Siemens SINUMERIK 840D sl Function Manual page 142

Safety Functions Integrated in the System/Drive
6.5 Safely-reduced speed (SG)
Timing when the limit value is exceeded
When the safely-reduced speed function is active, then the timing is as follows
when the limit value is violated:
Fig. 6-13
Table 6-13 Explanation of the diagram
Time Explanation
t The position control clock cycle, defined by the following MDs:
1
MD 10050: $MN_SYSCLOCK_CYCLE_TIME
MD 10060: $MN_POSCTRL_SYSCLOCK_TIME_RATIO
t Monitoring clock cycle, defined by the following MDs:
2
for 840D sl:
MD 10090: $MN_SAFETY_SYSCLOCK_TIME_RATIO
for SINAMICS S120:
r9500 SI motion, monitoring clock cycle
t Time between an error occurring and a limit value being reached
3
t Time until a limit value violation is detected
4
(typical 1 monitoring clock cycle, maximum 1.5 monitoring clock cycles + 1 position controller
clock cycle)
t Response time required to initiate the configured stop response
5
(typical 2 monitoring clock cycles, maximum 2.5 monitoring clock cycles + 1 position controller
clock cycle)
t Time until the stop response that was initiated starts
6
(STOP A: typical 2 ms, maximum 3 position controller clock cycles + 8 ms)
(STOP B/C: typical 2 position controller clock cycles, maximum 2 position controller clock
cycles)
(STOP D/E: typical 2 interpolation clock cycles, maximum 2 interpolation clock cycles + 2
monitoring clock cycles)
6-142
SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition
n
Limit value
exceeded
b)
SG
Fault
a)
n
act
t
3
Timing when the limit value is exceeded for SG
c)
Start of the
stop
response
t
1
t
2
not to scale
t
t
6
4
t
5
t
7
© Siemens AG, 2006. All rights reserved
03.06
t