B is active. 0 signal: STOP A/B is not active. 1 signal: STOP A/B is active. © Siemens AG 2008 All Rights Reserved 6-134 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 135: Description Of Stop C
At the same time, the timer via MD 36952: $MA_SAFE_STOP_SWITCH_TIME_C is started. The SBH function is automatically activated after the timer expires. © Siemens AG 2008 All Rights Reserved 6-135 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 136: Description Of Stop D
At the same time, the timer via MD 36953: $MA_SAFE_STOP_SWITCH_TIME_D is started. The SBH function is automatically activated after the timer expires. © Siemens AG 2008 All Rights Reserved 6-136 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 137: Description Of Stop E
This signal indicates that STOP E is active. 0 signal: STOP E is not active. 1 signal: STOP E is active. © Siemens AG 2008 All Rights Reserved 6-137 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 138 Possible cause: S The retraction position cannot be reached within the specified time. © Siemens AG 2008 All Rights Reserved 6-138 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 139: Description Of Stop F
ESR can be influenced due to harder braking responses of the drive (the same as e.g. the configured braking response when an encoder fails). © Siemens AG 2008 All Rights Reserved 6-139 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 140 Braking along a ramp = stopping (ESR) Fig. 6-7 Velocity characteristic of an SI axis when stopping with STOP F © Siemens AG 2008 All Rights Reserved 6-140 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 141 STOP B is initiated 2.5 s after t2. The axis is already stationary at this time, which means that the pulses can be immediately cancelled. © Siemens AG 2008 All Rights Reserved 6-141 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 142: Forced Checking Procedure Of The External Stops
SGA ”STOP A/B is active” Fig. 6-9 Sequence of the test stop for external STOPs. Example: External STOPs A, C, D, E are used © Siemens AG 2008 All Rights Reserved 6-142 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 143 PLC–SGE ”deselect ext. STOP D” PLC–SGA ”STOP D is active” PLC–SGE ”deselect ext. STOP E” PLC–SGA ”STOP E is active” © Siemens AG 2008 All Rights Reserved 6-143 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 144: Safe Acceleration Monitoring (Sbr)
MD 36946: $MA_SAFE_VELO_X (speed limit n for SINAMICS S120: p9546: SI motion SSM (SGA n < nx) speed limit n_x (CU) © Siemens AG 2008 All Rights Reserved 6-144 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 145 MD 35410: SPIND_OSCILL_ACCEL Recommendation: The value entered for the SBR tolerance should be approx. 20% higher than the calculated value. © Siemens AG 2008 All Rights Reserved 6-145 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 146 This time and thus the residual distance traveled by the axis is determined by the axis design (motor, mass, friction, ...). © Siemens AG 2008 All Rights Reserved 6-146 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 147 With an assessment, based on this risk analysis, it should be defined as to which additional measures are required, e.g. external brakes. © Siemens AG 2008 All Rights Reserved 6-147 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 148: Safely Reduced Speed (Sg)
S The option and functions must be enabled in the axis–specific machine data S The SGEs ”SBH/SG deselection” and ”SBH deselection” must be configured © Siemens AG 2008 All Rights Reserved 6-148 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 149: Speed Monitoring, Encoder Limit Frequency
The encoder limit frequency is 500 kHz. When the encoder limit frequency in SG is exceeded, the SG–specific parameterized stop is initiated. © Siemens AG 2008 All Rights Reserved 6-149 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 150: Selecting/Deselecting Safely Reduced Speed
The required speed limit is selected as follows by combining the following SGEs: © Siemens AG 2008 All Rights Reserved 6-150 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 151 However, if the actual speed is higher than the new limit value when the time has expired, an appropriate alarm is output with the configurable stop re- sponse. © Siemens AG 2008 All Rights Reserved 6-151 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 152 The speeds to be taken into account (speed at which hands/arms are moved to appropriately arrange protective devices/guards) are specified in Standard DIN EN 999. © Siemens AG 2008 All Rights Reserved 6-152 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 153: Effects When The Limit Value Is Exceeded For Sg
The monitoring functions provided by SI are basically axis–specific. This means that it is not possible to directly monitor the TCP. © Siemens AG 2008 All Rights Reserved 6-153 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 154 (STOP B/C: typical 2 position controller clock cycles, maximum 2 position controller clock cycles) (STOP D/E: typical 2 interpolation clock cycles, maximum 2 interpolation clock cycles + 2 moni- toring clock cycles) © Siemens AG 2008 All Rights Reserved 6-154 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 155 The SG–specific stop responses can be set using the following machine data: for 840D sl: MD 36963: $MA_SAFE_VELO_STOP_REACTION[n] for SINAMICS S120: p9563[0...3] SI motion SLS(SG)–specific stop response (Control Unit) © Siemens AG 2008 All Rights Reserved 6-155 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 156: Override For Safely Reduced Speed
Changing–over an SG override SG override values are changed–over subject to the same conditions as those that apply to speed limit values. © Siemens AG 2008 All Rights Reserved 6-156 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 157 ... with override stage 8 – ” – ... with override stage 9 – ” – ... with override stage 10 © Siemens AG 2008 All Rights Reserved 6-157 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 158 NCK–SGEs (override selection bits 3, 2, 1, 0) are configured using the following machine data: for 840D sl: MD 36978: $MA_SAFE_OVR_INPUT[n] (input assignment for override selection) © Siemens AG 2008 All Rights Reserved 6-158 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 159: Example: Override For Safely Reduced Speed
SGEs ”SG override selection bit 3 and bit 2” are not required to select an SG override – i.e. they do not need to be configured (they are internally set to ”0”). © Siemens AG 2008 All Rights Reserved 6-159 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 160 840D sl for SINAMICS S120 MD number Value Parameter No. Value 36932[0] p9532[0] 36932[1] p9532[1] 36932[2] p9532[2] 36932[3] p9532[3] © Siemens AG 2008 All Rights Reserved 6-160 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 161: Safety-Related Output "N
840D sl: MD 36946 $MA_SAFE_VELO_X for SINAMICS S120: p9546 SI motion SSM (SGA n < nx) speed limit n_x (CU) © Siemens AG 2008 All Rights Reserved 6-161 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...

