Safety PLC

SINUMERIK 840C/SIMODRIVE 611D Safety Integrated
Description of functions 05/99 Edition
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Preface
Brief Description
1 2 3 4 5 6 7 A
General Information on
SINUMERIK 840 C/ SIMODRIVE 611D Safety Integrated

Description of Functions Manufacturer Documentation
Safety Systems Safe Functions
Data Descriptions
Installation and Start-Up Alarms
Configuring Example
Appendix Abbreviations List of References

Valid for
Index
Control SINUMERIK 840 C with 611D and Safety Integrated SINUMERIK 840C with 611D and Safety Integrated Software version up to 4.2
from 6.3
05/99 Edition
SINUMERIK documentation
Printing history Brief details of this edition and previous editions are listed below. The status of each edition is shown by the code in the "Remarks" column.
Status code in the "Remarks" column:

A .... B .... C .... New documentation. Unrevised reprint with new Order No. Revised edition with new status.
Edition 04/96 08/97 05/99
Order No. 6FC5 297-0AB80 - 0BP0 6FC5 297-0AB80 - 0BP1 6FC5 197-0AC50 - 0BP0
Remarks A C
This manual is included in the documentation available on CD-ROM (DOCONCD) Edition Order No. Remarks 07.99 6FC5 298-4CA00-0BG1 C
Further information is available at the following Internet website: http://www.ad.siemens.de/sinumerik This publication was produced with WinWord V 7.0, Designer V 4.0 and the DokuTool Aut2WinDoc. The reproduction, transmission or use of this document or its contents is not permitted without express written authority. Offenders will be liable for damages. All rights, including rights created by patent grant or registration of a utility model or design, are reserved. Siemens AG 1999. All Rights Reserved.
Other functions not described in this documentation might be executable in the control. This does not, however, represent an obligation to supply such functions with a new control or when servicing. We have checked that the contents of this publication agree with the hardware and software described herein. The information given in this publication is reviewed at regular intervals and any corrections that might be necessary are made in the subsequent printings. Suggestions for improvement are welcome at all times.
Subject to change without prior notice. Order No.: 6FC5 197-0AC50-0BP0 Printed in the Federal Republic of Germany Siemens-Aktiengesellschaft.
05/99
SINUMERIK Safety Integrated Preface
Preface
Notes for the reader

Structure of the documentation The SINUMERIK documentation is organized in 3 parts: General documentation User documentation Manufacturer/service documentation
Target group
This documentation is intended for machine tool manufacturers who use SINUMERIK 840D, SINUMERIK 840C with SIMODRIVE 611D and integrated safety functions (SINUMERIK Safety Integrated (SI)).
Objective
This Description of Functions gives all the information about SI functions integrated in the SINUMERIK 840D and SINUMERIK 840C with SIMODRIVE 611D that may be relevant for start-up and configuration.
Standard scope
The main areas covered by this Description of Functions are as follows: General information about integrated safety systems Description of safety functions Lists and description of all signals and data Installation and Start-up Description of alarms One example configuration
User-oriented activities such as the creation of part programs and control operating procedures are described in detail in separate documents. Separate descriptions are likewise provided of the tasks to be performed by the machine tool manufacturer such as configuring, design and PLC programming. For more detailed information on SINUMERIK 840D, SINUMERIK 840C and SIMODRIVE 611D and other publications covering all SINUMERIK controls (e.g. Universal Interface, Measuring Cycles...), please contact your local Siemens office.
Siemens AG 1999 All Rights Reserved SINUMERIK Safety Integrated (FB) - 05/99 Edition
05/99
Notes on how to use this Manual
The following reference guides are provided in this Description of Functions: Full table of contents Table of contents for each section Appendix with list of abbreviations and references General index
If you need information about a certain term, please go to the section headed Index in the Appendix and look for the term concerned. Both the section number and the page number on which you will find the information you need are listed in this section.
Products with integrated safety functions
This Descriptions of Functions applies to the following systems: SINUMERIK 840D with SIMODRIVE 611D and Safety Integrated SINUMERIK 840C with SIMODRIVE 611D and Safety Integrated
04/96 edition Note Documentation with edition date 04/96 describes the scope of functions available with the following SW versions: SINUMERIK 840D/611D with software version 3.4 SINUMERIK 840D/611D with software version 5.4
08/97 edition Note Documentation with edition date 08/97 describes the scope of functions available with the following SW versions: SINUMERIK 840D/611D with software version 4.2 SINUMERIK 840C/611D with software version 6.1
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The following table lists the main functions added since Edition 04.96 and described in Edition 08.97:
Table 0-1 Ser. Function No. 1 2 3 4 5 6 7 Override for safe speed Safe braking ramp Safe speed oriented stop reactions Safe cams for endlessly turning rotary axes Modulo display of safe actual value for rotary axes Synchronization of cam SGAs SGA n < nx SGA SBH active SGA SG active 10 Deletion of zero speed position for SBH/SG axes 11 Encoder limit frequency 300 kHz 12 Acceptance report (not a function) Notes: 1) x: Function has been added 2) Function is implemented in drive monitoring channel 3) Available from SW version 3.6 4) Available from SW version 5.7 New functions described in Edition 08.97 SINUMERIK 840D/611D 840C/611D SW 4.2 SW 6.1 1) x 2) x x x x x x x x x x x x x 3) 4) x x 3) 4) x x x x
840C 05/99 edition
Note Documentation with edition date 05/99 describes the scope of functions available with the following SW versions: SINUMERIK 840D/611D up to software version 4.2 SINUMERIK 840C/611D with software version 6.3 In the 5/99 edition of SINUMERIK 840C, essentially the following function has been added for SINUMERIK 840C/611D since the 08/97 edition:
Actual value synchronisation (Section 3.7)
840D 04/99 edition Explanation of symbols
The function extensions of the 840D are described for SW 4.4.18 in a separate 840D document, 04/99 edition (order no. 6FC5 297-5AB 80 - BP0
The following symbols with special significance are used in the documentation: Note The "Note" symbol is displayed in this document to draw your attention to information relevant to the subject in hand.
Important The "Important" symbol is displayed in this document to draw your attention to an important item of information.
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Ordering data option In this document, you will encounter the symbol shown on the left with a reference to an ordering data option. Please note that the function described can operate only if the specified option is installed in the control system.
Danger
! ! !
This symbol indicates that death, grievous injury or substantial property damage will occur if the appropriate precautions are not taken.
Warning This symbol indicates that death, grievous injury or substantial property damage may occur if the appropriate precautions are not taken.
Caution This symbol indicates that minor injuries or property damage may occur if the appropriate precautions are not taken.
Logo This symbol indicates the SINUMERIK Safety Integrated function.
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Type-examination certificate sign (BG-PRFZERT)
A type-examination certificate from the German Institute for Occupational Safety (BIA) has been granted to the SINUMERIK 840D/DE and SINUMERIK 840C/CE systems with Safety Integrated.
BG-PRFZERT mask for SINUMERIK 840D/DE with SIMODRIVE 611D and Safety Integrated
BG-PRFZERT mask for SINUMERIK 840C/CE with SIMODRIVE 611D and Safety Integrated
PRUEF_01.DS4
Fig. 0-1
Type-examination certificate sign for SINUMERIK 840D/611D and 840C/611D
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Type-examination certificate for SINUMERIK 840D/611D
Fig. 0-2
Type-examination certificate for SINUMERIK 840D and 840DE with SIMODRIVE 611D Safety Integrated
Note The Appendix mentioned above is not included in this document. If you require any data from this Appendix, please contact the department named on the Corrections/Suggestions sheet (last page).
05/99
Type-examination certificate for SINUMERIK 840C/611D
Fig. 0-3
Type-examination certificate for SINUMERIK 840C with SIMODRIVE 611D Safety Integrated
Note The Appendix mentioned above is not included in this document. If you require any data from this Appendix, please contact the department named on the Corrections/Suggestions sheet (last page).
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SINUMERIK Safety Integrated Contents
Contents
Brief Description ........................................................................................................................1-17 General Information on Safety Systems ..................................................................................2-21 2.1 Directives, standards and legislation ..........................................................................2-22 2.1.1 EU directives............................................................................................................2-22 2.1.2 Relevant safety standards .......................................................................................2-22 2.1.3 Risk analysis and assessment ................................................................................2-23 2.1.4 Type examination according to Machinery Directive ...............................................2-23 2.1.5 Product liability directive or law................................................................................2-23 2.2 Definition of terms.......................................................................................................2-24 2.2.1 General definitions of terms.....................................................................................2-24 2.2.2 Definition of terms for safety functions ....................................................................2-25 2.3 Fundamental principals of SINUMERIK Safety Integrated .........................................2-28 2.3.1 Safety category 3.....................................................................................................2-28 2.3.2 Basic characteristics of SINUMERIK Safety Integrated...........................................2-29 2.3.3 Forced dormant error detection and cross-checking ...............................................2-30 2.3.4 Safety monitoring cycle and cross-check cycle .......................................................2-31 2.3.5 User agreement .......................................................................................................2-32 2.3.6 Enabling individual safe functions ...........................................................................2-34 2.4 Encoder mounting conditions .....................................................................................2-35 2.4.1 Encoder types..........................................................................................................2-35 2.4.2 Adjustment, measurement, axis states and previous history...................................2-37 2.4.3 Overview of data for encoder mounting...................................................................2-41 2.5 Safe reaction via pulse disable paths and stops ........................................................2-42 2.5.1 Pulse disable paths .................................................................................................2-42 2.5.2 Testing pulse disable paths .....................................................................................2-44 2.5.3 Overview of machine data for pulse disable paths ..................................................2-47 2.5.4 Stop reactions..........................................................................................................2-48 2.5.5 Overview of machine data for stop reactions...........................................................2-54 2.5.6 Safe braking ramp (SBR) (840D from SW4.2, 840C from SW6.1)..........................2-55 2.5.7 Overview of machine data for SBR function ............................................................2-57 2.6 System requirements..................................................................................................2-58 2.7 Switching the control system on and off .....................................................................2-59 2.8 Error analysis..............................................................................................................2-59 2.9 Miscellaneous .............................................................................................................2-65 2.9.1 General notes ..........................................................................................................2-65 2.9.2 Information for OEM users.......................................................................................2-66 2.9.3 Application: Spindle with 2 encoders and slip caused by V-belt drive .....................2-68
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Safe Functions ...........................................................................................................................3-71 3.1 Safety-relevant input/output signals (SGE/SGA) ........................................................3-72 3.1.1 Signal processing for NCK monitoring channel .......................................................3-76 3.1.2 Signal processing for drive monitoring channel.......................................................3-80 3.1.3 Example of application.............................................................................................3-81 3.1.4 Overview of machine data for SGE/SGA .................................................................3-82 3.2 Safe standstill (SH) .....................................................................................................3-83 3.2.1 Overview of machine data for SH function ..............................................................3-84 3.3 Safe operational stop (SBH) .......................................................................................3-85 3.3.1 Selection/deselection of safe operational stop ........................................................3-86 3.3.2 Effects of tolerance window violation.......................................................................3-88 3.3.3 Overview of machine data for SBH function ............................................................3-90 3.4 Safe velocity (SG).......................................................................................................3-91 3.4.1 Selection/deselection of safe velocity......................................................................3-92 3.4.2 Safe velocity function on spindles with shift gearboxes...........................................3-94 3.4.3 Effects of speed limit violation .................................................................................3-96 3.4.4 Stop reactions specific to SG (840D, SW4.2 and higher)........................................3-98 3.4.5 Override for safe velocity (840D with SW4.2 and higher)........................................3-99 3.4.6 SGA "n < nx" and SG active (840D with SW4.2, 840C with SW6.1) .....................3-103 3.4.7 Example of application for SG function....................................................................3-105 3.4.8 Example of application for safe sensing of gear ratios ............................................3-105 3.4.9 Overview of machine data for SG function ..............................................................3-112 3.5 Safe limit positions (SE) .............................................................................................3-113 3.5.1 Effects of position limit monitoring response ...........................................................3-114 3.5.2 Overview of machine data for SE function...............................................................3-116 3.6 Safe cams (SN) ..........................................................................................................3-117 3.6.1 Effects of safe cam monitoring response ................................................................3-121 3.6.2 Example of application for safe cams ......................................................................3-122 3.6.3 Overview of machine data for SN function ..............................................................3-126 3.7 Actual value synchronization (drift/slip on two-encoder system) (SW 6.3 and higher) ...................................................................................................3-127 Data Descriptions ......................................................................................................................4-129 4.1 Machine data for SINUMERIK 840D...........................................................................4-130 4.1.1 Overview of machine data .......................................................................................4-130 4.1.2 Description of machine data ....................................................................................4-132 4.2 Machine and service data for SINUMERIK 840C .......................................................4-155 4.2.1 Overview of machine data .......................................................................................4-155 4.2.2 Description of machine data ....................................................................................4-157 4.2.3 Overview of SI service data .....................................................................................4-176 4.2.4 Description of service data ......................................................................................4-176 4.3 Machine data for SIMODRIVE 611D ..........................................................................4-180 4.3.1 Overview of machine data .......................................................................................4-180 4.3.2 Description of machine data ....................................................................................4-183 4.4 Interface signals .........................................................................................................4-195 4.4.1 Interface signals for SINUMERIK 840D ...................................................................4-196 4.4.2 Interface signals for SINUMERIK 840C ...................................................................4-197 4.4.3 Description of interface signals................................................................................4-199
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4.5 System variables ........................................................................................................4-202 4.5.1 System variables for SINUMERIK 840D..................................................................4-202 Installation and Start-Up ...........................................................................................................5-203 5.1 General information about installation and start-up....................................................5-204 5.1.1 Acceptance test and report......................................................................................5-204 5.1.2 Data copy function ...................................................................................................5-206 5.1.3 Altering data ............................................................................................................5-206 5.2 Start-up of SI functions on SINUMERIK 840D............................................................5-207 5.2.1 Operator inputs during start-up................................................................................5-207 5.2.2 Initial start-up ...........................................................................................................5-209 5.2.3 Series start-up .........................................................................................................5-212 5.2.4 Software upgrade ....................................................................................................5-212 5.2. 5 Trouble-shooting procedure....................................................................................5-213 5.3 Starting up SI functions on SINUMERIK 840C ...........................................................5-215 5.3.1 Operator inputs during start-up................................................................................5-215 5.3.2 Initial start-up ...........................................................................................................5-216 5.3.3 Software update.......................................................................................................5-219 5.3.4 Trouble-shooting procedure.....................................................................................5-219 5.3.5 Interrogation of a password for safe operation ........................................................5-219 5.3.6 Options ....................................................................................................................5-220 5.3.7 NC machine data .....................................................................................................5-220 5.3.8 Series start-up .........................................................................................................5-220 5.3.9 Acceptance report ...................................................................................................5-222 Alarms.........................................................................................................................................6-231 6.1 Alarms for SINUMERIK 840D .....................................................................................6-232 6.2 Alarms for SINUMERIK 840C .....................................................................................6-241 6.3 SIMODRIVE 611D alarms ..........................................................................................6-252 Configuring Example.................................................................................................................7-261 7.1 General information about configuring .......................................................................7-262 7.2 Example circuits for Safety Integrated ........................................................................7-263 7.2.1 Drive wiring ..............................................................................................................7-265 7.2.2 EMERGENCY STOP function..................................................................................7-266 7.2.3 Monitoring of protective door ...................................................................................7-267 7.2.4 Selection/deselection of safe operation...................................................................7-268 7.2.5 Testing the pulse disable path.................................................................................7-273 Appendix.....................................................................................................................................A-277 A.1 Abbreviations..............................................................................................................A-277 A.2 List of References ......................................................................................................A-282 A.2.1 List of references, general.......................................................................................A-282 A.2.2 List of references for SINUMERIK 840D .................................................................A-282 A.2.3 List of References for SINUMERIK 840C................................................................A-283 A.2.4 List of References for SIMODRIVE 611 ..................................................................A-283 Index ..........................................................................................................................................I-285
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Brief Description
SINUMERIK Safety Integrated can be used to implement practical protective measures for operating personnel and machinery based on innovative control and drive technology.
What is the purpose of safety systems?
Even highly automated production processes require monitoring and direct intervention by human operators. These operators are exposed to various risks even when machinery is used exactly as prescribed by the manufacturer. The general objective is to create a safety system that protects the operator, machine, tool and workpiece. All possible operating states and operating modes of the machine (e.g. installation and start-up, maintenance, setting-up, testing or automatic operation) must be taken into account when devising safety measures. In order to minimize the risks, only the most reliable and effective of protective measures should be used. The effectiveness of safety systems is based on 3 basic principles: Reliable operation Fast, selective reaction User friendliness (to make system widely acceptable to operators)
The safety measure becomes ineffective if it fails to fulfil even just one of these conditions.
What is the difference between conventional and modern approaches to safety?
A distinction is made between passive and active protective measures. The passive protective measures include, for example, fully encapsulated machines that are prevented from executing any hazardous motions with the protective door opened. Such systems generally make it difficult to implement practical machine operating procedures and are thus rejected by many users. Conventional monitoring devices that belong to the category of active protective measures are used as additional, external systems that operate independently of the control and drive electronics. They are limited to monitoring speed and zero speed (standstill). The reaction time of such devices is relatively long in relation to the acceleration capability of highly dynamic drives. The basic difference between conventional monitoring equipment and modern safety technology is that modern safety functions are completely integrated into the control and drive systems. Thanks to fully digital technology that allows master data to be applied throughout the whole system, it is now possible, for the first time in NC technology, to implement safety systems in which electronics and software are essentially responsible for safety functions. Modern safety measures have therefore become an integral component of the basic system.
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And how do these systems guarantee safety?
Safety is based on the existing multi-processor structure in fully digital systems. A two-channel system structure is formed by the drive CPU and the NC CPU. The safety functions are incorporated redundantly into the control and drive. The process quantities and safety-relevant system data are crosschecked (cross-monitored). The existing parallel drive bus ensures that the monitoring channels can communicate with one another. Safety-relevant software and hardware functions are tested at defined time intervals on the basis of forced dormant error detection. One special feature is that this safety strategy can be implemented with only one measuring system (i.e. motor measuring system). A second measuring encoder is not required, but can be installed as a direct measuring system (e.g. as linear scale). This remarkable feature has been achieved through the use of high-quality measuring circuit electronics. Safety-relevant errors in the system always result in the hazardous motion being stopped safely. This also applies to encoder errors. Special types of error require the power between the power section and motor to be disconnected. In SINUMERIK Safety Integrated, this is done without contacts and can thus be initiated with virtually no delay for specific axes. The DC link does not, therefore, need to be discharged. Note The safety strategy fulfils the requirements of safety category 3 according to EN 954-1. SINUMERIK Safety Integrated is the product of close cooperation between the "Iron and Metal II" Technical Committee (Fachausschu "Eisen und Metall II") of the German Professional Association and the German Institute for Occupational Safety (Berufsgenossenschaftliches Institut fr Arbeitssicherheit BIA).
Integrated safety functions
The SINUMERIK Safety Integrated package includes the following integrated safety functions:
Table 1-1 Safety functions in overall system Safety functions Remarks Safety-relevant I/O signals Digital signals, on two channels via separate I/O devices Safe standstill Drive pulses are cancelled Safe operational stop Drives remain closed-loop position controlled Safely reduced speed Linear and rotary Safe stopping process Transition from motion to standstill Safely limited absolute position Limit switch Safe cams Range identification
The safety functions are available in all modes and are therefore also available for machine protection. They must be coupled with the process via safety-relevant I/O signals. A further, decisive feature is the extremely short error identification time (time that elapses before the limit-value violation is detected depending on monitoring clock cycle). The response behaviour and response times can be configured. Various stop variations ranging from instantaneous power disconnection to emergency retraction along axis path can be selected.
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In the "Setting-up" operating mode, with the protective door open and without the enabling switch, the operator can traverse the feed axes in the danger zone in accordance with the valid standards. Thus, the often demanded "singlehanded control" using jog keys is possible. The drives can remain closed-loop position-controlled at any time. If a fault occurs, the system goes into a safe condition. The operator is not aware of or impeded by the safety functions. Thus, he can work freely without any restriction but can still enjoy full protection. Thus, a high level of acceptance is achieved. There is no longer any need to worry about protective functions being manipulated or tampered with as there is absolutely no reason to do this. Thus, protective functions are fully effective. The machine OEM can now easily and economically implement the safetyrelated requirements of EU Machinery Directive 89/392/EU, not only for machines covered by Appendix IV but also for other machines.
Which components can be omitted?
The integration of operator and machine safety into one strategy creates new cost-cutting potential for machine manufacturers and end users. The infrastructure of the machine is simplified Electromechanical components such as limit switches, reference cams, range cams, etc. are no longer required Axis-specific cabling is reduced to a minimum
The quantity of equipment installed in the control cubicle is also reduced. External monitoring devices are replaced Power contactors between the converter and motor can be omitted External safety-relevant signals can be connected directly via inputs/outputs Some sophisticated contactor combinations are replaced by electronic circuitry
The machine functionality is extended The drives can remain under closed-loop position control in set-up and test modes The system responses can be configured
The availability of the machine is increased Fewer wearing parts (e.g. cams, contactors) Shorter installation and start-up procedure Simpler servicing and maintenance
Conclusion
This new approach to safety offers enormous potential. From innovative technology to mechatronics (intelligent machines), modern safety systems are making a vital contribution.
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Notes
1-20
General Information on Safety Systems
2.1 Directives, standards and legislation ..........................................................................2-22 2.1.1 EU directives............................................................................................................2-22 2.1.2 Relevant safety standards .......................................................................................2-22 2.1.3 Risk analysis and assessment ................................................................................2-23 2.1.4 Type examination according to Machinery Directive ...............................................2-23 2.1.5 Product liability directive or law................................................................................2-23 2.2 Definition of terms.......................................................................................................2-24 2.2.1 General definitions of terms.....................................................................................2-24 2.2.2 Definition of terms for safety functions ....................................................................2-25 2.3 Fundamental principals of SINUMERIK Safety Integrated .........................................2-28 2.3.1 Safety category 3.....................................................................................................2-28 2.3.2 Basic characteristics of SINUMERIK Safety Integrated...........................................2-29 2.3.3 Forced dormant error detection and cross-checking ...............................................2-30 2.3.4 Safety monitoring cycle and cross-check cycle .......................................................2-31 2.3.5 User agreement .......................................................................................................2-32 2.3.6 Enabling individual safe functions ...........................................................................2-34 2.4 Encoder mounting conditions .....................................................................................2-35 2.4.1 Encoder types..........................................................................................................2-35 2.4.2 Adjustment, measurement, axis states and previous history...................................2-37 2.4.3 Overview of data for encoder mounting...................................................................2-41 2.5 Safe reaction via pulse disable paths and stops ........................................................2-42 2.5.1 Pulse disable paths .................................................................................................2-42 2.5.2 Testing pulse disable paths .....................................................................................2-44 2.5.3 Overview of machine data for pulse disable paths ..................................................2-47 2.5.4 Stop reactions..........................................................................................................2-48 2.5.5 Overview of machine data for stop reactions...........................................................2-54 2.5.6 Safe braking ramp (SBR) (840D from SW4.2, 840C from SW6.1)..........................2-55 2.5.7 Overview of machine data for SBR function ............................................................2-57 2.6 System requirements..................................................................................................2-58 2.7 Switching the control system on and off .....................................................................2-59 2.8 Error analysis..............................................................................................................2-59 2.9 Miscellaneous .............................................................................................................2-65 2.9.1 General notes ..........................................................................................................2-65 2.9.2 Information for OEM users.......................................................................................2-66 2.9.3 Application: Spindle with 2 encoders and slip caused by V-belt drive .....................2-68
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2 General Information on Safety Systems
2.1
2.1.1
Directives, standards and legislation

EU directives
EU directives, that set minimum legal standards
The following EU directives are binding as the minimum legal standards for the development and production of a machine tool and its components:
Table 2-1 EU directives that set minimum legal standards Directive Binding from Machinery Directive 89/392/EEC 1st January 1995 EMC Directive 89/336/EEC 1st January 1996 Low-Voltage Directive 73/23/EEC 1st January 1997
The SINUMERIK 840D and SINUMERIK 840C with 611D systems and their functions with SINUMERIK Safety Integrated fully comply with all applicable standards in directives specified above. Conformity with Directives Thanks to the SINUMERIK Safety Integrated system, therefore, the machine manufacturer can bring his machine into conformity to the applicable directives with little extra cost or planning.
2.1.2
Relevant safety standards
Important safety standards
In order to implement the above directives, particularly the Machinery Directive, it was necessary to apply international, European and national standards consistently in the design of SINUMERIK Safety Integrated. The most important safety standards are listed in the table below
Table 2-2 Important safety standards Standard Description DIN EN 292-1/2 Basic Concepts, General Principles for Design EN 775 (ISO 10218) Manipulating Industrial Robots; Safety EN 954 Safety Related Parts of Control Systems DIN EN 1050 Risk Assessment DIN EN 60204-1 Electrical Equipment of Machines ISO 11161 Safety of Integrated Production DIN V VDE 0801 Principles for Computers in Safety-Related Systems
Note With regard to the EMC and low-voltage directives, the relevant standards are listed in the Declarations of Conformity to be made for the equipment.
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SINUMERIK Safety Integrated 2 General Information on Safety Systems
2.1.3
Risk analysis and assessment
General
According to Machinery Directive 89/392/EEC, the manufacturer of a machine or a safety component or the person or persons responsible for placing such equipment on the market is legally obliged to carry out a risk analysis in order to determine all risks that may arise in connection with the machine or safety component concerned. He must design and construct the machine or safety component on the basis of this analysis. A risk assessment must indicate all residual risks that need to be documented.
Error analysis on SINUMERIK Safety Integrated
SINUMERIK Safety Integrated and its error analysis (see Section 2.8 Error analysis) provides the machine manufacturer with information about the measures integrated in the control and drive for dealing with errors arising as the result of internal or external disturbances. He can incorporate this information directly into his risk analysis that is based on the EU Machinery Directive, Appendix 1.
2.1.4
Type examination according to Machinery Directive
Certification of SINUMERIK Safety Integrated
SINUMERIK Safety Integrated is certified by an accredited test laboratory according to the EU Machinery Directive. SINUMERIK Safety Integrated complies with safety category 3 according to EN 954-1. SINUMERIK Safety Integrated can therefore be used on all machine tools. The machine tool manufacturer can verify his machines himself with SINUMERIK Safety Integrated regardless of whether harmonized standards exist or not. A machine must, however, pass an acceptance test successfully (see Section 5.1.1 Acceptance test and report). Verification is greatly simplified even for machines that are covered by Appendix IV of the EU Machinery Directive for which no harmonized standards yet exist. The machine manufacturer should indicate that his machine has a type examination certificate for SINUMERIK Safety Integrated in his documentation or declaration of conformity.
2.1.5
Product liability directive or law
Product liability
Damage resulting from defective products and absolute proof of the fault cause are the prerequisites for product liability. The only effective protection against such liability are measures that can prevent the occurrence or the effects of faults or errors that impair or endanger the proper operation of machinery. With SINUMERIK Safety Integrated, Siemens has implemented a safety system for operating personnel and machines that is state of the art in terms of both science and technology.
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2.2
Definition of terms
The operational safety of a machine is mainly dependent on the extent to which the machine executes or initiates hazardous movements. Isolating or proximitytype protective equipment automatically prevent the operator from gaining access to such danger zones, but occasionally it is necessary for machines to be operated with the protection equipment deactivated. Alternative safety measures are then needed that afford sufficient operator protection even in this type of situation. In many cases, the purpose of these safety schemes is to influence the movements of the electrical drive system is such a way that operators are not exposed to any risk. In such cases, the response of the drive system in the event of disturbances or faults must fulfil certain criteria. In some cases, these requirements are defined in machine-specific standards by a safety category according to EN 954-1. The requirements specified in category 1 should generally be applied to non-solid-state circuits, making allowance for the state of the art. In most cases, the control electronics of the electrical drive system are also responsible for implementing safety functions. The circuit structures required for this purpose are too complex to be covered by category 1. Unless otherwise defined in machine-specific standards, these safety-related functions must comply with the requirements stipulated in at least category 3 according to EN 954-1.
Safety considerations (extract from DKE-AK 226.03 dated January 17, 1996)
2.2.1
General definitions of terms
Reliability and safety
The terms "Reliability" and "Safety" are defined in EN 292-1 as follows:

