Sg-Specific Stop Responses - Siemens SINUMERIK 840D Description Of Functions

11.03
Fig. 3-16
Table 3-24 Explanations of the Fig.
Time Explanation
t 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
MD 10090: $MN_SAFETY_SYSCLOCK_TIME_RATIO
For 611 digital:
t Time between an error occurring and a limit value being violated
3
t Time until the violation of a limit value is detected (maximum 1.5 monitoring clock cycles)
4
t Response time required to initiate the configured stop response (maximum 2.5 monitoring clock cycles)
5
t Time until the stop response sequence starts (time = 0, depends on configured stop response, refer to
6
Chapter 2, "Stop responses")
t Time required to bring the axis to standstill.
7
This time period and thus the residual distance traveled by the axis is determined by the axis design (motor,
mass, friction, ...) and the configured stop response (STOP C is faster than STOP D).
Note:
Each axis must be measured during start-up to determine the distance it travels between violation of the limit value
and coming to a standstill.
3.5.5

SG-specific stop responses

Configurable Using the configurable SG-specific stop response, a suitable braking behavior
SG-specific stop can be set for every SG stage in-line with the application when the particular
responses speed limit value is exceeded.
Example of possible setting:
Level SG2 is active with configured stop response STOP C in the setting-up
mode and level SG4 is active with configured stop response STOP D in the
automatic mode.
Activating The function is active whenever MD 36961/1361:
$MA_/$MD_SAFE_VELO_STOP_MODE = 5.
© Siemens AG 2003 All Rights Reserved
SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03
n
Limit value
exceeded
SG
Error
a)
n act
t
3
Timing when the limit value is exceeded with active SG
MD1300: $MD_SAFETY_CYCLE_TIME
3 Safety-Related Functions
3.5 Safely-reduced speed (SG)
c) Commencement
of stop reaction
b)
t
1
t
2
not to scale
t
t
4
6
t
5
t
7
SG_03.DS4
t
3-99