Page 162 SGA ”n < n ” can have different states. This must be taken into account in the safe processing of the SGAs. © Siemens AG 2008 All Rights Reserved 6-162 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 163: Safe Software Limit Switches (Se)
S The stop response is implemented internally in the software (and is therefore faster than a hardware limit switch response) when software limit switches are passed (i.e. actuated) © Siemens AG 2008 All Rights Reserved 6-163 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 164 The user can select either STOP C, D or STOP E. Effect S The configured stop response is initiated S The relevant alarm is displayed © Siemens AG 2008 All Rights Reserved 6-164 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 165 Time until the configured stop response becomes effective (typical 1.5 monitoring clock cycles, maximum 2 monitoring clock cycles + 1 position controller clock cycle) © Siemens AG 2008 All Rights Reserved 6-165 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 166 Each axis must be measured during commissioning (start–up) to determine the distance that it travels between the limit switch being violated and it coming to a standstill. © Siemens AG 2008 All Rights Reserved 6-166 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 167: Safety Software Cams And Safety Cam Track (Sn)
”safe software cams” function. It makes sense to parameterize the cam tolerance greater than or equal to the actual value tolerance. © Siemens AG 2008 All Rights Reserved 6-167 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 168: Safe Software Cams (4 Cam Pairs)
(SN1–, SN2–, SN3–, SN4–). Each cam signal can be individually enabled and con- figured via machine data. The cam signals are output via SGAs. © Siemens AG 2008 All Rights Reserved 6-168 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 169 The cam SGAs at the input position of the SPL are synchronized if the user has parameterized this using the function enable. Cam signal synchronization is enabled using the following machine data/parame- ters: © Siemens AG 2008 All Rights Reserved 6-169 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 170 (SN) but at the position increased by the cam tolerance (hysteresis) (SN+TOL). Users must carefully take this into consideration when configuring the cam positions and cam tolerance. © Siemens AG 2008 All Rights Reserved 6-170 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 171 Mod_Pos: Lower/upper modulo value: MD 36905: $MA_SAFE_MODULO_RANGE for 840D sl p9505: SI motion SCA (SN) modulo value (Control Unit) for SINAMICS S120 © Siemens AG 2008 All Rights Reserved 6-171 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 172: Safe Cam Track (Sn)
GE/p9505 SI motion SCA (SN) modular value (Control Unit), then alarm 27033 ”Axis %1 parameterization of the MD $MA_SAFE_REFP_STATUS_OUTPUT[0] invalid” is output with a reference to $MA_SAFE_MODULO_RANGE. © Siemens AG 2008 All Rights Reserved 6-172 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 173 The ”hundreds” position defines which cam track is assigned to the cams. The ”tens” and ”ones” positions contain the numerical value that is signaled to the SPL as SGA ”cam range”. © Siemens AG 2008 All Rights Reserved 6-173 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 174 ”SI motion: Cam position parameterization not permissi- ble” is output. The generation of the new cam SGA is shown in Fig. 6-17: © Siemens AG 2008 All Rights Reserved 6-174 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 175 $MA_SAFE_CAM_POS_MINUS[7] = 350 Parameterizing the cam range assignment: (all cams that have been enabled are assigned to cam track 2) © Siemens AG 2008 All Rights Reserved 6-175 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 176 – SGA ”cam range bits”, machine data 37906–37909 $MA_SAFE_CAM_RANGE_BIN_OUTPUT_1/2/3/4[0...14]. Specified machine data follow the generally valid rules when assigning the safety– related inputs/outputs. © Siemens AG 2008 All Rights Reserved 6-176 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 177 (SN) but at the position increased by the cam tolerance (hysteresis) (SN+TOL). Users must carefully take this into consideration when configuring the cam positions and cam tolerance. © Siemens AG 2008 All Rights Reserved 6-177 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 178 1. The SGA ”cam track”, ”cam range” and ”cam range bit” are shown in the Fig. 6-19 using an example: © Siemens AG 2008 All Rights Reserved 6-178 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 179 ($MA_SAFE_CAM_TRACK_ASSIGN[5] = 204). If the axis is at cam SN6, SGA ”cam range bit [4]” (index 4 stands for cam range 4) is set to 1 etc. S ... © Siemens AG 2008 All Rights Reserved 6-179 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 180 Safety Functions Integrated in the System/Drive 05.08 6.8 Safety software cams and safety cam track (SN) Space for your notes © Siemens AG 2008 All Rights Reserved 6-180 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 181: Connecting Sensors/Actuators
(refer to Figure 7-1 ”NCK and drive monitoring channel”). All of the requests and feedback signals for safety–related functions should be entered or retrieved through both monitoring channels (two–channel structure). © Siemens AG 2008 All Rights Reserved 7-181 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 182 If there is inequality, then a STOP F is initi- ated (crosswise data comparison between the drive and NCK). © Siemens AG 2008 All Rights Reserved 7-182 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 183 S Safety functions can be selected and deselected S Limit values can be selected and changed–over S States relating to safety operation can be fed back © Siemens AG 2008 All Rights Reserved 7-183 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 185 The SGE/SGA signals are described in Chapter 8.3, ”Description of Interface signals”. NCK–SGE/SGA The signals are assigned to the NCK–SPL inputs/outputs using machine data. © Siemens AG 2008 All Rights Reserved 7-185 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 186 Gear ratio selection, bit 1 (only if it is necessary to select the ratio) Gear ratio selection, bit 0 (only if it is necessary to select the ratio) © Siemens AG 2008 All Rights Reserved 7-186 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 187 This data specifies the time period for which different signal states may be toler- ated after the SGEs have been changed–over before an error message is output. © Siemens AG 2008 All Rights Reserved 7-187 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 188: Forced Checking Procedure Of Spl Signals
NCK/drive monitoring channels; crosswise data comparison is carried out at both ends of the re- sponse chain to detect any errors. © Siemens AG 2008 All Rights Reserved 7-188 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 189 – e.g. for a brake that is checked using a separate brake test. © Siemens AG 2008 All Rights Reserved 7-189 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 190: Connecting Sensors - Actuators Using The 3-Terminal Concept
© Siemens AG 2008 All Rights Reserved 7-190 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 191 In conjunction with the safety–related control of a brake, no feedback signal is available. The brake test will identify as to whether the actuator is correctly func- tioning from a mechanical perspective. © Siemens AG 2008 All Rights Reserved 7-191 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 192 Note Cross–circuit fault detection in the input module is not required. © Siemens AG 2008 All Rights Reserved 7-192 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 193: Sensor Connection Using The 4-Terminal Concept
(NC contact/NC contact, NO contact/NO contact) as well as non–equivalence (NC contact/NO contact) contact versions are possible. © Siemens AG 2008 All Rights Reserved 7-193 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 194 (NO contact/ conductor loops agreement (activating) NO contact) with 4–terminal concept Fig. 7-7 Sensor connection using the 4–terminal concept © Siemens AG 2008 All Rights Reserved 7-194 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 195: Multiple Distribution And Multiple Interlocking
2 SGE ... Yes/no for axis 3 SGE ... Yes/no Output n Fig. 7-8 Multiple distribution for NCK––SGE © Siemens AG 2008 All Rights Reserved 7-195 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 196 Yes/no Input x & for axis 2 Yes/no for axis 3 Yes/no Input n Fig. 7-9 Multiple assignment for NCK–SGA © Siemens AG 2008 All Rights Reserved 7-196 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 197 Axis 1: MD 36987: $MA_SAFE_REFP_STATUS_OUTPUT = INSI x Axis 2: MD 36987: $MA_SAFE_REFP_STATUS_OUTPUT = INSI x Axis 3: MD 36987: $MA_SAFE_REFP_STATUS_OUTPUT = INSI x © Siemens AG 2008 All Rights Reserved 7-197 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 198: Connecting I/O Via Profisafe
Connecting I/O via PROFIsafe 7.2.1 Description of Functions The fail–safe DP master (F master) integrated in the SINUMERIK 840D sl allows, in conjunction with fail–safe DP modules (F modules), fail–safe communications along PROFIBUS DP specified in accordance with the PROFIsafe profile (PROFI- safe communication).
Page 199 This means that both standard components and F components can be used on a PROFIBUS system. SINUMERIK Safety Integrated supports PROFIsafe V1. © Siemens AG 2008 All Rights Reserved 7-199 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 200: System Structure
Just like Safety Integrated, the PROFIsafe system structure also has a 2–channel diverse system design based on the PLC and NCK–PROFIsafe layer. © Siemens AG 2008 All Rights Reserved 7-200 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 201 SINUMERIK 840D sl PLC. 4. Parameterizing the PROFIsafe–relevant SINUMERIK 840D sl machine data. See Chapter 7.2.4 ”Parameterizing the F master (NCK)”. © Siemens AG 2008 All Rights Reserved 7-201 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 202: Configuring And Parameterizing The Profisafe I/O
The parameter assignments specified in this chapter only refer to the ET 200S modules. Other PROFIsafe devices have a different parameter assignment. © Siemens AG 2008 All Rights Reserved 7-202 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 203 S F_source_address S F_target_address must be entered into the machine data to parameterize the NCK in a subsequent parameterizing step. © Siemens AG 2008 All Rights Reserved 7-203 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 204 F master – assigned by HW Config – must be saved in the F master. To do this, the PROFIsafe address of the F master must be converted from decimal into hexadecimal and entered into the machine data of SINUMERIK 840D sl. Refer to Chapter 7.2.4 ”Parameterizing the F master (NCK)”.
Page 205 For 1v1 parameterization, the process signals of both channels are transferred from the F--DI module and can thus supply 2 different SPL input data. © Siemens AG 2008 All Rights Reserved 7-205 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 05.2008 Edition...
Page 206 ($A_OUTSE[n+1] ($A_OUTSE[n+2] OUTSEP[n+2]) channel 2 OUTSEP[n+3]) channel 3 ($A_OUTSE[n+3] Fig. 7-14 Mapping the SPL output data to F--DO channels © Siemens AG 2008 All Rights Reserved 7-206 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 05.2008 Edition...
Page 207 The information and instructions in the online documentation should be carefully observed before changing the DP cycle time. ”Help” of the relevant dialog box). © Siemens AG 2008 All Rights Reserved 7-207 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 208: Parameterizing The F Master (Nck)
The PROFIsafe address of the F master is provided under: S HW Config > Properties dialog box of the F module > F parameter: F_source_address © Siemens AG 2008 All Rights Reserved 7-208 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 209 The PROFIsafe clock cycle should be parameterized so that the following applies: 12 ms < PROFIsafe clock cycle < 25 ms © Siemens AG 2008 All Rights Reserved 7-209 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 210: Parameterizing The Spl-Sge Interface
Machine data – MD10386 $MN_PROFISAFE_IN_ADDRESS[5] = 05 00 0090 – MD13300 $MN_PROFISAFE_IN_FILTER[5] = 000F 000F – MD10388 $MN_PROFISAFE_IN_ASSIGN[5] = 008 001 © Siemens AG 2008 All Rights Reserved 7-210 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 211 ...IN_ASSIGN[n]), it is possible and also makes sense to use the same PRO- FIsafe and sub–slot address a multiple number of times within the machine data: S $MN_PROFISAFE_IN_ADDRESS[0...max. Index] possible and/or practical © Siemens AG 2008 All Rights Reserved 7-211 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 212 10101010 10101010 Sub--slot[1] 10101010 10101010 MD: ..._IN_ADDRESS[5] Fig. 7-16 Filtering the F net data signals in the input direction © Siemens AG 2008 All Rights Reserved 7-212 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 05.2008 Edition...
Page 213 F--DI module Sub--slot[1] 10101010 10101010 10101010 10101010 MD: ..._IN_ADDRESS[5] Fig. 7-17 Transfer: Filtered F net data signals in SPL--SGE © Siemens AG 2008 All Rights Reserved 7-213 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 05.2008 Edition...
Page 214: Parameterizing The Spl-Sga Interface
The PROFIsafe address of the F module is displayed in the decimal format in HW Config but must be entered into the machine data in the hexadecimal format. © Siemens AG 2008 All Rights Reserved 7-214 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 05.2008 Edition...
Page 215 SPL--SGA, are transferred from F net data signal 1 onwards (bit 0) into the F net data of the F--DO module. © Siemens AG 2008 All Rights Reserved 7-215 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 05.2008 Edition...
Page 216 S MD10386 $MN_PROFISAFE_OUT_ADDRESS[3] = 05 00 0100 S MD13301 $MN_PROFISAFE_OUT_FILTER[3] = 0000 1031 S MD10389 $MN_PROFISAFE_OUT_ASSIGN[3] = 008 005 © Siemens AG 2008 All Rights Reserved 7-216 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 05.2008 Edition...
Page 217: Module Type (Nck)
F modules. The PLC is parameterized explicitly as follows: S Parameterizing the NCK S Generating and downloading the configuration © Siemens AG 2008 All Rights Reserved 7-217 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 05.2008 Edition...
Page 218: Response Times
S OB1 = 150 ms is the maximum time set as standard in the PLC–CPU to moni- tor the user level. The PLC goes into the STOP state if this time is exceeded. © Siemens AG 2008 All Rights Reserved 7-218 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 219 4 * 16 ms + 2 * 30 ms 124 ms 1) Typical times: PST = 16 ms; OB1 = 30 ms © Siemens AG 2008 All Rights Reserved 7-219 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 220 > 2) This time is valid for the case: PST = n * IPO = 25 ms © Siemens AG 2008 All Rights Reserved 7-220 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 221: Functional Boundary Conditions
AND’ed SPL output data as F net (useful) data. F modules As far as the F modules that can be operated with a SINUMERIK 840D sl, the fol- lowing limitations apply: S F modules with dynamic i parameters are not supported.
Page 222 SPL interface in data block DB18. It is not possible to connect them in a PLC user program. © Siemens AG 2008 All Rights Reserved 7-222 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 223: Safe Programmable Logic (Spl)
