Description Of Stop A - Siemens SINUMERIK 840D sl Function Manual

Safety Functions Integrated in the System/Drive
6.3 Safe Stops A–F
Effects of the stop responses on other axes/spindles
If a stop response is initiated, then this has the following effects on all of the other
axes in the same channel:
STOP E:
STOP D:
STOP C:
STOP A:
The effect on the other axes in the channel can be influenced using MD 36964:
$MA_SAFE_IPO_STOP_GROUP. This allows, for example, the pulses of a spindle
to be safely cancelled (using an external STOP A), in order that this spindle can be
manually turned and the axes can still be moved while being safely monitored.
STOP $MA_SAFE_IPO_STOP_GROUP = 0
C Axes that interpolate with the involved axis
brake at the current limit. All other axes
brake along the parameterized braking
ramp.
D Axes/spindles brake along the path or
along the parameterized braking ramp.
E ESR enabled and active:
ESR is initiated
ESR neither active nor enabled:
After a delay time of max. 2 Ipo clock cycles, the behavior as described for STOP D is
initiated.
6.3.2

Description of STOP A

Action in the drive monitoring channel:
Pulses are immediately cancelled using the internal signal "cancel pulses". In addi-
tion, the pulses in the gating unit are cancelled by a software function.
Action in the NCK monitoring channel:
the pulses are cancelled via the internal shutdown path of the NCK monitoring
channel
S Effect:
The drive coasts to a standstill if no external braking mechanism such as an
armature short–circuit and/or holding brake is used. The axis–specific alarm
results in a mode group stop, i.e. as the result of the error in one axis, all axes
and spindles in a mode group are stopped. Safe standstill becomes effective at
the end of STOP A.
S Alarm message for an internally initiated STOP A:
The alarm message "STOP A initiated" is displayed.
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SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition
Extended stopping and retraction is initiated
Braking along a path
IPO fast stop (braking at the current limit)
IPO fast stop (braking at the current limit)
$MA_SAFE_IPO_STOP_GROUP = 1
Axes that interpolate with the involved axis
brake at the current limit. All other axes do
not brake.
Axes that interpolate with the involved axis
brake along the parameterized braking
ramp. All other axes do not brake.
© Siemens AG 2008 All Rights Reserved
05.08