Table 2-3 Term Reliability Reliability and safety Definition The ability of a product, a part or an apparatus to perform a required function under specific conditions and for a specified period of time without malfunction. The ability of a product to perform its function(s) and to be transported, erected, installed, maintained, disassembled and removed in compliance with the conditions of its intended use as defined by the manufacturer in the Operating Manual (and to which reference is made in some cases for certain periods in the Operating Instructions) without causing injury or ill-health.
Safety
Electrical drive system (extract from DKE-AK 226.03 dated January 17, 1996)
A units consisting of the drive control unit, power output module and drive motor including power and data leads and parts, pulse encoder, position encoder, etc. Parts of the drive control can also be integral components of the electronic control system.
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Safe (extract from DKE-AK 226.03 dated January 17, 1996)
"Safe" in connection with drive functions (e.g. safe stopping, safe operational stop, etc.) means that one of the categories according to EN 954-1 associated with the risk analysis must be applied to the behaviour of the control components. The categories to be applied are defined in machine-specific standards in some cases.
Safe operation or Safety Integrated (SI)
Safe operation (Safety Integrated, abbreviated to SI) is selected after activation of the configured safety function(s) for this machine.
Dormant error
A dormant error in the software and/or hardware is not noticeable in normal operation (because, for example, the faulty component/program is not used/processed in the currently selected operating mode. The error can be detected only if the defective component is used in the software and hardware (e.g. during testing).
2.2.2
Definition of terms for safety functions

There are different versions of the terms for safety functions used in the papers drawn up by working committees of German standards institutes (DKE-AK 226.03) and the terms used in this documentation. This is illustrated by the lists of translation terms in the following table.
Table 2-4 Translation of terms used Terms from working papers English (German) Sichere Ein-/Ausgangssignale Safe input/output signals Sicherer Halt Sicherer Betriebshalt Sicher reduzierte Geschwindigkeit 2) Sicheres Stillsetzen Sicher begrenzte Absolutlage Safe standstill Safe operational stop Safely reduced speed Safe stopping process Safely limited absolute position Safe Cam
Term used in this documentation (abbreviation) Safety-relevant I/O signals 1) (SGEs/SGAs) Safe standstill (SH) Safe operational stop (SBH) Safe speed (SG) Safe limit positions (SE)
See Section 3.1 3.2 3.3 3.4 2.5 3.5 3.6
Safe cams (SN) Note: 1): Not a function (see Section 3.1 Safety-relevant input/output signals (SGE/SGA)) 2): Not a function (see Section 2.5 Safe reaction via pulse disable paths and stops)
Safety-relevant I/O signals (SGEs/SGAs)
Safety-relevant I/O signals (SGEs/SGAs) are digital signals that are output to or arrive at the monitoring system via two channels and a range of different I/O devices. These signals are available in each monitoring channel and for each axis/spindle that has integrated safety functions. Application example: Select/deselect safe functions, output cam signals
Safe stop (extract from DKE-AK 226.03 dated January 17, 1996)
With a safe stop, the energy supply to the drive is interrupted. The drive cannot produce any torque or generate any hazardous motion. The motion is not monitored. Electrical isolation to the power supply can be used, but is not necessary. Suitable measures for implementing a safe stop are:
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Contactor between line and drive system (line contactor) Contactor between power section and drive motor (motor contactor) Safe disabling of pulses of power semi-conductors (safe pulse disabling)
If there is the possibility of force being applied by external means (e.g. dropping of vertical axes), then additional measures must be taken to safely prevent such movements (e.g. mechanical brakes). Note According to EN 60204-1, Section 5.3 machines must be provided additionally with a main switch.
Safe operational stop (extract from DKE-AK 226.03 dated January 17, 1996)
In certain cases, it is necessary to stop (operational stop) the drive system at a natural point in the product process. This operational stop corresponds to the category 2 stop according to EN 60204-1, Section 9.2.2 (see also prEN 1921 Section 5.11.4). All control functions between the electronic control and the drive motor remain active (torque, speed, position, etc.). Using the operational stop without any additional safety measures is purely functional in nature and is irrelevant with regard to safety. The safe operational stop uses additional control-related measures to prevent the drive from executing any dangerous motions as the result of errors. When the safe operational stop state is cancelled, e.g. through closing of a protective device and issue of a start command, the motion of the drive can be continued immediately at the point at which it was interrupted (see also CEN TC 143 WG3/4). Example of application: Setup mode/starting programs on automatic lathes, machining centres, automated manufacturing systems
Safely reduced speed (extract from DKE-AK 226.03 dated January 17, 1996)
Control-related measures are implemented to safely prevent the drive from exceeded a specified speed limit. The control electronics of the drive system must be devised such that the speed limit values cannot be changed by intervention from unauthorized persons. Example of application: Setup mode on automatic lathes, machining centres, automated manufacturing systems
Safe stopping process (extract from DKE-AK 226.03 dated January 17, 1996)
The safe stopping process brings the drive to a safe standstill in a way appropriate to the hazardous situation requiring the stop reaction. To implement this safety measure, the electrical, electronic and electromechanical devices responsible for braking the drive must be included in the safety scheme (with further safety measures considered). To safely prevent the drive from restarting, measures such as those described under Safe Standstill and Safe Operational Stop must be implemented immediately the drive has reached a standstill.
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Example of application: Enabling switch, electrical interlock of moving protective devices, emergency STOP Note At the present time, EN 60204 Section 9.2.2 stipulates that the energy supply must also be disconnected for the emergency STOP function.
Safely limited absolute position (extract from DKE-AK 226.03 dated January 17, 1996)
Control-related measures are implemented to ensure that the drive system switches to the "Safe standstill" or "Safe operational stop" state on reaching a specified absolute position limit value. When the limit value is set, the maximum overtravel that is technically possible must be taken into account. Measures must be taken to deal with unexpected movements of the drive below the limit value. Provided that the movement is executed in JOG mode, fault-free continuation of the motion will be tolerated on release of the command key. However, a safe stopping process must be initiated as soon as the absolute limit value is reached. The control electronics of the drive system must be devised such that the position limit values cannot be altered through intervention by unauthorized persons. Example of application: Safe electronic limit positions
Safe cams
The drive generates a safe output signal when the position actual value corresponds to a specified limit value. This output signal can be processed further in other system components. The circuitry for further processing must comply with the same safety category as the drive system itself. Measures must be taken to safely preclude the possibility of limit value manipulation by unauthorized persons. Example of application: Safe electronic cams, Safe zone sensing, Working area/protection zone delimitation
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2.3
Fundamental principals of SINUMERIK Safety Integrated

Safety category 3
2.3.1
General
The safety-related parts of the control systems SINUMERIK 840C with SIMODRIVE 611D SINUMERIK 840D with SIMODRIVE 611D and
comply with category 3 of EN 954-1.

Table 2-5 Category Categories of safety-related parts of control systems Summary of requirements System response 1) Main principle for provision of safety
The safety-related components of machine controls and/or their protective equipment and components must be designed, constructed, selected, assembled and combined in compliance with all applicable standards such as to be capable of withstanding all potentially hazardous influences. The requirements of B must be fulfilled. Use of components and principles that have proven to be effective in terms of safety. The requirements of B must be fulfilled. The use of principles that have proven to be effective in terms of safety. The safety function(s) must be tested at appropriate intervals by the machine control. Please note: The suitability of the measure depends on the application and type of the machine. The requirements of B must be fulfilled. Use of principles that have proven to be effective in terms of safety. The controls must be designed such that: a single fault/error in the control system does not cause a loss of the safety function(s) and the single fault/error is detected whenever such a scheme can be appropriately implemented.
If a fault/error occurs, it can lead to loss of the safety functions.
Selection of components As described for category B, but with a greater safety-related reliability of safety functions. The occurrence of a fault/error can lead to a loss in safety functions in-between tests. The loss of safety function(s) is detected in the course of testing.
Structurebased
The requirements of B must be fulfilled. The use of principles that have proven to be effective in terms of safety. A control system must be designed such that: StructureFaults/errors are detected a single fault/error in the control system does based promptly enough to prevent any not cause a loss of the safety function(s) and loss of safety functions. The single fault/error is detected before or as the safety function is required to take effect. If such a response cannot be implemented, then the accumulation of faults/errors must not result in a loss of the safety function(s). 1): The risk assessment states whether the total or partial loss of the safety function(s) as a result of faults/errors is acceptable.
If the single fault/error occurs, the safety function always remains operational. Some, but not all, faults/errors are detected. An accumulation of undetected faults/errors can lead to a loss of the safety function(s). If faults/errors occur, the safety function always remains operational.
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2.3.2
Basic characteristics of SINUMERIK Safety Integrated
Characteristics of twochannel, diverse structure
A two-channel, diverse structure is characterized by the following features: Two-channel structure with at least 2 independent computers (i.e. computers with different hardware and software) Cross-check of results and data with forced dormant error detection for the purpose of detecting internal errors even in functions that are seldom used (dormant errors). Accessing of data at common interfaces (e.g. actual value input) by computers is fully decoupled.
Feedback signals NCK CPU (computer 1)

Process verification with comparison, forced
Signal encoder (incremental or absolute)
Crosscheck
Pulse disable paths
Power section
Drive CPU (computer 2)

Process verification with comparison, forced
kanal_01.ds4
Feedback signals
Acquisition
Fig. 2-1
Evaluation
Reaction
Two-channel structure: Acquisition, evaluation and reaction
Acquisition
The actual values are acquired by the 611D performance closed-loop control module via the 1st actual value input (with a single-encoder system) or via the 1st and 2nd actual value inputs (with a 2-encoder system) and supplied to the control system and the drive via 2 separate actual value channels.
Evaluation
The safe functions are monitored by the NCK-CPU and the drive CPU on a mutually independent basis. Both CPUs carry out a mutual comparison (crosscheck) of their data and results in a specified cycle. A test that can be initiated by either of the CPUs can be carried out on the pulse disable paths (forced dormant error detection).
Reaction
When monitoring functions responds, the NCK and/or the drive can send control commands to the power section via pulse disable paths, thus shutting down the axis or spindle correspondingly.
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2.3.3
Forced dormant error detection and cross-checking
Forced dormant error detection
This detection process allows dormant errors in the software and hardware of the two monitoring channels to be discovered. To do so, all safety-relevant branches of the safety-relevant parts in both channels must be processed at least once within a "Time frame for dormant errors". An error in a monitoring channel will cause a deviation in the results which will be detected during the cross-check. Note The forced detection of dormant errors in the pulse disable path (test stop) must be initiated by the user (e.g. when axes are stationary after system has been switched on, when the protective door is opened or in a prespecified rhythm in each case (e.g. in an 8-hour rhythm). This detection process is not a mandatory requirement while the system is operating in automatic mode (when protective door is shut).
Cross-checking
Dormant errors in the safety-relevant data of the two monitoring channels are discovered in the course of cross-check operations. In the case of "variable data", there are tolerance values defined via machine data by which amount the results of the two channels may deviate from one another without initiating a reaction (e.g. tolerance for cross-check of actual positions). Note Errors that are discovered as a result of forced dormant error detection or cross-check operations lead to a STOP F reaction (see Section 2.5.4 Stop reactions) and initiate a further stop reaction when Safety Integrated is active.
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2.3.4
Safety monitoring cycle and cross-check cycle

The safe functions are monitored cyclically in the monitoring cycle that can be set jointly for all axes/spindles via the following machine data:
Setting the monitoring cycle time
On 840D MD 10090: $MN_SAFETY_SYSCLOCK_TIME_RATIO The specified clock cycle is checked and rounded to the next possible value when the control powers up and every time the machine data changes. The resulting monitoring cycle is displayed via MD 10091: $MN_INFO_SAFETY_CYCLE_TIME (see Section 4.1 Machine data for SINUMERIK 840D). On 840C MD 40010 (ratio between monitoring cycle and position control cycle) (see Section 4.2 Machine and service data for SINUMERIK 840C) On 611D MD 1300: $MD_SAFETY_CYCLE_TIME (see Section 4.3 Machine data for Simodrive 611D) Warning
The monitoring cycle determines the reaction time of the safe functions. It must therefore be selected as 25 ms. The greater the monitoring cycle setting, the greater the amount by which the monitored limit value is violated in the event of an error.
The cross-check cycle specifies the period within which all data to be crosschecked are compared. It is displayed via the following machine data:
Display of cross-check cycle
On 840D MD 10092: $MN_INFO_CROSSCHECK_CYCLE_TIME On 840C MD 40002 (display of cross-check cycle)
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2.3.5
User agreement
Description
"User agreement" is the confirmation by an appropriately authorized person that the currently displayed SI actual position of an axis corresponds to the actual position on the machine. To check whether this is the case, the axis can be traversed, for example, to a known position (e.g. a visual mark) or measured and the SI actual position in the "User agreement" display compared with the measurement result. An axis/spindle with integrated safety functions can have the following status: User agreement = yes or User agreement = no The "User agreement" window always displays the following data for each axis/spindle with activated Safety Integrated: Machine axis name SI position User agreement
When does user agreement need to be given?
User agreement need only be given when safe end positions (SE) and/or safe cams (SN) are being monitored for an axis/spindle. When the axis/spindle is started up for the first time. When the user intends or needs to re-reference the axis/spindle reliably by hand. If the check of the zero-speed position against the current position after POWER ON was not correct and the user agreement has been cancelled by the control system. After an axis/spindle has been parked (only if the change in position is greater than defined via MD: Tolerance actual value comparison (referencing)). After a gear change.
Note
An axis/spindle must have the status "User agreement = yes" before the functions SN and SE can be used. For further information about the user agreement function, please refer to Section 2.4.2 Adjustment, measurement, axis states and previous history. Applicable to 840D with SW 3.6 and later 840C with SW 5.7 and later
In the case of axes and spindles that do not have configured safety functions SE and SN, the stored zero-speed position is not evaluated if user agreement has not been given.
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Warning
If the axis is not reliably referenced and user agreement has not been given, then the following applies: - The safe cams are active, but not yet safe - The safe end positions are not yet active
User agreement interlock
Before user agreement can be given, the protective interlock must be cancelled: Keyswitch in position 3 user agreement can be given
The interlock must be activated again (e.g. by removal of the key) afterwards.
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2.3.6
Enabling individual safe functions
Global enable
Safe operation using safe functions SH/SBH/SG/SE/SN is enabled via an option. The SH function is operative if at least one safe function is activated. The enabling command determines the number of axes/spindles for which SINUMERIK Safety Integrated can be activated. Ordering data option SINUMERIK Safety Integrated can operate only if the appropriate option is installed.
Enabling of monitoring It is possible to select which of the monitoring functions (SBH/SG/SE/SN) is to be active for each individual axis with the following machine data: functions On 840D MD 36901: $MA_SAFE_FUNCTION_ENABLE (see Section 4.1 Machine data for SINUMERIK 840D) On 840C MD 4500* (Enable function SBH/SG/SE) MD 4504* (Cam enable safe operation) (see Section 4.2 Machine and service data for SINUMERIK 840C) On 611D MD 1301: $MD_SAFE_FUNCTION_ENABLE (see Section 4.3 Machine data for Simodrive 611D) In addition to other settings, the following functions can be enabled individually in these MD: SBH/SG SE SN1+ , SN1 -, SN2 +, SN2 -, SN3 +, SN3 - SN4 +, SN4SG correction Cam synchronization
Note To ensure that SBH is always available in the event of an error, the function SBH/SG must be activated and correctly parameterized when the function SE and/or SN is enabled. The axis-specific enabling data in the NCK must be identical to those in the drive or else an error message will be output when the data are crosschecked. An axis is treated as 1 axis in terms of the global option if at least one safety function is activated via the axis-specific enabling data. The maximum number of axes that may operate using the safe functions is determined by the number that has been enabled by the global option.
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2.4
2.4.1
Encoder mounting conditions

Encoder types
Basic types
The following basic types of encoder can be used on a drive module for the purpose of safe operation: Incremental encoder with sinusoidal voltage signals A and B (signal A in quadrature with signal B) and a reference signal R E.g.: ERN 1387, LS 186, SIZAG2 Absolute encoder with EnDat interface and incremental, sinusoidal voltage signals A and B (signal A in quadrature with signal B) E.g.: EQN 1325, LC 181
Combinations of encoder types
Various combinations can be derived from the basic types.

Table 2-6 Combinations of encoder types Incremental encoder Absolute encoder on motor on load on motor on load x x x x x x x x x x Note: x Encoder connection
Remarks 1-encoder system 1-encoder system 2-encoder system 2-encoder system 2-encoder system 2-encoder system
1-encoder system
With a 1-encoder system, the incremental or absolute encoder on the motor is used for the actual values of the NC and drive. The 611D performance closed-loop control module supplies one actual value to the NCK and drive via 2 separate actual value channels.
Connection of motor encoder (IMS) Connection of direct position encoder (DMS) FDD Fig. 2-2
Encoder Motor (FDD)
Gearbox
Machine table Backlash
G EBER_02.DS4
1-encoder system on feed drive
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Note The connection of the direct position encoder (DMS) cannot be used for the measuring system of another axis with a 1-encoder system.
2-encoder system
With this type of system, the actual values for one axis are used by 2 separate encoders. In standard applications, the drive evaluates the motor encoder and the NC, for example, the measuring system connected to the 2nd actual value input. The 611D performance closed-loop control module supplies the 2 actual values to the NCK and drive via 2 separate actual value channels.
Machine table Connection of motor encoder (IMS) Encoder Motor (FDD) Gearbox
Linear scale
Backlash
Connection of direct position encoder (DMS) FDD Fig. 2-3 2-encoder system on feed module (FDD)
GEBER_03.DS4
Connection of motor encoder (IMS) Connection of direct position encoder (DMS) MSD
Incremental encoder Motor (MSD)
GEBER_01.DS4
Shift gearbox Spindle
Incremental encoder
Fig. 2-4
2-encoder system on main spindle (MSD)
Note If the gear ratio between the motor and load is not slip-free, the 1-encoder nd system must be selected. The 2 spindle encoder is connected to another drive module via an actual-value input. SE and SN cannot be configured in such cases (see Section 2.9.3 Application: Spindle with 2 encoders and slip caused by V-belt drive).
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2.4.2
Adjustment, measurement, axis states and previous history
Adjustment of motor encoder
In 1-encoder systems, the built-in encoder is generally an integral component of the motor (the encoder is adjusted to match the motor). The information about distance, speed and rotor position (on synchronous drives) is obtained from one encoder. It is no longer possible to adjust the encoders in motor measuring systems in the conventional sense.
Measurement of machine
The machine zero and encoder zero are adjusted purely on the basis of the offset value (the machine must be measured). This process must be carried out for both incremental encoders (e.g. of type ERN) and absolute encoders (e.g. type EQN).
Absolute encoder actual value

ABSOL_01.DS4
Offset value
Position actual value
Encoder zero
Fig. 2-5
Machine zero
Positions and actual values
Power ON position/ standstill position
When the machine is measured, a known or measured position is approached by means of a clock gauge, fixed stop, etc. and the offset value then calculated. This offset is then entered in the appropriate machine data. The machine must always be measured for a position-controlled axis/spindle. References: /IAD/, /IAC/, /FBD/, SINUMERIK 840D Installation and Start-Up Guide SINUMERIK 840C Installation and Start-Up Guide SINUMERIK 840D, Descriptions of Functions R1, "Reference Point Approach
Axis state "Axis not referenced "
The axis state "Axis not referenced" is reached after the power supply has been connected and the drive and control system have finished powering up. This state is indicated via the axis-specific interface signal "Reference point reached" as follows: Interface signal "Reference point reached" = "1" "Reference point reached" = "0" On 840D On 840C Axis state "Axis referenced" Axis state "Axis not referenced"
DB31-48, DBX60.4 / DBX60.5 DB32, D0.12, D4.12, etc.
The function SBH/SG can be used only when this state has been reached. (see Fig. 2-6 Axis state during referencing)
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Axis state "Axis referenced"
With incremental encoders, the position actual value is lost when the NC is switched off. When the NC is switched on, a reference point approach must be carried out. If it is done correctly, then the axis is referenced and in the "Axis referenced" state (see Fig. 2-6 Axis state during referencing). Unlike incremental encoders, absolute encoders do not require a reference point approach after connection of the NC power supply. These encoders keep a record of the absolute position by means of, for example, a mechanical gear unit, in both the power ON and power OFF states. The absolute position is transmitted implicitly via a serial interface (EnDat interface on type EQN) when the NC is switched on. After transmission of the position and calculation of the offset value, the axis is also in the "Axis referenced" state (see Fig. 2-6 Axis state during referencing). The "Axis referenced" state is displayed via the axis-specific interface signal "Referenced point reached" as follows: Interface signal "Reference point reached" = "1" "Reference point reached" = "0" On 840D On 840C References: Axis state "Axis referenced" Axis state "Axis not referenced"
DB31-48, DBX60.4 / DBX60.5 DB32, D0.12, D4.12, etc. /IAD/, SINUMERIK 840D Installation and Start-Up Guide /IAC/, SINUMERIK 840C Installation and Start-Up Guide
Axis state "Axis safely referenced"
In order to obtain the "Axis safely referenced" state, the axis state must already be "Axis referenced" plus one of the following: The user must confirm the current position by means of the user agreement function or a previous history (stored and set user agreement and a stored standstill position on power OFF) must be available. In this case, the position specified in the previous history must tally with the current position within a tolerance window. This position data are checked in the drive and the NC.
The axis state "Axis safely referenced" is displayed via the SGA "Axis safely referenced". Only when this state is reached can reliable evaluation of position data be guaranteed for the functions SE and SN (see Fig. 2-6 Axis state during referencing).
User agreement
The user agreement function (protected via keyswitch) allows the user to confirm that the current position on the machine corresponds to the position displayed in the NC. User agreement is confirmed via a softkey. Before this can be done, the axis state "Axis referenced" must have been reached. If the axis is in this state and the user has confirmed the position by means of the agreement function, then the "Axis safely referenced" state is also reached. If user agreement is given without the axis being in the "Axis referenced" state, then alarm "Defect in a monitoring channel" is output with error code 1004. User agreement can only be given by an authorized user.
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The user agreement can be cancelled by the user or as the result of a function selection (e.g. new gear step) or an erroneous status (e.g. inconsistency in user agreement between NC and drive). When the user agreement is cancelled, the axis state "Axis safely referenced" is always reset (see Fig. 2-6 Axis state during referencing).
Stored user agreement
The status of the user agreement function is stored in non-volatile memories. This agreement data constitutes the previous history in combination with the standstill position data that is also in non-volatile storage.
Stored standstill position
The stored standstill position data are combined with the permanently stored user agreement to form the previous history. The following must be noted when the standstill position is stored: The standstill position is stored when a safe operational stop (SBH) is selected via the SGE "SBH/SG deselection". The following applies when SE/SN is active: The standstill position is also cyclically stored. If the axis is moved with the power supply disconnected, then the stored standstill position no longer tallies with the current position.
Previous history
The previous history consists of the stored user agreement and the stored standstill position (see "Stored user agreement" and "Stored standstill position"). As described under paragraph heading "Axis safely referenced", a previous history can be used to obtain the axis state "Axis safely referenced" The following conditions must be fulfilled: The stored user agreement must be available. The difference between the "Reference position" (power ON position with EQN or reference position with ERN) and the stored standstill position (including traversing distance to reference point with ERN) must be within a tolerance window specified via machine data.
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SBH/SG is reliable from this axis status
Axis status
Axis not referenced
Axis status is displayed via:

Interface signal "Reference point reaced" = "0"
EQN: Read absolute value from encoder ERN: Approach reference point
Axis status
Axis referenced
Interface signal "Reference point signal" = "1"
Previous history yes
no
Check of position Internal check of previous history Check OK Check not OK User agreement (softkey)
JUST_01.DS4
SE/SN is reliable from this Axis status axis status
Axis safely referenced
SGA "Axis safely referenced"
Fig. 2-6
Axis states during referencing
Encoder replacement
With 1-encoder systems, it is advisable to replace the entire motor in the case of a defect in the motor measuring system (indirect measuring system). Warning After the measuring system has been replaced - regardless of whether it is a direct or indirect system - the relevant axis must be re-measured.
The user can suppress the automatic, internal actual value check by resetting the "User agreement" and thus request re-measurement of the axis with user agreement.
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2.4.3
Overview of data for encoder mounting
Overview of MD for 840D
Table 2-7 Overview of machine data for 840D Number Identifier 36910 SAFE_ENC_SEGMENT_NR 36911 SAFE_ENC_MODULE_NR 36912 SAFE_ENC_INPUT_NR 36915 $MA_SAFE_ENC_TYPE 36916 $MA_SAFE_ENC_IS_LINEAR 36917 $MA_SAFE_ENC_GRID_POINT_DIST 36918 $MA_SAFE_ENC_RESOL 36920 $MA_SAFE_ENC_GEAR_PITCH 36921 $MA_SAFE_ENC_GEAR_DENOM[n] 36922 $MA_SAFE_ENC_GEAR_NUMERA[n] 36925 $MA_SAFE_ENC_POLARITY Note: The data are described in Section 4.1 Machine data for SINUMERIK 840D
Overview of MD for 840C
Table 2-8 Overview of machine data for 840C Number Name 4100* Actual value assignment for safe operation 4104* Grid spacing linear scale for safe operation 4108* Encoder marks per rev for safe operation 4112* Spindle pitch for safe operation 4116* Denominator gear unit 1 Encoder/load for safe operation 4120* Denominator gear unit 2 Encoder/load for safe operation to to 4144* Denominator gear unit 8 Encoder/load for safe operation 4148* Numerator gear unit 1 Encoder/load for safe operation 4152* Numerator gear unit 2 Encoder/load for safe operation to to 4176* Numerator gear unit 8 Encoder/load for safe operation Note: The data are described in Section 4.2 Machine and service data for SINUMERIK 840C
Table 2-9 Overview of machine data for 611D Number Identifier 1316 $MD_SAFE_ENC_CONFIG 1317 $MA_SAFE_ENC_GRID_POINT_DIST 1318 $MA_SAFE_ENC_RESOL 1320 $MA_SAFE_ENC_GEAR_PITCH 1321 $MA_SAFE_ENC_GEAR_DENOM[n] 1322 $MA_SAFE_ENC_GEAR_NUMERA[n] Note: The data are described in Section 4.3 Machine data for SIMODRIVE 611D
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2.5
2.5.1
Safe reaction via pulse disable paths and stops

Pulse disable paths
Pulse disable path for pulse suppression
The drive pulses must be suppressed via two channels. The machine manufacturer needs to complete a pulse disable path in the NCK monitoring channel and another in the drive monitoring channel (see Fig. 2-7 Pulse disable path of drive CPU and Fig. 2-8 Pulse disable path of NCK CPU). The pulse disable paths are utilized by the highest priority stop functions STOP A and STOP B with SINUMERIK Safety Integrated. These stop functions can be initiated from any monitoring channel (for example, if an active STOP C, STOP D or STOP E function has not been able to shut down the drives). It is therefore absolutely essential to ensure that the pulse disable paths operate properly (emergency anchor) and must be checked at the specified intervals (e.g. after power ON).
Pulse disable path of drive CPU
The pulse disabling test is initiated via the PLC-SGE "Test stop selection" (it can also be initiated internally in the case of an error). The SGE can be supplied by an assigned PLC HW input or by a signal (memory bit) from the PLC user program. The comparator in the drive CPU activates pulse disabling directly via the drive bus in the drive module (internal signal "Disable pulses"). The checkback signal is also output directly by the drive module via the drive bus (internal signal "Pulses disabled status). No additional wiring is required. The comparator in the drive channel is supplied via a PLC interface data block (see Section 4.4 Interface signals).
PLC
SGE "Test stop-selection" (via NCK/PLC interface)
SGA "Pulses are disabled status" Inputs/outputs

Terminal 663 Start AS1 AS2
Drive closed-loop control

"Disable pulses" signal
Timer "Pulses disabled status"
Drive_IMP" relay
"Pulses are disabled status" signal
0V
+5V
STOP A
Safety relay
SW
Fig. 2-7
HW
0V
0V
ABSCH_03.DS4
Pulse disable path of drive CPU
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Pulse disable path of NCK CPU
Pulse disabling is initiated via the NCK SGE "Test stop selection (can also be initiated internally in the case of an error). The comparator uses the SGA "Enable pulses" to cancel the enabling command at terminal 663 on the drive module. The disabled state is signalled back to the comparator in the NCK CPU via terminals AS1/AS2 of the drive module and the SGE "Pulses disabled status". The SGEs/SGAs are assigned to the NCK HW inputs/outputs via machine data.
SGE Test stop selection
(via NCKI/O devices)
SGE "Pulses are disabled status"