(e.g.: mode switch, light interlocking, motor brakes, ...) barriers, Emergency Stop,...) PLC–SPL Fig. 7-21 Safe programmable logic © Siemens AG 2008 All Rights Reserved 7-223 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 224 – otherwise a STOP D. Any changes to data on the NCK and PLC side do not take effect until after power on. © Siemens AG 2008 All Rights Reserved 7-224 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 225 $A_STATSID, bit 29 and the status signal DB18.DBX119.5 must be evaluated in the SPL in order to bring, as far as possible, the SPL–SGA into a safe state (cleared SPL–SGA). © Siemens AG 2008 All Rights Reserved 7-225 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 226 PROFIsafe interface: PLC– Axis/ Data spindle DB PLC signal processing Interface System Process Fig. 7-22 Communications between the NCK–drive–PLC components © Siemens AG 2008 All Rights Reserved 7-226 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 227: Synchronized Actions For Safety Integrated
This value plus a possible reserve must be entered into MD 28251: $MC_MM_NUM_SAFE_SYNC_ELEMENTS. References: /FBSY/ Description of Functions, Synchronized Actions © Siemens AG 2008 All Rights Reserved 7-227 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 228: Nck-Spl Program
$MN_PREVENT_SYNACT_LOCK. It is then no longer possible to change these synchronous actions (CANCEL, LOCK have no effect) once _N_SAFE_SPF has been started. © Siemens AG 2008 All Rights Reserved 7-228 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 229 After commissioning has been completed, the access rights to the SAFE.SPF file must be set to the correct access level for writing/reading/deleting access operations (manufacturer or service). © Siemens AG 2008 All Rights Reserved 7-229 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 230: Starting The Spl
/_N_SAFE_SPF (= MMC view standard cycles/SAFE.SPF) Note It is not permissible that any alarms are present for an ASUB start. © Siemens AG 2008 All Rights Reserved 7-230 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 231: Starting The Nck–Spl Using The Prog_Event Mechanism
The start condition when booting (bit 3 ==1) must be active in order to start the NCK–SPL (SAFE.SPF) via PROG_EVENT.SPF. © Siemens AG 2008 All Rights Reserved 7-231 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 232 ( ) End of the part program ––> $P_PROG_EVENT == 2 ( ) Operator panel reset ––> $P_PROG_EVENT == 3 (x) Run–up ––> $P_PROG_EVENT == 4 © Siemens AG 2008 All Rights Reserved 7-232 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 233 DEFINE STOP_D_EXT AS $A_INSE[8] DEFINE STOP_A_XT AS $A_INSE[9] ; Program section N10 IDS=01 DO STOP_A_DISABLE=STOP_A_EXT N20 IDS=02 DO $A_OUTSE[1]=NOT $A_OUTSE[1] N30 M17 © Siemens AG 2008 All Rights Reserved 7-233 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 234: Starting The Nck-Spl From The Plc User Program
’/_N_CST_DIR/’ NCK–SPL path name Addr2 STRING ’_N_SAFE_SPF’ NCK–SPL program name [values in brackets are standard values required for the call] © Siemens AG 2008 All Rights Reserved 7-234 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 235: Diagnostics/Commissioning
; Emulate PLC markers (for all markers used in the PLC) IDS = 09 DO $A_MARKERSID[1] $A_MARKERSIPD[1] IDS = 10 DO $A_MARKERSID[2] $A_MARKERSIPD[2] ; End of program © Siemens AG 2008 All Rights Reserved 7-235 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 236: Safe Software Relay
Emergency Stop function with safe programmable logic. However, it can also be used to implement other similar safety functions, e.g. to control a pro- tective door. © Siemens AG 2008 All Rights Reserved 7-236 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 237 One of these inputs must also be used to initiate test operation of the safety relay (forced checking proce- dure). © Siemens AG 2008 All Rights Reserved 7-237 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 238 ($A_MARKERSI, $A_INSE, $A_OUTSE,...). The following functions must be called: © Siemens AG 2008 All Rights Reserved 7-238 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 239 A3 are not supplied. However, if TI1 is specified, output A1 must also be para- meterized via SIRELOUT. The same applies for TI2 and A2 and TI3 and A3. © Siemens AG 2008 All Rights Reserved 7-239 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 240 The input quantities and timers of the safety relay are either not para- meterized or not correctly parameterized. Remedy: Call SIRELIN and SIRELTIME with the correct parameter- ization © Siemens AG 2008 All Rights Reserved 7-240 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 241 For additional measurements, while A0 remains at 0, t4i is only re– saved if the measured time t4 is greater than the old value of t4i. © Siemens AG 2008 All Rights Reserved 7-241 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 242 Out2 : BOOL ; Delayed Output to False by Timer 2 Out3 : BOOL ; Delayed Output to False by Timer 3 © Siemens AG 2008 All Rights Reserved 7-242 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 243 PLC program is started. The user must provide an instance DB with any number for this purpose. The call is multi–instance–capable. © Siemens AG 2008 All Rights Reserved 7-243 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 244: System Variables For Sinumerik 840D Sl
= 1, 2 $A_INSIP[n] Image, PLC input n = 1,2, ...64 BOOL $A_INSIPD[n] Image of the PLC inputs n = 1, 2 © Siemens AG 2008 All Rights Reserved 7-244 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 245 = 1, 2 SIPD[n] markers $A_TIMERSI[n] Timer n = 1, 2...16 REAL stand for the No. of the timer © Siemens AG 2008 All Rights Reserved 7-245 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 246: Behavior After Power On/Mode Change/Reset
Behavior after power on/mode change/reset 1. After the system has booted, the following Safety Integrated system variables are assigned the value zero: $A_INSE(D), $A_OUTSE(D), © Siemens AG 2008 All Rights Reserved 7-246 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 247: Spl Data On The Plc Side
”STOP D/E” to all the axes. STOP_MODE: For crosswise comparison error: 0 = external STOP D 1 = external STOP E to the drive © Siemens AG 2008 All Rights Reserved 7-247 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 248 0 = PROFIsafe F modules not assigned to OUTSEP[1...8] 1 = OUTSEP[1...8] transferred to PROFIsafe F module using the basic program © Siemens AG 2008 All Rights Reserved 7-248 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 249: Direct Communications Between Nck And Plc–Spl
NCK–SPL program (SAFE.SPF). A corresponding programming command is rejected with the alarm 17070 ”Channel %1 block %2 Data write–protected”. © Siemens AG 2008 All Rights Reserved 7-249 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 250: Safe Brake Test (Sbt)
840D sl MD 37000: $MA_FIXED_STOP_MODE MD 37030: $MA_FIXED_STOP_THRESHOLD MD 36966 $MA_SAFE_BRAKETEST_TORQUE MD 36967: $MA_SAFE_BRAKETEST_POS_TOL MD 36968: $MA_SAFE_BRAKETEST_CONTROL © Siemens AG 2008 All Rights Reserved 7-250 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 251 The value from $MA_SAFE_BRAKETEST_TORQUE refers to the reference torque or the reference force from drive parameter p2003, whose image is saved in $MA_SAFE_BRAKETEST_TORQUE_NORM. © Siemens AG 2008 All Rights Reserved 7-251 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 252 Incorrect parameterization in MD $MA_SAFE_BRAKETEST_TORQUE or drive parameter p1532 could mean that the drive with reduced torque cannot even apply © Siemens AG 2008 All Rights Reserved 7-252 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 253 PLC via FC 18 must be greater than this threshold value. Furthermore, the drive must have reached its torque limit parameterized using $MA_SAFE_BRAKETEST_TORQUE. © Siemens AG 2008 All Rights Reserved 7-253 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 254 Further, e.g. the following parameters can also have a limiting effect: p1530/p1531 (power limit, motoring/regenerating) p0640 (current limit) p0326 (stall torque correction factor) © Siemens AG 2008 All Rights Reserved 7-254 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 255: Procedure
The following table lists all of the formal parameters of the brake test function: Signal Type Type Comment Start BOOL Starts the brake test Ackn BOOL Acknowledge fault © Siemens AG 2008 All Rights Reserved 7-255 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 256 Brake opens during the holding time Error when deselecting the brake test Internal error ”PLC–controlled axis” signal not enabled in the user program © Siemens AG 2008 All Rights Reserved 7-256 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 257 TimerNo :=T 110 //Timer number TV_BTactiv :=S5T#200MS, //Monitoring time value: Brake test active DBX71.0 TV_Bclosed :=S5T#1S, //Monitoring time value: Brake closed © Siemens AG 2008 All Rights Reserved 7-257 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 258 //Error status AUF ”Axis3”; Brake text, Z axis 113.0; //Position reached 113.1; //Fault has occurred FP M 113.2; 111.7 //Start FC18 © Siemens AG 2008 All Rights Reserved 7-258 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 259: Limitations
The brake may only be tested when the axis is in an absolutely safe position. © Siemens AG 2008 All Rights Reserved 7-259 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 260: Example
%2” can be enabled using bit 5 in machine data $MN_ENABLE_ALARM_MASK. This alarm supplies detailed information if the brake test is interrupted. © Siemens AG 2008 All Rights Reserved 7-260 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 261: Data Descriptions
10099 INFO_PROFISAFE_CYCLE_TIME PROFIsafe communications clock cycle –– time 10200 INT_INCR_PER_MM Computational resolution for linear positions –– see /FB1/, G2 © Siemens AG 2008 All Rights Reserved 8-261 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 262 SAFE_IS_ROT_AX Rotary axis 36903 SAFE_CAM_ENABLE Enable safe cam track 36905 SAFE_MODULO_RANGE Modulo value, safe cams 36906 SAFE_CTRLOUT_MODULE_NR SI drive assignment © Siemens AG 2008 All Rights Reserved 8-262 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 263 Transition time, STOP D to safe Standstill 36954 SAFE_STOP_SWITCH_TIME_E Transition time, STOP E to safe Standstill 36955 SAFE_STOP_SWITCH_TIME_F Transition time STOP F to STOP B © Siemens AG 2008 All Rights Reserved 8-263 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 264 Reference checksum –– 37000 FIXED_STOP_MODE Travel to fixed stop mode –– 37900 SAFE_CAM_TRACK_OUTPUT Output assignment cam tracks 1 to 4 © Siemens AG 2008 All Rights Reserved 8-264 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 265 Output assignment, cam range bit for cam track 3 37909 SAFE_CAM_RANGE_BIN_OUTPUT_4 Output assignment, cam range bit for cam track 4 © Siemens AG 2008 All Rights Reserved 8-265 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 266: Description Of Machine Data
CPU. corresponds with.. MD 10050: $MN_SYSCLOCK_CYCLE_TIME MD 10091: $MN_INFO_SAFETY_CYCLE_TIME MD 10092: $MN_INFO_CROSSCHECK_CYCLE_TIME © Siemens AG 2008 All Rights Reserved 8-266 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 267 This MD is only used for service purposes. The value of the MD can only be 0 or 1. The value cannot be changed. Special cases, errors,... © Siemens AG 2008 All Rights Reserved 8-267 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 268 This machine data must be set to 0 to generate an acceptance report. This allows the system to document all of the alarms that have been initiated. Special cases, errors,... © Siemens AG 2008 All Rights Reserved 8-268 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 269 (Stop E) must also be set to 1 in order to communicate this parameterization to the PLC. For a different parameter assignment, Alarm 27090 is output, ”Error for crosswise data comparison NCK–PLC”. Special cases, errors,... © Siemens AG 2008 All Rights Reserved 8-269 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 270 ”F_source_address” parameter set in S7–ES for the F slaves. An attempt to establish com- munications is only made for F slaves that have entered this address. Special cases, errors,... © Siemens AG 2008 All Rights Reserved 8-270 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 271 The system variables $A_INSE[1...4] are supplied with the state of the input terminals of the PROFIsafe module that was defined in MD PROFISAFE_IN_ADDRESS[0]. Special cases, errors,... © Siemens AG 2008 All Rights Reserved 8-271 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 272 Logical I/O addresses of the SI telegram of drives connected to PROFIBUS. An address is assigned to a drive. Special cases, errors,... © Siemens AG 2008 All Rights Reserved 8-272 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 273 NCK F net data image xxxx x111 001x xxxx $INSE[n], x = not relevant corresponds with ... Additional references © Siemens AG 2008 All Rights Reserved 8-273 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 274 After the control has booted, after the time has expired, Alarm 27097 is displayed if there was no SPL start. corresponds with ... Additional references © Siemens AG 2008 All Rights Reserved 8-274 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 275 2 elements each additional operand in complex expressions: 1 element See also: MD 28250: $MC_MM_NUM_SYNC_ELEMENTS corresponds with ... Additional references © Siemens AG 2008 All Rights Reserved 8-275 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 276 The value set in this MD must be the same as the value set in MD $MA_IS_ROT_AX. If they are not identical a parameterizing error is displayed. corresponds with ... © Siemens AG 2008 All Rights Reserved 8-276 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 277 Bit 29: Enable safe cam track, cam 30 corresponds with ... /FBSI/ see Chapter 6.8: ”Safe software cams, safe cam track (SN)” © Siemens AG 2008 All Rights Reserved 8-277 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 278 The same drive must be assigned that was also selected using CTRLOUT_MODULE_NR and DRIVE_LOGIC_ADDRESS. Special cases, errors,... corresponds with ... © Siemens AG 2008 All Rights Reserved 8-278 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 279 NCK, then this MD must be parameter- ized to be 0. Special cases, errors,... corresponds with ... © Siemens AG 2008 All Rights Reserved 8-279 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 280 This MD specifies the number of pulses per revolution for a rotary encoder. Not relevant for a linear encoder. corresponds with ... © Siemens AG 2008 All Rights Reserved 8-280 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 281 0, 1, ... 7 stands for gearbox stages 1, 2, ... 8 The actual value is selected using safety–related input signals (SGE). corresponds with ... MD 36921: $MA_SAFE_ENC_GEAR_DENOM[n] © Siemens AG 2008 All Rights Reserved 8-281 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 282 This MD is then overwritten. The value of this MD is incorporated in the cal- culation of MD $MA_SAFE_ACT_CHECKSUM[1]. corresponds with ... r9881: SI motion Sensor Module Node Identifier control © Siemens AG 2008 All Rights Reserved 8-282 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 283 1 and 3. Additional references MD 36978: $MA_SAFE_OVR_INPUT[n] MD 36931: $MA_SAFE_VELO_LIMIT[n] Additional references /FBSI/ see Chapter 6.5.4: ”Override for safely reduced speed” © Siemens AG 2008 All Rights Reserved 8-283 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 284 MD 36962: $MA_SAFE_POS_STOP_MODE MD 36935: $MA_SAFE_POS_LIMIT_MINUS[n] MD 36901: $MA_SAFE_FUNCTION_ENABLE Additional references /FBSI/ see Chapter 6.7: ”Safe software limit switches (SE)” © Siemens AG 2008 All Rights Reserved 8-284 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 285 MD 37901/37902/37903/37904: $MA_SAFE_CAM_RANGE_OUTPUT_1/2/3/4[n] MD 37906/37907/37908/37909: $MA_SAFE_CAM_RANGE_BIN_OUTPUT_1/2/3/4[m] Additional references /FBSI/ see Chapter 6.8: ”Safe software cams, safe cam track (SN)” © Siemens AG 2008 All Rights Reserved 8-285 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 05.2008 Edition...
