Braking Behavior For Stop B/C; Description Of Stop D - Siemens Sinumerik 840D sl Function Manual

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6.3.5

Braking behavior for STOP B/C

To support gentle braking behavior for STOP B/C, the braking operation can be
initiated completely independently of the drive. The velocity setpoint for a ramp
defined by parameter p1135 is thereby guided to zero (AUS3 ramp). In terms of
the NCK, the speed setpoint is no longer influenced.
This behavior can be selected via the machine data 36904
$MA_SAFE_ADD_FUNCTION_MASK, Bit 0 = 1.
Activation of the AUS3 ramp takes place via the drive monitoring channel. On acti-
vation of STOP B/C in this monitoring channel the AUS3 function is also activated.
If there is a time offset between activation of the STOP B/C in the NCK and drive
monitoring channel, the velocity setpoint for this time difference remains un-
changed. By replacing the stop response is between NCK and drive monitoring
channels the maximum time amounts to one monitoring cycle.
The machine data M$MA_SAFE_ADD_FUNCTION_MASK, bit 0 is included in the
axis--specific checksum $MA_SAFE_ACT_CHECKSUM[0].
6.3.6

Description of STOP D

Action in the drive monitoring channel:
The drive monitoring channel requests a path stop or braking along the actual
acceleration characteristic. In parallel, the timer is started via parameter 9553
"Transition from STOP D to SBH". The SBH function is automatically activated
after the timer expires.
Action in the NCK monitoring channel:
Essentially the same as the drive, the NC monitoring channel requests a path stop
or braking along the acceleration characteristic. In parallel, the timer is started
using MD36953 $MA_SAFE_STOP_SWITCH_TIME_D. The SBH function is auto-
matically activated after the timer expires.
S Effect:
The drive is braked in a group -- including simultaneous axes -- along the set
traversing path.
For axes, the acceleration characteristic is defined so that the axes stop within
the time saved in MD36953 $MA_SAFE_STOP_SWITCH_TIME_D. Therefore,
ensuring stopping with low associated stress on the machine.
If the acceleration behavior is now changed in the NC program, for a STOP D
the axes brake with the shortest transition time of all path axes, i.e. the transi-
tion times MD36953 must be set the same for all axes.
When booting, for all of the axes, the control checks whether the braking time
set in MD36953 is sufficient for the active acceleration characteristic of the axis.
When violated, the suppressible alarm 22001 "Channel %1 Block%2 Axis %3:
Braking ramp longer than STOP D time. Reason: %4 has been output.
© Siemens AG 2015 All Rights Reserved
SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 10.2015 Edition
Safety functions integrated in the system/drive
6.3 Safe Stops A- -F
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