Setpoint Exchange - Siemens Sinumerik 840D sl Function Manual

Interaction with other functions

11.2 Setpoint exchange

-- Using axis--specific signals DB3x.DBX34.0 ... 1, the user can select a value
from the MD field 36933 $MA_SAFE_DES_VELO_LIMIT[0..3]. This means
that independent of the active SG stage, one of four parameterized setpoint
speed limits can be activated. If the PLC user program does not provide an
input value, then the value in MD$MA_SAFE_DES_VELO_LIMIT[0] applies
S For the changeover via SGEs, the states from both monitoring channels are
taken into consideration to take into account differences in the times. This
results in the following rules:
1. Changing--over from non--safe operation in SG/SBH
There is no delay (VELO_SWITCH_DELAY), so that this changeover must
always be performed at zero speed or below the enabled SG limit.
2. Changing--over from SGx to SGy
A) SGx > SGy (braking): A lower setpoint is entered as soon as changeover
is detected in one of the two channels.
B) SGx < SGy (accelerating): A higher setpoint is only entered if both
channels have changed--over.
3. Changing--over from SG to SBH (braking)
A lower setpoint (= 0) is entered as soon as the changeover has been
detected in one of the two channels.
4. Changing--over from SBH to SG (accelerating)
A higher setpoint is only entered if both channels have changed--over.
5. Changing--over from SBH/SG into non--safe operation (accelerating)
A higher setpoint is only entered if both channels have changed--over.
S Effect of the function in the NCK interpolator:
-- Setpoint limiting is active in both the AUTO as well as in the JOG modes.
-- When changing--over while moving to higher safely reduced speeds, the
position control loop should be set so that it does not overshoot. This means
that a sudden setpoint limit change does not cause the monitoring to
respond on the actual value side.
-- When transformation is active, safety setpoint limits, effective in the interpo-
lator on an axis--for--axis basis are reduced by the transformation itself
depending on the actual position.
Note
There are no restrictions for motion from synchronous actions.
11.2 Setpoint exchange
The "setpoint changeover" function allows several axes to use a common drive. To
define the axes that should participate in a setpoint switchover, the same setpoint
channel of the drive is assigned a multiple number of times. To do this, MD30110
$MA_CTRLOUT_MODULE_NR must be preassigned the logical number of the
drive for each axis.
11-802
SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 10.2015 Edition
© Siemens AG 2015 All Rights Reserved
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