Siemens SINUMERIK 840D sl Function Manual page 123

05.08
Timing when the limit value is exceeded
If the safe operating stop function is active, the response when the limit value is
exceeded is as follows:
Shutdown
speed
Fig. 6-4
Table 6-2 Explanation of the diagram
Time Explanation
t The position control clock cycle, defined by the following MDs:
1
for 840D sl:
MD 10050: $MN_SYSCLOCK_CYCLE_TIME
MD 10060: $MN_POSCTRL_SYSCLOCK_TIME_RATIO
t Monitoring clock cycle, defined by the following MDs:
2
for 840D sl:
MD 10090: $MN_SAFETY_SYSCLOCK_TIME_RATIO
for SINAMICS S120:
r9500: SI motion monitoring clock cycle (Control Unit)
t Time until the standstill tolerance value is exceeded
3
t Time until it has been detected that the standstill tolerance value has been exceeded
4
(typical 0.5 monitoring clock cycles, maximum 1 monitoring clock cycle + 1 position controller
clock cycle)
t Response time required to initiate the configured stop response
5
(typical 1.5 monitoring clock cycles, maximum 2 monitoring clock cycles + 1 position controller
clock cycle)
t Time until the stop response that was initiated starts
6
(typical 2 position controller clock cycles, maximum 2 position controller clock cycles)
t Time required to reach the shutdown speed for STOP B.
7
t Time required to stop the axis for a STOP B.
8
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SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition
d) Transition from STOP B to
n
STOP A (pulse cancellation)
Tolerance
exceeded b)
Fault a)
Standstill
= =
tolerance
t
3
t
4
t
5
Timing when the limit value is exceeded for SBH
Safety Functions Integrated in the System/Drive
6.2 Safe operating stop (SBH)
c) Start of the stop response
STOP B
d)
not to scale
t
1
t
2
t
6
t
7
t
8
t
9
STOP A
s
t
6-123