Siemens SINUMERIK 840D sl Function Manual page 80

Detailed description
2.1 Axis monitoring
Fault
If the clamping tolerance is exceeded, the following alarm appears:
26000 "Clamping monitoring"
The affected axis is stopped via the configured braking ramp in follow-up mode:
MD36610 $MA_AX_EMERGENCY_STOP_TIME
(Maximum time for braking ramp when an error occurs)
Automatic stopping for removal of the clamp
If a clamped axis must be traversed again in continuous-path mode, the NC stops the path
motion for Look Ahead at the start of the motion block of the clamped axis until the clamped
axis can once again be traversed. If the clamping is released before stopping, the path
motion is not stopped.
Parameterization:
MD36052 $MA_STOP_ON_CLAMPING = 'H01' (Special function for clamped axis)
Note
The NC detects whether an axis is clamped based on the "servo enable" state of the axis:
DB31, ... DBX2.2 = 0: no servo enable ⇒ axis is clamped
DB31, ... DBX2.2 = 1: servo enable ⇒ axis is not clamped
Prerequisites for the PLC user program
• The axis is always removed from the clamp when a travel command is pending.
• The following is always valid for the axis:
The following image shows an example of the interface signals and states upon releasing of
the axis clamp:
14
DB31, ... DBX2.2 (servo enable) = 0: Axis is clamped.
DB31, ... DBX2.2 (servo enable) = 1: Axis is not clamped.
Basic logic functions: Axis monitoring, protection zones (A3)
Function Manual, 11/2006, 6FC5397-0BP10-2BA0