Start
Inputs
Enable SGA pulses

Terminal 663 Timer "Pulses disabled status"
+24V AS1 AS2
Outputs
"Drive_IMP" relay 0V
+5V
Drive bus
STOP A
0V
Safety relay 0V
ABSCH_02.DS4
NCK CPU
Drive closed-loop control
Fig. 2-8
Pulse disable path of NCK CPU
Note To set up the pulse disable path for the NCK CPU, the machine manufacturer must provide external wiring for drive terminals 663 and AS1/AS2.
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2.5.2
Testing pulse disable paths
Description
The test stop carries out a test of the entire pulse disable path plus external wiring for each monitoring channel. In the course of the test, the comparators and stop modules of the two monitoring channels that are responsible for the stop function are processed in succession.
When must a test stop be carried out?
The pulse disabling paths must be tested (forced detection of dormant errors) after the machine is switched on and thereafter in setup mode once every 8 hours at most (corresponds to safety category 3). It is advisable to carry out the test before the protective device is opened or operating personnel enter the danger area (e.g. on selection of setup mode) if the pulse disable paths have not been tested within the last 8 hours. Note The time "Test pulse disable path in setup mode within 8 hours" is not monitored by the system software. The machine manufacturer must create a monitor for this time period within his PLC user program and ensure that a warning is output or the test stop automatically initiated if the monitored time limit is exceeded.
Preconditions for the test stop
All drives must be at a standstill. The pulses must still be enabled at the outset. The manufacturer must ensure that suspended axes are securely locked in the STOP position. When the test stop is selected, the "Pulses are disabled status" signal must not be present at the PLC SGA or the "Status pulses disabled" signal at the NCK SGE or else stop reaction STOP F will be activated.
Which SGEs/SGAs are needed for the test stop ?
The following SGEs/SGAs are needed in each monitoring channel and for each axis/spindle for the purpose of the test stop: For a test stop in the NCK monitoring channel: NCK SGE "Test stop selection NCK SGE "Pulses disabled status" NCK SGA "Pulses enabled" For a test stop in the drive monitoring channel: PLC SGE "Test stop selection" PLC SGA "Pulses are disabled status
Message
The message "Test stop in progress" is displayed on the screen while a "test stop" is being executed.
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Note To ensure that the pulse disable paths have been tested reliably, the "Test stop" must be executed twice, once for the drive and once for the NC. In this way, it can be ensured that each channel is operating correctly up to the point of pulse disabling. On a 2-axis closed-loop control module, the pulse disable path must be tested for specific axes, i.e. for each axis on the module.
Test stop sequence
The test stop can be initiated as a hardware function, i.e. via a pushbutton, or as a software function, i.e. via a user-generated function block in the PLC user program (see Section 7 Configuring Example). A pulse disable is requested in the drive monitoring channel (see Fig. 2-7 Pulse disable path of drive CPU) via the PLC SGE "Test stop selection". The timer "Pulses disabled status" is started and the message "Test stop in progress" is displayed on the screen. The pulse disable signal remains active until the timer has run out and the user cancels the "Test stop selection" signal at the PLC SGE. The checkback is returned via the PLC SGA "Pulses are disabled status". This checkback signal must appear before the timer started at the beginning has run out or else a "STOP A" is activated. The PLC is able to activate the test stop in the NCK monitoring channel if the checkback signal at the PLC SGA "Pulses are disabled status" is appropriately programmed to a PLC output. Precondition: There is a wiring connection between this PLC output and the NCK SGE "Test stop selection". The pulses must be enabled again before the test stop in the NCK monitoring channel is selected. A pulse disable is requested in the NCK monitoring channel (see Fig. 2-8 Pulse disable path of NCK CPU) via the NCK SGE "Test stop selection". The timer "Pulses disabled status" is started, the NCK SGA "Enable pulses" (connected to terminal 663) output and the message "Test stop in progress" is displayed on the screen. The checkback is returned via the NCK SGE "Pulses disabled status" (arrives via terminal AS2). This checkback signal must appear before the timer started at the beginning has run out or else a "STOP A" is activated.
Testing the pulse disable paths with several axes
The test stop is executed internally in the drive monitoring channel (via the NC/PLC interface). To implement the test stop for the NCK monitoring channel, the SGEs/SGAs must be wired up appropriately for each axis. A large number of inputs and outputs are required in the NCK for this purpose when there are several axes. It is possible to group or distribute signals using an input/output assigned via machine data (see Section 4 Data Descriptions). To obtain the "Test stop selection" signal of a certain axis, it must be possible to evaluate the checkback signal "Pulses are disabled status" clearly for the same axis in order to be able to detect any existing errors.
Testing the pulse disable paths on a double-axis module
On a double-axis module, there is only one terminal 663 and one AS1/AS2 for both axes. The pulse disable path in the NCK and drive monitoring channels must still be tested in succession for both axes.
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The following example (see Fig. 3-10 Time response on violation of limit value with active SG) shows a circuit for testing the pulse disable path of the NCK with four axes, axes 3 and 4 being provided by a double-axis module.
External circuitry
E (NCK)
A (PLC) (Initiation via PLC user program)
Assignment and linking of machine data
SGE Teststop selection Axis 1 Test stop selection Axis 2 Test stop selection Axis 3 Test stop selection Axis 4 SGA Enable pulses Axis 1 Enable pulses Axis 2 Enable pulses Axis 3 Enable pulses Axis 4 SGE Pulses disabled status Axis 1 Pulses disabled status Axis 2 Pulses disabled status Axis 3 Pulses disabled status Axis 4
ZWDYN_05.DS4
Test stop selection
A (PLC) Comparator internal interface External circuitry Terminal 663 Axis 1, module 1 Terminal 663 Axis 2, module 2 Terminal 663 Axis 3, module 4 Module 3 External circuitry +24 V AS1 AS1 AS1 AS2 AS2 AS2 A (NCK) Pulse disabling via terminal 663
ANDing via MSs &
E (NCK)
Checkback signals
Terminals of SIMODRIVE 611 drive modules
Fig. 2-9
Testing the pulse disable path (NCK monitoring channel) for several axes
To test the pulse disable path in the drive monitoring channel, it is possible to access the input and output signals of all axes from the PLC program via the PLC interface.
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2.5.3
Overview of machine data for pulse disable paths
Table 2-10 Overview of machine data for 840D Number Identifier 36957 $MA_SAFE_PULSE_DIS_CHECK_TIME 36975 $MA_SAFE_STOP_REQUEST_INPUT 36976 $MA_SAFE_PULSE_STATUS_INPUT 36986 $MA_SAFE_PULSE_ENABLE_OUTPUT Note: The data are described in Section 4.1 Machine data for SINUMERIK 840D
Table 2-11 Overview of machine data for 840C Number Name 4272* Time for testing pulse disable 4608* Input assignment "Pulses disabled" status 4660* Input assignment "Test stop selection" 4740* "Enable pulses" output assignment Note: The data are described in Section 4.2 Machine and service data for SINUMERIK 840C
Table 2-12 Overview of machine data for 611D Number Identifier 1357 $MD_SAFE_PULSE_DIS_CHECK_TIME Note: The data are described in Section 4.3 Machine data for SIMODRIVE 611D
Note The input and output assignments of the SGEs/SGAs for the drive channel are made via data blocks in the PLC user program (see Section 4.4 Interface signals).
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2.5.4
Stop reactions
Description
A high degree of protection against errors is afforded by the two-channel monitoring structure with its continuous data cross-checking function. Alarms and stop reactions are the system response to the detection of differences between the two monitoring channels. The purpose of the stop reactions is to shut down the drives in a controlled manner according to the actual conditions on the machine and thus to protect the operator, machine and workpiece. There are stop reactions STOP A, B, C, D, E, F as well as the test stop. The type of stop reaction that occurs in the event of an error can either be predetermined by the system or configured by the machine manufacturer. Note Protection of operating personnel must be given top priority when stop reactions are configured. The objective must be to shut the spindle down as fast as possible (without the risk of parts flying around) and to prevent the axes from making uncontrolled traversing motions of more than 10 mm in distance.
Table 2-13 STOP A B
Overview of stop reactions Action
Effect Drive coasts to standstill Drive is braked along current limit Transition to STOP A Drive is braked along current limit SBH monitoring active On 840C: Cancellation of mode group ready signal Drive is braked in combination along set traversing path SBH monitoring active Drive combination is shut down in best possible way SBH monitoring active
Immediate disabling of pulses Immediate input of 0 speed setpoint + start timer tB tB =0 or nact < ndisable: STOP A Immediate input of 0 speed setpoint + start timer tC tC =0: Activation of SBH monitoring
Initiated in response to SBH SBH
Changes Alarm to SH POWER ON SH POWER ON
SG/SE
SBH
RESET
Brake motor along acceleration limit + start timer tD tD =0: Activation of SBH ESR (840C) is activated + start timer tE tE =0: Activation of SBH monitoring Depending on situation: a) Safety monitoring inactive: Maintained message to operator b) Safety monitoring active: Initiation of STOP B/A (configurable) c) Safety monitoring active and initiation of STOP C, D or E: Maintained message to operator
SG/SE
SBH
RESET
SG/SE
SBH
RESET
a) NC start and traversing lockout b) Transition to STOP B/A c) NC start and traversing lockout
a) RESET Data crosscheck SH b) POWER ON c) RESET
Note: The timers can be set in machine data. 1) Available only on SINUMERIK 840C
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Stop reactions SBH and SH
The following diagram shows the relationship between the stop reactions and the safe operational stop (SBH) or the safe standstill (SH).
STOP A
STOP B
STOP C
STOP D
STOP E*
STOP F
Stop
Input setpoint "0"
Stop
Input setpoint "0"
Stop
Path-relating in grouping
Stop
conditions of retraction
*): SINUM ERIK 840C only
Safe operational stop (SBH)

(standstill under position control) (if another error occurs)
Safe operational stop (SH)

(standstill by pulse disabling)
STOPR_01.DS4
Fig. 2-10
Stop reactions, safe operational stop (SBH), safe standstill (SH)
Configurable stop reactions
The stop reactions that occur in response to the violation of the limit values of safety functions SBH, SG, SE and SN defined in machine data can be selected as follows via machine data by the machine manufacturer:
Table 2-14 Safe function SBH SG SE SN Configurable stop reactions Configurable stop reactions STOP A or B STOP C,D or E STOP C,D or E No internal stop reaction. The user must configure appropriately safe reactions via the SGAs SN1 - SN4.
Note: Stop reaction STOP F is the predefined system response to discrepancies detected by the data cross-check.
Assignment table for stop reactions
Table 2-15
Stop reactions provided by SINUMERIK Safety Integrated to EN 60204-1 Stop reaction provided by Stop function to EN 60204-1 SINUMERIK Safety Integrated STOP A Category 0 1) STOP B, STOP F Category 1 STOP C, STOP D, STOP E Category 2 Note: 1): STOP F triggers STOP B if at least one safety function is active.
Priority of stop reactions
Table 2-16 Stop reaction priorities Priority level Stop reaction Highest priority STOP A STOP B ........ SGE test stop selection ....... STOP C ..... STOP D ... STOP E . Lowest priority STOP F
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Note The stop reactions listed in Table 2-16 "Stop reaction priorities" can be initiated only if at least one safety function is active (except for STOP F). Once a stop reaction has occurred, the sequence of operations it involves will be carried out, even if the cause of the stop no longer exists. It is possible to proceed to higher-priority stop reactions, but not to reactions of a lower priority. Please refer to Section 2.5.1 Pulse disable paths for an explanation of how to use the SGE test stop selection.
Internal response to stop reactions
If a stop reaction is initiated in the drive, a signal is sent to the NC that responds by initiating the same stop reaction (two-channel safety). Likewise, if a stop reaction is initiated in the NC, the drive is automatically informed and responds by requesting the same stop reaction (exception: Test stop). This mechanism ensures that stop reactions are managed with a high degree of safety.
Description of STOP A
Action in drive monitoring channel: Immediate disabling of pulses via the internal signal "Disable pulses" (see Section 2.5.1 Pulse disable paths). In addition, the pulses in the trigger set are disabled by a software function. Action in NCK monitoring channel: Disabling of pulses via the SGA "Enable pulses" (must be connected to drive terminal 663 (pulse enable).
Effect:
The drive coasts to a standstill if no external braking mechanism such as an armature short-circuit and/or holding brake is used. The axial alarm results in a mode group stop, i.e. as the result of the error in one axis, all axes and spindles in a mode group are shut down. "Safe standstill" becomes operative at the end of STOP A. The alarm message "STOP A active" is displayed. The drive cannot be restarted unintentionally after a STOP A because the error can only be acknowledged by a drive and control system POWER ON.
Alarm message: Acknowledgement:
Description of STOP B
Action in drive and NCK monitoring channels: The drive is braked along the current limit as the result of a 0 speed setpoint that is input instantaneously either directly or from the NCK via the drive bus. Action in drive monitoring channel: If the speed actual value drops below the value set in $MD_SAFE_STANDSTILL_VELO_TOL or if the timer set in $MD_SAFE_PULSE_DISABLE_DELAY has expired, the stop mode changes automatically to STOP A.
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Action in NCK monitoring channel: Analogous to the drive channel, the stop mode changes automatically to STOP A when the actual speed drops below the value in $MA_SAFE_STANDSTILL_VELO_TOL (840D) or "Creep speed pulse disabling" (840C) or on expiry of the timer set in $MA_SAFE_PULSE_DISABLE_DELAY (840D) or "Delay time pulse disable" (840C). Effect: Alarm message: Acknowledgement: The drive is braked along the current limit under speed control and finally brought to a safe standstill. The alarm message "STOP B active" is displayed. If the cause is not eliminated, another error message is output. The drive cannot be started unintentionally after a STOP B since the error can only be acknowledged by a drive and control system POWER ON. Note If the timer in machine data $MA_SAFE_PULSE_DISABLE_DELAY (840D) or "Delay time pulse disable" (840C) is set to zero, then the stop mode switches immediately from STOP B to STOP A.
rev/min nact b) a) a) Creep speed pulse disabling Delay time pulse disabling b) Creep speed is reached before delay time for pulse disabling expires
Creep speed pulse disabling
STOP A STOP B Delay time pulse disabling a) STOP B STOP A
t
STOP B_01. DS4
b)
STOP B
STOP A
Fig. 2-11
Transition from STOP B to STOP A
Description of STOP C
Action in drive monitoring channel: The drive is braked along the current limit in response to a zero speed setpoint while the timer set in $MD_SAFE_STOP_SWITCH_TIME_C is started in parallel. On expiry of the timer, the SBH function is automatically activated. Action in NCK monitoring channel: Analogous to the drive channel, the control specifies a zero speed setpoint and interface signal Position controller active (DB 31, ... DBX 61.5) set to zero (only the affected drive in 840D, all drives in the mode group in 840C). At the same time, the timer set in $MA_SAFE_STOP_SWITCH_TIME_C (840D) or "Transition time STOP C to safe operational stop" (840C) is started. As soon as the timer expires, the SBH function is automatically activated.
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Effect: Alarm message: Acknowledgement:
The drive is braked along the current limit under speed control and finally brought to a safe standstill. The alarm message "STOP C active" is displayed (see Section 6 Alarms). The drive cannot be started unintentionally after a STOP C. The error can be acknowledged by the NC RESET key Note for SINUMERIK 840C The "Mode group ready" signal is cancelled with in the STOP C mode, i.e. the controller enabling command for all axes in the mode group is cancelled.
Description of STOP D
Action in drive monitoring channel: The drive monitoring channel requests "Path stop" or "Brake along acceleration curve (NC-MD)". The timer set in $MD_SAFE_STOP_SWITCH_TIME_D is started at the same time. The SBH function is automatically activated on expiry of the timer. Action in NCK monitoring channel: Analogous to the drive channel, the control system monitoring channel requests "Path stop" or "Brake along acceleration curve (NC_MD)". The timer set in $MA_SAFE_STOP_SWITCH_TIME_D (840D) or "Transition time STOP D to safe operational stop" (840C) is started. The SBH function is automatically activated on expiry of the timer.
Effect:
The drive is braked in combination including simultaneous axes along the set traversing path. Endlessly turning axes are braked along the acceleration limit. The SBH function is automatically activated on expiry of the timer. The alarm message "STOP D active" is displayed. The drive cannot be unintentionally started after a STOP D. The error can be acknowledged with the NC-RESET key
Alarm message: Acknowledgement:
Description of STOP E (available only on 840C)
Action in drive monitoring channel: The drive monitoring channel requests Extended stopping and retraction, ESR. The timer STOP E transition time to safe operational stop is started at the same time. When the timer setting has expired, the SBH function is automatically activated. Action in NCK monitoring channel: Analogous to the response in the drive channel, the control monitoring channel requests Extended stopping and retraction, ESR. The timer Transition time STOP E to safe operational stop is started at the same time. The SBH function is automatically activated on expiry of the timer setting. References: /IAC/, SINUMERIK 840C Installation and Start-Up Guide
Effect: Alarm message: Acknowledgement: Description of STOP F
The drive combination is brought to a standstill under position control and finally switched to the safe operational stop state. The alarm message "STOP E active" is displayed. The drive system cannot be restarted unintentionally after a STOP E. The error can be acknowledged with the NC-RESET key. The STOP F reaction is permanently assigned to the result and data crosscheck function. Dormant errors in the drive and control systems are detected.
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Effect:
The system reactions to the detection of a discrepancy between the drive and NCK monitoring channels are as follows:
Reaction if no safety functions are active:
Dormant errors are detected even if there is no safety function active. The maintained message "Defect in a monitoring channel" is output on both the drive and control sides and can only be acknowledged by means of the NC-RESET key. The message does not cause any processing routines to be aborted. A system restart is prevented by an internal NC start/traversing lockout.
Reaction if one safety function is active:
Dormant errors are detected. A STOP B/A reaction is initiated in the drive and control system (see description of STOP B). Exception: If a STOP C/D/E is already active. (see Table 2-14 Configurable stop reactions). The alarm "Defect in a monitoring channel" is displayed. An entry is made in the following machine data for fine decoding of errors
Table 2-17 MD number Machine data for error fine decoding with STOP F Control Meaning 840D On the 840D system, the error code is displayed when the alarm is output. 840C Diagnosis for STOP F 611D $MD_SAFE_STOP_F_DIAGNOSIS
Alarm message:
301 1395 Note: The meaning of the error codes can be found in Section 6.1 Alarms for SINUMERIK 840D or in Section 6.2 Alarms for SINUMERIK 840C under alarm "Defect in a monitoring channel".
Acknowledgement:
The maintained alarm can be reset with the NC-RESET key. The drive cannot be restarted unintentionally after a STOP B/A since the error can only be acknowledged by a drive and control system POWER ON.
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2.5.5
Overview of machine data for stop reactions
Table 2-18 Overview of machine data for 840D Number Identifier 36952 $MA_SAFE_STOP_SWITCH_TIME_C 36953 $MA_SAFE_STOP_SWITCH_TIME_D 36954 $MA_SAFE_STOP_SWITCH_TIME_E 36956 $MA_SAFE_PULSE_DISABLE_DELAY 36960 $MA_SAFE_STANDSTILL_VELO_TOL 36961 $MA_SAFE_VELO_STOP_MODE 36962 $MA_SAFE_POS_STOP_MODE Note: The data are described in Section 4.1 Machine data for SINUMERIK 840D
Table 2-19 Overview of machine data for 840C Number Name 4276* Transition time from STOP C to safe operational stop 4280* Transition time from STOP D to safe operational stop 4284* Transition time from STOP E to safe operational stop 4268* Delay time pulse disable 4288* Creep speed pulse disabling 4508* bit 5 Stop reaction safe speed 4508* bit 4 Stop reaction safe speed 4508* bit 3 Stop reaction safe limit positions 4508* bit 2 Stop reaction safe limit positions 301 Diagnosis for STOP F Note: The data are described in Section 4.2 Machine and service data for SINUMERIK 840C
Table 2-20 Overview of machine data for 611D Number Identifier 1352 $MD_SAFE_STOP_SWITCH_TIME_C 1353 $MD_SAFE_STOP_SWITCH_TIME_D 1354 $MD_SAFE_STOP_SWITCH_TIME_E 1356 $MD_SAFE_PULSE_DISABLE_DELAY 1360 $MD_SAFE_STANDSTILL_VELO_TOL 1361 $MD_SAFE_VELO_STOP_MODE 1362 $MD_SAFE_POS_STOP_MODE 1395 $MD_SAFE_STOP_F_DIAGNOSIS Note: The data are described in Section 4.3 Machine data for SIMODRIVE 611D
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2.5.6
Safe braking ramp (SBR) (840D from SW4.2, 840C from SW6.1)
Description
This function operates on the assumption that the actual speed must decrease after a Stop request (speed characteristic monitoring). Note Re: 840D/611D: The function is available in both monitoring channels and must also be parameterized in both channels. Re: 840C/611D: The function is available in only one channel, i.e. the drive monitoring channel. However, it must be parameterized in both channels.
Characteristics of function
The main characteristics of this function are as follows: Fastest possible detection of re-acceleration of the axis during the braking process SBR monitoring is automatically activated when a STOP B or C has been activated
A STOP A is activated when the SBR monitoring responds
Activation of SBR monitoring function
When a stop request is output, the current speed plus a speed tolerance set via machine data are activated as a speed limit. This limit is compared cyclically with the actual speed (must remain the same or lower) and corrected. The monitor can therefore respond promptly if the axis starts to accelerate again during the braking operation. Machine data for the SBR speed tolerance: On 840D MD 36948: $MA_SAFE_STOP_VELO_TOL (actual speed tolerance for SBR) On 840C MD 4296*: Actual speed tolerance for SBR On 611D MD 1348: $MD_SAFE_STOP_VELO_TOL The speed limit values are corrected until the speed drops below the value entered in the following machine data. The limit is then frozen at the value set in MD 36946/1346 or MD 4292*/1346 plus the value set in MD 36948/1348 or MD 4296*/1348. On 840D MD 36946: $MA_SAFE_VELO_X (speed limit nx) On 840C MD 4292*: (speed limit nx) On 611D MD 1346: $MD_SAFE_VELO_X
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n S peed tolerance n ist
S top lim iting valu e A ctivation of S T O P B /C
SB R _01 .D S 4
nx t
Fig. 2-12
Characteristic of stop limiting value for SBR
Deactivation of SBR monitoring function
The SBR monitoring function is deactivated by setting the maximum value in MD 36948/1348: $MA_/$MD_SAFE_STOP_VELO_TOL or 4296*/1348 (actual speed tolerance for SBR).
Calculation of actual speed tolerance for SBR (at 840D and 840C)
Please note the following when parameterizing the SBR tolerance: The potential increase in speed after activation of a STOP B/C is determined by the effective acceleration rate and the period of acceleration. The period of acceleration corresponds to one position control cycle (PCC) (delay between detection of STOP B/C and nset = 0): SBR tolerance Actual speed for SBR = Acceleration * Acceleration period The following rules for setting therefore apply: On linear axis: 2 SBR tolerance [mm/min] = a [m/s ] * PCC [s] * 1000 [mm/m] * 60 [s/min] On rotary axis/spindle: 2 SBR tolerance [rev/min] = a [rev/s ] * PCC [s] * 60 [s/min] a: PCC: Acceleration Position control cycle
The following machine data settings must be taken into account in calculating the rate of acceleration: On 840D MD 32300: MAX_AX_ACCEL MD 35200: GEAR_STEP_SPEEDCTRL_ACCEL MD 35210: GEAR_STEP_POSCTRL_ACCEL MD 35410: SPIND_OSCILL_ACCEL at 840C: MD 276*, 3364* to 3388* Recommendation: The value entered for SBR tolerance should be about 20% higher than the calculated value.
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Caution Speed overshoots must not cause the SBR monitoring to respond involuntarily in normal operation. Measurements must be taken to determine the level of overshoot.
2.5.7
Overview of machine data for SBR function
Table 2-21 Overview of machine data for 840D Number Identifier 36948 $MA_SAFE_STOP_VELO_TOL 32300 $MA_MA_AX_ACCEL 35200 $MA_GEAR_STEP_SPEEDCTRL_ACCEL 35210 $MA_STEP_POSCTRL_ACCEL 35410 $MA_SPIND_OSCILL_ACCEL Note: These data are described in Section 4.1 Machine data for SINUMERIK 840D
Table 2-22 Overview of machine data for 840C Number Name 4296* Actual speed tolerance for SBR 276* Acceleration 3364* Acceleration, parameter set 2 3368* Acceleration, parameter set 3 3372* Acceleration, parameter set 4 3376* Acceleration, parameter set 5 3380* Acceleration, parameter set 6 3384* Acceleration, parameter set 7 3388* Acceleration, parameter set 8 Note: These data are described in Section 4.2 Machine and service data for SINUMERIK 840C
Table 2-23 Overview of machine data for 611D Number Identifier 1348 $MD_SAFE_STOP_ VELO_TOL Note: These data are described in Section 4.3 Machine data for SIMODRIVE 611D
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2.6
System requirements
The hardware and software requirements are as follows: Drive modules with 611D performance closed-loop control MLFB: 6SN1118-0DG23-0AA0 1-axis version, voltage signals MLFB: 6SN1118-0DH23-0AA0 2-axis version, voltage signals Performance closed-loop control, 1-axis or 2-axis version, each with additional measuring system for direct position sensing with voltage signals Indirect (1-encoder system) or direct measuring system (2-encoder system) Incremental encoder, absolute encoder (see Section 2.4.1 Encoder types) NCK I/O devices (NCU terminal block) and PLC I/O devices (S7 I/O) for the safety-relevant input/output signals (SGEs/SGAs) Applies to SN: The axis must not be an endlessly turning rotary axis (this condition no longer applies with SW 4.2 and higher) Applies to SE and SN: The 2-encoder system must be configured for suspended axes (this condition no longer applies when the Performance closed-loop control module, version B or later, is used). The axis must not be a rotary axis with indexing mechanism. SE and SN cannot be configured for an OP030 (without MMC100/MMC102).
Requirements of SINUMERIK 840D with SIMODRIVE 611D
Software version with SINUMERIK Safety Integrated (SW 3.4 and higher) Safety Integrated option
Requirements of SINUMERIK 840C with SIMODRIVE 611D
The hardware and software requirements are as follows: Drive modules with 611D performance closed-loop control MLFB: 6SN1118-0DG23-0AA0 1-axis version, voltage signals MLFB: 6SN1118-0DH23-0AA0 2-axis version, voltage signals Performance closed-loop control, 1-axis or 2-axis version, each with additional measuring system for direct position sensing with voltage signals Indirect (1-encoder system) or direct measuring system (2-encoder system) Incremental encoder, absolute encoder (see Section 2.4.1 Encoder types) NCK I/O devices (CSB module, mixed I/O module 1/2) and PLC I/O devices (S5 I/O module) for the safety-relevant input/output signals (SGEs/SGAs) Applies to SE and SN: The 2-encoder system must be configured for suspended axes (this condition no longer applies when the Performance closed-loop control module, version B or later, is used). The axis must not be an endlessly rotating axis. The axis must not be a rotary axis with indexing mechanism.
Software version with SINUMERIK Safety Integrated (SW 5.4 and higher) Safety Integrated option
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2.7
Switching the control system on and off