Page 286 MD 37901/37902/37903/37904: $MA_SAFE_CAM_RANGE_OUTPUT_1/2/3/4[n] MD 37906/37907/37908/37909: $MA_SAFE_CAM_RANGE_BIN_OUTPUT_1/2/3/4[m] Additional references /FBSI/ see Chapter 6.8: ”Safe software cams, safe cam track (SN)” © Siemens AG 2008 All Rights Reserved 8-286 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 05.2008 Edition...
Page 287 Enter an identical or slightly higher value than that set in MD 36942. Special cases, errors,... Additional references /FBSI/ see Chapter 6.8: ”Safe software cams, safe cam track (SN)” © Siemens AG 2008 All Rights Reserved 8-287 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 288 – with a valid user agreement – then Alarm 27001 is output with Fault code 1003 and a new user agreement is required for referencing. © Siemens AG 2008 All Rights Reserved 8-288 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 289 MD 36949 is only evaluated if MD $MA_SAFE_FUNCTION_ENABLE, bit 3 is set. corresponds with ... Additional references /FBSI/ see Chapter 5.4.6: Actual value synchronization © Siemens AG 2008 All Rights Reserved 8-289 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 290 3. The timer is re–triggered (restarted) if, while the timer is running, a changeover is made to a lower SG limit than was previously active or to SBH. corresponds with ... © Siemens AG 2008 All Rights Reserved 8-290 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 291 Time after which a changeover is made from STOP E to a safe operating stop. The parameterized value must be selected as low as possible. Special cases, errors,... corresponds with ... © Siemens AG 2008 All Rights Reserved 8-291 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 292 ”pulses cancelled status” may not exceed the time limit set in this data. Special cases, errors,... If this time is exceeded, a STOP A is initiated. © Siemens AG 2008 All Rights Reserved 8-292 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 293 STOP B mode the pulses are then cancelled (as a result of the transition to STOP A). corresponds with ... MD 36956: $MA_SAFE_PULSE_DISABLE_DELAY © Siemens AG 2008 All Rights Reserved 8-293 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 294 2: STOP C 3 STOP D 4 STOP E corresponds with ... MD 36934: $MA_SAFE_POS_LIMIT_PLUS[n] MD 36935: $MA_SAFE_POS_LIMIT_MINUS[n] © Siemens AG 2008 All Rights Reserved 8-294 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 295 This function is only active when MD 36961 and MD 1361 have the value 5. corresponds with ... MD 10089: $MA_SAFE_PULSE_DIS_TIME_BUSFAIL MD 36961: $MA_SAFE_VELO_STOP_MODE © Siemens AG 2008 All Rights Reserved 8-295 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 296 (e.g. dressing axes). Alarms are displayed when parking operation is subsequently dese- lected. corresponds with ... © Siemens AG 2008 All Rights Reserved 8-296 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 05.2008 Edition...
Page 297 The measured torque at the instant in time that the brake test is selected is used as the average value of the torque limit. corresponds with ... Additional references /FBSI/ see Chapter 7.4: ”Safe brake test (SBT)” © Siemens AG 2008 All Rights Reserved 8-297 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 298 If several output signals are set, then the signal involved is first inverted. The (in some cases inverted) output signals are then AND’ed and the result is output at the terminal. © Siemens AG 2008 All Rights Reserved 8-298 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 299 This input is of no significance if SG and SBH have been deselected (refer to $MA_SAFE_SVSS_DISABLE_INPUT). corresponds with ... MD 36970: $MA_SAFE_SVSS_DISABLE_INPUT © Siemens AG 2008 All Rights Reserved 8-299 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 300 If the MD bits 31 are set, then the signal is processed inverted (i = 8). corresponds with ... MD 36970: $MA_SAFE_SVSS_DISABLE_INPUT © Siemens AG 2008 All Rights Reserved 8-300 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 301 ... MD 36932: $MA_SAFE_VELO_OVR_FACTOR[n] Additional references /FBSI/ see Chapter 6.5.4: ”Override for safely reduced speed”, refer to MD 36970: $MA_SAFE_SVSS_DISABLE_INPUT © Siemens AG 2008 All Rights Reserved 8-301 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 302 The maximum input value for all axial NCK_SGA configuring machine data is 84010220 An incorrect entry will be detected the next time the system boots and flagged using Alarm 27033. © Siemens AG 2008 All Rights Reserved 8-302 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 303 Special cases, errors,... If MD bit 31 is set, then the signal is processed inverted. Additional references Refer to MD 36980: $MA_SAFE_SVSS_DISABLE_OUTPUT © Siemens AG 2008 All Rights Reserved 8-303 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 304 Special cases, errors,... If MD bit 31 is set, then the signal is processed inverted. Additional references Refer to MD 36980: $MA_SAFE_SVSS_DISABLE_OUTPUT © Siemens AG 2008 All Rights Reserved 8-304 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 305 Index = 3: Assignment for ”STOP E is active” Special cases, errors,... corresponds with ... Additional references Refer to MD 36980: $MA_SAFE_SVSS_DISABLE_OUTPUT © Siemens AG 2008 All Rights Reserved 8-305 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 306 Index[6]: Last value, reference checksum [1] before loading standard data Index[7]: Previous value, reference checksum[2] Index[8]: Last value, reference checksum [2] before loading standard data Special cases, errors,... © Siemens AG 2008 All Rights Reserved 8-306 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 307 Index 0: Axial monitoring functions and global NC machine data for Safety Integrated Index 1: HW component IDs Index 2: PROFIsafe parameters from the S7 configuring © Siemens AG 2008 All Rights Reserved 8-307 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 308 The ”safe cam track” function is enabled using MD 36903 $MA_SAFE_CAM_ENABLE. If MD bit 31 is set, then the signal is processed inverted. © Siemens AG 2008 All Rights Reserved 8-308 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 309 If not all of the 4 bits are assigned, then under certain circumstances, it cannot be uniquely and clearly identified as to which cam range is active. corresponds with ... MD 37900: $MA_SAFE_CAM_TRACK_OUTPUT © Siemens AG 2008 All Rights Reserved 8-309 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 310 Output assignment, cam range bit for cam track 1 Default value: 0, 0, 0, 0 Min. input limit: 0 Max. input limit: – © Siemens AG 2008 All Rights Reserved 8-310 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 311 1. The output MD with field index n must in this case not be parameter- ized. © Siemens AG 2008 All Rights Reserved 8-311 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 312 1. The output MD with field index n must in this case not be parameter- ized. © Siemens AG 2008 All Rights Reserved 8-312 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 313: Commissioning
STARTER drive commissioning tool. However, the access stage is reduced as a result of a user–specific view for SINUMERIK 840D sl to 3 (expert access) so that the safety parameters for the motion monitoring functions are visible on the HMI without having to enter a password for the access stage.
Page 314: Parameter Overview
SI motion SCA (SN) plus cam position (Control 36936 $MA_SAFE_CAM_POS_PLUS [n] Unit) p9537 SI motion, SCA (SN) minus cam position 36937 $MA_SAFE_CAM_POS_MINUS[n] © Siemens AG 2008 All Rights Reserved 8-314 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 315 SI Safe Stop 1 delay time (Control Unit) p9658 SI transition time STOP F to STOP A (Control Unit) p9659 SI forced checking procedure, timer © Siemens AG 2008 All Rights Reserved 8-315 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 316: Diagnostics
SI diagnostics, STOP F (Control Unit) r9798 SI actual checksum SI parameters (Control Unit) p9799 SI reference checksum SI parameters (Control Unit) © Siemens AG 2008 All Rights Reserved 8-316 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 317 If another type of motor is installed (e.g. after repairs have been carried out) and the associated motor default data is downloaded, then the encoder data must be changed back to its original value. © Siemens AG 2008 All Rights Reserved 8-317 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 318: Description Of Parameters
Minimum value: Maximum value: Data type: Effective: –100000.00 100000.00 – – Floating point POWER ON [Nm] [Nm] –100000.00 [N] 100000.00 [N] © Siemens AG 2008 All Rights Reserved 8-318 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 319 The Safety Integrated monitoring clock cycle is, just like all other SI drive parame- ters, a drive–specific monitoring clock cycle. However, different SI monitoring clock cycles within a drive system are not supported. © Siemens AG 2008 All Rights Reserved 8-319 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 320 For the commissioning software, after the axis type has been changed over, the units that are dependent on the axis type are only updated after a project upload. © Siemens AG 2008 All Rights Reserved 8-320 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 321 ”Safe cams” (SCA) for rotary axes. Unit: Default value: Minimum value: Maximum value: Data type: Effective: – 737280 Floating point POWER ON © Siemens AG 2008 All Rights Reserved 8-321 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 322 The following applies to safety–related functions that have been enabled (p9501 > 0): p9518 is checked to ensure that it coincides with p0408. © Siemens AG 2008 All Rights Reserved 8-322 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 323 There are a total of 8 values (8 indices of p9522), whereby, the actual value is se- lected using SGEs. © Siemens AG 2008 All Rights Reserved 8-323 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 324 C01714 (”SI motion: Safely reduced speed exceeded”) and activates the stop response parameterized in p9561 or p9563. © Siemens AG 2008 All Rights Reserved 8-324 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 325 Motion: Safe software limit switch values interchanged”) is output. See also: p9501, p9535, p9562 and C01715 ”SI motion: Safe limit position ex- ceeded”. © Siemens AG 2008 All Rights Reserved 8-325 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 326 Data type: Effective: mm, degrees –2 147 000 2 147 000 Floating point POWER ON See also: p9501, p9503, p9537 © Siemens AG 2008 All Rights Reserved 8-326 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 327 Data type: Effective: mm, degrees –10 –2 147 000 2 147 000 Floating point POWER ON See also: p9501, p9503, p9537 © Siemens AG 2008 All Rights Reserved 8-327 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 328 [26] = track assignment SCA27 [27] = track assignment SCA28 [28] = track assignment SCA29 [29] = track assignment SCA30 © Siemens AG 2008 All Rights Reserved 8-328 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 329 10 mm or 360 de- Floating point POWER ON grees See also: C01711 ”SI motion: Defect in a monitoring channel”. © Siemens AG 2008 All Rights Reserved 8-329 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 330 Unit: Default value: Minimum value: Maximum value: Data type: Effective: mm/min 6000 Floating point POWER ON © Siemens AG 2008 All Rights Reserved 8-330 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 331 Sets the transition time from STOP E to ”Safe Operating Stop” (SOS) Checksum: Protection level: Unit: Default value: Minimum value: Maximum value: Data type: Effective: 600 000 REAL32 POWER ON © Siemens AG 2008 All Rights Reserved 8-331 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 332 40 000 5 000 100 000 Floating point POWER ON See also: C01799 ”SI motion: Acceptance test mode is active”. © Siemens AG 2008 All Rights Reserved 8-332 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 333 4: STOP E Unit: Default value: Minimum value: Maximum value: Data type: Effective: – Integer16 POWER ON See also: p9536, p9537 © Siemens AG 2008 All Rights Reserved 8-333 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 334 Default value: Minimum value: Maximum value: Data type: Effective: – 0xAC – See also: C01799 ”SI motion, acceptance test mode active” © Siemens AG 2008 All Rights Reserved 8-334 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 335 It is permissible to simultaneously enable the safety functions integrated in the drive (p9601/p9801 < > 0) and the motion monitoring functions (p9501 < > 0). See also: p9801 © Siemens AG 2008 All Rights Reserved 8-335 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 336 It is not permitted to interconnect to a digital input is in simulation mode. Unit: Default value: Minimum value: Maximum value: Data type: Effective: – – – Unsigned32 © Siemens AG 2008 All Rights Reserved 8-336 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 337 Minimum value: Maximum value: Data type: Effective: 30 000.00 Floating point When exiting the SI commissioning mode See also: F01611 © Siemens AG 2008 All Rights Reserved 8-337 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 338 Maximum value: Data type: Effective: – – – – Unsigned32 – See also: C01711 ”SI motion: Defect in a monitoring channel”. © Siemens AG 2008 All Rights Reserved 8-338 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 339 Unit: Default value: Minimum value: Maximum value: Data type: Effective: – – – – Unsigned32 – © Siemens AG 2008 All Rights Reserved 8-339 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 340 SOS (SBH) and SLS (SG). Unit: Default value: Minimum value: Maximum value: Data type: Effective: – – – – Unsigned32 – © Siemens AG 2008 All Rights Reserved 8-340 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 342 Unit: Default value: Minimum value: Maximum value: Data type: Effective: – 0000 hex 0000 hex 00AC hex Integer16 POWER ON © Siemens AG 2008 All Rights Reserved 8-342 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 343 POWER ON – 0000 hex 0000 hex 0xFFFF FFFF Unsigned32 See also: F01680 ”SI motion: Checksum error safe monitoring functions”. © Siemens AG 2008 All Rights Reserved 8-343 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 344 See also: C01711 Unit: Default value: Minimum value: Maximum value: Data type: Effective: POWER ON – – – – Unsigned32 © Siemens AG 2008 All Rights Reserved 8-344 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 345 See also: C01711 Unit: Default value: Minimum