Siemens Sinumerik 840D sl Function Manual page 564

Commissioning
9.2 Procedure when commissioning the drive for the first time
Note regarding 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 was left at the standard value via machine data
MD30110 $MA_CTRLOUT_MODULE_NR, MD30220
$MA_ENC_MODULE_NR[0/1] and MD13050 $MN_DRIVE_LOGIC_ADDRESS,
then also the drive assignment in MD36906
$MA_SAFE_CTRLOUT_MODULE_NR and MD10393
$MN_SAFE_DRIVE_LOGIC_ADDRESS must not be changed.
b) If the drive assignment was changed using the machine data MD30110:
$MA_CTRLOUT_MODULE_NR and MD30220: $MA_ENC_MODULE_NR[0/1],
then MD36906: $MA_SAFE_CTRLOUT_MODULE_NR should be parameterized
to the same value as for MD30110: $MA_CTRLOUT_MODULE_NR
c) If the drive assignment was made by interchanging the logical drive addresses
in MD13050: $MN_DRIVE_LOGIC_ADDRESS, then the same marshalling should
also be made in MD10393: $MN_SAFE_DRIVE_LOGIC_ADDRESS.
Example: Drives 1 and 2 were exchanged by interchanging MD13050, index 0 and
1. MD13050[0] was parameterized to 4140 and MD13050[1] was parameterized to
4100. Then, indices 0 and 1 of MD10393 must also be interchanged, i.e. 10393[0]
must be set to 6724 and MD10393[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".
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SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 10.2015 Edition
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