Siemens Sinumerik 840D sl Function Manual page 184

Safety functions integrated in the system/drive
6.8 Safety software cams and safety cam track (SN)
S SN6
$MA_SAFE_CAM_POS_PLUS[5] = 200
$MA_SAFE_CAM_POS_MINUS[5] = 170
S SN8
$MA_SAFE_CAM_POS_PLUS[7] = 380
$MA_SAFE_CAM_POS_MINUS[7] = 350
Parameterizing the cam range assignment:
(all cams that have been enabled are assigned to cam track 2)
S $MA_SAFE_CAM_TRACK_ASSIGN[0] = 201
(cam SN1 is assigned cam range 1)
S $MA_SAFE_CAM_TRACK_ASSIGN[1] = 203
(cam SN2 is assigned cam range 3)
S $MA_SAFE_CAM_TRACK_ASSIGN[2] = 202
(cam SN3 is assigned cam range 2)
S $MA_SAFE_CAM_TRACK_ASSIGN[5] = 204
(cam SN6 is assigned cam range 4)
S $MA_SAFE_CAM_TRACK_ASSIGN[7] = 205
(cam SN8 is assigned cam range 5)
Behavior of the SGA
The SGA "cam track" is the OR logic operation of all individual cams on a cam
track. If an axis is at a cam on a cam track, then the SGA of this cam track is set
to 1. Together with the SGA "cam range", information is available as to which cam
is presently active.
The SGA "cam range" starts at the lower end of the traversing range with the
range of the 1st cam -- assigned in $MA_SAFE_CAM_TRACK_ASSIGN[n] -- on
this cam track, i.e. in this case "3". At the upper end after the last cam on this cam
track, the range SGA is set to "15". The transition of the range to the next value is
realized when moving in the positive direction always at the falling edge of an indi-
vidual cam.
The enable machine data as well as all cam limit values and range assignments
are compared crosswise between the NCK and drive.
The user can use the following to connect to the SPL interface ($A_INSI /
$A_OUTSI)
-- SGA "cam track" MD37900
$MA_SAFE_CAM_TRACK_OUTPUT[0...3] and for the
-- SGA "cam range", MD37901--37904:
$MA_SAFE_CAM_RANGE_OUTPUT_1/2/3/4[0...3] and for the
-- SGA "cam range bits", machine data 37906--37909
$MA_SAFE_CAM_RANGE_BIN_OUTPUT_1/2/3/4[0...14].
Specified machine data follow the generally valid rules when assigning the safety--
related inputs/outputs.
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SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 10.2015 Edition
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