The safety functions are available and ready to be activated only after the control system has powered up fully. We recommend that you select the "Safe operational stop" (SBH) function. Warning The safety functions are not active while the control system is powering up. The operator may not enter any protection zones during this period.
What to remember when switching on the control
After the control has been switched on
the pulse disable paths must be tested (see Section 2.5 Safe reaction via pulse disable paths and stops).
What to remember when switching off control?
The position at which axes with safety functions reach a standstill is stored in a non-volatile memory when safe operational stop (SBH) is selected. On axes configured with SE and SN, the position data is used for an internal position checked when the system is switched on again. The following applies when SE/SN is active: The standstill position is also stored cyclically. For this reason, the user should only switch off the control when the axes/spindles with safety functions have stopped moving.
Note If the axis is moved while the control is switched off, the stored standstill position is no longer the same as the current position. In such cases, when the control is switched on again, user agreement must again be given after the position check for axes with safety functions SE and SN.
2.8
Error analysis
The SINUMERIK 840D, SINUMERIK 840C and SIMODRIVE 611D are equipped with various monitoring functions (see documentation for relevant control system) that detect system errors and initiate appropriate reactions. These standard functions do not comply with safety category 3 according to EN 954-1. The safety functions provided by the SINUMERIK Safety Integrated option that are based on data cross-checks and forced detection of dormant errors are capable of detecting system errors and of rendering the machine safe (see Section 2.5 Safe reaction via pulse disable paths and stops).
Monitoring functions
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Error analysis
A detailed error analysis function based on directives and standards has been carried out with SINUMERIK Safety Integrated. The following summary of this analysis shows which of the disturbances and system errors that have been experienced to date can be controlled by SINUMERIK Safety Integrated with no or very little residual risk.
MDIR, App. 1 Section 1.2.4 Section 1.2.7 Section 1.3.6 Remarks According to currently applicable standards (TC143), the SG function is technology-dependent, permissible only in combination with agreement, JOG mode, start button and emergency stop According to currently applicable standards (TC143), the SG function is technology-dependent, permissible only in combination with JOG mode, start button and emergency stop Low-wear, safe disconnection of power supply to drive, function does not replace machine main switch with respect to electrical isolation
Table 2-24 Error analysis in setup mode Assumed error Error causes Counteraction Safe limitation of speed Spindle speed too Defect in drive or or axis velocity with SG high control system, function; configurable encoder fault in 2encoder operation, stop function according to Cat. 2 operator error on control system, or similar cause
Axis velocity too high
Axis or spindle has illegally moved away from standstill position
Defect in drive or control system, operator error on control system, or similar cause
Safe zero speed monitoring for position control with SBH; Configurable stop function Cat. 0/1 Safe standstill with SH Stop function Cat. 0 Safe monitoring of absolute position with SE; configurable stop functions according to Cat. 2 Safe monitoring of absolute position with SN; safe signal and position data output
Section 1.2.6 Section 1.2.7 Section 1.3.6 Section 1.4.2 Section 1.4.3
Defect in drive or control system, operator error on control system, or similar cause Reaction of machine Defect in control control to erroneous system, operator error on control position signal system, or similar cause Axes have illegally exited operating area Error on the input/output of process data Defective line, faulty information, or similar cause
Section 1.2.4 Section 1.2.7 Section 1.3.7 Section 1.3.8 Section 1.2.4 Section 1.2.7 Section 1.3.8 Section 1.4.2 Section 1.4.3 Section 1.2.5 Section 1.3.8 Section 1.4.2 Section 1.4.3
Main purpose is to protect machine, can also be used to delimit working area in connection with operator protection Wear-free, safe cams, for reliable acquisition of axis positions, can be used to separate areas
Two-channel input/output of safetyrelevant signals (SGE/SGA), data cross-check; initiation of stop functions according to Cat. 1
External two-channel inputs or further processing required if function is intended to protect operating personnel
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Table 2-25 Error analysis in test mode Assumed error Error causes Counteraction Safe limitation of Spindle speed too Defect in drive or speed or axis velocity high control system, with SG; configurable encoder fault in 2stop functions encoder operation, according to Cat. 2 operator error on control system, part program error, or similar cause Axis velocity too high
MDIR, App. 1 Section 1.2.4 Section 1.2.7 Section 1.3.6
Axis or spindle has illegally moved away from standstill position
Defect in drive or control system, operator error on control system, part program error, or similar cause
Safe zero speed monitoring for position control with SBH; configurable stop function according to Cat. 0/1
Remarks According to currently applicable standards (TC143), the SG function is technology-dependent, permissible only in combination with agreement, JOG mode, start button and emergency stop According to currently applicable standards (TC143), the SG function is technology-dependent, permissible only in combination with JOG mode, start button and emergency stop Low-wear, safe disconnection of power supply to drive to allow manual intervention in danger area; function does not replace machine main switch with respect to electrical isolation
Axes have illegally exited operating area
Defect in drive or control system, operator error on control system, part program error, or similar cause Defect in drive or control system, operator error on control system, part program error, or similar cause Defective line, faulty information, or similar cause
Safe standstill with SH Stop function Cat. 0 Safe monitoring of absolute position with SE; configurable stop functions according to Cat. 2
Section 1.2.4 Section 1.2.7 Section 1.3.7 Section 1.3.8
Reaction of machine control to erroneous position signal
Safe monitoring of absolute position with SN; safe signal and position data output
Section 1.2.4 Section 1.2.7 Section 1.3.8 Section 1.4.2 Section 1.4.3 Section 1.2.5 Section 1.3.8 Section 1.4.2 Section 1.4.3
Wear-free, safe limit switches, main purpose is to protect machine, can also be used to delimit working area in connection with operator protection Wear-free, safe cams, for reliable acquisition of axis positions, can be used to separate areas
Error on the input/output of process data
Two-channel input/output of safetyrelevant signals (SGE/SGA), data cross-check; initiation of stop functions according to Cat. 1
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Table 2-26 Error analysis in automatic mode Assumed error Error causes Counteraction Safe limitation of speed Defect in drive or Spindle speed or or axis velocity with SG; control system, axis velocity too configurable stop encoder fault in 2high functions according to encoder operation, Cat. 2 operator error on control system, part program error, or similar cause Axis or spindle has illegally moved away from standstill position Defect in drive or control system, operator error on control system, part program error, or similar cause Safe zero speed monitoring for position control with SBH; configurable stop function according to Cat. 0/1
MDIR, App. 1 Section 1.2.4 Section 1.2.7 Section 1.3.6
Remarks According to currently applicable standards (TC143), the SG function is permissible only in conjunction with effective protective devices (e.g. protective doors) Low-wear, safe disconnection of power supply to motor to allow manual intervention in danger area (safe location); function does not replace machine main switch with respect to electrical isolation
Axes have illegally Defect in drive or control system, exited operating operator error on area control system, part program error, or similar cause Reaction of machine control to erroneous position signal Defect in drive or control system, operator error on control system, part program error, or similar cause Defective line, faulty information, or similar cause
Safe standstill with SH Stop function Cat. 0 Safe monitoring of absolute position with SE; configurable stop functions according to Cat. 2
Section 1.2.4 Section 1.2.7 Section 1.3.7 Section 1.3.8
Safe monitoring of absolute position with SN; safe signal and position data output
Section 1.2.4 Section 1.2.7 Section 1.3.8 Section 1.4.2 Section 1.4.3 Section 1.2.5 Section 1.3.8 Section 1.4.2 Section 1.4.3
Wear-free, safe limit switches, main purpose is to protect machine, can also be used to delimit working area in connection with operator protection Wear-free, safe cams, for reliable acquisition of axis positions, can be used to separate areas
Error on the input/output of process data
Two-channel input/output of safetyrelevant signals (SGE/SGA), data crosscheck; initiation of stop functions according to Cat. 1
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Table 2-27 General error analysis Assumed error Error causes Defect in drive or Error has not been control system, or detected because similar cause function is not active
Incorrect safetyrelated machine data (MD)
Faulty information, unintentional operator error, or similar cause
Incorrect absolute position of axis or spindle
Incorrect information, axis incorrectly referenced, or similar cause
Counteraction Time-controlled request or automatic execution of forced detection or dormant errors and data cross-check, initiation of stop functions acc. to Cat. 0 Visual check with transfer softkeys, data crosscheck, checksum generation, initiation of stop functions according to Cat. 0/1 User agreement after referencing or power ON
MDIR, App. 1 Section 1.2.7
Remarks Forced detection of dormant errors must be supported by user as a function of the process
Section 1.2.7
Must be confirmed by acceptance test during start-up
Section 1.2.7 Section 1.3.8
Encoder must be assigned to machine zero point during start-up
The counteractive measures (tables) generally comply with safety category 3 according to EN 954-1. They are devised such that the safety requirements stipulated in Machinery Directive 89/392/EEC (column headed MDIR, App. 1) can be implemented simply and economically.
Topics of section headings of MDIR, App. 1
1.2.4 1.2.5 1.2.6 1.2.7 1.3.6 1.3.7 1.3.8 1.4.2 1.4.3
Stopping, normal stopping and stopping in emergency Mode selection Failure of power supply Failure of control circuit Risks relating to variations in rotational speed of tools Preventing risks relating to moving parts Choice of protection against risks related to moving parts Special requirements of isolating protective equipment Special requirements of non-isolating protective equipment
Residual risk
As a result of the error analysis, the machine manufacturer is in the position to determine the residual risk on his machine with respect to the control system. The following residual risks are known: SINUMERIK Safety Integrated is not active until the control system and drive have fully powered up. SINUMERIK Safety Integrated cannot be activated if any one of the components of the control or drive is not switched on. Faults in the absolute track (C-D track), cyclically interchanged phases of motor connections (V-W-U instead of U-V-W) and a reversal in the control direction can cause an increase in the spindle speed or acceleration of axis motion. The category 1 and 2 STOP functions according to EN 60204-1 (defined as STOPS B to E in Safety Integrated) that are provided do not, however, take effect in response to the error. The category 0 stop function according to EN 60204-1 (defined as STOP A in Safety Integrated) is not activated until the transition or delay time set via machine data has expired.
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When SBR is active, these errors are detected (STOP B/C) and the category 0 stop function according to EN 60204-1 (A in Safety Integrated system) is activated as early as possible irrespective of this delay (see Section 2.5.6 Safe braking ramp). Electrical faults (defective components etc.) can also result in the response described above. When incremental encoders are used, the axis/spindle must be properly referenced for the safe limit positions (SE) and safe cams (SN) functions to operate reliably. When no user agreement has been given (see Section 2.3.5 User agreement), the safe end positions (SE) are not operative; the safe cams are operative, but not reliable as defined by Safety Integrated. The simultaneous failure of two power transistors in the inverter may cause the axis to move briefly (motion dependent on number of pole pairs of motor). Example: A 6-pole synchronous motor can cause the axis to move by a maximum of 30 degrees. With a leadscrew that is directly driven by, e.g. 20 mm per revolution, this corresponds to a maximum linear motion of approximately 1.6 mm. With a 1-encoder system, encoder faults are detected at one channel only, but by various HW and SW monitoring functions. These monitors may not be deactivated and must be parameterized carefully. Depending on the error type and which monitor responds, a category 0 or category 1 stop function according to EN 60204-1 (defined as STOP A or B in Safety Integrated) is activated. The category 0 stop function according to EN 60204-1 (defined as STOP A in Safety Integrated) means that the spindles/axes are not braked to zero speed, but coast to a stop (this may take a very long time depending on the level of kinetic energy involved). This must be noted, for example, when the protective door locking mechanism is opened. When a limit value is violated, the speed may exceed the set value briefly or the axis/spindle overshoot the setpoint position to a greater or lesser degree during the period between error detection and system reaction depending on the dynamic response of the drive and the parameter settings (see Section 3 Safe Functions). A position-controlled axis may be forced out of the safe operational stop state (SBH) by mechanical forces that are greater than the axis torque. In such cases, a safe standstill (SH) is activated. SINUMERIK Safety Integrated is not capable of detecting errors in parameterization and programming made by the machine manufacturer. The required level of safety can only be assured by thorough and careful acceptance testing. Drive power modules and motors must always be replaced by the same equipment type or else the parameters will no longer match the actual configuration and cause SINUMERIK Safety Integrated to respond incorrectly. The machine must be re-measured after an encoder replacement.
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2.9
2.9.1
Miscellaneous
General notes
Parking an axis
The pulse enabling command must be cancelled via drive terminal 663 before the park state is activated (via interface signal "Park"). This can be done by means of the NCK-SGE "Test stop selection" (the message "Test stop active" is then displayed). The pulse enable signal may not be applied again until the park state has been deselected.
Vertical axis
The machine manufacturer must take various measures (see Section 2.6 System requirements) to prevent vertical axes from dropping when the safe standstill function is activated (e.g. after STOP B/A).
Measuring system switchover on 840D and 840C
When the measuring systems are switched over via interface signals Position measuring system 1 (DB 31..., DBX1.5) on 840D Position measuring system 2 (DB 31..., DBX1.6) or Measuring system 1, 2 (DB 32, D(K+2) Bit 12) on 840C, the following applies: Note The encoder with which the position control is operating is switched over. However, the Safety Integrated system continues to operate with the parameterized encoder.
Gantry axes on 840D and 840C
Stop reaction STOP D should be configured for gantry axes with Safety Integrated since STOP C can cause an illegal deviation in the current positions of the axes in the gantry grouping. Note Depending on the specific application (e.g. end position monitoring), it may be necessary to stop the gantry axes as quickly as possible with STOP C.
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2.9.2
Information for OEM users
SINUMERIK 840D: Information for MMCOEM users
Please note the following if you are intending to use SINUMERIK Safety Integrated (SI) in combination with OEM applications (on MMC):
Important 1. Writing PLC interface signals using the Variable service PLC interface signals (DB31, ...) with safety-related inputs and outputs for drives must not be written using the Variable service of the NCDDE server. 2. Writing machine data using the Variable service An acceptance test must be carried out if SI machine data are modified by means of the Variable service of the NCDDE server. 3. Changing alarm priorities The alarm priorities selected for SINUMERIK Safety Integrated must not be changed. 4. Modifying alarm texts The alarm texts of SI alarms may be modified. Modifications of this type must be clearly documented for the users purposes. 5. Carry out acceptance test message box The Carry out acceptance text message box must not be modified! 6. User agreement Functions relating to user agreement (e.g. call, protection mechanism) must not be altered.
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SINUMERIK 840C: Information for MMCOEM users
Please note the following if you are intending to use SINUMERIK Safety Integrated (SI) in combination with OEM applications (Windows and Flexos variants): Important 1. Writing PLC interface signals by means of i codes The PLC interface signals for SGEs/SGAs (DB 28) must not be written or influenced via i codes. 2. Writing machine data by means of i codes If SI machine data are accidentally modified by means of i codes, the input is either rejected or interpreted as an error because special sequences have not been observed. When i codes are intentionally used to modify SI machine data, the modified data must be acceptance-tested! 3. Modifying alarms For the sake of ensuring reliable error interpretation, the alarm priorities defined for SINUMERIK Safety Integrated should not be altered! The texts of SI alarms can be modified. Modifications must be properly documented for reference by the user! 4. Carry out acceptance test message box The Carry out acceptance text message box must not be modified! 5. User agreement Functions associated with the call, protection mechanism, etc. of the user agreement must not be modified.
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2.9.3
Application: Spindle with 2 encoders and slip caused by V-belt drive
General
The cross-check function monitors the actual values between the NCK and drive for an actual-value tolerance band set in a machine data. If this tolerance band is violated, a STOP F is activated. Note It is not possible to activate safety functions SE and SN for an axis/spindle with which slip can occur between the motor and load.
System response
The system responds as follows when the configuration illustrated in Fig. 2-13 is used: The SI actual value for the drive is supplied by one encoder and the SI actual value for the NCK by the other. The slip resulting from the V-belt causes the actual values supplied by the two encoders to diverge. The actual value tolerance band is consequently violated, initiating the corresponding stop reaction.
Belt drive slip Incremental encoder Motor (HSA)
Connection of m otor encoder (IM S) Connection of direct position encoder (DM S) HSA
GEBER_04.DS4
Indexing mechanism
Spindle
Incremental encoder
Fig. 2-13
Problem with belt drive, slip between load and motor
Configuration options
In the configuration illustrated in Fig. 2-14, the SI actual values for the NCK and drive are supplied by one encoder (i.e. motor encoder). Since the actual value supplied by the motor encoder is used in both monitoring channels with this configuration, the slip is ignored (operating characteristics identical to single-encoder system). If all actual-value inputs have already been assigned, an additional module must be installed. An actual value input on another drive module must be used to position the spindle. This drive must not be an SI axis.
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Drive 1 2
4
1) 2) Incremental encoder Motor (HSA)
Belt drive slip
GEBER_05.DS4
Shift gearbox Spindle
1) 2) Incremental encoder
Fig. 2-14
Configuration for spindle with belt drive and 2 encoders
Machine data for 840D/611D
These MD values apply to 2 situations (see Fig. 2-14 Configuration for spindle with belt drive and 2 encoders): 1) Slip may exist between load and motor (belt drive) and is ignored 2) Slip may not exist between load and motor (toothed belt)
Table 2-28 MD No. 30110 30200 30220 30230 32110 36912 36925 1316 Machine data for SINUMERIK 840D MD name CTRLOUT_MODULE_NR[0] NUM_ENCS ENC_MODULE_NR[0] ENC_INPUT_NR[0] ENC_FEEDBACK_POL[0] SAFE_ENC_INPUT_NR SAFE_ENC_POLARITY SAFE_ENC_CONFIG For 1) 3 1 4 2 -1 1 1 0 MD value For 2) 3 1 3 2 -1 2 -1 4
Note As from SW 6.3, please also consider the "Actual value sychronisation" function, Section 3.7.
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Notes
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Safe Functions
3.1 Safety-relevant input/output signals (SGE/SGA) ........................................................3-72 3.1.1 Signal processing for NCK monitoring channel .......................................................3-76 3.1.2 Signal processing for drive monitoring channel.......................................................3-80 3.1.3 Example of application.............................................................................................3-81 3.1.4 Overview of machine data for SGE/SGA .................................................................3-82 3.2 Safe standstill (SH) .....................................................................................................3-83 3.2.1 Overview of machine data for SH function ..............................................................3-84 3.3 Safe operational stop (SBH) .......................................................................................3-85 3.3.1 Selection/deselection of safe operational stop ........................................................3-86 3.3.2 Effects of tolerance window violation.......................................................................3-88 3.3.3 Overview of machine data for SBH function ............................................................3-90 3.4 Safe velocity (SG).......................................................................................................3-91 3.4.1 Selection/deselection of safe velocity......................................................................3-92 3.4.2 Safe velocity function on spindles with shift gearboxes...........................................3-94 3.4.3 Effects of speed limit violation .................................................................................3-96 3.4.4 Stop reactions specific to SG (840D, SW4.2 and higher)........................................3-98 3.4.5 Override for safe velocity (840D with SW4.2 and higher)........................................3-99 3.4.6 SGA "n < nx" and SG active (840D with SW4.2, 840C with SW6.1) .....................3-103 3.4.7 Example of application for SG function....................................................................3-105 3.4.8 Example of application for safe sensing of gear ratios ............................................3-105 3.4.9 Overview of machine data for SG function ..............................................................3-112 3.5 Safe limit positions (SE) .............................................................................................3-113 3.5.1 Effects of position limit monitoring response ...........................................................3-114 3.5.2 Overview of machine data for SE function...............................................................3-116 3.6 Safe cams (SN) ..........................................................................................................3-117 3.6.1 Effects of safe cam monitoring response ................................................................3-121 3.6.2 Example of application for safe cams ......................................................................3-122 3.6.3 Overview of machine data for SN function ..............................................................3-126 3.7 Actual value synchronization (drift/slip on two-encoder system) (SW 6.3 and higher) ...................................................................................................3-127
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3.1
Description
Safety-relevant input/output signals (SGE/SGA)

The safety-relevant input and output signals (SGEs and SGAs) are digital signals that are sent or received by the system to or from a variety of I/O devices via two channels. These signals allow the following to be requested or signalled in each monitoring channel for each axis/spindle with safety functions: Selection and deselection safety functions Selection and switchover speed limit value Selection and switchover position limit value Feedback of status signals relating to safe operation Output of cam signals
Features of function
Processing in two channels for SGEs and SGAs Processing in NCK monitoring channel Processing in drive monitoring channel
Selection/deselection of safety functions independently of NC operating mode Differences between the active SGEs in the monitoring channels are detected by the result cross-check process
Two-channel processing of I/O signals
A two-channel structure (see Fig. 3-1 NCK and drive monitoring channels) is provided for the input/output and processing of safety-relevant input/output signals. All requests and checkback signals relating to safety functions must be input or picked up on a 2-channel basis via both monitoring channels.
Fig. 3-1
NCK and drive monitoring channels
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With the NCK monitoring channel, the signals are input and output via the NCK I/O devices, processed by the NCK logic operations block and mapped in the SGE/SGA interface. The signals from the drive monitoring channel are input/output via the PLC I/O devices, processed by the PLC user program and transferred to the drive or the PLC via the NC/PLC interface.
NCK HW I/O
I1 I2 ... In O1 O2 ... On
I/O images I_Fig1 I_Fig2
Processing
SGE SGA
SGE ...
NCK monitoring channel

per axis/spindle SBH/SG SE SN
...
I_Fign O_Fig1 O_Fig2
Multiple distribution
SGE ... ... SGE ... SGA ... SGA ... ... SGA...
...
O_Fign
Multiple assignment
Monitoring comparators
Machine
I1 I2 ... In O1 O2 ... On
Result and data cross-check

I_Fig1 I_Fig2
SGE ...
...
I_Fign O_Fig1 O_Fig2
PLC user program
SGE ... ... SGE ... SGA ...
per axis/spindle SBH/SG SE SN
...
O_Fign PLC HW I/O I/O images
PLC user program
SGA ... SGA...
Processing
SGE SGA
Drive monitoring channel
Process
Fig. 3-2
User
Two-channel processing of I/O signals
System
SGESGA01.DS4
The data and results in the two mutually independent monitoring channels are cross-checked. If any discrepancy is found, STOP F is activated. Note Due to the two-channel structure, SGEs and SGAs must be supplied in both the NCK monitoring channel and the drive monitoring channel by the machine manufacturer. The current status of the SGEs/SGAs is shown in display "Axis service display.
Basic principle of reliable signal processing
With a two-channel control structure, only a single-channel signal checkback by means of the PLC is needed. In contrast, when a single-channel control structure is used, a redundant, i.e. a two-channel checkback structure is required.
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What SGEs/SGAs are provided?
The following SGEs and SGAs are provided for each axis/spindle in each of the two monitoring channels:
SGEs
SBH/SG deselection SBH deselection SG selection, bit 1 SG selection, bit 0 SE selection Gear ratio selection, bit 2 Gear ratio selection, bit 1 Gear ratio selection, bit 0 Test stop selection Pulses disabled status (NCK) SG correction selection, bit 3 1) SG correction selection, bit 2 1) SG correction selection, bit 1 1) SG correction selection, bit 0 1) SBH/SG active Axis safely referenced SN1 SN2 SN3 SN4 SN1 + SN3 + SN2 + SN4 + n < nx 1) 2) SG active, bit 1 1) 2) SG active, bit 0 1) 2) SBH active 1) 2) Enable pulses (NCK) or Pulses are disabled status (drive)
SBH/SG SE SN
SGAs
1) 2)
840D from SW4.2 840C from SW6.1
SGESGA02.DSF
Fig. 3-3
SGEs and SGAs in each monitoring channel for each axis/spindle
What is the minimum number of SGEs/SGAs required?
Of the total number of SGEs/SGAs provided, only some will be required. The actual number depends on the individual application. Note SGEs that are not needed must be set to a defined signal status. In the NCK monitoring channel: By presetting the assigned machine data to appropriate values (e.g. preset input permanently to 0 (default) or 1) In the drive monitoring channel: By appropriate programming of the interface signals in the PLC user program
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Table 3-1 Function Safe operational stop (SBH) Safe velocity (SG)
Safe end positions (SE)
Safe cams (SN)
Minimum SGE/SGA requirements Minimum SGE requirements SBH/SG deselection SBH deselection Test stop selection Pulses disabled status (NCK) SBH/SG deselection SBH deselection SG selection, bit 1 (for SG switchover only) SG selection, bit 0 (for SG switchover only) Gear ratio selection, bit 2 (for ratio selection only) Gear ratio selection, bit 1 (for ratio selection only) Gear ratio selection, bit 0 (for ratio selection only) Test stop selection Pulses disabled status (NCK) SE selection (for SE switchover only) Test stop selection Pulses disabled status (NCK) SBH/SG deselection (at least for test during start-up) Test stop selection Pulses disabled status (NCK) SBH/SG deselection (at least for test during start-up)
Minimum SGA requirements SBH/SG active Enable pulses (NCK) Pulses are disabled status (drive) SBH/SG active Enable pulses (NCK) Pulses are disabled status (drive)
Axis safely referenced Enable pulses (NCK) Pulses are disabled status (drive)
Axis safely referenced SN1 -, SN2 -, SN3 -, SN4 (only if required) SN1 +, SN2 +, SN3 +, SN4 + (only if required) Enable pulses (NCK) Pulses are disabled status (drive)
Different signal transit times in channels
The time response of the signal characteristic in the two monitoring channels varies (the PLC cycle time takes up most of the available time in the drive monitoring channel. To prevent the result and data cross-check function from being activated immediately after a signal change, a tolerance time is defined via the following machine data: On 840D MD 36950: $MA_SAFE_MODE_SWITCH_TIME On 840C MD 4260*: (tolerance time for SGE switchover) On 611D MD 1350: $MD_SAFE_MODE_SWITCH_TIME This data specifies the time period for which different signals states may be tolerated after the switchover of SGEs before an error message is output. Note System-dependent minimum tolerance time: 2 x PLC cycle time (maximum cycle) + 1 x IPO cycle time The variations in transit time in the external circuitry (e.g. relay operating times) must also be taken into account.
NCK SGEs/SGAs
There are SGEs and SGAs for each axis/spindle (see Fig. SGEs and SGAs in each monitoring channel for each axis/spindle").
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The signals are assigned to the NCK inputs and outputs via machine data. Only those NCK SGEs that are required for the application in question may be assigned to an NCK input. In the case of axes, for example, without a gear speed change, there is no need to assign any HW inputs for the NCK SGEs "Gear ratio selection, bits 2 to 0. The relevant MD must be set to "0" (i.e. the NCK SGE does not have a HW assignment and is set definitively to "0").
PLC SGEs/SGAs
The NC/PLC interface (axis/spindle DB) acts as the SGE/SGA interface between the PLC and drive for the drive monitoring channel. The PLC user program must supply this interface. The standard PLC I/O devices must be used to input/output signals to/from the machine. The machine manufacturer defines in the PLC user program whether the SGEs/SGAs are processed via the PLC I/O devices or whether they are generated and evaluated internally in the software. His choice depends upon the application. Only the PLC SGEs that are required for the application in question may be processed in the PLC user program. Any unused SGEs must be set definitively to the value "0".
3.1.1
Signal processing for NCK monitoring channel

Note The SGEs/SGAs must be supplied in both the NCK monitoring channel and in the drive monitoring channel by the machine manufacturer.
Signal processing for NCK monitoring channel with SINUMERIK 840D

Digital NCK inputs/outputs on 840D The following digital NCK inputs/outputs for SGEs/SGAs are available on the SINUMERIK 840D:
Table 3-2 NCU 572/573 Digital NCK inputs/outputs for SGEs/SGAs on 840D Number of digital NCK inputs/outputs 128 DI/128 DO (via NCU terminal block, see the following note)
References: References:
/FB/, A4, Digital and Analog NCK I/Os /HDB/, NCU Manual, SINUMERIK 840D
Please note the following with regard to NCK I/O devices: The NCK I/O devices are implemented by means of 2 NCU terminal blocks and DMP compact modules. In comparison to "normal" NCK inputs/outputs (see References: /FB/, A4, Digital and Analog NCK I/Os), other additional NCK inputs/outputs are used for the Safety Integrated option. The "normal" NCK inputs and those for the Safety Integrated option may also be used for both purposes. An appropriate alarm is generated for NCK outputs that are assigned twice.
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Note The digital inputs/outputs are reserved byte-serially for SGEs/SGAs. If at least 1 input/output is used for SGEs/SGAs, then the remaining inputs/outputs of the byte concerned cannot be used for other functions. The machine manufacturer is responsible for ensuring that digital NCK inputs are not assigned twice (resulting in conflict) by configuring them correctly. The number of NCK SGEs/SGAs is limited on the SINUMERIK 840D only by the maximum available number of NCK I/O device slots.
Processing of NCKSGEs on 840D (multiple distribution)
Axis-specific/spindle-specific machine data are used to define which input is to be used for which function and which axis/spindle. On condition that certain axes/spindles belong to the same safety grouping, it is possible to implement multiple distribution (1 input is assigned, for example, to 3 axes with the same function). In addition, when an NCK input is selected via MD, it is also possible to define whether the signal is to be inverted for processing.
NCK HW E1 E2 Ex ... ...

