Siemens SINUMERIK 840D sl Function Manual page 46

A2: Various NC/PLC interface signals and functions
2.2 NC/PLC interface signals - only 840D sl
Alarm: "21612 Controller enable reset during motion"
● The machine axis is decelerated taking into account the parameterized duration of the
braking ramp for error states with a fast stop (speed setpoint = 0):
MD36610 $MA_AX_EMERGENCY_STOP_TIME (max. duration of the braking ramp in the
event of errors)
An alarm is displayed:
Alarm: "21612 Controller enable reset during motion"
Note
The controller enable is cancelled at the latest when the cut-off delay expires:
MD36610 $MA_AX_EMERGENCY_STOP_TIME
● The machine axis position control loop opens. Feedback via interface signal:
DB31, ... DBX61.5 == 0 (position controller active).
The time for the parameterized cut-off delay of the controller enable is started by the
machine data:
MD36620 $MA_SERVO_DISABLE_DELAY_TIME (OFF delay of the controller enable)
● As soon as the actual speed has reached the zero speed range, the drive controller enable
is cancelled. Feedback via interface signal:
DB31, ... DBX61.6 == 0 (speed controller active)
● The actual position value of the machine axis continues to be acquired by the controller.
● At the end of the braking operation, the machine axis is switched to follow-up mode,
regardless of the corresponding NC/PLC interface signal. Standstill and clamping
monitoring are not effective. See the description above for the interface signal:
DB31, ... DBX1.4 (follow-up mode).
Synchronizing the actual value (reference point approach)
Once the controller enable has been set, the actual position of the machine axis does not need
to be synchronized again (reference point approach) if the maximum permissible limit
frequency of the measuring system was not exceeded during the time in which the machine
axis was not in position-control mode.
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Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Basic Functions