value: Maximum value: Data type: Effective: POWER ON – – – – Unsigned32 © Siemens AG 2008 All Rights Reserved 8-345 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 346 See also: C01711 Unit: Default value: Minimum value: Maximum value: Data type: Effective: POWER ON – – – – Unsigned32 © Siemens AG 2008 All Rights Reserved 8-346 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 347 See also: C01711 Unit: Default value: Minimum value: Maximum value: Data type: Effective: POWER ON – – – – Unsigned32 © Siemens AG 2008 All Rights Reserved 8-347 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 348 See also r9744, r9748, r9749, r9754, p9752, r9753, r9754, r9755, r9756, r9759 – Unit: Default value: Minimum value: Maximum value: Data type: Effective: – – – – Unsigned16 – © Siemens AG 2008 All Rights Reserved 8-348 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 349 See also r9744, r9747, r9748, r7949, p9752, r9753, r9754, r9756, p9759 Unit: Default value: Minimum value: Maximum value: Data type: Effective: – – – Unsigned32 – © Siemens AG 2008 All Rights Reserved 8-349 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 350 Unit: Default value: Minimum value: Maximum value: Data type: Effective: – 0000 hex 0000 hex FFFF FFFF hex Unsigned32 Immediately © Siemens AG 2008 All Rights Reserved 8-350 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 351 This status is formed from the AND operation of the relevant status of the two monitoring channels. Unit: Default value: Minimum value: Maximum value: Data type: Effective: – – – – – Unsigned32 © Siemens AG 2008 All Rights Reserved 8-351 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 352 Protection level: the Control Unit. Unit: Default value: Minimum value: Maximum value: Data type: Effective: – – – – – Unsigned32 © Siemens AG 2008 All Rights Reserved 8-352 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 353 The actual checksum (r9798) calculated by the CU must be entered into the refer- ence checksum p9799. This therefore acknowledges the safety commissioning on the Control Unit. © Siemens AG 2008 All Rights Reserved 8-353 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 354 Protection level: Unit: Default value: Minimum value: Maximum value: Data type: Effective: – 0000 hex 0000 hex FFFF hex Unsigned16 © Siemens AG 2008 All Rights Reserved 8-354 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 355 Safety Version V02.03.01 Unit: Default value: Minimum value: Maximum value: Data type: Effective: – – – – – Unsigned16 © Siemens AG 2008 All Rights Reserved 8-355 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 356 Unit: Default value: Minimum value: Maximum value: Data type: Effective: – – – – – Unsigned8 © Siemens AG 2008 All Rights Reserved 8-356 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 357 SI delay time of the pulse cancellation for Safe Stop 1 p9652, p9852 SI PROFIsafe address p9610, p9810 Additional diagnostic values (from 1000 onwards): © Siemens AG 2008 All Rights Reserved 8-357 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 358 The actual checksum (r9898) calculated by the MM must be entered into the refer- ence checksum p9899. This therefore acknowledges the safety commissioning on the Motor Module. © Siemens AG 2008 All Rights Reserved 8-358 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 359: Interface Signals
SGE and SGA in both the NCK monitoring channel and the drive monitoring channel. Unused SGE must be set to a defined state. © Siemens AG 2008 All Rights Reserved 8-359 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 360: Interface Signals For Sinumerik 840D Sl
Cam 1 Cam track 2 DBB 121 Cam 15 Cam 14 Cam 13 Cam 12 Cam 11 Cam 10 Cam 9 © Siemens AG 2008 All Rights Reserved 8-360 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 361: Description Of The Interface Signal
Speed limit value for SG2 is selected Speed limit value for SG3 is selected Speed limit value for SG4 is selected © Siemens AG 2008 All Rights Reserved 8-361 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 362 840D sl: MD 36932: $MA_SAFE_VELO_OVR_FACTOR[n] for SINAMICS S120: p9532[n]: SI motion, override factor © Siemens AG 2008 All Rights Reserved 8-362 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 363 STOP A. 0 signal: ”Pulse cancellation” is requested 1 signal: ”Pulse cancellation” is not requested © Siemens AG 2008 All Rights Reserved 8-363 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 364 (braking along the OFF3 down ramp) has a higher priority and can interrupt an external STOP D (braking along a path). © Siemens AG 2008 All Rights Reserved 8-364 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 365 This SGE must be connected to the brake control using a BiCo interconnection in the drive (p0858 to source r9719, bit 13). This connection is parameterized as standard. © Siemens AG 2008 All Rights Reserved 8-365 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 366 The axis is not located on a cam of this cam track 1 signal: The axis is located on a cam of this cam track © Siemens AG 2008 All Rights Reserved 8-366 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 367 The signal must be used for the forced checking procedure for external STOPs. 0 signal: STOP D is not active 1 signal: STOP D is active © Siemens AG 2008 All Rights Reserved 8-367 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 368 SGA ”n < n ” can have different states. This must be taken into account in the safe processing of the SGA. © Siemens AG 2008 All Rights Reserved 8-368 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 369 The SGA from the drive are frozen at the state before communications failed. Response time for CRC errors from the drive: 3 PLC cycles © Siemens AG 2008 All Rights Reserved 8-369 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 370: Plc Data Block (Db 18)
INSEP_ADDR (address 7th input byte) DBW16 INSEP_ADDR (address 8th input byte) DBW18 OUTSEP_ADDR (address 1st output byte) DBW20 OUTSEP_ADDR (address 2nd output byte) DBW22 © Siemens AG 2008 All Rights Reserved 8-370 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 371 DBD 38 SPL_DATA.INSEP[33 ...64] DBD 42 SPL_DATA.OUTSEP[1 ...32] DBD 46 SPL_DATA.OUTSEP[33 ...64] DBD 50 Data area for user SPL SPL_DATA.INSIP[1 ...32] © Siemens AG 2008 All Rights Reserved 8-371 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 372 DBD 102 SPL_DELTA.OUTSIP[33 ...64] DBD 106 SPL_DELTA.MARKERSIP[1 ...32] DBD 110 SPL_DELTA.MARKERSIP[33 ...64] DBD 114 DBB 118 CMDSI DBB 119 COMM_TO © Siemens AG 2008 All Rights Reserved 8-372 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 373 6th output 5th output 4th output 3rd output 2nd output 1st output byte byte byte byte byte byte byte byte © Siemens AG 2008 All Rights Reserved 8-373 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 374 Data Description 05.08 8.3 Interface signals DB 18 Signals for safety SPL DBB141 DBB142 DBB149 © Siemens AG 2008 All Rights Reserved 8-374 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 375 (AWP) 1 = Transfer of input byte, specified in INSEP_ADDR[1..8] to INSEP[1..8] by the basic program © Siemens AG 2008 All Rights Reserved 8-375 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 376 10 COMM_TO Bool 0 –> 1 communications timeout de- tected, PLC will go to STOP in 5 s © Siemens AG 2008 All Rights Reserved 8-376 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 377 0 = no assignment from PROFIsafe F SAFE modules to OUTSEP [1..8] 1 = transfer from OUTSEP [1..8] to PROFIsafe F module using the basic program © Siemens AG 2008 All Rights Reserved 8-377 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 378: System Variables
= 1, 2, ... 64 BOOL stands for the No. of the input $A_INSED[n] NCK inputs n = 1, 2 © Siemens AG 2008 All Rights Reserved 8-378 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 379 Bit 29 timeout in the commu- nications be- tween NCK and SPL Bit 30 PLC sig- nals a stop to the NCK © Siemens AG 2008 All Rights Reserved 8-379 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 380 NCK and PLC– TRUE] SPL. Signals can be read by the PLC, written and read by the NCK. © Siemens AG 2008 All Rights Reserved 8-380 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 381: Description Of The System Variables
Difference between $VA_IS and $AA_IM Both variable $VA_IS and variable $AA_IM can be used to read actual values. © Siemens AG 2008 All Rights Reserved 8-381 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 382 Stop B is initi- ated for this axis is either running or has already expired. ($MA_SAFE_STOP_SWITCH_TIME_F) © Siemens AG 2008 All Rights Reserved 8-382 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 383 These system variables can only be read by the user program. System variable $A_INSE[1...64] The system variables $A_INSE contain the input circuit of the NCK–SPL. © Siemens AG 2008 All Rights Reserved 8-383 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 384 $A_OUTSID[1] corresponds to $A_OUTSI[1...32] $A_OUTSID[2] corresponds to $A_OUTSI[33...64] These system variables can be read by the user program and written into by SAFE.SPF. © Siemens AG 2008 All Rights Reserved 8-384 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 385 This gives the user the opportunity to respond to this error with specific synchronous actions. © Siemens AG 2008 All Rights Reserved 8-385 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 386 As soon as commissioning has been signaled as completed, access to these system variables is blocked. If these program commands are processed, Alarm 17210 is output to indicate an error condition. © Siemens AG 2008 All Rights Reserved 8-386 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 387 Images of the PLC–side external SPL output signals (status signals from the PLC– SPL) can be read using these system variables. Associated DB18 values: DB18.DBX46.0 ... DBX53.7 © Siemens AG 2008 All Rights Reserved 8-387 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 388 /_N_CST_DIR/_N_SAFE_SPF reserved for the SPL. Access operations from other programs are flagged as an error with Alarm 17070. © Siemens AG 2008 All Rights Reserved 8-388 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 389: Commissioning
(basic display on screen). For the SE and SN functions safety–related position evaluation is only possible after safety–related referencing has been successfully completed. © Siemens AG 2008 All Rights Reserved 9-389 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 391: Hmi Screens And Softkeys
When the softkey is pressed, all NC machine data, relevant for the SI functions, is transferred into the corresponding drive parameters. © Siemens AG 2008 All Rights Reserved 9-391 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 392 If the copy or confirm process is initiated in the screen form ”Axis MD”, the particular operation is only carried out for the currently selected axis. © Siemens AG 2008 All Rights Reserved 9-392 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 393 Value ”95” is entered in drive parameter p0010 to commission the SI drives. Further, the dialog box to pre–assign the drive PROFIsafe address is started. © Siemens AG 2008 All Rights Reserved 9-393 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 394 ”Reset...” softkey The drives are reset and then a Power On is carried out for the NCK. © Siemens AG 2008 All Rights Reserved 9-394 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 395 SE and SN positions can be displayed using the softkeys ”Display safe end positions” and ”Display safe cams”. Fig. 9-5 Softkey Display SBH/SG for 840D sl © Siemens AG 2008 All Rights Reserved 9-395 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 396 For the safe software cams function (SN) this softkey is used to display the safe cams as well as the cam track. Fig. 9-6 ”Display safe cams” softkey for 840D sl © Siemens AG 2008 All Rights Reserved 9-396 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 397 The drive parameters are listed here and can be changed. Control Unit MD The Control Unit parameters are listed here and can be changed. © Siemens AG 2008 All Rights Reserved 9-397 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 398 Using the softkey ”Create SI data” it is possible to carry out the following parame- terization: S SI encoder adaptation S Calculate safe acceleration monitoring (SBR) © Siemens AG 2008 All Rights Reserved 9-398 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 399 S The first encoder is always the encoder for the drive S The second encoder is always the encoder for the NCK S $MA_ENC_INPUT_NR[0]=1 S $MA_ENC_INPUT_NR[1]=2 © Siemens AG 2008 All Rights Reserved 9-399 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 400 The axis assignment is described in Chapter 9.2 ”Procedure when commissioning the system for the first time” under Step 3. © Siemens AG 2008 All Rights Reserved 9-400 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 401 With ”Accept” the calculated value for the safe acceleration monitoring is trans- ferred into machine data 36948: $MA_SAFE_STOP_VELO_TOL and parameter p9548: SI motion SBR. © Siemens AG 2008 All Rights Reserved 9-401 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 402 Commissioning 05.08 9.1 HMI screens and softkeys Fig. 9-12 SI safe acceleration monitoring for 840D sl © Siemens AG 2008 All Rights Reserved 9-402 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 403: Procedure When Commissioning The Drive For The First Time
Scenario b) is only permissible if this combination has been explicitly approved by the manufacturer. Step 1: Enable option S Starting screen ”Commissioning/NC/Safety–Integrated”: Set the password (at least the machine manufacturer password) © Siemens AG 2008 All Rights Reserved 9-403 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 404 ”SI motion monitoring clock cycle” of the drive using softkey ”Copy SI data” in the ”Drive configuration” screen. © Siemens AG 2008 All Rights Reserved 9-404 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 405 10393[0] must be set to 6724 and MD 10393[1] must be set to 6700. The user is provided with support when assigning axes under the HMI path ”Commissioning/Drive system/Drive units/PROFIBUS connection”. © Siemens AG 2008 All Rights Reserved 9-405 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 406 S Setting the CRC and saving the parameterization that was just carried out is performed using the ”Deactivate drive commissioning” softkey. © Siemens AG 2008 All Rights Reserved 9-406 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 407 You must acknowledge this dialog box. Now carry out the NCK reset and drive reset that are listed. 6. Activate SPL protection. © Siemens AG 2008 All Rights Reserved 9-407 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 408 Data that corresponds to the acceptance test data must be backed–up (archived). Step 10: Delete (clear) the password in order to prevent the unauthorized change of machine data. © Siemens AG 2008 All Rights Reserved 9-408 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 409: Series Commissioning
The tests are required for acceptance of the new machine. Software/hardware upgrade Warning Please carefully read the instructions in the relevant Update Manual before updating the software. © Siemens AG 2008 All Rights Reserved 9-409 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 410: Changing Data
