Siemens SINUMERIK 840D sl Function Manual page 396

R3: Extended stop and retract
6.3 ESR executed autonomously in the drive
• MD36963 $MA_SAFE_VELO_STOP_REACTION (stop response, safely reduced speed)
• MD10089 $MN_SAFE_PULSE_DIS_TIME_BUSFAIL (wait time pulse cancellation when
the bus fails)
Delay times in the drive are configured using the following drive parameters:
• p9554 (transition time from STOP E to "Safe Operating Stop" (SOS))
• p9555 (transition time STOP F to STOP B)
• p9561 (SG stop response)
• p9563 (SG-specific stop response)
• p9580 (wait time after which the pulses are safely cancelled after bus failure)
• p9697 (delay time for the pulse suppression after bus failure)
• p9897 (delay time for the pulse suppression after bus failure)
Note
The drive parameters are automatically aligned with the corresponding NC machine data
using the Safety Integrated commissioning function "Copy SI data".
Trigger drive-integrated ESR reactions
The feedback signal of the safety stop reaction – currently active in the drive – sent to the
control is realized using the following axis-specific system variable:
• $VA_STOPSI[<axis>] (actual stop reaction)
By evaluating the system variable in a part program/synchronized action, a user-specific
response can be realized to the particular stop reaction of the axis, e.g. by triggering the
drive-integrated and/or control-managed ESR reactions using the system variable
$AN_ESR_TRIGGER and/or $AC_ESR_TRIGGER or $AA_ESR_TRIGGER.
References
A detailed description for configuring and the interaction of drive-integrated ESR responses
and Safety Integrated functions is given in:
References
Function Manual SINUMERIK Safety Integrated
396
Function Manual, 09/2011, 6FC5397-2BP40-2BA0
Special Functions