..... .
Multiple distribution
NCK SGE/SGA interface ... SGE ... ... ... SGE ... ... ... SGE ... ... ...
Inversion Invertierung ...
for axis 1
... ... for axis 2 ... ... for axis 3 ...
... ... En Fig. 3-4

SGESGA05.DS4
Multiple distribution of NCK inputs
Example
It must be possible to switch over between safe end positions 1 and 2 for axes 1, 2 and 3 as a group via an NCK input "x". To do so, the following machine data must be parameterized: Axis 1: MD 36973: $MA_SAFE_POS_SELECT_INPUT = input x Axis 2: MD 36973: $MA_SAFE_POS_SELECT_INPUT = input x Axis 3: MD 36973: $MA_SAFE_POS_SELECT_INPUT = input x (input x = ss mm xx nn, see Section 4.1 Machine data for SINUMERIK 840D)
Processing of NCK SGAs on 840D (multiple assignment)
Axis-specific/spindle-specific machine data are used to define which SGA from which axis/spindle must be assigned to which NCK output. It is possible to implement a multiple assignment (SGAs from several axes, for example, are assigned to 1 output) provided that certain axes/spindles belong to the same safety group.
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The SGAs are then ANDed and the result output at the NCK output. In addition, when an NCK output is selected via MD, it is also possible to define whether the signal is to be output in inverted form before it is ANDed.
NCK HW O1 O2 Ox ... ... ... ... ... On
Multiple assignment
Inversion ... ...
NCK SGE/SGA interface ... ... SGA ... ... ... SGA
for axis 1
&
... ... ... ... ...
for axis 2
... ... ... SGA ... for axis 3

SGESGA06.DS4
Fig. 3-5
Multiple assignment to NCK outputs
Example
Axes 1, 2 and 3 belong to one safety area. The message "Axes safely referenced" must be output at one NCK output for these axes (i.e. the message appears at the output if the message is active for all 3 axes). The machine data must be parameterized as follows: Axis 1: MD 36987: $MA_SAFE_REFP_STATUS_OUTPUT = output x Axis 2: MD 36987: $MA_SAFE_REFP_STATUS_OUTPUT = output x Axis 3: MD 36987: $MA_SAFE_REFP_STATUS_OUTPUT = output x (output x = ss mm xx nn, see Section 4.1 Machine data for SINUMERIK 840D)
Signal processing in NCK monitoring channel with SINUMERIK 840C

Digital NCK inputs/outputs on 840C NCK inputs and outputs for SGEs/SGAs can be implemented on the SINUMERIK 840C by means of the following modules: CSB module and mixed I/O module
The following digital inputs/outputs are available with the SINUMERIK 840C:
Table 3-3 Digital NCK inputs/outputs for SGEs/SGAs on 840C Module Number of digital inputs/outputs CSB module 8 DI Mixed I/O module 1 16 DI/16 DO Mixed I/O module 2 16 DI/16 DO
References: References:
/NAC/, Interface Description Part 2: Terminal Conditions /IAC/, Installation and Start-Up Guide
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Screen for NCK inputs and outputs on 840C
With a SINUMERIK 840C, it must be defined via the following machine data which NCK inputs and outputs are to be used on the CSB module and mixed I/O module 1 or 2 for safety functions: MD 45800, 45802, 45803, 45804, 45805, 45808, 45809, 45810 and 45811 (see Section 4.2 Machine and service data for SINUMERIK 840C). Note The NCK inputs and outputs that are not reserved for safety functions can be used for other functions. The machine manufacturer is responsible for ensuring that digital NCK inputs are not assigned twice (resulting in conflict) by configuring them correctly.
Processing of NCK input signals on 840C (multiple distribution)
Axis-specific/spindle-specific machine data are used to define which input is to be used for which function and which axis/spindle. On condition that certain axes/spindles belong to the same safety grouping, it is possible to implement multiple distribution (1 input is assigned, for example, to 3 axes with the same function) (see Fig. 3- 4 Multiple distribution of NCK inputs). In addition, when an NCK input is selected via MD, it is also possible to define whether the signal is to be inverted for processing.
Example
It must be possible to select limit position 1 or 2 for axes 1, 2 and 3 on an axisspecific basis via an NCK input "x". The following machine data must be parameterized for this purpose: Axis 1: MD 46480 = input x Axis 2: MD 46481 = input x Axis 3: MD 46482 = input x (input x = s mm xx nn y, see Section 4.2 Machine and service data for SINUMERIK 840C)
Processing of NCK output signals on 840C (multiple assignment)
Axis-specific/spindle-specific machine data are used to define which SGA from which axis/spindle must be assigned to which NCK output. It is possible to implement a multiple assignment (SGAs from several axes, for example, are assigned to 1 output) (see Fig. 3-5 Multiple assignment to NCK outputs) provided that certain axes/spindles belong to the same safety group. The SGAs are then ANDed and the result output at the NCK output. In addition, when an NCK output is selected via MD, it is also possible to define whether the signal is to be output in inverted form before it is ANDed. Axes 1, 2 and 3 belong to one safety area. The message "Axes safely referenced" must be output at one NCK output for these axes (i.e. the message appears at the output if the message is active for all 3 axes). The machine data must be parameterized as follows:
Example
Axis 1: MD 47360 = output x Axis 2: MD 47361 = output x Axis 3: MD 47362 = output x (output x = s mm xx nn y, see Section 4.2 Machine and service data for SINUMERIK 840C)
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3.1.2
Signal processing for drive monitoring channel
General
The safety-relevant input and output signals (SGEs and SGAs) are signals that are sent to and received from the system via two channels: Via the NCK monitoring channel <--> NCK I/O devices <--> signal processing <--> NCK SGE/SGA interface <-> NCK-CPU Via the drive monitoring channel <--> PLC I/O devices <--> signal processing via PLC <--> NC/PLC interface <--> drive CPU
Note The SGEs/SGAs must be supplied by the machine manufacturer in both the drive monitoring channel and the NCK monitoring channel.
Signal processing for drive monitoring channel with SINUMERIK 840D

Digital PLC inputs/outputs on 840D Digital PLC inputs and outputs are implemented on the SINUMERIK 840D by means of SIMATIC S7-300 I/O devices. References: /S7H/, SIMATIC S7-300
Processing of signals on 840D
A PLC module that is compatible with the SIMATIC S7 AS314 is used as the PLC on the SINUMERIK 840D. Signals are processed according to the PLC user program. (see Section 4.4.1 Interface signals for SINUMERIK 840D). References: /FB/, P3, "Basic PLC Program"
PLC SGE/SGA interface on 840D
The machine status is transferred to the monitoring comparators for specific axes/spindles via the PLC inputs and the PLC user program. The PLC SGE/SGA interface is imaged by the following axis-/spindle-specific data blocks: DB 31-48 (for bit assignment of data block, see Section 4.4.1 Interface signals for SINUMERIK 840D)
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Signal processing for drive monitoring channel with SINUMERIK 840C

Digital PLC inputs/outputs on 840C Special input/output modules are available for implementing digital PLC inputs and outputs on the SINUMERIK 840C. References: /NAC/, SINUMERIK 840C, Interface Description, Part 2: Terminal Conditions
Processing of signals on 840C
The module PLC-CPU 135WD is used as the PLC on the SINUMERIK 840C. The system is program in commands that are compatible with SIMATIC S5. The signals for the safety functions are processed by the PLC user program (see Section 4.4.2 Interface signals for SINUMERIK 840C). References: /WDC/, Planning Guide PLC 135 WB/WB2/WD
PLCSGE/SGA interface on 840C
The machine status is transferred to the monitoring comparators for specific axes/spindles via the PLC inputs and the PLC user program. The PLC SGE/SGA interface is imaged by the following axis-/spindle-specific data block: DB 28 (for bit assignment of data block see Section 4.4.2 Interface signals for SINUMERIK 840C)
3.1.3
Example of application
Examples of applications in the following sections show how SGEs and SGAs are connected up, processed and defined in the NCK and drive monitoring channels: Section 3.4.8 Example of application for safe sensing of gear ratios Section 3.6.2 Example of application for safe cams
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3.1.4
Overview of machine data for SGE/SGA
Table 3-4 Overview of machine data for 840D Number Identifier 36950 $MA_SAFE_MODE_SWITCH_TIME 36970 $MA_SAFE_SVSS_DISABLE_INPUT 36971 $MA_SAFE_SS_DISABLE_INPUT 36972 $MA_SAFE_VELO_SELECT_INPUT>n@ 36973 $MA_SAFE_POS_SELECT_INPUT 36974 $MA_SAFE_GEAR_SELECT_INPUT>n@ 36975 $MA_SAFE_STOP_REQUEST_INPUT 36976 $MA_SAFE_PULSE_STATUS_INPUT 36980 $MA_SAFE_SVSS_STATUS_OUTPUT 36986 $MA_SAFE_PULSE_ENABLE_OUTPUT 36987 $MA_SAFE_REFP_STATUS_OUTPUT 36988 $MA_SAFE_CAM_PLUS_OUTPUT>n@ 36989 $MA_SAFE_CAM_MINUS_OUTPUT>n@ Note: The data are described in Section 4.1 Machine data for SINUMERIK 840D
Table 3-5 Overview of machine data for 840C Number Name 4260* Tolerance time for SGE switchover 45800 SGE screen CSB (low) 45802 SGE screen MIXED I/O 1 (low) 45803 SGE screen MIXED I/O 1 (high) 45804 SGE screen MIXED I/O 2 (low) 45805 SGE screen MIXED I/O 2 (high) 45808 SGA screen MIXED I/O 1 (low) 45809 SGA screen MIXED I/O 1 (high) 45810 SGA screen MIXED I/O 2 (low) 45811 SGA screen MIXED I/O 2 (high) 4600* Input assignment SBH/SG deselection 4604* Input assignment SBH deselection 4608* Input assignment "Pulses disabled" status 4612* Input assignment SG selection, bit 0 4616* Input assignment SG selection, bit 1 4632* Input assignment gear ratio selection, bit 0 4636* Input assignment gear ratio selection, bit 1 4640* Input assignment gear ratio selection, bit 2 4648* Input assignment SE selection 4660* Input assignment "Test stop selection" 4700* Output assignment SN1 + 4704* Output assignment SN1 4708* Output assignment SN2 + 4712* Output assignment SN2 4716* Output assignment SN3 + 4720* Output assignment SN3 4724* Output assignment SN4 + 4728* Output assignment SN4 4732* Output assignment SBH/SG active 4736* Output assignment "Axis safely referenced" 4740* "Enable pulses" output assignment Note: The data are described in Section 4.2 Machine and service data for SINUMERIK 840C
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3.2
Description
Safe standstill (SH)

The "Safe standstill" function is based on the pulse disabling function integrated in the drive modules of the SIMODRIVE 611A/D. References: /PJ1/, Planning Guide SIMODRIVE 611
A second pulse disable path has been added to the existing pulse disabling function on the SIMODRIVE 611D performance closed-loop control. The safe standstill function safely disconnects the power supply to the motor in the event of a fault or in connection with a machine function. A safe standstill is executed in two channels, i.e. through the de-energization of an internal relay via a signal path of the drive bus on the one hand and through the isolation of terminal 663 on the drive module on the other. The two-channel checkback structure is implemented via the drive bus and drive terminals AS1/AS2.
!
Caution The machine manufacturer must take measures to ensure that the machine remains immobile after disconnection of the motor power supply (e.g. to prevent vertical axes from dropping). The main features of the safe standstill function are as follows: The motor cannot be started unintentionally or by accident The power supply to the motor is reliably disconnected The motor is not electrically isolated from the drive module
Requirements
The safe standstill function requires the following SW and HW (see Section 2.6 System requirements): 611D performance closed-loop control module Software version with SINUMERIK Safety Integrated
Selection/deselection of SH
The "safe standstill" function cannot be selected or deselected. It is initiated and terminated internally. "Safe standstill" is activated after STOP A or STOP B. "Safe standstill" is automatically activated from each monitoring channel (via single channel) during testing of pulse disable paths.
Important After the machine has been switched on, the "Safe standstill" function must always be tested for all axes/spindles with Safety Integrated by means of a pulse disable path test (see Section 2.5 Safe reactions via pulse disable paths and stops).
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3.2.1
Overview of machine data for SH function
Table 3-6 Overview of machine data for 840D Number Identifier 36956 $MA_SAFE_PULSE_DISABLE_DELAY 36957 $MA_SAFE_PULSE_DIS_CHECK_TIME 36960 $MA_SAFE_STANDSTILL_VELO_TOL 36976 $MA_SAFE_PULSE_STATUS_INPUT 36986 $MA_SAFE_PULSE_ENABLE_OUTPUT Note: The data are described in Section 4.1 Machine data for SINUMERIK 840D
Table 3-7 Overview of machine data for 840C Number Name 4268* Delay time pulse disable 4272* Time for testing pulse disable 4288* Creep speed pulse disabling 4608* Input assignment "Pulses disabled" status 4740* "Enable pulses" output assignment Note: The data are described in Section 4.2 Machine and service data for SINUMERIK 840C
Table 3-8 Overview of machine data for 611D Number Identifier 1356 $MD_SAFE_PULSE_DISABLE_DELAY 1357 $MD_SAFE_PULSE_DIS_CHECK_TIME 1360 $MD_SAFE_STANDSTILL_VELO_TOL Note: The data are described in Section 4.3 Machine data for SIMODRIVE 611D
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3.3
Description
Safe operational stop (SBH)

The purpose of the SBH function is to safely monitor the standstill position of an axis/spindle operating in position or speed control mode. When this monitoring function is active (SGA SBH active = 1), operating personnel can, for example, enter protected machine areas in setup mode without switching off the machine. An incremental encoder is sufficient to implement the function. The axis/spindle is monitored for a change in the actual position value.
The features of the SBH function are as follows: Axis remains under closed-loop control Parameterizable standstill tolerance window Configurable stop reaction after monitor has responded (STOP B/A)
Standstill tolerance
The standstill position of the axis/spindle is monitored via a standstill tolerance window that is parameterized via the following machine data: On 840D MD 36930: $MA_SAFE_STANDSTILL_TOL On 840C MD 4180*: (standstill tolerance for safe operation) On 611D MD 1330: $MD_SAFE_STANDSTILL_TOL Note The size of the standstill tolerance window should be based on the standard standstill (zero speed) monitoring limits and should exceed them slightly in either direction. The standard monitors in the control system are otherwise rendered ineffective.
M
Still_01.DS4
s
(Actual value)
Fig. 3-6
Requirements
The following requirements must be fulfilled (see Section 2.6 System requirements): The option and the function enable in the axis-specific machine data must be present The SGEs "SBH/SG deselection" and "SBH deselection" must be supplied in the NCK and drive monitoring channels
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3.3.1
Selection/deselection of safe operational stop
Selection of SBH
The safe operational stop function is selected via the following SGEs:
Table 3-9 SBH/SG deselection =1 =0 =0 SGE Selection/deselection of SBH SGA SBH SBH Meaning deselection active 2) x 0 SBH and SG are deselected =0 1 SBH is selected =1 0 SG is selected (see Section 3.4 Safe velocity (SG)), - SBH can be activated - SBH is activated internally in control in the event of error
Note: 1) 840D SW4.2, 840C SW6.1 2) x Signal state optional
Note If a safe velocity was not active prior to the selection of SBH, any moving axis/spindle is stopped with STOP B/A. The current actual status of the function is displayed via the SGA "SBH/SG active" and SBH active. The SGEs and SGAs are described in Section 3.1 Safety-relevant input/output signals (SGE/SGA).
Internal control request for SBH
When the monitoring of SG or SE responds, the drive is switched to the safe operational stop state internally in the control. In such cases, the external circuit state of the SGEs (SBH/SG deselection and SBH deselection) is ignored and both are set to "0" internally.
Selection of SBH from SG state
The changeover from safe velocity mode to the safe operational stop state is initiated via the SGE "SBH deselection". A delay time that is parameterized in the following machine data is started simultaneously with switchover to SBH (signal "SBH deselection"=0): On 840D MD 36951: $MA_SAFE_VELO_SWITCH_DELAY On 840C MD 4264*: (delay time speed switchover) On 611D MD 1351: $MD_ SAFE_VELO_SWITCH_DELAY SBH is activated as soon as the delay time expires. Note If the SBH function is selected while an axis/spindle is moving, the machine manufacturer must initiate the braking process such that the axis/spindle is in position, i.e. stationary, on expiry of the delay time. If the axis moves out of the standstill tolerance window after expiry of the delay, an alarm is generated (on 840D: 27010, on 840C: 1324*, on 611D: 300907) and STOP A or B initiated!
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v
SGn Vact
a) a) Initiation of braking
t
SGE "SBH deselection" SGn is active Delay time speed switchover SBH is active Braking time Timer running
SG_SBH.DS4
Fig. 3-7
Time response on selection of SBH from SG mode
Deselection of SBH
The safe operational stop state can be deselected with SGE "SBH/SG deselection" (="1" signal), resulting in general deactivation of SBH and SG. The SBH function is also deselected when the SG function is selected via the SGE "SBH deselection". Note The delay time must be selected as a function of the distance to the hazardous location. The speeds to be taken into account in this respect are stipulated in safety standard EN999.
SGA SBH active (840D SW4.2 840C SW6.1)
If this SGA is set, then safe operational stop (SBH) is active, i.e. the axis is safely monitored for zero speed. This signal can be used, for example, to implement protective door interlocks.
Configuring of NCK SGA
NCK SGA SBH active is configured via the following machine data: On 840D MD 36981: $MA_SAFE_SS_STATUS_OUTPUT On 840C MD 4744*: (output assignment for SBH active)
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3.3.2
Effects of tolerance window violation

If the axis/spindle is being monitored (SGA "SBH/SG active" = 1 or SGA SBH active = 1) and leaves, for example, the standstill tolerance window as the result of external influences or an undefined setpoint input, the effects are as follows:
Effects
The axis switches to STOP A/B configured via the following MDs: On 840D 36956: $MA_SAFE_PULSE_DISABLE_DELAY on 840C 4268*: Delay time pulse disable on 611D 1356: $MD_SAFE_PULSE_DISABLE_DELAY and on 840D 36960: $MA_SAFE_STANDSTILL_VELO_TOL on 840C 4288*: Creep speed pulse disabling on 611D 1360: $MD_SAFE_STANDSTILL_VELO_TOL An alarm is generated (on 840D: 27010, on 840C: 1324*, on 611D: 300907)
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Time response on violation of limit value
The time response of the system is as follows if the limit value is violated when the safe operational stop function is active:
d) Transition from STOP B to STOP A (pulse disabling) Tolerance exceeded b) Error a)
c) Start of stop reaction sequence
STOP B
STOP A
d)
Creep speed
= =
s
not to scale
t1 t2 t4 t5 t7 t8
STILL_02.DS4
t3
t6
t9
Time response on violation of limit value with active SBH
Fig. 3-8
Table 3-10 Explanations on the figure Time Explanation Position control clock cycle defined by the following MDs: t1 On 840D: MD 10050: $MN_SYSCLOCK_CYCLE_TIME MD 10060: $MN_POSCTRL_SYSCLOCK_TIME_RATIO On 840C: MD 155: Position control basic clock cycle Monitoring clock cycle defined by the following MDs: t2 On 840D: MD 10090: $MN_SAFETY_SYSCLOCK_TIME_RATIO On 840C: MD 40010: Ratio between monitoring clock cycle and position control basic clock cycle On 611D: MD1300: $MD_SAFETY_CYCLE_TIME Time prior to violation of standstill tolerance value t3 Delay before violation of standstill tolerance value is detected (maximum 1 one monitoring clock cycle) t4 Reaction time required to initiate the configured stop reaction (maximum 2 monitoring clock cycles) t5 Delay before initiated stop reaction sequence commences (time = 0, depends on configured stop reaction, t6 see Section 2.5.4 Stop reactions) Time required to reach pulse disabling speed with STOP B. t7 Time required to stop the axis with STOP B. t8 Time required to stop the axis with STOP A. t9 Note: Each axis must be measured during start-up to determine the distance it travels between violation of the limit value and immobilization.
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3.3.3
Overview of machine data for SBH function
Table 3-11 Overview of machine data for 840D Number Identifier 36901 $MA_SAFE_FUNCTION_ENABLE 36930 $MA_SAFE_STANDSTILL_TOL 36951 $MA_SAFE_VELO_SWITCH_DELAY 36956 $MA_SAFE_PULSE_DISABLE_DELAY 36960 $MA_SAFE_STANDSTILL_VELO_TOL 36970 $MA_SAFE_SVSS_DISABLE_INPUT 36971 $MA_SAFE_SS_DISABLE_INPUT 36980 $MA_SAFE_SVSS_STATUS_OUTPUT 36981 $MA_SAFE_SS_STATUS_OUTPUT (as from SW4.2) Note: The data are described in Section 4.1 Machine data for SINUMERIK 840D
Table 3-12 Overview of machine data for 840C Number Name 4500* Function enable for safe operation 4180* Standstill tolerance for safe operation 4264* Delay time speed switchover 4268* Delay time pulse disable 4288* Creep speed pulse disabling 4600* Input assignment SBH/SG deselection 4604* Input assignment SBH deselection 4732* Output assignment SBH/SG-active 4744* Output assignment for SBH active (as from SW6.1) Note: The data are described in Section 4.2 Machine and service data for SINUMERIK 840C
Table 3-13 Overview of machine data for 611D Number Identifier 1301 $MD_SAFE_FUNCTION_ENABLE 1330 $MD_SAFE_STANDSTILL_TOL 1351 $MD_SAFE_VELO_SWITCH_DELAY 1356 $MD_SAFE_PULSE_DISABLE_DELAY 1360 $MD_SAFE_STANDSTILL_VELO_TOL Note: The data are described in Section 4.3 Machine data for SIMODRIVE 611D
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3.4
Description
Safe velocity (SG)

The purpose of the SG function is to safely monitor the load-side speed of an axis or spindle. The monitor operates by cyclically comparing the current speed of the axis/spindle with the speed limit value selected via SGEs. The speed limit values are defined in the following machine data: On 840D MD 36931: $MA_SAFE_VELO_LIMIT[n] On 840C MD 4184*: (limit value for safe velocity 1) MD 4188*: (limit value for safe velocity 2) MD 4192*: (limit value for safe velocity 3) MD 4196*: (limit value for safe velocity 4) On 611D MD 1331: $MD_SAFE_VELO_LIMIT[n] The speed limit values for SG1, SG2, SG3 or SG4 allow various applications/operating states on the machine to be monitored. The safe velocity function can therefore be used to implement protection for operating personnel and machine in setup mode or in automatic operation.
!
Important The user must be careful to select the correct gear ratio for axes with shift gearbox.
The features of the SG function are as follows: Safe monitoring of load-side speed limit values Adjustment of monitoring limit values to various operating states (e.g. test, setup, automatic modes) Configurable stop reaction after response of monitoring
Requirements
The following requirements must be fulfilled (see Section 2.6 System requirements): The option and the function enable in the axis-specific machine data must be present The SGEs "SBH/SG deselection" and "SBH deselection" must be configured
Specification of velocities and speeds
The requirements regarding speeds and velocities that are stipulated for individual processes (e.g. milling, turning, grinding, etc.) vary depending on standards (e.g. ISO 11161) or standardizing activities (e.g. CEN TC 143). As an example, standards stipulated for setup mode are as follows: "Safely reduced speed" at 2 m/min for feed drives or 50 rev/min for spindle drives or standstill within 2 revolutions. The machine manufacturer must parameterize SINUMERIK Safety Integrated in such a way as to ensure full compliance with all applicable standards.
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Variables that influence parameterization are, for example, the dynamic performance of the drive, the set parameters with their delay times, electrical and mechanical gear ratios and all other mechanical characteristics. (see Fig. 3-10 Time response on violation of limit value with active SG) shows the correlations between the dynamic response of the drive and the internal delay times of SINUMERIK Safety Integrated.
Speed monitoring, encoder limit frequency
When SBH/SG is active in a configuration with 1 encoder, the speed is monitored for violation of a maximum encoder limit frequency. An appropriate alarm is output when the limit frequency is exceeded. Depending on the number of encoder pulses, the limit values are as follows for a ratio of, e.g. motor : load = 1 : 1:
Table 3-14 Encoder limit frequency and speed Encoder pulses/rev. Speed at maximum encoder limit frequency 200 kHz 300 kHz 1) 2 048 5 800 rev/min 8 700 rev/min 1 024 11 600 rev/min 17 400 rev/min 512 22 200 rev/min 34 800 rev/min Note: 1) 840D SW3.6, 840C SW5.7
3.4.1
Selection/deselection of safe velocity
Selection of SG
The following SGEs are used to select the safe velocity monitoring function:
Table 3-15 SGE SBH/SG deselection =1 =0 =0 SBH deselection x =0 =1 Meaning SBH and SG are deselected SBH is selected (See Section 3.3 Safe operational stops (SBH) SG is selected - SBH mode can be activated - SBH activated internally in control in the case of an error Selection/deselection of SG
Note: x
Signal state optional
Note The current status of the function is displayed via the SGA "SBH/SG active" and SGA SBH active. Before the SG function is activated, it must be ensured that the speed of the axis/spindle is lower than the selected speed limit value. If it is higher, an alarm is generated that leads to shutdown of the drive. The SGEs and SGAs are described in Section 3.1 (Safety-relevant input/output signals (SGE/SGA).
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Selection of speed limit values
The maximum permissible speed of an axis/spindle in setup mode is defined for individual machine types in C standards (product standards). The machine manufacturer is responsible for ensuring that the correct speed limit value is selected as a function of operating mode and application. The desired speed limit value is selected as follows by combining the following SGEs:
Table 3-16 Selection of speed limit values for SG SGE SG selection SG selection Meaning Bit 1 Bit 0 =0 =0 Speed limit value for SG1 active 1) =0 =1 Speed limit value for SG2 active =1 =0 Speed limit value for SG3 active 1) =1 =1 Speed limit value for SG4 active Note: 1) On the SINUMERIK 840D system with SW4.2 and later, the SG limit value can be set in finer steps by means of an SG override (see Section 3.4.5 Override for safe velocity).
Switching over between speed limit values
The switchover from a lower to a higher speed limit value takes effect without delay. When switchover takes place from a high to a lower limit value, then a delay time parameterized via machine data is started (see Fig. 3-9 Time response on swiitchover from a high to a lower speed limit value). On 840D MD 36951: $MA_SAFE_VELO_SWITCH_DELAY On 840C MD 4264*: (Delay time speed switchover) On 611D MD 1351: $MD_SAFE_VELO_SWITCH_DELAY The axis/spindle must be braked sufficiently during the delay time so that it has reached the reduced speed that is below the new limit value when the delay time expires. If, however, the current speed is higher than the new limit value on expiry of the timer, an alarm is output followed by the configurable stop reaction.
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v
SG1 V1 SG2 V2
a) Initiation of braking
t
SGEs for SG1 SGEs for SG2 Delay time speed switchover SG1 is active Braking time Timer running
SGH_SGN.DS4
SG2 is active
Fig. 3-9
Time response on switchover from a high to a lower speed limit value
Deselection of SG
The SG function can be deselected from operation at any speed through activation of the "SBH/SG deselection". Warning The delay time must be selected as a function of the distance to the hazardous location. The speeds to be taken into account in this respect are stipulated in safety standard EN999.
3.4.2
Safe velocity function on spindles with shift gearboxes
Note with respect to shift gearboxes
The following points must be noted with respect to shift gearboxes. When a 1-encoder system is used, gear ratios (gear stage selection) must be selected via two channels (see Section 3.4.8 Example of application for safe sensing of gear ratios). The user agreement (if set) is cancelled during a gear change and the SGA "Axis safely referenced" set to "0". The gear shift is detected by means of SGEs with gear stage selection via PLC and/or through the selection of a new gear ratio. The spindle must be re-synchronized after a gear change. The user must put the spindle into the "Axis safely referenced" state if it is configured with SN.
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The value for the actual value comparison tolerance (cross-check) must be set higher than the oscillation actual value in oscillation mode. On 840D MD 36942: $MA_SAFE_POS_TOL On 840C MD 4256*: Actual value comparison tolerance (cross-check) On 611D MD 1342: $MD_SAFE_POS_TOL A delay timer is started on switchover from a high to a lower speed limit value. While this timer is running, the speed is monitored for violation of the last valid speed limit value. On switchover from a low to a higher speed limit value, the higher value becomes effective immediately.
Note Changing the gear speed, parking an axis or making changes to the mounted equipment (e.g. replacing encoder or motor) means decoupling the load and encoder and cannot be detected by the NC and drive. The "Axis safely referenced" state is then lost. The user is responsible for ensuring that the axis is returned to the "Axis safely referenced" state if SE or SN are in use.
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3.4.3
Effects of speed limit violation
Configurable stop reaction
When the selected speed limit value is violated, a stop reaction configured in the following machine data is generated: On 840D MD 36961: $MA_SAFE_VELO_STOP_MODE MD 36963: $MA_SAFE_VELO_STOP_REACTION[n] (SW4.2 and higher) On 840C MD 4508*: (axis-specific bits for safe operation) Bit 4: Selection of STOP D/E for SG (Bit = 0: STOP C) Bit 5: Selection of STOP E for SG On 611D MD 1361: $MD_SAFE_VELO_STOP_MODE MD 1363: $MD_SAFE_VELO_STOP_REACTION[n] (840D, SW4.2 and higher) Note An alarm is displayed (on 840D: 27011, on 840C: 1328*, on 611D: 300914). After elimination of the error cause, the alarm can be acknowledged with RESET. The monitoring function is then active again. Depending on the set monitoring clock cycle, the dynamic drives may cause a brief increase in speed on the monitored axis/spindle before the stop reaction sequence commences. In traversing modes which use a transformation with singularity points (e.g. 5-axis transformation and TRANSMIT), relatively high axial speeds occur at these points. These speeds can initiate stop reactions even though the Cartesian motion of the tool center point (TCP) is below the select speed limit value. The monitoring functions provided by SINUMERIK Safety Integrated are basically axis-specific. It is therefore not possible to monitor the TCP.
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Time response on violation of limit value
When the safe velocity function is active, then the time response is as follows when the limit value is violated:
n
SG n act Limit value exceeded b) Error a)
c) Commencement of stop reaction