Other changes to MD $MA_SAFE_FUNCTION_ENABLE always change MD $MA_SAFE_ACT_CHECKSUM, which themselves have to be acknowledged by changes to MD $MA_SAFE_DES_CHECKSUM. © Siemens AG 2008 All Rights Reserved 9-410 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 411 MD $MA_SAFE_DES_CHECKSUM and a subsequent Power On. This MD is calculated – also for axes that were not released for Safety Integrated. © Siemens AG 2008 All Rights Reserved 9-411 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 412: Acceptance Test
If machine data for SI functions is changed, a new acceptance test must be carried out for the modified SI function and recorded in the acceptance report. © Siemens AG 2008 All Rights Reserved 9-412 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 413 $MN_SAFE_ALARM_SUPPRESS_LEVEL must be set to 0 in order to avoid suppressing alarm outputs. S For SINUMERIK 840D sl, to document a test stop that has been carried out, it is sufficient to just log the test stop alarms of the NCK (27002); it is not abso- lutely necessary to log the test stop alarms of the SINAMICS S120 (C01798).
Page 414 Ideally, this table should be the objective and result of the configuring work. 5. SI functions per axis 6. Information about the safety equipment © Siemens AG 2008 All Rights Reserved 9-414 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 415 22.Completing the NCK commissioning (protect synchronous actions) 23.Completing the commissioning of the PLC 24.Verify the data backup 25.Have the report countersigned © Siemens AG 2008 All Rights Reserved 9-415 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 416 Step 7 is required as acceptance report. For this purpose, in Step 7: – Open project – Open hardware – Select the station/print preview © Siemens AG 2008 All Rights Reserved 9-416 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 417 (refer to Chap. 9.6) configuration/ function of SE/SN checksums and software version (axis–specific) counter–signature data © Siemens AG 2008 All Rights Reserved 9-417 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 418 SPL change Supplement, SI Yes, test the Supplement, functions per points involved possibly new axis or function checksums and table counter–signature © Siemens AG 2008 All Rights Reserved 9-418 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 419: Conventional Acceptance Test
SPL and configuration from PROFIsafe I/O I/O terminals, printout of SIMATIC Step 7 the hardware configura- tion from SIMATIC Step 7 © Siemens AG 2008 All Rights Reserved 9-419 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 420 Test stop initiated e.g. Servo trace: by reducing the test stop (actual value active en- time or separate key coder, torque) © Siemens AG 2008 All Rights Reserved 9-420 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 421 Response time of the system, response at time t Braking time standstill (zero speed) at time t Time Fig. 9-15 Exceeding SG © Siemens AG 2008 All Rights Reserved 9-421 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 423 When the brake is closed, the drive generates an additional torque that must not result in any axis motion. © Siemens AG 2008 All Rights Reserved 9-423 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 424 – such as e.g. MD 32020 $MA_JOG_VELO – and the G0 value is acti- vated as effective limit value (maximum axis speed). © Siemens AG 2008 All Rights Reserved 9-424 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 427: Replacing A Motor Or Encoder
Chapter discusses 2–encoder systems and encoder modules. Limitations As mentioned above, the functionality ”safe limit positions” or ”safe cams” is active for the axis in question. © Siemens AG 2008 All Rights Reserved 9-427 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 428 Note A safety acceptance report is generally not required after a motor has been replaced. © Siemens AG 2008 All Rights Reserved 9-428 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 429 Alarms 27000/C01797 disappear and the functions ”safe limit position” and ”safe cams” are safely active again. © Siemens AG 2008 All Rights Reserved 9-429 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 430 3. After the system has booted, the JOG/REF mode is selected and the feed enable for the axis is issued. Carry out a reference point approach for the axis involved. © Siemens AG 2008 All Rights Reserved 9-430 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 431 A changeover is then made to the 2nd position measuring system (DBAx 1.5 = 0, DBX 1.6 =1). © Siemens AG 2008 All Rights Reserved 9-431 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 432 This can only be actually selected with key switch setting 3 (the same as for the user agreement). Fig. 9-17 Acknowledge SI HW © Siemens AG 2008 All Rights Reserved 9-432 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 433 The user can suppress the automated internal actual value check by resetting the ”user agreement” – therefore requesting that the axis is re–calibrated with the appropriate user agreement. © Siemens AG 2008 All Rights Reserved 9-433 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 434 Commissioning 05.08 9.6 Replacing a motor or encoder Space for your notes © Siemens AG 2008 All Rights Reserved 9-434 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 435: Diagnostics
The current error search of this alarm is addi- tionally displayed in parameters r9795/r9895. Note Different error codes may be displayed for the NCK and drive monitoring channels. © Siemens AG 2008 All Rights Reserved 10-435 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 436: Service Displays
The current axis is displayed in the top right half of the table. Various states for both channels are displayed separately in the diagnostics screen. © Siemens AG 2008 All Rights Reserved 10-436 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 437 The safety checksums for the NCK–SPL and for the PROFIsafe I/O are displayed in the lower section of the window; further, the axial checksums from the NCK and drive. © Siemens AG 2008 All Rights Reserved 10-437 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 438 The available signals are shown in the diagram above. Fig. 10-4 shows the detailed status display of the safety–related input/output signals. © Siemens AG 2008 All Rights Reserved 10-438 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 439 SGA 2 axis SGA 2 drive Fig. 10-4 Significance of the status display of the safety–related input and output signals © Siemens AG 2008 All Rights Reserved 10-439 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 440 You can reach the corresponding windows for safe cam (Fig. 10-5) or safe cam track (Fig. 10-6) using the ”Cam SGA” softkey. Fig. 10-5 Cam SGA © Siemens AG 2008 All Rights Reserved 10-440 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 441 Diagnostics 05.08 10.1 Troubleshooting procedure Fig. 10-6 Cam SGA © Siemens AG 2008 All Rights Reserved 10-441 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 442 The selected format is applicable for the particular variable, as each variable can be assigned an individual display format. Further, various SPL states are displayed. © Siemens AG 2008 All Rights Reserved 10-442 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 443: Diagnostics Support By Configuring Your Own Extended Alarm Text
HMI software (27090: %4; 27254: %3). This parameter has a defined value range. Each value can be uniquely assigned an extended alarm text. © Siemens AG 2008 All Rights Reserved 10-443 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 444 (refer to the following file excerpt). File excerpt: alsi_gr.com 000000 0 0 ”Parameterizing error MD11500/DB18.DBX36.0 or MD10097/DB18.DBX36.1” 000001 0 0 ”User text $A_INSE(P)[01]” © Siemens AG 2008 All Rights Reserved 10-444 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 445 ”User text $A_OUTSI(P)[64]” The assigned user text is then displayed when Alarms 27090 or 27254 occur, referred to the associated SPL variable. © Siemens AG 2008 All Rights Reserved 10-445 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 446: Servo Trace Bit Graphics For Safety Integrated
– a signal must be selected in trace 1 otherwise when the PI service is started using the vertical ”start” softkey, this is negatively acknowledged from the NCK. © Siemens AG 2008 All Rights Reserved 10-446 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 447 Selecting SGE drive The selection of the SI signal SGE drive (from the PLC) is shown in the following: © Siemens AG 2008 All Rights Reserved 10-447 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 448 Measurement settings and the measured values of the servo trace functions can be saved, downloaded or deleted using the horizontal softkey ”File functions”. © Siemens AG 2008 All Rights Reserved 10-448 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 449: Bit Graphics For Si Signals In The Servo Trace
Bit characteristics can be displayed as a function of time for 10 character channels (tracks). © Siemens AG 2008 All Rights Reserved 10-449 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 450 No bit graphics are generated for SI signals that are not bit–coded. The setting options are accessed using the vertical ”bit selection...” softkey: © Siemens AG 2008 All Rights Reserved 10-450 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 452 Using the vertical ”Abort” softkey, the screen is exited without accepting possible changes made to values. © Siemens AG 2008 All Rights Reserved 10-452 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 453 This means that especially inputs and outputs of various SI signals can be combined. Result of the bit selection © Siemens AG 2008 All Rights Reserved 10-453 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 454: Servo Trace Signals
Safety partial actual value – Monitoring clock Position change per monitoring clock cycle cycle Actual speed limit – Monitoring clock cycle © Siemens AG 2008 All Rights Reserved 10-454 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 455 $A_INSIPD[1] SPL–CDC clock cycle Int. PLC–SPL interface inputs $A_INSIPD[2] SPL–CDC clock cycle Int. PLC–SPL interface outputs $A_OUTSIPD[1] SPL–CDC clock cycle © Siemens AG 2008 All Rights Reserved 10-455 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 456 Axis CDC clock cycle Result list 7 NCK – Monitoring clock cycle Result list 7, (drive) – Axis CDC clock cycle © Siemens AG 2008 All Rights Reserved 10-456 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 457: Nck Safety Alarms For Sinumerik 840D Sl
(fault detection = 2). This means that the request – ”start brake test” – isn’t even effective for the axis. © Siemens AG 2008 All Rights Reserved 10-457 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 458 Program Clear the alarm with the Clear key or with NC–START. continuation © Siemens AG 2008 All Rights Reserved 10-458 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 459 The alarm display can be set using MD $MN_SAFE_ALARM_SUP- PRESS_LEVEL (MD>=3) so that the group alarm 27100 is displayed for all SI axes. © Siemens AG 2008 All Rights Reserved 10-459 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 460 The total comparison time to process the list is displayed in MD 10092 (factor x MD 10091 – the factor can differ de- pending on the SW version). © Siemens AG 2008 All Rights Reserved 10-460 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 461 The actual status image of the NCK (result list 2) is output as supple- mentary info %3 (comparison value NCK) and the actual status image © Siemens AG 2008 All Rights Reserved 10-461 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 462 The setting in MD 36931 $MA_SAFE_VELO_LIMIT[2] does not corre- spond with the associated drive parameter assignment. Remedy Copy SI data. © Siemens AG 2008 All Rights Reserved 10-462 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 463 The setting in MD 36937 $MA_SAFE_CAM_POS_MINUS[0] + MD 36940 $MA_SAFE_CAM_TOL does not correspond with the associated drive parameter assignment. Remedy Copy SI data. © Siemens AG 2008 All Rights Reserved 10-463 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 464 Copy SI data. The setting in MD 36937 $MA_SAFE_CAM_POS_MINUS[2] does not correspond with the associated drive parameter assignment. Remedy Copy SI data. © Siemens AG 2008 All Rights Reserved 10-464 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 465 Copy SI data. The setting in MD 36956 $MA_SAFE_PULSE_DISABLE_DELAY does not correspond with the associated drive parameter assignment. Remedy Copy SI data. © Siemens AG 2008 All Rights Reserved 10-465 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 466 If SG1 is active, then a check is made in every monitoring clock cycle (MCC) as to whether SG1 was exceeded. © Siemens AG 2008 All Rights Reserved 10-466 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 467 (refer to the example above (SG1 = 2000 mm/min = 0.4 mm/ monitoring clock cycle), a value of 400 would be displayed as 4%). Remedy: Refer to fault code 1. © Siemens AG 2008 All Rights Reserved 10-467 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 468 Position actual value (when SBH is activated) + MD 36930 $MA_SAFE_STANDSTILL_TOL. Remedy Refer to Section 44–57 (hidden fault code 3 or 1) © Siemens AG 2008 All Rights Reserved 10-468 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 469 4 = Stop C 7 = Stop A The setting in MD 36932 $MA_SAFE_VELO_OVR_FACTOR[0] does not correspond with the associated drive parameter assignment. © Siemens AG 2008 All Rights Reserved 10-469 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 470 Copy SI data. The setting in MD 36932 $MA_SAFE_VELO_OVR_FACTOR[9] does not correspond with the associated drive parameter assignment. Remedy Copy SI data. © Siemens AG 2008 All Rights Reserved 10-470 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 471 Copy SI data. The setting in MD 36963 $MA_SAFE_VELO_STOP_REACTION[1] does not correspond with the associated drive parameter assignment. Remedy Copy SI data. © Siemens AG 2008 All Rights Reserved 10-471 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 472 Copy SI data. The setting in MD 10089 $MN_SAFE_PULSE_DIS_TIME_BUSFAIL does not correspond with the associated drive parameter assignment. Remedy Copy SI data. © Siemens AG 2008 All Rights Reserved 10-472 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 473 Cam position: The setting in MD 36937 $MA_SAFE_CAM_POS_ MINUS[4] does not correspond with the associated drive parameter assignment. Remedy Safe cam 5–. Enter the same MDs. © Siemens AG 2008 All Rights Reserved 10-473 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 474 Cam position: The setting in MD 36937 $MA_SAFE_CAM_POS_ MINUS[6] does not correspond with the associated drive parameter assignment. Remedy Safe cam 7–. Enter the same MDs. © Siemens AG 2008 All Rights Reserved 10-474 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 475 Cam position: The setting in MD 36937 $MA_SAFE_CAM_POS_ MINUS[8] does not correspond with the associated drive parameter assignment. Remedy Safe cam 9–. Enter the same MDs. © Siemens AG 2008 All Rights Reserved 10-475 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 476 Cam position: The setting in MD 36937 $MA_SAFE_CAM_POS_ MINUS[10] does not correspond with the associated drive parameter assignment. Remedy Safe cam 11–. Enter the same MDs. © Siemens