Siemens SINUMERIK 840D sl Function Manual page 173

05.08
S The safe cams must be configured:
The required cams are enabled using machine data
for 840D sl:
36903: $MA_SAFE_CAM_ENABLE, bits 0...29 and parameter
for SINAMICS S120:
p9503: SI motion SCA (SN) enable (Control Unit), bits 0...29
SGA assignment is defined using machine data
for 840D sl:
36988: $MA_SAFE_CAM_PLUS_OUTPUT[n] and
36989: $MA_SAFE_CAM_MINUS_OUTPUT[n]
Defining the cam positions
The cam positions are defined in the following machine data/parameters:
for 840D sl:
MD 36936: $MA_SAFE_CAM_POS_PLUS[0...29]
MD 36937: $MA_SAFE_CAM_POS_MINUS[0...29]
for SINAMICS S120:
p9536[0...29]: SI motion SCA (SN) plus cam position (Control Unit)
p9537[0...29]: SI motion SCA (SN) plus cam position (Control Unit)
Note
The minus position of cam x must be less than the plus position of cam x,
otherwise alarm 27033 "Invalid parameterization" is output. For an incorrect
parameterization, also alarm F01686 "SI Motion: Cam position parameterization
not permissible" of the drive is also output.
Assignment, cam to cam track
The cams defined in $MA_SAFE_CAM_POS_PLUS[0...29] and
$MA_SAFE_CAM_POS_MINUS[0...29] are assigned to a cam track as follows:
for 840D sl:
MD 36938: $MA_SAFE_CAM_TRACK_ASSIGN[0...29]
for SINAMICS S120:
p9538[0...29]: SI motion cam track assignment (Control Unit)
Range of values:
100...114 = cam range 0...14 at cam track 1
200...214 = cam range 0...14 at cam track 2
300...314 = cam range 0...14 at cam track 3
400...414 = cam range 0...14 at cam track 4
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
SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition
Safety Functions Integrated in the System/Drive
6.8 Safety software cams and safety cam track (SN)
6-173