SG_03.DS4
t1 t2 t3 t4 t5 t7
Fig. 3-10 Time response on violation of limit value with active SG
t
not to scale
t6
Table 3-17 Explanations on the figure Time Explanation Position control clock cycle defined by the following MDs: t1 On 840D: MD 10050: $MN_SYSCLOCK_CYCLE_TIME MD 10060: $MN_POSCTRL_SYSCLOCK_TIME_RATIO On 840C: MD 155: Position control basic clock cycle Monitoring clock cycle defined by the following MDs: t2 On 840D: MD 10090: $MN_SAFETY_SYSCLOCK_TIME_RATIO On 840C: MD 40010: Ratio between monitoring clock cycle and position control basic clock cycle On 611D: MD1300: $MD_SAFETY_CYCLE_TIME Time between occurrence of error and violation of limit value t3 Delay before violation of limit value is detected (maximum 1.5 monitoring clock cycles) t4 Reaction time required to initiate the configured stop reaction (maximum 2.5 monitoring clock cycles) t5 Delay before initiated stop reaction sequence commences (time = 0, depends on configured stop reaction, t6 see Section 2.5.4 Stop reactions) Time required to bring axis to standstill. t7 This time period and thus the residual distance travelled by the axis is determined by the axis construction (motor, mass, friction, ...) and the configured stop reaction (STOP C is faster than STOP D or STOP E). Note: Each axis must be measured during start-up to determine the distance it travels between violation of the limit value and immobilization.
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3.4.4
Stop reactions specific to SG (840D, SW4.2 and higher)
Configurable SGspecific stop reaction
The configurable SG-specific stop reaction allows different types of braking operation to be set for each SG level in response to violation of the respective speed limit value. Example of possible setting: Level SG2 is active with configured stop reaction STOP C in SETUP mode and level SG4 with configured stop reaction STOP D in AUTOMATIC mode.
Activation
The function is active whenever MD 36961/1361: $MA_/$MD_SAFE_VELO_STOP_MODE = 5.
Setting the configurable SGspecific stop reaction
SG-specific stop reactions can be set via the following machine data: On 840D MD 36963: $MA_SAFE_VELO_STOP_REACTION[n] (SG-specific stop reaction) On 611D MD 1363: $MD_SAFE_VELO_STOP_REACTION[n]
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3.4.5
Override for safe velocity (840D with SW4.2 and higher)
General
It is possible to specify 16 overrides for the limit values of safe velocitys 2 and 4 by means of SGEs, allowing the limit values for SG2 and SG4 to be monitored in finer steps. An override factor of between 1 and 100% can be assigned to each of the selected overrides via the following machine data: On 840D MD 36932: $MA_SAFE_VELO_OVR_FACTOR>n@ (override factor for safe velocity) On 611D MD 1332: $MD_SAFE_VELO_OVR_FACTOR>n@
Example of application
For grinding applications, the limit value for the safe velocity can be adjusted to the variations in grinding wheel peripheral speed by means of the SG override.
Activation
The following conditions must be fulfilled before the function can be used: Function is enabled via MD 36901(MD 1301): $MA($MD)_SAFE_FUNCTION_ENABLE, bit 5 The SBH/SG monitoring is enabled The required SGEs SG override selection, bits 3, 2, 1, 0 are fully or partially configured SG override factors have been set in the corresponding machine data Safe velocity 2 or 4 is activated
Switchover between SG overrides
SG override values are switched over subject to the same conditions as applied to speed limit values.
Table 3-18 Switchover of SG override values Switchover Description from smaller to greater Instantaneous from greater to smaller A delay timer parameterized in MD 36951/MD 1351 is started. The axis/spindle must be braked within this delay time. Note: See Section 3.4.1 Selection/deselection of safe velocity
Note Switching between SGEs SG override selection, bits 3, 2, 1, 0 continuously may cause activation of a STOP F.
Selection of SG overrides
The active speed limit value (SG 1, 2, 3 or 4) is selected via SGEs SG selection bits 1 and 0. The desired override is selected by combining SGEs Override selection bits 3, 2, 1 and 0. The override is valid only for the speed limit value for SG2 and SG4.
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Table 3-19 SG selection bit 1 =0 =0
Selection of SG override values for safe velocitys SGE SG SG SG SG SG selection override override override override bit0 selection selection selection selection bit 3 bit 2 bit 1 bit 0 =0 x x x x =1 =0 =0 =0 =0 =0 =0 =0 =0 =0 =0 =0 =1 =1 =1 =1 =1 =1 =1 =1 x =0 =0 =0 =0 =1 =1 =1 =1 =0 =0 =0 =0 =1 =1 =1 =1 x =0 =0 =1 =1 =0 =0 =1 =1 =0 =0 =1 =1 =0 =0 =1 =1 x =0 =1 =0 =1 =0 =1 =0 =1 =0 =1 =0 =1 =0 =1 =0 =1 x =0
Meaning
---------------=1 =1 =0 =1
-=0 =0 =0 =1 -=0 =0 =1 =0 -=0 =0 =1 =1 -=0 =1 =0 =0 -=0 =1 =0 =1 -=0 =1 =1 =0 -=0 =1 =1 =1 -=1 =0 =0 =0 -=1 =0 =0 =1 -=1 =0 =1 =0 -=1 =0 =1 =1 -=1 =1 =0 =0 -=1 =1 =0 =1 -=1 =1 =1 =0 -=1 =1 =1 =1 x: Signal status is optional since override values do not apply to SG1 and SG3
Speed limit value for SG1 active Speed limit value for SG2 active with override 0 ... with override 1 ... with override 2 ... with override 3 ... with override 4 ... with override 5 ... with override 6 ... with override 7 ... with override 8 ... with override 9 ... with override 10 ... with override 11 ... with override 12 ... with override 13 ... with override 14 ... with override 15 Speed limit value for SG3 active Speed limit value for SG4 active with override 0 ... with override 1 ... with override 2 ... with override 3 ... with override 4 ... with override 5 ... with override 6 ... with override 7 ... with override 8 ... with override 9 ... with override 10 ... with override 11 ... with override 12 ... with override 13 ... with override 14 ... with override 15
Configuring of NCK SGEs
NCK SGEs (override selection bits 3, 2, 1, 0) are configured by means of the following machine data: On 840D MD 36978: $MA_SAFE_OVR_INPUT[n] (input assignment for override selection)
Definition of SG override factors
The SG override factors themselves (percentage values) are defined via the following machine data: On 840D MD 36932: $MA_SAFE_VELO_OVR_FACTOR[n] (override factor for safe velocity) On 611D MD 1332: $MD_SAFE_VELO_OVR_FACTOR[n]
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Example: Override for safe velocity

Task When safe velocitys are selected, the speed limit values must be set as follows.
Table 3-20 Example of application of override value for safe velocity SGE SG selection SGE override selection Effective speed limit value Bit 1 Bit 0 Bit 3 Bit 2 Bit 1 Bit 0 Assumed speeds 0 0 x x x x Limit value 1 1000 mm/min 0 1 0 0 0 0 Limit value 2 with override 0 100 % = 2000 mm/min -0 0 0 1 Limit value 2 with override 1 80 % = 1600 mm/min -0 0 1 0 Limit value 2 with override 2 50 % = 1000 mm/min -0 0 1 1 Limit value 2 with override 3 30 % = 600 mm/min 1 0 x x x x Limit value 3 4000 mm/min 1 1 0 0 0 0 Limit value 4 with override 0 100 % = 5000 mm/min -0 0 0 1 Limit value 4 with override 1 80 % = 4000 mm/min -0 0 1 0 Limit value 4 with override 2 50 % = 2500 mm/min -0 0 1 1 Limit value 4 with override 3 30 % = 1500 mm/min Notes: x: Signal status is optional since override values do not apply to SG1 and SG3 SGEs SG override selection bits 3 and 2 are not needed to select an override, i.e. they do not need to be configured (they are set to 0 internally).
Assumed conditions for example above
The example applies to the 1 axis on a SINUMERIK 840D/611D. Definition of SGEs in NCK monitoring channel Logical slot for terminal block: Slot number of submodule with SGEs: I/O number for signal SG selection bit 1: I/O number for signal SG selection bit 0: I/O number for signal Override selection bit 1: I/O number for signal Override selection bit 0: 6 4 2 1 4 3
st
Definition of machine data
Table 3-21 Limit value SG1 SG2 SG3 SG4
Supply of MDs for speed limit values On 840D MD no. Setting MD no. 1000 36931[0] 1331[0] 2000 36931[1] 1331[1] 4000 36931[2] 1331[2] 5000 36931[3] 1331[3]
On 611D Setting 1000 2000 4000 5000
Table 3-22 Supply of MDs for SGEs Signal Assignment SGE MD no. SG selection bit 1 36972[0] SG selection bit 1 36972[1] SG override selection bit 3 36978[0] SG override selection bit 2 36978[1] SG override selection bit 1 36978[2] SG override selection bit 0 36978[3]
Setting 01 06 04 02 01 06 04 01 00 00 00 00 00 00 00 00 01 06 04 04 01 06 04 03
Remarks
Not configured Not configured
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Table 3-23 Override 0 1 2 3
Supply of MDs for override values On 840D MD no. Setting 100 36932[0] 80 36932[1] 50 36932[2] 30 36932[3]
MD no. 1332[0] 1332[1] 1332[2] 1332[3]
On 611D Setting 100 80 50 30
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3.4.6
SGA "n < nx" and SG active (840D with SW4.2, 840C with SW6.1)
Description of SGA n < nx
This SGA is used to indicate whether the absolute actual velocity value is above or below a speed limit specified via a machine data.
n nx
N_KL_NX.DS4
t SGA "n < nx" 1 0

Fig. 3-11 Signal n < nx as a function of speed characteristic
Application
The chuck is not put into operation until the spindle has reached zero speed (SGA n < nx = 0).
Definition of limit velocity Limit velocity nx is defined via the following machine data: nx On 840D MD 36946: $MA_SAFE_VELO_X On 840C MD 4292*: (speed limit nx for safe operation) On 611D MD 1346: $MD_SAFE_VELO_X
Configuring of NCK SGA n < nx
NCK SGA n < nx is configured via the following machine data: On 840D MD 36985: $MA_SAFE_VELO_X_STATUS_OUTPUT On 840C MD 4760*: (output assignment for n < nx) Note If the axis/spindle is operating at speed nx, SGA n < nx may assume different states due to differences in actual value in the two monitoring channels. These differences in signal state must be taken into account in subsequent processing of the SGA.
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Description of SGA SG active bits 1, 0
SGAs SG active bits 1, 0 are used to indicate which safe velocity, and thus which speed limit value, is being actively monitored. These SGAs are updated only if the SBH/SG function is enabled and SG is active (SGE SBH/SG deselection = 0 and SBH deselection = 1).
Table 3-24 Display of active safe velocity SGA SG SG SBH/ SBH Meaning active actSG actBit 1 ive active Bit 0 ive =0 =0 1 1 SBH is active (no safe velocity active) =0 =0 0 0 Speed limit value for SG1 active =0 =1 1 0 Speed limit value for SG2 active =1 =0 1 0 Speed limit value for SG3 active =1 =1 1 0 Speed limit value for SG4 active =0 =0 0 0 None Note: The status SG active bits 1, 0 = 00 has two different meanings. Which meaning is relevant can be determined through additional evaluation of SGA SBH active.
Configuring of NCK SGA SG active, bits 1, 0
NCK SGAs SG active bits 1, 0 are configured via the following machine data: On 840D MD 36982: $MA_SAFE_VELO_STATUS_OUTPUT[n] On 840C MD 4752*: (output assignment for SG active bit 0) MD 4756*: (output assignment for SG active bit 1)
Extended output for active SG (840C)
The active SG level can be output in the following ways: Bit-coded: Output via SGA SG active, bits 1,0 Parameterization of NCK SGAs via MD 4752*, 4756* (see above) Output of each SG level via NCK SGA SG1, 2, 3, 4 active Parameterization via MD 4772*, 4776*, 4780* and 4784*
Extended
With the extended output method, the status of the active SG monitoring function without external additional logic can be output directly at the NCK I/Os. For example, SGA SGA active is set only when SGA SBH/SG active = 1, SBH active = 0 and SG active bits 1, 0 = 0. Note If, for example, a lock may be opened only when 2 axes are being monitored for SG1 and 1 axis for SG2, then this status can be output at an NCK output (multiple assignment and ANDing of individual axis signals).
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3.4.7
Example of application for SG function

Please refer to Section 7.2 Example circuits for Safety Intergated for an example of how the safe velocity monitoring function can be applied.
3.4.8
Example of application for safe sensing of gear ratios
Task assignment
The gear ratio (encoder/load) must be sensed on a spindle with a four-stage gearbox. Two examples are given, one with a 2-encoder system (example 1, see Fig. 3-12 Spindle with 2-encoder system) and one with a 1-encoder system (example 2, see Fig 3-13 Spindle with 1-encoder system)
Example 1: Spindle with a 2-encoder system

Monitoring in two channels is achieved by comparing the speed sensed by the second encoder with the speed of the motor encoder, taking the gear ratio into account. The ratio selection need not be monitored by a safety function and can be a single-channel operation.
Conditions for example 1
The gear stage is selected from an NC program with an H function via the PLC user program. The second encoder system is connected to the "Direct measuring system" input on the performance closed-loop control module. The machine data for the "Input assignment gear ratio selection (bits 0, 1, 2)" for the NCK are described in Section 4.1 Machine data for SINUMERIK 840D or in Section 4.2 Machine and service data for SINUMERIK 810C The PLC SGEs for selecting gear ratios are described in Section 4.4 Interface signals. The example must apply to the 1st drive. The motor encoder system is parameterized in the drive machine data. The second encoder system is parameterized in the NCK machine data of the control system.
Table 3-25 Overview of encoder data for 840D Number Identifier 36910 $MA_SAFE_ENC_SEGMENT_NR 36911 $MA_SAFE_ENC_MODULE_NR 36912 $MA_SAFE_ENC_INPUT_NR 36915 $MA_SAFE_ENC_TYPE 36916 $MA_SAFE_ENC_IS_LINEAR 36917 $MA_SAFE_ENC_GRID_POINT_DIST 36918 $MA_SAFE_ENC_RESOL 36920 $MA_SAFE_ENC_GEAR_PITCH 36921 $MA_SAFE_ENC_GEAR_DENOM[n] 36922 $MA_SAFE_ENC_GEAR_NUMERA[n] 36925 $MA_SAFE_ENC_POLARITY Note: The data are described in Section 4.1 Machine data for SINUMERIK 840D
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Table 3-26 Overview of encoder data for 840C Number Name 4100* Actual value assignment for safe operation 4104* Grid spacing linear scale for safe operation 4108* Encoder marks per rev for safe operation 4112* Spindle pitch for safe operation 4116* Denominator gear unit 1 Encoder/load for safe operation 4120* Denominator gear unit 2 Encoder/load for safe operation to to 4144* Denominator gear unit 8 Encoder/load for safe operation 4148* Numerator gear unit 1 Encoder/load for safe operation 4152* Numerator gear unit 2 Encoder/load for safe operation to to 4176* Numerator gear unit 8 Encoder/load for safe operation Note: The data are described in Section 4.2 Machine and service data for SINUMERIK 840C
Table 3-27 Overview of encoder data for 611D Number Identifier 1316 $MD_SAFE_ENC_CONFIG 1317 $MA_SAFE_ENC_GRID_POINT_DIST 1318 $MA_SAFE_ENC_RESOL 1320 $MA_SAFE_ENC_GEAR_PITCH 1321 $MA_SAFE_ENC_GEAR_DENOM[n] 1322 $MA_SAFE_ENC_GEAR_NUMERA[n] Note: The data are described in Section 4.3 Machine data for SIMODRIVE 611D
The tolerance for the actual value comparison of the two encoders is defined in the following machine data: On 840D MD 36942: $MA_SAFE_POS_TOL On 840C MD 4256*: Actual value comparison tolerance (cross-check) On 611D MD 1342: $MD_SAFE_POS_TOL Definition of SGEs/SGAs in NCK monitoring channel On 840D Logical slot for terminal block: Slot number of submodule for SGEs: I/O number for signal "Gear ratio selection bit 0": I/O number for signal "Gear ratio selection bit 1": On 840C Module: Module number: I/O number for signal "Gear ratio selection bit 0": I/O number for signal "Gear ratio selection bit 1": 5 3 1 2 Mixed I/O 1 1 2
Note The SGEs/SGAs used in the NCK monitoring channel must also be supplied in the drive monitoring channel by the machine manufacturer.
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Spindle
DMS Encoder 2
NCK HW I/O I ... ... ...
I/O images
Processing
SGE SGA Bit 0 Bit 1 Bit 2
SBH/SG SE SN
Encoder 1
Gearbox
O ... ... ... NC H function Result and data cross-check
1PH6 motor...
per axis/spindle
I1 I2
O1 O2
IMS
I ... ... ... O ... ... ... PLC HW I/O I/O images PLC user program
Bit 0 Bit 1 Bit 2 SBH/SG SE SN
per axis/spindle
SGE SGA Drive monitoring channel
SG_01.DS4
Fig. 3-12
Spindle with 2-encoder system
Table 3-28 Assignment between active gear stage/gear ratio selection Selection and checkback of Assignment between ratio Spindle active gear stage selection for NCK and motor/ PLC/drive load SGE transm. ratio selection Gear E1 E2 A1 A2 Bit 2 Bit 1 Bit 0 stage 1 0 0 0 0 0 0 0 4:1 2 0 1 0 1 0 0 1 2.5 : 1 3 1 0 1 0 0 1 0 1.6 : 1 4 1 1 1 1 0 1 1 1:1
Input assignment of gear ratio selection

Supply of machine data for SGEs on 840D Assignment Name MD No. Gear ratio selection, bit 0 36974[0] Gear ratio selection, bit 1 36974[1]
Table 3-29 Signal SGE/SGA SGE SGE
Value 01 05 03 01 01 05 03 02
Supply of machine data for SGEs on 840C Assignment Name MD Value No. Gear ratio selection, bit 0 4632* 30 10 00 10 Gear ratio selection, bit 1 4636* 30 10 00 20
SGE/SGA mask MD No. Value 45802.0 45802.1 1 1
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Table 3-31
Denominator of gearbox encoder/load Numerator of gearbox encoder/load
Input of gear ratios into machine data. Stage 840D 840C MD No. Value MD No. 1 4116* 36921[0] 10 2 4120* 36921[1] 10 3 4124* 36921[2] 10 4 4128* 36921[3] 10 1 4148* 36922[0] 40 2 4152* 36922[1] 25 3 4156* 36922[2] 16 4 4160* 36922[3] 10
Value 10 10 10 10 40 25 16 10
611D MD No 1321.0 1321.1 1321.2 1321.3 1322.0 1322.1 1322.2 1322.3
Value 250 400 625 1000 1000 1000 1000 1000
Example 2: Spindle with a 1-encoder system

Conditions for example 2 The gear stage is selected from an NC program with an H function via the PLC user program. Gear ratios are selected via a single channel. The encoder system is connected to the "Direct measuring system" input on the 611D performance closed-loop control module. The PLC user program selects the gear stage via peripheral outputs and supplies the PLC SGE/SGA interface internally. This creates a state of expectancy in the drive monitoring channel that must be fulfilled in the NCK monitoring channel with the checkback of the selected gear stage via SGEs. The varying signal transit times in the monitoring channels must be taken into account via the following MD: On 840D MD 36950: $MA_SAFE_MODE_SWITCH_TIME On 840C MD 4260*: Tolerance time for SGE switchover On 611D MD 1350: $MD_SAFE_MODE_SWITCH_TIME The machine data for the "Input assignment gear ratio selection (bits 0, 1, 2)" for the NCK are described in Section 4.1 Machine data for SINUMERIK 840D or in Section 4.2 Machine and service data for SINUMERIK 840C. The PLC SGEs for selecting gear ratios are described in Section 4.4 Interface signals. The motor encoder system is parameterized identically in the drive machine data and in the NCK machine data. The example must apply to the 1st drive.
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Table 3-32 Overview of encoder data for 840D Number Identifier 36910 $MA_SAFE_ENC_SEGMENT_NR 36911 $MA_SAFE_ENC_MODULE_NR 36912 $MA_SAFE_ENC_INPUT_NR 36915 $MA_SAFE_ENC_TYPE 36916 $MA_SAFE_ENC_IS_LINEAR 36917 $MA_SAFE_ENC_GRID_POINT_DIST 36918 $MA_SAFE_ENC_RESOL 36920 $MA_SAFE_ENC_GEAR_PITCH 36921 $MA_SAFE_ENC_GEAR_DENOM[n] 36922 $MA_SAFE_ENC_GEAR_NUMERA[n] 36925 $MA_SAFE_ENC_POLARITY Note: The data are described in Section 4.1 Machine data for SINUMERIK 840D
Table 3-33 Overview of encoder data for 840C Number Name 4100* Actual value assignment for safe operation 4104* Grid spacing linear scale for safe operation 4108* Encoder marks per rev for safe operation 4112* Spindle pitch for safe operation 4116* Denominator gear unit 1 Encoder/load for safe operation 4120* Denominator gear unit 2 Encoder/load for safe operation to to 4144* Denominator gear unit 8 Encoder/load for safe operation 4148* Numerator gear unit 1 Encoder/load for safe operation 4152* Numerator gear unit 2 Encoder/load for safe operation to to 4176* Numerator gear unit 8 Encoder/load for safe operation Note: The data are described in Section 4.2 Machine and service data for SINUMERIK 840C
Table 3-34 Overview of encoder data for 611D Number Identifier 1316 $MD_SAFE_ENC_CONFIG 1317 $MA_SAFE_ENC_GRID_POINT_DIST 1318 $MA_SAFE_ENC_RESOL 1320 $MA_SAFE_ENC_GEAR_PITCH 1321 $MA_SAFE_ENC_GEAR_DENOM[n] 1322 $MA_SAFE_ENC_GEAR_NUMERA[n] Note: The data are described in Section 4.3 Machine data for SIMODRIVE
Definition of SGEs/SGAs in NCK monitoring channel On 840D Logical slot for terminal block: Slot number of submodule for SGEs: I/O number for signal "Gear ratio selection bit 0": I/O number for signal "Gear ratio selection bit 1": On 840C Module: Module number: I/O number for signal "Gear ratio selection bit 0": I/O number for signal "Gear ratio selection bit 1": 5 3 1 2 Mixed I/O 1 1 2
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Note The SGEs/SGAs used in the NCK monitoring channel must also be supplied in the drive monitoring channel by the machine manufacturer. Parameter set changes via SGEs must be linked to a parameter set change in the NC.
Spindle I ... ... ... Encoder 1 Gearbox O ... ...

I1 I2 O1 O2
NCK HW I/O
I/O images
Processing
SGE SGA
Bit 0 Bit 1 Bit 2
SBH/SG SE SN
1PH6 motor ...
per axis/spindle
NC H function Result and data cross-check
...
IMS
I ... ... ... O ... ... ... PLC user program
Bit 0 Bit 1 Bit 2 SBH/SG SE SN
per axis/spindle
SGE SGA Drive monitoring channel
SG_02.DS4
PLC HW I/O
I/O images
Fig. 3-13
Spindle with 1-encoder system
Table 3-35 Assignment between active gear stage/gear ratio selection Selection and checkback of Assignment between ratio Spindle active gear stage selection for NCK and motor/ PLC/drive load SGE gear ratio selection Gear E1 E2 A1 A2 Bit 2 Bit 1 Bit 0 stage 1 0 0 0 0 0 0 0 4:1 2 0 1 0 1 0 0 1 2.5 : 1 3 1 0 1 0 0 1 0 1.6 : 1 4 1 1 1 1 0 1 1 1:1
Input assignment of gear ratio selection

Supply of machine data for SGEs on 840D Assignment Name MD No. Gear ratio selection, bit 0 36974[0] Gear ratio selection, bit 1 36974[1]
Value 01 05 03 01 01 05 03 02
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Supply of machine data for SGEs on 840C Assignment Name MD Value No. Gear ratio selection, bit 0 4632* 30 10 00 10 Gear ratio selection, bit 1 4636* 30 10 00 20
SGE/SGA mask MD No. Value 45802.0 45802.1 1 1
Table 3-38
Denominator of gearbox encoder/load Counter of gearbox encoder/load
Input of gear ratios into machine data Stage 840D 840C MD No. Value MD No. 1 10 4116* 36921[0] 2 10 4120* 36921[1] 3 10 4124* 36921[2] 4 10 4128* 36921[3] 1 40 4148* 36922[0] 2 25 4152* 36922[1] 3 16 4156* 36922[2] 4 10 4160* 36922[3]
Value 10 10 10 10 40 25 16 10
611D MD No 1321.0 1321.1 1321.2 1321.3 1322.0 1322.1 1322.2 1322.3
Value 250 400 625 1000 1000 1000 1000 1000
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3.4.9
Overview of machine data for SG function
Table 3-39 Overview of machine data for 840D Number Identifier 36901 $MA_SAFE_FUNCTION_ENABLE 36921 $MA_SAFE_GEAR_DENOM[n] 36922 $MA_SAFE_GEAR_NUMERA[n] 36931 $MA_SAFE_VELO_LIMIT[n] 36946 $MA_SAFE_VELO_X (SW4.2 and higher) 36951 $MA_SAFE_VELO_SWITCH_DELAY 36961 $MA_SAFE_VELO_STOP_MODE 36963 $MA_SAFE_VELO_STOP_REACTION[n] (SW4.2 and higher) 36970 $MA_SAFE_SVSS_DISABLE_INPUT 36972 $MA_SAFE VELO_SELECT_INPUT[n] 36974 $MA_SAFE_GEAR_SELECT_INPUT[n] 36980 $MA_SAFE_SVSS_STATUS_OUTPUT 36982 $MA_SAFE_VELO_STATUS_OUTPUT [n] (SW4.2 and higher) 36985 $MA_SAFE_VELO_X_STATUS_OUTPUT (SW4.2 and higher) Note: The data are described in Section 4.1 Machine data for SINUMERIK 840D
Table 3-40 Number 4500* 4508*
4184* 4188* 4192* 4196* 4264* 4292* 4600* 4612* 4616* 4732* 4752* 4756* 4760* Note: The data are described in Section 4.2 Machine and service data for SINUMERIK 840C
Overview of machine data for 840C Name Function enable for safe operation Axis-specific bits for safe operation Bit 4: Selection STOP D/E for SG Bit 5: Selection STOP E for SG Limit value for safe velocity 1 Limit value for safe velocity 2 Limit value for safe velocity 3 Limit value for safe velocity 4 Delay time speed switchover Speed limit nx for safe operation (SW6.1 and higher) Input assignment SBH/SG deselection Input assignment SG selection, bit 0 Input assignment SG selection, bit 1 Output assignment SBH/SG active Output assignment for SG active, bit 0 (SW6.1 and higher) Output assignment for SG active, bit 1 (SW6.1 and higher) Output assignment for n < nx (SW6.1 and higher)
Table 3-41 Overview of machine data for 611D Number Identifier 1301 $MD_SAFE_FUNCTION_ENABLE 1331 $MD_SAFE_VELO_LIMIT[n] 1351 $MD_SAFE_VELO_SWITCH_DELAY 1361 $MD_SAFE_VELO_STOP_MODE 1363 $MD_SAFE_VELO_STOP_REACTION[n] (840D from SW4.2) 1364 $MD_SAFE_VELO_X (840D from SW4.2, 840C from SW6.1) Note: The data are described in Section 4.3 Machine data for SIMODRIVE 611D
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3.5
Description
Safe limit positions (SE)