AG 2008 All Rights Reserved 10-476 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 477 Cam position: The setting in MD 36937 $MA_SAFE_CAM_POS_ MINUS[12] does not correspond with the associated drive parameter assignment. Remedy Safe cam 13–. Enter the same MDs. © Siemens AG 2008 All Rights Reserved 10-477 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 478 Cam position: The setting in MD 36937 $MA_SAFE_CAM_POS_ MINUS[14] does not correspond with the associated drive parameter assignment. Remedy Safe cam 15–. Enter the same MDs. © Siemens AG 2008 All Rights Reserved 10-478 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 479 Cam position: The setting in MD 36937 $MA_SAFE_CAM_POS_ MINUS[16] does not correspond with the associated drive parameter assignment. Remedy Safe cam 17–. Enter the same MDs. © Siemens AG 2008 All Rights Reserved 10-479 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 480 Cam position: The setting in MD 36937 $MA_SAFE_CAM_POS_ MINUS[18] does not correspond with the associated drive parameter assignment. Remedy Safe cam 19–. Enter the same MDs. © Siemens AG 2008 All Rights Reserved 10-480 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 481 Cam position: The setting in MD 36937 $MA_SAFE_CAM_POS_ MINUS[20] does not correspond with the associated drive parameter assignment. Remedy Safe cam 21–. Enter the same MDs. © Siemens AG 2008 All Rights Reserved 10-481 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 482 Cam position: The setting in MD 36937 $MA_SAFE_CAM_POS_ MINUS[22] does not correspond with the associated drive parameter assignment. Remedy Safe cam 23–. Enter the same MDs. © Siemens AG 2008 All Rights Reserved 10-482 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 483 Cam position: The setting in MD 36937 $MA_SAFE_CAM_POS_ MINUS[24] does not correspond with the associated drive parameter assignment. Remedy Safe cam 25–. Enter the same MDs. © Siemens AG 2008 All Rights Reserved 10-483 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 484 Cam position: The setting in MD 36937 $MA_SAFE_CAM_POS_ MINUS[26] does not correspond with the associated drive parameter assignment. Remedy Safe cam 27–. Enter the same MDs. © Siemens AG 2008 All Rights Reserved 10-484 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 485 Cam position: The setting in MD 36937 $MA_SAFE_CAM_POS_ MINUS[28] does not correspond with the associated drive parameter assignment. Remedy Safe cam 29–. Enter the same MDs. © Siemens AG 2008 All Rights Reserved 10-485 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 486 Remedy Cam track assignment SN3. Enter the same MDs and check the cam enable and cam parameterization © Siemens AG 2008 All Rights Reserved 10-486 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 487 Remedy Cam track assignment SN10. Enter the same MDs and check the cam enable and cam parameterization © Siemens AG 2008 All Rights Reserved 10-487 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 488 Remedy Cam track assignment SN17. Enter the same MDs and check the cam enable and cam parameterization © Siemens AG 2008 All Rights Reserved 10-488 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 489 Remedy Cam track assignment SN24. Enter the same MDs and check the cam enable and cam parameterization © Siemens AG 2008 All Rights Reserved 10-489 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 490 (NCK) and r9735[1] (drive). Remedy Result list 3. Check the tolerance of the cams, evaluate the fault code in drive parameter r9735[0,1]. © Siemens AG 2008 All Rights Reserved 10-490 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 491 Fault fine codes that do not come from the crosswise data comparison 1000 The check timer has expired while the change timer has still not ex- © Siemens AG 2008 All Rights Reserved 10-491 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 492 The cause should be determined and after checking the actual values the user agreement can be again reset after an NCK–RESET. © Siemens AG 2008 All Rights Reserved 10-492 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 493 NCK axis number from the PLC–SRAM and NCK axis number from the boot operation are different. Remedy Re–establish data consistency using a Power On. © Siemens AG 2008 All Rights Reserved 10-493 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 494 SGE ”test stop selection”. Response Alarm display Remedy This message only provides information for the user. © Siemens AG 2008 All Rights Reserved 10-494 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 495 <dword> = system variable – double word (1,2) <bit> = bit number in the system variable – double word (1...32) <value> = value of the NCK–SGE (0,1) © Siemens AG 2008 All Rights Reserved 10-495 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 496 The alarm is no longer displayed when the alarm cause has been re- continuation moved. No other operator actions are required. © Siemens AG 2008 All Rights Reserved 10-496 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 497 MD $MA_SAFE_STAND- STILL_VELO_TOL, at the latest however, after the time in MD $MA_SAFE_PULSE_DISABLE_DELAY expires, the pulses are can- celled (STOP A). © Siemens AG 2008 All Rights Reserved 10-497 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 498 NC start inhibit in this channel NC start inhibit in this channel Interface signals are set Alarm display NC stop for alarm © Siemens AG 2008 All Rights Reserved 10-498 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 499 (refer to a description of the alarms). Program Clear the alarm with the RESET key. Restart the part program. continuation © Siemens AG 2008 All Rights Reserved 10-499 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 500 (refer to a description of the alarms). Program Clear the alarm with the RESET key. Restart the part program. continuation © Siemens AG 2008 All Rights Reserved 10-500 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 501 – Alarm ”Stop B initiated” – Unsuccessful test stop. (refer to the description of the alarms). Program Power–down the control and power–up again continuation © Siemens AG 2008 All Rights Reserved 10-501 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 502 – The conversion of the specified MD into the internal computation format resulted in an overflow. © Siemens AG 2008 All Rights Reserved 10-502 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 503 (bit 31 = 1) or the SGE ”Deselect ext. Stop A” was not parameterized at the SPL interface $A_OUTSI. © Siemens AG 2008 All Rights Reserved 10-503 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 504 – The alarms 27000/C01797 should be suppressed when parking (MD $MA_SAFE_PARK_ALARM_SUPPRESS1=0). In this case, the SGA ”axis safely referenced” must be parameterized using the MD $MA_SAFE_REFP_STATUS_OUTPUT. © Siemens AG 2008 All Rights Reserved 10-504 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 505 Check and modify the MD named in the alarm text. Have the checksum re–calculated. Safety functions should be subject to a new acceptance test. Program Power–down the control and power–up again continuation © Siemens AG 2008 All Rights Reserved 10-505 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 506 – Re–calibration of the actual value encoder – Check the SI actual value acquisition: Speeds, traversing direction, absolute position (if required, set the user agreement) © Siemens AG 2008 All Rights Reserved 10-506 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 507 NC stop for alarm Remedy Correctly set the PROFIsafe address of the drive. Program Power–up and power–down the control continuation © Siemens AG 2008 All Rights Reserved 10-507 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 508 An acceptance test must then be performed to ensure that the brake test functions correctly. Power–up and power–down the control Program continuation © Siemens AG 2008 All Rights Reserved 10-508 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 509 Check the configuring of a PROFIBUS telegram (e.g. SI slot config- ured). Check the assignment between the NCK SI axis and SI slot ($MA_SAFE_CTRLOUT_MODULE_NR, $MN_SAFE_DRIVE_LOGIC_ADDRESS). © Siemens AG 2008 All Rights Reserved 10-509 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 510 If the file is to be re–defined, the new file to be created must be made known to the system via MBDDE.INI. © Siemens AG 2008 All Rights Reserved 10-510 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 511 NCK and drive. Program Clear the alarm with the RESET key. Restart the part program. continuation © Siemens AG 2008 All Rights Reserved 10-511 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 512 Check the file and when the file was last changed. Reload the original file and start the monitoring system again with a power on. Program Power–down the control and power–up again continuation © Siemens AG 2008 All Rights Reserved 10-512 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 513 Commissioning the axial Safety Integrated functionality or cancellation of the SPL protection using MD $MN_PREVENT_SYNACT_LOCK[0,1] Program Power–down the control and power–up again continuation © Siemens AG 2008 All Rights Reserved 10-513 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 514 Interface signals are set Alarm display Remedy Correct the displayed MD Program Switch control system OFF and ON again. continuation © Siemens AG 2008 All Rights Reserved 10-514 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 515 The alarm is no longer displayed when the alarm cause has been re- Program continuation moved. No other operator actions are required. © Siemens AG 2008 All Rights Reserved 10-515 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 516 – Safely reduced speed 3: Bits 10, 11 in result list 1 – Safely reduced speed 4: Bits 12, 13 in result list 1 © Siemens AG 2008 All Rights Reserved 10-516 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 517 Check that the safe inputs in both monitoring channels have switched into the same state within the permissible time tolerance. © Siemens AG 2008 All Rights Reserved 10-517 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 518 Safe cam 19+: Bits 0, 1 in result list 6 Safe cam 20+: Bits 4, 5 in result list 6 © Siemens AG 2008 All Rights Reserved 10-518 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 519 3/4/5/6/7 (”Safe cam track” function) a difference was identi- fied between the NCK and drive monitoring channels in the monitoring state of the safe cam minus monitoring function. © Siemens AG 2008 All Rights Reserved 10-519 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 520 – OK = monitoring active in this monitoring channel, limit values not violated – L+ = monitoring active in this monitoring channel, upper limit value violated © Siemens AG 2008 All Rights Reserved 10-520 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 521 ”result list 2 NCK” and ”result list 2 drive”. Program Clear the alarm with the RESET key. Restart the part program. continuation © Siemens AG 2008 All Rights Reserved 10-521 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 522 Alarm 27001 with fault IDs 0, 27023 and 27024. Alarm 27001 with fault ID 0 can be prevented using the alarm reduction ($MA_SAFE_ALARM_SUPPRESS_LEVEL greater than or equal to 1). © Siemens AG 2008 All Rights Reserved 10-522 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 523 Alarm 27001 with fault IDs 0, 27023 and 27024. Alarm 27001 with fault ID 0 can be prevented using the alarm reduction ($MA_SAFE_ALARM_SUPPRESS_LEVEL greater than or equal to 1). © Siemens AG 2008 All Rights Reserved 10-523 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 524 Remedy Locate the cause of the error by evaluating additional alarm messages Program Power–down the control and power–up again continuation © Siemens AG 2008 All Rights Reserved 10-524 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 525 The alarm is initiated when booting if parameterized too long. No pro- continuation gram can be started. Only delete the alarm with a power on. © Siemens AG 2008 All Rights Reserved 10-525 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 526 – No SPL assignment was parameterized (both bit values are equal to zero) – Incorrect SPL assignment (bit value equal to zero) © Siemens AG 2008 All Rights Reserved 10-526 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 527 The alarm is initiated when booting. No program can be started. Only continuation delete the alarm with a power on. © Siemens AG 2008 All Rights Reserved 10-527 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 528 Reduce the number of sub–slots by changing the F net (useful) data distribution of the PROFIsafe module. Program Switch control system OFF and ON again. continuation © Siemens AG 2008 All Rights Reserved 10-528 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 529 Check the parameterized PROFIsafe master address in MD $MN_PROFISAFE_MASTER_ADDRESS and S7 PROFIBUS configu- ration. Program Switch the control OFF – ON. continuation © Siemens AG 2008 All Rights Reserved 10-529 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 530 – %3 = OUTPUT: NCK F parameterization expects an OUTPUT module – %3 = IN/OUT: NCK F parameterization expects an INPUT/OUTPUT module © Siemens AG 2008 All Rights Reserved 10-530 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 531 NC stop for alarm Remedy Check the S7 PROFIBUS configuration and correct. Program Switch control system OFF and ON again. continuation © Siemens AG 2008 All Rights Reserved 10-531 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 532 Check the PLC operating system and correct NCK software versions. Upgrade the PLC operating system. Delete NCK F parameterization. Program Switch control system OFF and ON again. continuation © Siemens AG 2008 All Rights Reserved 10-532 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 533 Interface signals are set Alarm display NC stop for alarm Remedy Restart the PLC/NCK Switch control system OFF and ON again. Program continuation © Siemens AG 2008 All Rights Reserved 10-533 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 534 Check the DP wiring. Restart the F slave modules. Restart the NCK/ PLC. Program Clear the alarm with the RESET key. Restart the part program. continuation © Siemens AG 2008 All Rights Reserved 10-534 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 535 NC stop for alarm Remedy Check the wiring. Wiring OK: Replace the F module. Program Remove the error and press RESET. continuation © Siemens AG 2008 All Rights Reserved 10-535 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 536 %2 error ID 2 %3 error ID 3 %4 error ID 4 Explanation Internal error in the NCK PROFIsafe implementation. Response Alarm display © Siemens AG 2008 All Rights Reserved 10-536 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 537 Response Alarm display Remedy Fault codes/fault values, refer to the drive documentation. Program Remove the error and press RESET. continuation © Siemens AG 2008 All Rights Reserved 10-537 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 538: Safety Messages For Sinamics S120
