Siemens SINUMERIK 840D sl Function Manual page 405

05.08
Note on the axis assignment
Note
The drives must be assigned to the axis due to the degrees of freedom that exist
for the PROFIdrive telegram configuring – also in the SI machine data.
This is the reason that the recommendations when configuring the drive
configuration also apply when configuring Safety Integrated:
S Using the standard configuration and the recommended logical basis
addresses in STEP7.
S No re–parameterization of the selected list of drive objects in drive parameter
p0978.
Under these prerequisites, the following cases can occur:
a) If the drive assignment using machine data MD 30110:
$MA_CTRLOUT_MODULE_NR, MD 30220: $MA_ENC_MODULE_NR[0/1] and
MD 13050: $MN_DRIVE_LOGIC_ADDRESS was left at the standard value, then
also the drive assignment in MD 36906: $MA_SAFE_CTRLOUT_MODULE_NR
and MD 10393: $MN_SAFE_DRIVE_LOGIC_ADDRESS must not changed.
b) If the drive assignment was changed using the machine data MD 30110:
$MA_CTRLOUT_MODULE_NR and MD 30220: $MA_ENC_MODULE_NR[0/1]
then MD 36906: $MA_SAFE_CTRLOUT_MODULE_NR should be parameterized
to the same value as for MD 30110: $MA_CTRLOUT_MODULE_NR
c) If the drive assignment was made by replacing the logical drive addresses in
MD 13050: $MN_DRIVE_LOGIC_ADDRESS, then the same marshalling should
also be made in MD 10393: $MN_SAFE_DRIVE_LOGIC_ADDRESS.
Example: Drive 1 and 2 were exchanged by interchanging index 0 and 1 of
MD 13050. MD 13050[0] was parameterized to 4140 and MD 13050[1] was
parameterized to 4100. Then, Index 0 and 1 of MD 10393 must also be
interchanged, i.e. 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
SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition
9.2 Procedure when commissioning the drive for the first time
Commissioning
9-405