The safe limit positions (SE) function can be used to implement protection for operating personnel and machinery or working area/protection zone delimitation for specific axes. Hardware limit switches, for example, can be replaced by this function. Two safe position limit pairs (SE1 and SE2) of safe limit positions are available for each axis. If the "SE" function is active, limit position pair SE1 or SE2 can be selected as a function of SGE "SE selection".
Definition of upper and The position limit values for limit position pairs 1 and 2 are defined in the following machine data: lower limit values On 840D MD 36934: $MA_SAFE_POS_LIMIT_PLUS>n@ MD 36935: $MA_SAFE_POS_LIMIT_MINUS>n@ On 840C MD 4200*/4208*: Upper/lower limit value for safe limit position 1 MD 4204*/4212*: Upper/lower limit value for safe limit position 2 On 611D MD 1334: $MD_SAFE_POS_LIMIT_PLUS>n@ MD 1335: $MD_SAFE_POS_LIMIT_MINUS>n@ Note The upper and lower position limit values must be selected such that the axis reaches the software limit switches that installed as standard beforehand when traversing towards the limit position. The SE safety monitoring function is effective only if user agreement has been given see Section 2.3.5 User agreement).
The most important features of the function are as follows: Safe definition and evaluation of limit positions as a software function Configurable stop reaction when limit positions are crossed Stop reaction is implemented internally in software (and is therefore faster than hardware limit switch response) when limit position is crossed
Requirements
The "Safe limit positions" function is dependent on fulfilment of the following conditions (see Section 2.6 System requirements): Function for safe limit switches must be enabled Axis/axis must be in safely referenced state (user agreement) SGE "SE selection" must be provided (configured) in both channels
Warning
The safe limit positions are effective only if user agreement has been given.
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3.5.1
Effects of position limit monitoring response

Warning The SE function does not monitor the limit positions on a lookahead basis, i.e. the axis stops after crossing the limit position. The distance travelled after the limit position is dependent on how the function is parameterized (monitoring clock cycle, stop reaction...), the current traversing speed and the design of the axis.
Configurable stop reactions
When an axis crosses a limit position, a stop reaction configured in the following machine data is generated: On 840D MD 36962: $MA_SAFE_POS_STOP_MODE On 840C MD 4508*: (axis-specific bits for safe operation) Bit 2: Selection STOP D/E for SE Bit 3: Selection STOP E for SE On 611D MD 1362: $MD_SAFE_POS_STOP_MODE The user can choose between STOP C, STOP D and STOP E.
Effect
The configured stop reaction is initiated. The alarm associated with the configured stop reaction is displayed.
Acknowledge and exit limit area
Traverse the axis to a position in which the monitor does not respond (see description of alarm "Safe limit position crossed" in Section "). The "User agreement" must be cancelled first (SE monitoring is then deactivated) or switch over to the other safe limit position. Acknowledge the error message according to the configured stop reaction (see Section 2.5 Safe reaction via pulse disable paths and stops)
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Time response when safe end position is crossed
If the "Safe limit positions" function is active, the time response of the system is as follows when the limit position is crossed:
n
n act a) Axis crosses limit position
SE_01.DS4
t2 t1
t
t5 t3 t4
not to scale
t6
Fig. 3-14 Table 3-42 Time t1 Time response when limit position is crossed
t2
t3 t4 t5 t6
Explanations on the figure Explanation Position control clock cycle defined by the following MDs: On 840D: MD 10050: $MN_SYSCLOCK_CYCLE_TIME MD 10060: $MN_POSCTRL_SYSCLOCK_TIME_RATIO On 840C: MD 155: Position control basic clock cycle Monitoring clock cycle defined by the following MDs: On 840D: MD 10090: $MN_SAFETY_SYSCLOCK_TIME_RATIO On 840C: MD 40010: Ratio between monitoring clock cycle and position control basic clock cycle On 611D: MD1300: $MD_SAFETY_CYCLE_TIME Time until crossing of limit position is detected (maximum 1 monitoring clock cycle) Delay before configured stop reaction is output (maximum 2 monitoring clock cycles) Delay before configured stop reaction takes effect (time = 0, depends on configured stop reaction, see Section 2.5.4 Stop reactions) Time required to bring axis to standstill. This time period and thus the residual distance travelled by the axis is determined by the axis construction (motor, mass, friction, ...) and the configured stop reaction (STOP C is faster than STOP D or STOP E).
Note: Each axis must be measured during start-up to determine the distance it travels between violation of the limit value and immobilization.
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3.5.2
Overview of machine data for SE function
Table 3-43 Overview of machine data for 840D Number Identifier 36901 $MA_SAFE_FUNCTION_ENABLE 36934 $MA_SAFE_POS_LIMIT_PLUS[n] 36935 $MA_SAFE_POS_LIMIT_MINUS[n] 36962 $MA_SAFE_POS_STOP_MODE 36973 $MA_SAFE_POS_SELECT_INPUT Note: The data are described in Section 4.1 Machine data for SINUMERIK 840D
Table 3-44 Number 4500* 4200* 4204* 4208* 4212* 4508*
4648* Note: The data are described in Section 4.2 Machine and service data for SINUMERIK 840C
Overview of machine data for 840C Name Function enable for safe operation Upper limit value for safe limit position 1 Upper limit value for safe limit position 2 Lower limit value for safe limit position 1 Lower limit value for safe limit position 2 Axis-specific bits for safe operation Bit 2: Selection STOP D/E for SE Bit 3: Selection STOP E for SE Input assignment SE selection
Table 3-45 Overview of machine data for 611D Number Identifier 1301 $MD_SAFE_FUNCTION_ENABLE 1334 $MD_SAFE_POS_LIMIT_PLUS[n] 1335 $MD_SAFE_POS_LIMIT_MINUS[n] 1362 $MD_SAFE_POS_STOP_MODE Note: The data are described in Section 4.3 Machine data for SIMODRIVE 611D
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3.6
Description
Safe cams (SN)

The "Safe cams" (SN) function can be used to implement safe, electronic cams, safety zone sensing or working area/protection zone delimitation for specific axes and thus to replace the "hardware solution". There are 4 pairs of cams (SN1, SN2, SN3, SN4) available for each axis. Each cam pair consists of a plus cam (SN1 +, SN2 +, SN3 +, SN4 +) and a minus cam (SN1 -, SN2 -, SN3 -, SN4 -). Each cam signal can be enabled and configured individually via machine data. The cam signals are output via SGAs. Important The enabled cam signals are output immediately the control system is switched on, but are only reliable for monitoring purposes after safe referencing (signalled via the SGA "Axis safely referenced"). To ensure reliable evaluation of cam signals, the SGA "Axis safely referenced" must be taken into account.
The most important features of the function are: Safe definition and evaluation of cam positions as software function Definition of working areas
Requirements
The following requirements must be fulfilled for the "Safe cams" function to operate: The axis/axes must have been safely referenced (user agreement) The safe cams must be configured (enabling of required cams, specification of cam positions, definition of output assignment)
Specification of cam positions
The cam positions for SN1 +, SN2 +, SN3 +, SN4 + and SN1 -, SN2 -, SN3 -, SN4 - are specified in the following machine data: On 840D MD 36936: $MA_SAFE_CAM_POS_PLUS>n@ MD 36937: $MA_SAFE_CAM_POS_MINUS>n@ On 840C MD 4216* - 4228*: Plus cam position for safe cams 1 - 4 MD 4232* - 4244*: Minus cam position for safe cams 1 - 4 On 611D MD 1336: $MD_SAFE_CAM_POS_PLUS>n@ MD 1337: $MD_SAFE_CAM_POS_MINUS>n@
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Tolerance for SN
Owing to variations in clock cycle and signal transit times, the cam signals of the two monitoring channels do not switch simultaneously or not exactly at the same position. A tolerance band can therefore be specified for all cams via the following machine data. Within this band, the signal states for the same cam may be different in the two monitoring channels: On 840D MD 36940: $MA_SAFE_CAM_TOL On 840C MD 4248*: (tolerance for safe cams) On 611D MD 1340: $MD_SAFE_CAM_TOL Note The smallest possible tolerance band (less than 5-10 mm) must be selected for the safe cams.
Special feature of SN function
If the axis is being positioned exactly at the parameterized cam position, the cam signals may have different states owing to system-related variations in actual value between the two monitoring channels. This must be taken into account in the further processing of the cam signals, e.g. through filtering the different signal states by means of a logic circuit (see Synchronization of cam signals).
Synchronization of cam signals 840D from SW4.2 840C from SW6.1
When cam signal synchronization is activated, the cam results calculated by one monitoring channel are ANDed with the cam results of the other monitoring channel before they are output. The cam signals in both channels therefore have the same signal status at axis zero speed (after a transition period resulting from different transit times) Cam signal synchronization is enabledby means of the following machine data:s On 840D MD 36901: $MA_SAFE_FUNCTION_ENABLE, bit 7 On 840C MD 4500*, bit 7: Enable cam synchronization On 611D MD 1301: $MD_SAFE_FUNCTION_ENABLE, bit 7
Hysteresis of cam SGAs
When cam synchronization is active, cam signals are output with a hysteresis that takes the direction of travel into account (see Fig. 3-15 Hysteresis of cam SGAs). This helps to prevent the SGAs from flickering if the axis is positioned exactly on the cam. The magnitude of the hysteresis is determined by the following data: On 840D MD 36940: $MA_SAFE_CAM_TOL (tolerance for safe cams) On 840C MD 4248*: (tolerance for safe cams) On 611D MD 1340: $MD_SAFE_CAM_TOL (tolerance for safe cams)
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Cam position s SGA = 1 SGA = 0
Tolerance for safe cams

Fig. 3-15 Hysteresis of cam SGAs
SN_05.DS4
Note Dynamic deviations in the cam signals at I/O devices themselves still occur as a result of the different signal transit times between the NCK and PLC I/O devices. These deviations must be taken into account.
Output assignment for SN
The status of the individual cams is displayed via SGAs SN1 +, SN2 +, SN3 +, SN4 + and SN1 -, SN2 -, SN3 -, SN4 -. In the NCK monitoring channel, the NCK SGAs are assigned to output terminals via the following machine data: On 840D MD 36988: $MA_SAFE_CAM_PLUS_OUTPUT>n@ MD 36989: $MA_SAFE_CAM_MINUS_OUTPUT>n@ On 840C MD 4700* - 4724*: Output assignment SN1 + to SN4 + MD 4704* - 4728*: Output assignment SN1 - to SN4 In the drive monitoring channel, the PLC SGAs are mapped in the NC/PLC interface (see Section 4.4 Interface signals) and output via the PLC I/O by the PLC user program.
Modulo display of safe actual value (840D from SW4.2)
The modulo display of the safe actual value is selected and parameterized for rotary axes via the following machine data: MD 30300: $MA_IS_ROT_AX MD 30320: $MA_DISPLAY_IS_MODULO MD 30330: $MA_MODULO_RANGE
Safe cams for endlessly turning rotary axes (840D from SW4.2)
The modulo range (cam actual value range) for rotary axes with cam can be set via the following machine data: MD 36902/1302: $MA_/$MD_SAFE_IS_ROT_AX MD 36905/1305: $MA_/$MD_SAFE_MODULO_RANGE The size of the cam actual value range should be selected to match the modulo display of the safe actual value.
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Note Restriction of cam positions When cam positions are parameterized, the following conditions must be observed in the vicinity of modulo limits: When cam synchronization is not active: Lower modulo value + POS_TOL > Upper modulo value - POS_TOL When cam synchronization is active: Lower modulo value + POS_TOL Upper modulo value - POS_TOL - CAM_TOL > cam position cam position cam position cam position
Meanings: POS_TOL: Actual value tolerance (MD 36942/1342: $MA_/$MD_SAFE_POS_TOL) CAM_TOL: Cam tolerance (MD 36940/1340: $MA_/$MD_SAFE_CAM_TOL) Lower/upper modulo value: MD 36905/1305: $MA_/$MD_SAFE_MODULO_RANGE Cam position: MD 36936/1336: $MA_/$MD_SAFE_CAM_POS_PLUS[n] MD 36937/1307: $MA_/$MD_SAFE_CAM_POS_MINUS[n] The parameter settings are checked in each monitoring channel during power up. In the case of parameterization errors (condition not fulfilled), a corresponding alarm is output after the control has powered up.
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3.6.1
Effects of safe cam monitoring response
Important The machine manufacturer must safely gate the SGAs SN1 -, SN1 + to SN4 -, SN4 + that are output via the NCK and PLC I/O devices in accordance with the Safety Integrated principle, i.e. in two channels. If a reaction to the cam signals is required, then the machine manufacturer must implement it on the basis of SGA processing. The SGAs must be processed redundantly, i.e. in the NCK monitoring channel and drive monitoring channel (PLC). When defining cam positions, please note that the function only monitors the actual position, making "lookahead" sensing of cam signals impossible.
Time response when cam position is crossed
If the "Safe cams" function is active, the time response of the system is as follows when the cam position is crossed:
t2
a)
a) Axis crosses cam
t1
t
t3 t4
NCK SGA PLC SGA PLC HW output Fig. 3-16 Table 3-46 Time t1 Time response when cam position is crossed
SN_03.DS4
t5 t6
t2
t3 t4 t5 t6
Explanations on the figure Explanation Position control clock cycle defined by the following MDs: On 840D: MD 10050: $MN_SYSCLOCK_CYCLE_TIME MD 10060: $MN_POSCTRL_SYSCLOCK_TIME_RATIO On 840C: MD 155: Position control basic clock cycle Monitoring clock cycle defined by the following MDs: On 840D: MD 10090: $MN_SAFETY_SYSCLOCK_TIME_RATIO On 840C: MD 40010: Ratio between monitoring clock cycle and position control basic clock cycle On 611D: MD1300: $MD_SAFETY_CYCLE_TIME Time until crossing of cam position is detected (maximum 1 monitoring clock cycle) Delay before corresponding cam signal is output internally (maximum 2 monitoring clock cycles) Delay until the corresponding cam signal is transferred to the NCK I/O devices and the NC/PLC interface (on SINUMERIK 840D: Time = 0, on SINUMERIK 840C: 1 IPO cycle). Delay before the PLC-SGA is output to the PLC I/O devices (PLC cycle time, in drive monitoring channel only)
Note: Each axis must be measured during start-up to determine how long it takes for cam signals to be output to I/O devices after the cam position has been crossed.
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3.6.2
Example of application for safe cams
Description of task
The axis speed must be monitored for violation of various speed limit values based on position areas 1, 2 and 3 of the axis, i.e. if the axis is in area 1, 2, 3, then its speed must be monitored for violation of speed limit value 1, 3, 4. The position areas are defined via cam signals SN1- and SN1+.
2nd axis Machine zero 1 Shape of SN10 1 Shape of SN1+ 0 SN1SN1+ Area
of SN1-
Position value of SN1+ 1st axis
SN_01.DS4
0 0 1
1 0 2
1 1 3
Fig. 3-17
Signal shapes, positions and areas
Note In this example, cam synchronization must be enabled via the following machine data: On 840D MD 36901, bit 7: $MA_SAFE_FUNCTION_ENABLE On 840C MD 4500*, bit 7: Enable cam synchronization On 611D MD 1301, bit 7: $MD_SAFE_FUNCTION_ENABLE Applicable from: SW4.2 on 840D/611D SW6.1 on 840C/611D
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NCK HW I/O
1 2 I ... ... ... O ... ... ...
I/O images
Processing
SGE SGA
SBH/SG deselection SBH deselection SG selection bit 0 SG selection bit 1 SBH/SG active Axis safely referenced SN1+ SN1-
SBH/SG SE SN
per axis/spindle
I I 1 2 I ... ... ... O ... ... ... PLC User program SBH/SG deselection SBH deselection SG selection bit 0 SG selection bit 1 SBH/SG active Axis safely referenced SN1+ SN1-
Result and data cross-check
SBH/SG SE SN
per axis/spindle
SN_04.DS4
PLCHWI/O
I/O images
PLC User program
SGE SGA
Drive monitoring channel
Fig. 3-18
Interconnection of required SGEs/SGAs
Assumptions for the example
The example applies to the 1st axis. Position values: Speed limit values: Area 1 = 1000 mm/min Area 2 = 2000 mm/min Area 3 = 4000 mm/min SN1- = 300 mm, SN1+ = 600 mm
Definition of SGEs/SGAs in NCK monitoring channel On 840D Logical slot for terminal block: Slot number of submodule with SGEs: Slot number of submodule with SGAs: I/O number for signal SN1+: I/O number for signal SN1-: I/O number for signal "Axis safely referenced": I/O number for signal "SBH/SG active": I/O number for signal "SBH/SG deselection": I/O number for signal "SBH deselection": I/O number for signal "SG selection bit 1": I/O number for signal "SG selection bit 0": 9 1 2 7 6 5 4 2 3 6 7
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On 840C Module: Module number: I/O number for signal SN1+: I/O number for signal SN1-: I/O number for signal "Axis safely referenced": I/O number for signal "SBH/SG active": I/O number for signal "SBH/SG deselection": I/O number for signal "SBH deselection": I/O number for signal "SG selection bit 1": I/O number for signal "SG selection bit 0":
Mixed I/O 1 7 6 5 4 2 3 6 7
If the axis is being positioned exactly at the parameterized cam position, the cam signals may have different states owing to variations in actual value between the two monitoring channels. If the SGAs "SNx" were directly connected to the SGEs "SG selection", the result and data cross-check would signal an error. When cam synchronization is activated, the cam signals are output with the same signal status in both channels when the axis has reached zero speed. Note The machine data for the safe velocity function are described in Section 4 Data Descriptions.
Definition of machine data
Table 3-47
SN1SN1+ Table 3-48
Supply of MD for cam positions On 840D On 840C MD No. Value MD No. Value 36937 300 42320 300 36936 600 42160 600
On 611D MD No. 1337>0@ 1336>0@
Value 300 600
Supply of MD for speed limit values On 840D On 840C Limit value MD No. Value MD No. Value 1 36931>0@ 1000 41840 1000 2 36931>1@ 0 41880 0 3 36931>2@ 2000 41920 2000 4 36931>3@ 4000 41960 4000
On 611D MD No. 1331>0@ 1331>1@ 1331>2@ 1331>3@
Value 1000 0 2000 4000
Table 3-49 Assignment of speed limit values to areas Speed limit value Area Remarks SG selection Bit 1 Bit 0 1 0 0 1 SG1 active 2 0 1 Not used 3 1 0 2 SG3 active 4 1 1 3 SG4 active Table 3-50 Signal SGE/SGA SGA SGA SGA SGA SGE SGE SGE SGE Supply of MD for SGEs/SGAs on 840D Assignment Name MD No. SN1+ 36988[0] SN136989[0] Axis safely referenced 36987 SBH/SG active 36980 SBH/SG deselection 36970 SBH deselection 36971 SG selection bit 1 36972[1] SG selection bit 0 36972[0]
Value 01 09 02 07 01 09 02 06 01 09 02 05 01 09 02 04 01 09 01 02 01 09 01 03 01 09 01 06 01 09 01 07
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Table 3-51 Signal SGE/SGA SGA SGA SGA SGA SGE SGE SGE SGE
Supply of MD for SGEs/SGAs on 840C Input/output assignment Name MD No. Value SN1+ 47000 30 10 00 70 SN147040 30 10 00 60 Axis safely 47360 30 10 00 50 referenced SBH/SG active 47320 30 10 00 40 SBH/SG 46000 30 10 00 20 deselection SBH deselection 46040 30 10 00 30 SG selection bit 1 46160 30 10 00 60 SG selection bit 0 46120 30 10 00 70
Read/write mask MD No. Value 45808.7 1 45808.6 1 45808.5 1 45808.4 45802.2 45802.3 45802.6 45802.7 1 1 1 1 1
Note The corresponding signals must be processed similarly by the PLC in the drive monitoring channel (see Section 3.1.2 Signal processing for drive monitoring channel). To ensure that cam signals are evaluated reliably, the SGA "Axis safely referenced" must also be taken into account. The SGA "Axis safely referenced" can be gated by means of the SGA "SBH/SG active" if the signal is used to enable a protection zone (see Section 7.2 Example circuits for Safety Integrated) Advantage: An AND operation in the NCK monitoring channel can then be implemented by means of machine data (see Section 4.1 Machine data for SINUMERIK 840D or Section 4.2 Machine and service data for SINUMERIK 840C).
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3.6.3
Overview of machine data for SN function
Table 3-52 Overview of machine data for 840D Number Identifier 36901 $MA_SAFE_FUNCTION_ENABLE 36905 $MA_SAFE_MODULO_RANGE (from SW4.2) 36936 $MA_SAFE_CAM_POS_PLUS[n] 36937 $MA_SAFE_CAM_POS_MINUS[n] 36988 $MA_SAFE_CAM_PLUS_OUTPUT[n] 36989 $MA_SAFE_CAM_MINUS_OUTPUT[n] 36940 $MA_SAFE_CAM_TOL Note: The data are described in Section 4.1 Machine data for SINUMERIK 840D
Table 3-53 Overview of machine data for 840C Number Name 4500* bit 7 Enable cam synchronization (from SW6.1) 4504* Cam enable safe operation 4216* Plus cam position for safe cams 1 4220* Plus cam position for safe cams 2 4224* Plus cam position for safe cams 3 4228* Plus cam position for safe cams 4 4232* Minus cam position for safe cams 1 4236* Minus cam position for safe cams 2 4240* Minus cam position for safe cams 3 4244* Minus cam position for safe cams 4 4700* Output assignment SN1 + 4708* Output assignment SN2 + 4716* Output assignment SN3 + 4724* Output assignment SN4 + 4704* Output assignment SN1 4712* Output assignment SN2 4720* Output assignment SN3 4728* Output assignment SN4 4248* Tolerance for safe cams Note: The data are described in Section 4.2 Machine and service data for SINUMERIK 840C
Table 3-54 Overview of machine data for 611D Number Identifier 1301 $MD_SAFE_FUNCTION_ENABLE 1305 $MD_SAFE_MODULO_RANGE (840D from SW4.2) 1336 $MD_SAFE_CAM_POS_PLUS[n] 1337 $MD_SAFE_CAM_POS_MINUS[n] 1340 $MD_SAFE_CAM_TOL Note: The data are described in Section 4.3 Machine data for SIMODRIVE 611D
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3.7
Actual value synchronization (drift/slip on two-encoder system) (SW 6.3 and higher)
A frequent problem of spindles with V-belt is the occurring slip and a coupling factor which cannot be defined exactly. In order to enable an exact positioning nevertheless, a direct measuring system is implemented in addition to the motor encoder. For SI this involves the problem that the actual value of the drive (of the motor encoder) continuously drifts away from the actual value of the NC (of the direct measuring system). In the cross-check data comparison this is then recognized to be an error. For axes with necessary absolute reference (e.g. monitoring of limit switch or cams) this is correct and necessary. If, however, merely the velocity of the spindle shall be monitored, a slow drift-away of the two absolute actual values can be tolerated.
Description
From SW 6.3 and higher
From SW 6.3, the absolute actual value is synchronized cyclically in the crosscheck monitoring cycle. Both components thereby "correct" their absolute actual value by half of the calculated actual value difference. Consequently, the SI actual value will, therefore, drift away from the correct actual value of the NC. However, as the absolute reference is not required, this will not disturbe velocity monitoring.
Activation
The actual value synchronization is activated in bit 3 of the machine data 4500* "Function enable SS/SG, SE, actual value synchronization and cam synchronization". The maximum slip or drift is defined in the machine data 4300* "Two-encoder drift/slip tolerance".
Installation
The function is activated with bit 3 in the machine data 4500*. Enter the maximum value in the machine data 4300*. Use the servo trace signal "SI velocity difference" to record the state, in which, by experience, the biggest slip occurs, e.g. during acceleration/deceleration of the spindle. Enter the calculated slip speed with sufficient surplus in the machine data 4300* "Twoencoder drift/slip tolerance". Note The slip can increase after a certain time, caused by e.g. aging or belt tension.
In the menu SI service the actual and the maximum actual value difference can be read from the service data 309 and 310.
Restrictions
Functions which require an absolute value (e.g. safe limit position (SE)), are not possible in combination with the actual value synchronization.
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Notes
3-128
Data Descriptions
4.1 Machine data for SINUMERIK 840D...........................................................................4-130 4.1.1 Overview of machine data .......................................................................................4-130 4.1.2 Description of machine data ....................................................................................4-132 4.2 Machine and service data for SINUMERIK 840C .......................................................4-155 4.2.1 Overview of machine data .......................................................................................4-155 4.2.2 Description of machine data ....................................................................................4-157 4.2.3 Overview of SI service data .....................................................................................4-176 4.2.4 Description of service data ......................................................................................4-176 4.3 Machine data for SIMODRIVE 611D ..........................................................................4-180 4.3.1 Overview of machine data .......................................................................................4-180 4.3.2 Description of machine data ....................................................................................4-183 4.4 Interface signals .........................................................................................................4-195 4.4.1 Interface signals for SINUMERIK 840D ...................................................................4-196 4.4.2 Interface signals for SINUMERIK 840C ...................................................................4-197 4.4.3 Description of interface signals................................................................................4-199 4.5 System variables ........................................................................................................4-202 4.5.1 System variables for SINUMERIK 840D..................................................................4-202
4-129
SINUMERIK Safety Integrated 4 Data Descriptions
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4.1
4.1.1
Table 4-1 Number
Machine data for SINUMERIK 840D