Table 10-3. The OFF 2 fault response is used as additional stopping measure while the pulses are safely cancelled via the safety–related shut- down paths. © Siemens AG 2008 All Rights Reserved 10-538 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 539 The drive is braked along the OFF 3 down ramp STOP C (p1135) by immediately entering n_set = 0. (Halt 2) The drive remains in closed–loop speed control mode. © Siemens AG 2008 All Rights Reserved 10-539 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 540 No message (message type can be changed to A) Cxxxxx Safety message (dedicated message buffer) A message comprises a letter as suffix followed by the number. © Siemens AG 2008 All Rights Reserved 10-540 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 541: List Of Faults And Alarms
Feedback of the safe pulse cancellation for Motor Modules con- nected in parallel are different. 9999: Subsequent response to fault F01611. © Siemens AG 2008 All Rights Reserved 10-541 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 542 2005: Feedback signal of the safe pulse cancellation on the Control Unit and Motor Modules connected in parallel are different. © Siemens AG 2008 All Rights Reserved 10-542 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 543 – Check the tolerance time SGE changeover and if required, increase the value (p9650). Check the wiring of the safety–related inputs (SGE) (contact problems). © Siemens AG 2008 All Rights Reserved 10-543 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 544 – A time slice overflow of the safety software has occurred. Fault value (r0949, decimal): Only for internal Siemens troubleshooting. © Siemens AG 2008 All Rights Reserved 10-544 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 545 Defect in the brake control circuit of the Motor Module or communica- tions fault between the Control Unit and the Motor Module (brake control diagnostics). © Siemens AG 2008 All Rights Reserved 10-545 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 546 Reference and actual checksum on the Control Unit are not identical (commissioning mode). – Reference checksum incorrectly entered into the Control Unit (p9799 not equal to r9798). © Siemens AG 2008 All Rights Reserved 10-546 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 547 – Replace the CompactFlash Card. Re fault value = 9999: – Carry out diagnostics for the other safety–related fault that is present. © Siemens AG 2008 All Rights Reserved 10-547 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 548 When the motion monitoring is enabled (p9501 > 0): – Correct the monitoring clock cycle (p9500) and carry out a POWER ON. © Siemens AG 2008 All Rights Reserved 10-548 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 549 This fault results in a STOP A that cannot be acknowledged. Fault value (r0949, interpret as hexadecimal): Only for internal Siemens troubleshooting. © Siemens AG 2008 All Rights Reserved 10-549 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 550 An attempt was made to enable the SH function although this cannot be supported. An attempt was made to enable the SBC function although this cannot be supported. © Siemens AG 2008 All Rights Reserved 10-550 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 551 (Control Unit)), p9620 (SI signal source for SH/SBC/SS1 (Control Unit )), p9761 (SI password input), p9801 (SI enable functions integrated in the drive (Motor Module)) © Siemens AG 2008 All Rights Reserved 10-551 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 552 Re fault value = 10: – Align the EDS assignment for all encoders used for Safety Integra- ted (p0187 ...p0189). © Siemens AG 2008 All Rights Reserved 10-552 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 553 Only for internal Siemens troubleshooting. Remedy Use a Sensor Module that supports the safety–related motion monitor- ing functions. – Upgrade the Sensor Module software. © Siemens AG 2008 All Rights Reserved 10-553 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 554 Monitoring function SCA is not supported (pp9501.7 and p9501.8 – 15 and p9503) Monitoring function SLS override is not supported (p9501.5) Only the servo drive object supports monitoring functions. © Siemens AG 2008 All Rights Reserved 10-554 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 555 Fault value (r0949, decimal): Maximum permissible speed Remedy Correct the limit values for SLS and carry out a POWER ON. © Siemens AG 2008 All Rights Reserved 10-555 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 556 Either deselect the monitoring functions with absolute reference (SE/SN) or the function ”actual value synchronization” and carry out a power on. © Siemens AG 2008 All Rights Reserved 10-556 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 557 See also: p9659 (SI forced checking procedure, timer) Remedy Select safe standstill and then deselect again Response NONE (OFF1, OFF2, OFF3) Acknowledgement for F IMMEDIATELY (POWER ON) © Siemens AG 2008 All Rights Reserved 10-557 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 558 Remove the cause of the fault on the control and carry out a power on. – Carry out diagnostics for message C01714. – Carry out diagnostics for message C01711. © Siemens AG 2008 All Rights Reserved 10-558 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 559 Remove the cause of the fault on the control and carry out a power on. – Carry out diagnostics for message C01714. © Siemens AG 2008 All Rights Reserved 10-559 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 560 STOP F. One of the monitoring functions no longer functions reliably, i.e. safe oper- ation is no longer possible. © Siemens AG 2008 All Rights Reserved 10-560 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 561 Check the traversing program on the control. – Check the limits for ”safe software limit switch” (SE) and if required adapt (p9534, p9535). © Siemens AG 2008 All Rights Reserved 10-561 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 562 This therefore designates this position as being a safety–re- lated position. © Siemens AG 2008 All Rights Reserved 10-562 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 563 Select safe standstill and then deselect again. – Replace the Motor Module involved. Re fault value = 9999: – Carry out diagnostics for fault F30611. © Siemens AG 2008 All Rights Reserved 10-563 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 564 – Carry out a POWER ON (power off/on) for all components. – Upgrade the Motor Module software. – Upgrade the Control Unit software. © Siemens AG 2008 All Rights Reserved 10-564 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 565 Remedy None necessary. Response as for F OFF2 Acknowledgement for F IMMEDIATELY (POWER ON) Response NONE Acknowledgement for A NONE © Siemens AG 2008 All Rights Reserved 10-565 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 566 Fault in the brake control of the Control Unit or communications fault between the Control Unit and Motor Module (brake control). © Siemens AG 2008 All Rights Reserved 10-566 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 567 – Re–commission the Safety Integrated function and carry out a power on. – Upgrade the Motor Module software. – Contact the Hotline. – Replace the Motor Module. © Siemens AG 2008 All Rights Reserved 10-567 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 568 This fault results in a STOP A that cannot be acknowledged. Fault value (r0949, decimal): Only for internal Siemens troubleshooting. © Siemens AG 2008 All Rights Reserved 10-568 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 569 (MM) on the CompactFlash Card, an error has occurred. Note: This fault results in a STOP A that can be acknowledged. Fault value (r0949, decimal): © Siemens AG 2008 All Rights Reserved 10-569 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 570 – Use a Motor Module that supports the function safe standstill or safe brake control. – Upgrade the Motor Module software. – Upgrade the Control Unit software. © Siemens AG 2008 All Rights Reserved 10-570 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 571: Safety Plc Alarms
PLC general reset, use the basic program with the correct version. Remedy Program Remove the fault. Power–down the control and power–up again continuation © Siemens AG 2008 All Rights Reserved 10-571 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 572: Reducing The Number Of Alarms
All of the NCK alarms are listed in the following table which can be prevented from being initiated twice due to a PLC request. © Siemens AG 2008 All Rights Reserved 10-572 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 573: Assigning Priorities To Alarms
SGE on several axes. The cause of the fault/error can be hidden as a result of the large alarm list. © Siemens AG 2008 All Rights Reserved 10-573 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 574 S 27105 difference for the function, safe cam minus S 27106 difference for the function, safely reduced speed n S 27107 difference for the function, cam modulo monitoring © Siemens AG 2008 All Rights Reserved 10-574 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 575 If alarm 27024 ”Stop A initiated” has occurred, but is no lon- ger displayed, then at least group alarm 27124 ”Stop A for at least 1 axis” is dis- played. © Siemens AG 2008 All Rights Reserved 10-575 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 576 Diagnostics 05.08 10.5 Reducing the number of alarms Space for your notes © Siemens AG 2008 All Rights Reserved 10-576 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 577: Interaction With Other Functions
Further, internal changeover operations in SBH have an effect as a result of a stop response (STOP D, C, E). © Siemens AG 2008 All Rights Reserved 11-577 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 578 Note There are no restrictions for motion from synchronous actions. © Siemens AG 2008 All Rights Reserved 11-578 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 579: Measuring System Changeover
The user can align the actual value acquisition of the safety monitoring channels after re–selecting parking by again referencing/synchronizing to the machine posi- tion. © Siemens AG 2008 All Rights Reserved 11-579 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 580: Oem Applications
If SINUMERIK Safety Integrated) (SI) and OEM applications (for HMI) are used at the same time, the following points must be observed. © Siemens AG 2008 All Rights Reserved 11-580 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 581: Behavior Of Safety Integrated When Profibus Fails
When the drive bus fails, then communications between the drive and NCK required for SI also fail. The pulses are immediately cancelled from both channels. © Siemens AG 2008 All Rights Reserved 11-581 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 582 Interaction with Other Functions 05.08 11.6 Behavior of Safety Integrated when Profibus fails Space for your notes © Siemens AG 2008 All Rights Reserved 11-582 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 583: A.1 Customer Support
Logic program for the NC area Data blocks required (e.g. DB 18) These objects are incorporated/linked into the complete system. © Siemens AG 2008 All Rights Reserved A-583 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 584: A.2 References
References /ASI/ Low–Voltage Switchgear and Systems Catalog Siemens Drives and Standard Products Order No.: E20002–K1002–A101–A6 © Siemens AG 2008 All Rights Reserved A-584 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 585 Johannknecht, A./Warlich, H.–J.: Maschinenschutz in Europa – BG (Maschinen– schutz). /SHB/ Safety Integrated: The Safety System for Industry, Application Manual, 5th Edition Order No.: 6ZB5 000–0AA01–0BA1 © Siemens AG 2008 All Rights Reserved A-585 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 586 Internet at: http://www.siemens.com/motioncontrol Follow menu items ––> ”Support” –> ”Technical Documentation” ––> ”Overview of Documents” or ”DOConWEB”. © Siemens AG 2008 All Rights Reserved A-586 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 587: A.3 Abbreviations
DRIVE DATA SET (drive parameters that can be changed over together as a set) Digital Input DKE–AK German Electrotechnical Working Committee Data Left Direct Measuring System Distributed Peripherals (I/O) © Siemens AG 2008 All Rights Reserved A-587 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 588 Input data of the safe programmable logic (SPL) from the out- put data of the axial monitoring functions Input/Output Interpolator © Siemens AG 2008 All Rights Reserved A-588 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 589 Adjustable parameters Probability of dangerous failure per hour Performance Level Programmable Logic Controller PM–E F Power Module Electronic Failsafe © Siemens AG 2008 All Rights Reserved A-589 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 590 Safe cam, safe cam track Safe Operating Stop Safe Programmable Logic Safe Stop 1 (corresponds to Stop Category 1 acc. to EN 60204) © Siemens AG 2008 All Rights Reserved A-590 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 591 Software Lifetime Diagnostic test interval Tool Center Point Testing Data Active Ü Gear Ratio User Interface Upper Limit © Siemens AG 2008 All Rights Reserved A-591 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 05.2008 Edition...
Page 592: A.4 Terms
MTTFd and DC, as well as common cause faults) are used as basis to define the so–called ”Performance Levels” (PL). Markov models, based on typical © Siemens AG 2008 All Rights Reserved A-592 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 593 Function that is intended to avoid or reduce impending or existing hazards for per- sonnel, damage to the machine or the execution of work. This has priority over all operating modes. © Siemens AG 2008 All Rights Reserved A-593 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 595 Incremental encoder, 5-96 Control gears, 5-105 Initialization, Safety relay, 7-238 Correction factor, safely reduced speed, 8-362 Crosswise data comparison, 4-54, 5-93, 7-224 © Siemens AG 2008 All Rights Reserved I-595 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 596 Probability of failure, 3-46 Override for, 6-156, 8-362 Product Standards, 1-20 PROFIBUS–DP, 7-198 PROFIsafe clock cycle overruns, 7-210 PROG_EVENT mechanism, 7-231 PROG_EVENT.SPF, 7-231 © Siemens AG 2008 All Rights Reserved I-596 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 597 Acknowledge SI data, 9-392 Copy SI data, 9-391 Speed/standstill monitoring, 2-35 Velocities and speeds, 6-149 SPL data on the PLC side, 7-247 © Siemens AG 2008 All Rights Reserved I-597 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition...
Page 599 Suggestions SIEMENS AG Corrections I DT MC MS1 For Publication/Manual: Postfach 3180 SINUMERIK 840D sl/ D–91050 Erlangen SINAMICS S120 SINUMERIK Safety Integrated Fax: +49 (0) 9131 / 98 – 63315 [Documentation] (FBSI sl) mailto:docu.motioncontrol@siemens.com http://www.siemens.com/automation/service&support Order No. 6FC5397–4BP10–2BA0 From Name Edition: 05/2008 Address of your Company/Dept.

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Sinamics s120

Siemens SINUMERIK 840D sl Function Manual

1 Regulations and Standards

2 Brief Description

3 System Features

4 Safety Functions Integrated in the Drive

5 Basics on the Safety Functions Integrated in the System/Drive

6 Safety Functions Integrated in the System/Drive

7 Connecting Sensors/Actuators

8 Data Description

9 Commissioning

10 Diagnostics

11 Interaction with Other Functions

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