Siemens Sinumerik 840D sl Function Manual page 812

Interaction with other functions
11.10Behavior of Safety Integrated when the communication fails
Behavior of the drive monitoring channel
The drive monitoring channel, just like the NCK monitoring channel, delays its
pulse cancellation by the parameterized time. However, in addition it also keeps
the monitoring functions active, which were active at the time of the failure. The
drive can continue to monitor as it still has the correct actual value.
In the following cases, communication failure immediately triggers pulse cancella-
tion, even if a delay time has been configured:
S The SBH function is selected.
S An SG stage has been selected, where it has been previously defined that in
this SG stage no ESR should be performed in the event of communication
failure (for example: SG stage for personnel protection).
ESR executed autonomously in the drive when communications fail
Note
In the event of a communication failure between the NCK and Control Unit, only an
ESR executed autonomously in the drive is possible, which must be initiated from
the Control Unit itself. The precondition in this case is that pulse cancellation is
delayed.
Example
The following parameterization ensures that when the communication fails there is
200ms time for an ESR -- integrated in the drive -- before the pulses are cancelled.
The SG stages for personnel protection are defined differently in the individual
axes:
$MN_SAFE_PULSE_DIS_TIME_BUSFAIL= 0.2
; Parameterization for the X axis (AX1):
; pulses are immediately cancelled in all SG stages, Stop D is initiated when an SG is
; exceeded
$MA_SAFE_VELO_STOP_MODE[AX1] = 3
; Parameterization for the Y axis (AX2):
; pulses are not immediately cancelled in all SG stages, Stop D is initiated when an SG is
; exceeded
$MA_SAFE_VELO_STOP_MODE[AX2] = 13
11-812
SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 10.2015 Edition
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