Overview of machine data
Overview of machine data for SINUMERIK 840D Identifier Name Basic system cycle Factor for position control cycle Factor for monitoring cycle Display of monitoring cycle Display of cross-check cycle Logical drive number Calculation accuracy for linear positions Calculation accuracy for angular positions Hardware assignment of external digital NCK inputs Hardware assignment of external digital NCK outputs Reference /FBD/, G2 /FBD/, G2
General ($MN_ ... ) 10050 SYSCLOCK_CYCLE_TIME 10060 POSCTRL_SYSCLOCK_TIME_RATIO 10090 SAFETY_SYSCLOCK_TIME_RATIO 10091 INFO_SAFETY_CYCLE_TIME 10092 INFO_CROSSCHECK_CYCLE_TIME 13010 DRIVE_LOGIC_NR 10200 INT_INCR_PER_MM 10210 INT_INCR_PER_DEG 10366 HW_ASSIGN_DIG_FASTIN 10368 HW_ASSIGN_DIG_FASTOUT
/FBD/, G2 /FBD/, G2 /FBD/, G2 /FBD/, A4 /FBD/, A4
Axis/spindle-specific ($MA_ ... ) 30300 $MA_IS_ROT_AX 30320 $MA_DISPLAY_IS_MODULO 30330 32300 35200 35210 35410 36060 36901 36902 36905 36910 36911 36912 30240 36915 36916 36917 36918 36920 36921 36922 36925 36930 36931 36932 36934 36935 36936 36937 36940 36942 36944 36946
Rotary axis/spindle Modulo 360 degrees display for rotary axis/spindle $MA_MODULO_RANGE Size of modulo range $MA_MA_AX_ACCEL Axis acceleration $MA_GEAR_STEP_SPEEDCTRL_ACCE Acceleration in speed control mode L $MA_STEP_POSCTRL_ACCEL Acceleration in position control mode $MA_SPIND_OSCILL_ACCEL Acceleration during reciprocating STANDSTILL_VELO_TOL Maximum velocity/speed "Axis/spindle stopped" SAFE_FUNCTION_ENABLE Enable safe functions SAFE_IS_ROT_AX Rotary axis SAFE_MODULO_RANGE Modulo value safe cams (from SW4.2) SAFE_ENC_SEGMENT_NR Actual value assignment: Drive type SAFE_ENC_MODULE_NR Actual value assignment: Drive no./measuring circuit no. SAFE_ENC_INPUT_NR Actual value assignment: Input to drive module/measuring-circuit board ENC_TYPE Encoder type, actual value sensing method SAFE_ENC_TYPE Encoder type SAFE_ENC_IS_LINEAR Linear scale SAFE_ENC_GRID_POINT_DIST Grid spacing linear scale SAFE_ENC_RESOL Encoder markings per revolution SAFE_ENC_GEAR_PITCH Spindle pitch SAFE_ENC_GEAR_DENOM>n@ Denominator gearbox encoder load SAFE_ENC_GEAR_NUMERA>n@ Numerator gearbox encoder load SAFE_ENC_POLARITY Direction reversal actual value SAFE_STANDSTILL_TOL Standstill tolerance SAFE_VELO_LIMIT>n@ Limit value for safe velocity Override factor for SG (from SW4.2) SAFE_VELO_OVR_FACTOR[n] SAFE_POS_LIMIT_PLUS>n@ Upper limit value for safe limit position SAFE_POS_LIMIT_MINUS>n@ Lower limit value for safe limit position SAFE_CAM_POS_PLUS>n@ Plus cam position for safe cams SAFE_CAM_POS_MINUS>n@ Minus cam position for safe cams SAFE_CAM_TOL Tolerance for safe cams SAFE_POS_TOL Actual value comparison tolerance (cross-check) SAFE_REFP_POS_TOL Actual value comparison tolerance (reference) SAFE_VELO_X Velocity limit nx (from SW4.2)
/FBD/, R2 /FBD/, R2 /FBD/, R2 /FBD/, B2 /FBD/, S1 /FBD/, S1 /FBD/, S1 /FBD/, A2
/FBD/, G2
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Number 36948 36950 36951 36952 36953 36954 36956 36957 36960 36620 36961 36962 36963 36970 36971 36972 36973 36974 36975 36976 36978 36980 36981 36982 36985 36986 36987 36988 36989 36995 36997 36998 36999
Identifier SAFE_STOP_VELO_TOL SAFE_MODE_SWITCH_TIME SAFE_VELO_SWITCH_DELAY SAFE_STOP_SWITCH_TIME_C SAFE_STOP_SWITCH_TIME_D SAFE_STOP_SWITCH_TIME_E SAFE_PULSE_DISABLE_DELAY SAFE_PULSE_DIS_CHECK_TIME SAFE_STANDSTILL_VELO_TOL SERVO_DISABLE_DELAY_TIME SAFE_VELO_STOP_MODE SAFE_POS_STOP_MODE SAFE_VELO_STOP_REACTION[n] SAFE_SVSS_DISABLE_INPUT SAFE_SS_DISABLE_INPUT SAFE_VELO_SELECT_INPUT>n@ SAFE_POS_SELECT_INPUT SAFE_GEAR_SELECT_INPUT>n@ SAFE_STOP_REQUEST_INPUT SAFE_PULSE_STATUS_INPUT SAFE_OVR_INPUT[n] SAFE_SVSS_STATUS_OUTPUT SAFE_SS_STATUS_OUTPUT SAFE_VELO_STATUS_OUTPUT[n] SAFE_VELO_X_STATUS_OUTPUT SAFE_PULSE_ENABLE_OUTPUT SAFE_REFP_STATUS_OUTPUT SAFE_CAM_PLUS_OUTPUT>n@ SAFE_CAM_MINUS_OUTPUT>n@ SAFE_STANDSTILL_POS SAFE_ACKN SAFE_ACT_CHECKSUM SAFE_DES_CHECKSUM
Name Actual speed tolerance for SBR (from SW4.2) Tolerance time for SGE switchover Delay time velocity switchover Transition time STOP C to safe operational stop Transition time STOP D to safe operational stop Transition time STOP E to safe operational stop Delay time pulse disable Time for testing pulse disable Creep speed pulse disabling Cutout delay servo enable Stop reaction safe velocity Stop reaction safe limit position SG-specific stop reaction (from SW4.2) Input assignment SBH/SG deselection Input assignment SBH deselection Input assignment SG selection Input assignment SE selection Input assignment gear ratio selection Input assignment "Test stop selection" Input assignment "Pulses disabled" status Input assignment for SG override selection (from SW4.2) Output assignment SBH/SG active Output assignment for SBH active (SW4.2) Output assignment for SG active ( SW4.2) Output assignment for n < nx ( SW4.2) "Enable pulses" output assignment Output assignment "Axis safely referenced" Output assignment SN1 + to SN4 + Output assignment SN1 - to SN4 Standstill position User agreement Actual checksum Setpoint checksum
Reference
Available soon
/FBD/, A2
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4.1.2
Description of machine data
General
General information about machine data and explanations of their contents such as unit, data type, protection level, effectiveness, etc. can be found in the following references: References: /LID/, Lists SINUMERIK 840D
10090 $MN_SAFETY_SYSCLOCK_TIME_RATIO 840D MD number Factor for monitoring cycle Default: 3 Min. input value: 1 Max. input value: 50 Change valid after POWER ON Protection level (R/W): 7/2 Unit: Data type: DWORD Valid as from SW version: 3.4 Meaning Ratio between monitoring cycle and basic system cycle. The monitoring cycle is the product of this data and $MN_SYSCLOCK_CYCLE_TIME. Special cases, errors The monitoring cycle is checked during power-up: It must be an integral multiple of the position control cycle It must be 25 ms
If these conditions are not fulfilled, the factor is rounded to the next possible value. The monitoring cycle that is actually set is displayed via $MN_INFO_SAFETY_CYCLE_TIME. The value for the cross-check cycle that is displayed via $MN_INFO_CROSSCHECK_CYCLE_TIME also changes. Note: The monitoring cycle time also determines the monitor reaction time. Remember that a short monitoring cycle time increases the load on the CPU. MD 10050: $MN_SYSCLOCK_CYCLE_TIME MD 10091: $MN_INFO_SAFETY_CYCLE_TIME MD 10092: $MN_INFO_CROSSCHECK_CYCLE_TIME
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10091 $MN_INFO_SAFETY_CYCLE_TIME 840D MD number Display of monitoring cycle Default: Min. input value: Max. input value: Change valid after POWER ON Protection level (R/W): 7/Unit: ms Data type: DOUBLE Valid as from SW version: 3.4 Meaning This data displays the monitoring cycle time that is actually effective. It is a pure display data and cannot be written. Related to ... MD 10090: $MN_SAFETY_SYSCLOCK_TIME_RATIO References See Section 2.3.4 Safety monitoring cycle and cross-check cycle
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10092 $MN_INFO_CROSSCHECK_CYCLE_TIME 840D MD number Display of cross-check cycle Default: Min. input value: Max. input value: Change valid after POWER ON Protection level (R/W): 7/Unit: ms Data type: DOUBLE Valid as from SW version: 3.4 Meaning This data displays the effective time for one full execution of the cross-check cycle. It is a pure display data and cannot be written. Related to ... MD 10090: $MN_SAFETY_SYSCLOCK_TIME_RATIO References See Section 2.3.4 Safety monitoring cycle and cross-check cycle 36901 MD number Default: 0 $MA_SAFE_FUNCTION_ENABLE Enable safe functions Min. input value: 0 840D
Max. input value: FF 03, FF E3 ( SW4.2) Change valid after POWER ON Protection level (R/W): 7/2 Unit: Hexadecimal Data type: DWORD Valid as from SW version: 3.4 Meaning The functions for safe operation can be enabled for one axis/spindle with this data. It is only possible to enable on an axis-specific basis as many axes/spindles for safe operation as have been enabled by the global option. If one of the bits 1, 8...15 is set, then bit 0 must also be set because the control switches the drive to a safe operational stop with STOP C, D, and E. This condition is checked (configuration alarm 27033 is output in the event of an error). The more partial functions set, the more computing time the safe functions require. High byte Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 19 Bit 9 Bit 8 Enable safe functions SN4 SN4 + SN3 SN3 + SN2 SN2 + SN1 SN1 + Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Low byte Reserved, bits must be 0 Enable Enable ( SW4.2)
Cam synchronization Reserved Override for safe velocity 0 0 0 SE SBH/ SG
Special cases, errors
Related to ... References
If bit 1 or a higher bit is set, then bit 0 must also be set since the control system switches to a safe operational stop in response to STOP C, D or E (a configuration alarm is output if an error is detected). If an insufficient number of axes/spindles have been enabled for safe operation by means of the global option, then this data may be overwritten with the value 0000 during power-up Global option See Section 2.3.6 Enabling individual safe functions
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36902 $MA_SAFE_IS_ROT_AX 840D MD number Rotary axis Default: 0 Min. input value: 0 Max. input value: 1 Change valid after POWER ON Protection level (R/W): 7/2 Unit: Data type: BOOLEAN Valid as from SW version: 3.4 Meaning Data specifies whether the axis for safe operation is a rotary axis/spindle or linear axis. = 0: Linear axis = 1: Rotary axis/spindle The value set in this MD must be the same as the value set in MD: $MA_IS_ROT_AX. A parameterization error is displayed if they are not identical. 36905 $MA_SAFE_MODULO_RANGE 840D MD number Modulo value for SN Default: 0.0 Min. input value: 0.0 Max. input value: 737280.0 Change valid after POWER ON Protection level (R/W): 7/2 Unit: Degrees Data type: DOUBLE Valid as from SW version: 4.2 Meaning Actual value range in which safe cams for rotary axes are calculated. The axis must be a rotary axis ($MA_/$MD_SAFE_IS_ROT_AX = 1). Setting = 0: Modulo correction after +/- 2048 revolutions (i.e. after 737 280 degrees)
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Setting > 0 and multiples of 360 degrees: the Modulo correction after this setting (e.g. setting = 360 actual value range is between 0 and 359.999 degrees, i.e. a modulo correction is carried out after every revolution. If the value set in this data is not 0 or a multiple of 360 degrees, then an appropriate alarm is output during power-up. The cam positions are also checked with respect to the parameterized actual value range during power-up. An appropriate alarm is output if parameterization errors are detected. Actual value ranges set in $MA_SAFE_MODULO_RANGE and $MA_MODULO_RANGE must be divisible as integers without remainder. MD 1305: $MD_SAFE_MODULO_RANGEMD 30330: $MA_MODULO_RANGEMD 36935/1336: $MA_/$MD_SAFE_CAM_POS_PLUS[n]MD 36937/1337: $MA_/$MD_SAFE_CAM_POS_MINUS[n]
36910 $MA_SAFE_ENC_SEGMENT_NR MD number Actual value assignment: Drive type Default: 1 Min. input value: 0 Max. input value: 1 Change valid after POWER ON Protection level (R/W): 0/0 Unit: Data type: BYTE Valid as from SW version: 3.4 Meaning Number of bus segment via which the SI encoder is addressed. =1: Drive bus of SIMODRIVE 611D (always present)
840D
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36911 $MA_SAFE_ENC_MODULE_NR 840D MD number Actual value assignment: Drive no./measuring circuit no. Default: 1 Min. input value: 1 Max. input value: NCU 572: 31 Change valid after POWER ON Protection level (R/W): 7/2 Unit: Data type: BYTE Valid as from SW version: 3.4 Meaning Module no. within a segment via which the SI encoder is addressed. The logical drive number of the drive assigned to the axis via $MN_DRIVE_LOGIC_NR is entered here. For standard applications with a 2-encoder system, the encoder for Safety Integrated is connected to the second encoder connection (bottom input) of the same drive module. Any actual value input in the 611D grouping can be used for the second encoder as the measuring system on the NC side. MD 36910: $MA_SAFE_ENC_SEGMENT_NR MD 36912: $MA_SAFE_ENC_INPUT_NR MD 36010: $MN_DRIVE_LOGIC_NR
Special cases, errors Related to ...
36912 $MA_SAFE_ENC_INPUT_NR 840D MD number Actual value assignment: Input to drive module/measuring circuit board Default: 1 Min. input value: 1 Max. input value: 2 Change valid after POWER ON Protection level (R/W): 7/2 Unit: Data type: BYTE Valid as from SW version: 3.4 Meaning Number of the actual value input of a module via which the SI encoder is addressed. = 1: SI encoder is connected to top input (motor encoder) = 2: SI encoder is connected to bottom input (2nd encoder) For standard applications with a 2-encoder system, the encoder for Safety Integrated is connected to the second encoder connection (bottom input) of the same drive module. Any actual value input in the 611D grouping can be used for the second encoder as the measuring system on the NC side. MD 36911: $MA_SAFE_ENC_MODULE_NR 840D
36915 $MA_SAFE_ENC_TYPE MD number Encoder type Default: 0 Min. input value: 0 Max. input value: 4 Change valid after POWER ON Protection level (R/W): 7/2 Unit: Data type: BYTE Valid as from SW version: 3.4 Meaning The type of SI encoder connected is specified here.
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= 0: Reserved = 1: Raw signal encoder (1V peak-to-peak) = 4: Absolute encoder with EnDat interface The value is coded in the same way as in data $MA_ENC_TYPE. Only the value 1 or 4 is permitted. An incorrect configuration (e.g. entry of values 0, 2, 3 or 5) is displayed with alarm 27033. MD 30240: $MA_ENC_TYPE
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36916 $MA_SAFE_ENC_IS_LINEAR 840D MD number Linear scale Default: 0 Min. input value: 0 Max. input value: 1 Change valid after POWER ON Protection level (R/W): 7/2 Unit: Data type: BOOLEAN Valid as from SW version: 3.4 Meaning This is used to specify whether the connected encoder is rotary or linear. Rotary encoder is connected Its resolution is defined in $MA_SAFE_ENC_RESOL and converted to the load side with $MA_SAFE_ENC_GEAR_PITCH, $MA_SAFE_ENC_GEAR_DENOM[n] and $MA_SAFE_ENC_GEAR_NUMERA[n]. MD: $MA_SAFE_ENC_GRID_POINT_DIST has no meaning. = 1: Linear encoder is connected Its resolution is defined in $MA_SAFE_ENC_GRID_POINT_DIST. The MDs: $MA_SAFE_ENC_RESOL, $MA_SAFE_ENC_GEAR_PITCH, $MA_SAFE_ENC_GEAR_DENOM[n] and $MA_SAFE_ENC_GEAR_NUMERA[n] have no meaning. With 0: $MA_SAFE_ENC_RESOL $MA_SAFE_ENC_GEAR_PITCH $MA_SAFE_ENC_GEAR_DENOM[n] $MA_SAFE_ENC_GEAR_NUMERA[n] With 1: $MA_SAFE_ENC_GRID_POINT_DIST 840D = 0:
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36917 $MA_SAFE_ENC_GRID_POINT_DIST MD number Grid spacing linear scale Default: 0.01 Min. input value: 0.000 01 Max. input value: 8 Change valid after POWER ON Protection level (R/W): 7/2 Unit: mm Data type: DOUBLE Valid as from SW version: 3.4 Meaning The grid spacing of the linear scale used is specified here. MD irrelevant for ... A rotary encoder
36918 $MA_SAFE_ENC_RESOL 840D MD number Encoder markings per revolution Default: 2 048 Min. input value: 1 Max. input value: 100 000 Change valid after POWER ON Protection level (R/W): 7/2 Unit: Data type: DWORD Valid as from SW version: 3.4 Meaning The number of markings per revolution on a rotary encoder is specified here. MD irrelevant for ... A linear encoder 36920 $MA_SAFE_ENC_GEAR_PITCH 840D MD number Spindle pitch Default: 10 Min. input value: 0.1 Max. input value: 10 000 Change valid after POWER ON Protection level (R/W): 7/2 Unit: mm Data type: DOUBLE Valid as from SW version: 3.4 Meaning Gear ratio of gearbox between encoder and load for a linear axis with rotary encoder.
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840D 36921 $MA_SAFE_ENC_GEAR_DENOM>n@ MD number Denominator the gearbox encoder/load Default: 1 Min. input value: 1 Max. input value: 2 147 000 000 Change valid after POWER ON Protection level (R/W): 7/2 Unit: Data type: DWORD Valid as from SW version: 3.4 Meaning Denominator of the gearbox between encoder and load, i.e. the denominator of the fraction No. of encoder revolutions / No. of load revolutions n = 0, 1, ... ,7 stands for gear stage 1, 2, ... 8 Related to ... The current value is selected via safety-relevant input signals (SGEs). MD 36922: $MA_SAFE_ENC_GEAR_NUMERA>n@
840D 36922 $MA_SAFE_ENC_GEAR_NUMERA>n@ MD number Numerator gearbox encoder/load Default: 1 Min. input value: 1 Max. input value: 2 147 000 000 Change valid after POWER ON Protection level (R/W): 7/2 Unit: Data type: DWORD Valid as from SW version: 3.4 Meaning Numerator of the gearbox between encoder and load, i.e. the numerator of the fraction No. of encoder revolutions / No. of load revolutions n = 0, 1, ... 7 stands for gear stage 1, 2, ... 8 Related to ... The current value is selected via safety-relevant input signals (SGEs). MD 36921: $MA_SAFE_ENC_GEAR_DENOM>n@ 840D
36925 $MA_SAFE_ENC_POLARITY MD number Direction reversal actual value Default: 1 Min. input value: -1 Max. input value: 1 Change valid after POWER ON Protection level (R/W): 7/2 Unit: Data type: DWORD Valid as from SW version: 3.4 Meaning A direction reversal in the actual value can be set in this data. = -1: = 0 or = 1: Direction reversal No direction reversal
36930 $MA_SAFE_STANDSTILL_TOL 840D MD number Standstill tolerance Default: 1 mm Min. input value: 0 Max. input value: 100 Change valid after POWER ON Protection level (R/W): 7/2 Unit: mm, inches, degrees Data type: DOUBLE Valid as from SW version: 3.4 Meaning The tolerance for the safe operational stop is set in this data. If the difference between the position setpoint and position actual value is greater than the tolerance set here when safe operational stop is selected, then the control system activates alarm 27010 with STOP A or B. MD 36956: $MA_SAFE_PULSE_DISABLE_DELAY
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36931 $MA_SAFE_VELO_LIMIT[n] 840D MD number Limit value for safe velocity Default: 2 000 mm/min Min. input value: 0 Max. input value: * Change valid after POWER ON Protection level (R/W): 7/2 Unit: mm/min inches/min, rev/min Data type: DOUBLE Valid as from SW version: 3.4 Meaning The limit values for safe velocities 1, 2, 3 and 4 are set in this data. When SG1, SG2, SG3 or SG4 is selected and the current speed exceeds the limit set here, then the control system activates alarm 27011 with the stop reaction configured in $MA_SAFE_VELO_STOP_MODE. Special cases, errors n = 0, 1, 2, 3 stands for limit value of SG1, SG2, SG3, SG4 With active SBH/SG and a 1-encoder system, the speed is monitored on the basis of an encoder limit frequency of 200 kHz. An appropriate alarm is output when the limit is exceeded. MD 36961: $MA_SAFE_VELO_STOP_MODE
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840D 36932 $MA_SAFE_VELO_OVR_FACTOR>n@ MD number Override factor for SG Default: 100 Min. input value: 1 Max. input value: 100 Change valid after POWER ON Protection level (R/W): 7/2 Unit: % Data type: DWORD Valid as from SW version: 4.1 Meaning It is possible to select overrides via SGEs for safe velocities 2 and 4 and to set the associated override value (percentage) in this machine data. Application example n = 0, 1, ... , 15 stands for overrides 0, 1, ... 15 $MA_SAFE_VELO_OVR_FACTOR>0@=30 (override 0) $MA_SAFE_VELO_OVR_FACTOR>1@=50 (override 1) $MA_SAFE_VELO_OVR_FACTOR>2@=80 (override 2) $MA_SAFE_VELO_OVR_FACTOR>3@=100 (override 3) Depending on whether override 0, 1, 2 or 3 is selected, safe velocities 2 and 4 are monitored for 30, 50, 80 or 100% of the set limit value. The Override for safe velocity function is enabled via MD 36901 (MD 1301): $MA($MD)_SAFE_FUNCTION_ENABLE. This override is not applied to the limit values for safe velocities 1 and 3. MD 36978: $MA_SAFE_OVR_INPUT>n@ MD 36931: $MA_SAFE_VELO_LIMIT>n@ See Section 3.4.5 Override for safe velocity
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36934 $MA_SAFE_POS_LIMIT_PLUS[n] 840D MD number Upper limit value for safe limit position Default: 100 000 mm Min. input value: -2 147 000 Max. input value: 2 147 000 Change valid after POWER ON Protection level (R/W): 7/2 Unit: mm, inches, degrees Data type: DOUBLE Valid as from SW version: 3.4 Meaning The upper limit value for safe limit positions 1 and 2 is specified here. If SE1 or SE2 is selected and the current actual position exceeds the limit set in this data, the control system activates alarm 27012 with the stop reaction configured in $MA_SAFE_POS_STOP_MODE and switches over to SBH mode. A violation of the SBH tolerance window initiates stop reaction STOP B and A. Related to ... n = 0, 1 stands for upper limit value of SE1, SE2 MD 36962: $MA_SAFE_POS_STOP_MODE MD 36935: $MA_SAFE_POS_LIMIT_MINUS[n] MD 36901: $MA_SAFE_FUNCTION_ENABLE A parameterization error is displayed if the value entered in MD: $MD_SAFE_POS_LIMIT_PLUS[n] is lower or the same as the value set in MD: $MA_SAFE_POS_LIMIT_MINUS[n].
36935 $MA_SAFE_POS_LIMIT_MINUS[n] 840D MD number Lower limit value for safe limit position Default: -100 000 mm Min. input value: -2 147 000 Max. input value: 2 147 000 Change valid after POWER ON Protection level (R/W): 7/2 Unit: mm, inches, degrees Data type: DOUBLE Valid as from SW version: 3.4 Meaning The lower limit value for safe limit positions 1 and 2 is specified here. If SE1 or SE2 is selected and the current actual position drops below the limit set in this data, the control system activates alarm 27012 with the stop reaction configured in $MA_SAFE_POS_STOP_MODE and switches over to SBH mode. A violation of the SBH tolerance window initiates stop reaction STOP B and A. Related to ... n = 0, 1 stands for lower limit value of SE1, SE2 MD 36962: $MA_SAFE_POS_STOP_MODE MD 36934: $MA_SAFE_POS_LIMIT_PLUS[n] MD 36901: $MA_SAFE_FUNCTION_ENABLE A parameterization error is displayed if the value entered in MD: $MD_SAFE_POS_LIMIT_PLUS[n] is lower or equal to the value set in MD: $MA_SAFE_POS_LIMIT_MINUS[n].
36936 $MA_SAFE_CAM_POS_PLUS[n] 840D MD number Plus cam position for safe cams Default: 10 mm Min. input value: -2 147 000 Max. input value: 2 147 000 Change valid after POWER ON Protection level (R/W): 7/2 Unit: mm, inches, degrees Data type: DOUBLE Valid as from SW version: 3.4 Meaning The plus cam position for safe cams SN1 +, SN2 +, SN3 + and SN4 + is specified in this data. If the actual position is the value set here when the safe cam function is active, then the appropriate safety-relevant output signal (SGA) is set to 0 and to 1 if the actual position is ! this value. Related to ... n = 0, 1, 2, 3 stands for plus cam position of SN1 +, SN2 +, SN3 +, SN4 + MD 36988: $MA_SAFE_CAM_PLUS_OUTPUT[n] MD 36901: $MA_SAFE_FUNCTION_ENABLE
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36937 $MA_SAFE_CAM_POS_MINUS[n] 840D MD number Minus cam position for safe cams Default: -10 mm Min. input value: -2 147 000 Max. input value: 2 147 000 Change valid after POWER ON Protection level (R/W): 7/2 Unit: mm, inches, degrees Data type: DOUBLE Valid as from SW version: 3.4 Meaning The minus cam position for safe cams SN1 -, SN2 -, SN3 - and SN4 -. If the actual position is the value set here when the safe cam function is active, then the appropriate safety-relevant output signal (SGA) is set to 0 and to 1 if the actual position is ! this value. Related to ... n = 0, 1, 2, 3 stands for minus cam position of SN1 -, SN2 -, SN3 -, SN4 MD 36989: $MA_SAFE_CAM_MINUS_OUTPUT[n] MD 36901: $MA_SAFE_FUNCTION_ENABLE
36940 $MA_SAFE_CAM_TOL 840D MD number Tolerance for same cams Default: 0.1 mm Min. input value: 0.001 Max. input value: 10 mm Change valid after POWER ON Protection level (R/W): 7/2 Unit: mm, inches, degrees Data type: DOUBLE Valid as from SW version: 3.4 Meaning Owing to the different mounting locations of the encoders and variations in clock cycle and signal transit times, the cam signals of the two monitoring channels never switch at exactly the same position and never simultaneously. This data specifies the tolerance for all cams as a load-side distance. The monitoring channels may have different signal states for the same cam within this tolerance band without generation of alarm 27001. Recommendation: Enter identical or slightly higher value to setting in MD 36942.
36942 MD number Default: 0.1 mm
$MA_SAFE_POS_TOL 840D Actual value comparison tolerance (cross-check) Min. input value: 0.001 Max. input value: 10 mm or 360 degrees Change valid after POWER ON Protection level (R/W): 7/2 Unit: mm, inches, degrees Data type: DOUBLE Valid as from SW version: 3.4 Meaning Owing to the fact that encoders are not mounted in identical locations and the effects of backlash, torsion, leadscrew errors, etc., the actual positions sensed simultaneously by the NCK and drive may not be exactly the same. The tolerance band for the actual position cross-check in the two monitoring channels is specified in this data. "Finger protection" (about 10 mm) is the primary consideration when setting this tolerance value. Stop reaction STOP F is activated when the tolerance band is violated.
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36944 MD number Default: 0.01 mm
$MA_SAFE_REFP_POS_TOL 840D Actual value comparison tolerance (reference) Min. input value: 0 Max. input value: 1 mm or 36 degrees Change valid after POWER ON Protection level (R/W): 7/2 Unit: mm, inches, degrees Data type: DOUBLE Valid as from SW version: 3.4 Meaning The tolerance for the actual value check after referencing (with an incremental encoder) or power ON (with an absolute encoder) is set in this data (see Section 2.4.2 Adjustment measurement, axis states and previous history) A second absolute actual position is calculated from the last standstill position to be stored prior to control power OFF and the distance traversed since power ON. The control system checks the actual values after referencing on the basis of the two actual positions, the traversed distance and this data. The following factors must be taken into consideration when calculating tolerance values: Backlash, leadscrew errors, compensations (max. compensation values for LEC, sag and temperature compensation), temperature errors, torsion (2encoder system), gear play on shift gearboxes, lower resolution (2-encoder system), oscillating distance for shift gearboxes. If these two actual positions deviate from one another by more than the value set in this data with valid user agreement, then alarm 27001 is displayed with error code 1003 and user agreement will need to be given again for referencing. 840D
36946 $MA_SAFE_VELO_X MD number Velocity limit nx Default: 20.0 Min. input value: 0.0 Max. input value: 1 000.0 Change valid after POWER ON Protection level (R/W): 7/2 Unit: mm/min inch/min, rev./min Data type: DOUBLE Valid as from SW version: 4.2 Meaning This data defines limit speed nx for SGA n < nx. Related to ... MD 1346: $MD_SAFE_VELO_X References See Section 3.4.6 SGA n < nx and SG active
36948 $MA_SAFE_STOP_VELO_TOL 840D MD number Actual speed tolerance for SBR Default: 300.0 Min. input value: 0.0 Max. input value: 20 000.0 Change valid after POWER ON Protection level (R/W): 7/2 Unit: mm/min inch/min, rev./min Data type: DOUBLE Valid as from SW version: 4.2 Meaning After the safe braking ramp has been activated, the current speed plus the speed tolerance set in this machine data are applied as a velocity limit. Related to ... MD 1348: $MD_SAFE_STOP_VELO_TOL References See Section 2.5.6 Safe braking ramp (SBR) (a recommended setting and setting formula are specified in this Section).
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36950 $MA_SAFE_MODE_SWITCH_TIME 840D MD number Tolerance time for SGE switchover Default: 0.5 Min. input value: 0 Max. input value: 10 Change valid after POWER ON Protection level (R/W): 7/2 Unit: s Data type: DOUBLE Valid as from SW version: 3.4 Meaning SGE switchovers do not take effect simultaneously owing to variations in transit times for SGE transmission in the two monitoring channels. A data cross-check would output an error message in this case. This data is used to specify the period of time after SGE switchovers during which no cross-check of actual values and monitoring results is carried out (cross-comparison of machine data continues!). The selected monitoring functions continue to operate unhindered in both monitoring channels. A safe function is activated in a monitoring channel immediately selection or switchover is detected in this channel. Special cases, errors The variation in transit time is mainly determined by the PLC cycle time. System-dependent minimum tolerance time: 2 x PLC cycle time (maximum cycle) + 1 x IPO cycle time The variations in transit time in the external circuitry (e.g. relay operating times) must also be taken into account. See Section 3.1 Safety-relevant input/output signals (SGE/SGA)
References
36951 $MA_SAFE_VELO_SWITCH_DELAY 840D MD number Delay time speed switchover Default: 0.1 Min. input value: 0 Max. input value: 10 Change valid after POWER ON Protection level (R/W): 7/2 Unit: s Data type: DOUBLE Valid as from SW version: 3.4 Meaning A timer with the value in this data is started on transition from a high to a lower safe velocity or when safe operational stop is selected when the safe velocity function is active. While the timer is in operation, the speed continues to be monitored for the last selected velocity limit value. During this period, the axis/spindle can be braked, for example, via the PLC user program without the monitor signalling an error and initiating a stop reaction. 36952 $MA_SAFE_STOP_SWITCH_TIME_C 840D MD number Transition time STOP C to safe operational stop Default: 0.1 Min. input value: 0 Max. input value: 10 Change valid after POWER ON Protection level (R/W): 7/2 Unit: s Data type: DOUBLE Valid as from SW version: 3.4 Meaning This data defines the time period between the initiation of a STOP C and the activation of the safe operational stop function. Once the time has expired, the drive is monitored for safe operational stop. If the axis/spindle has still not been stopped, STOP A or B is initiated.
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36953 $MA_SAFE_STOP_SWITCH_TIME_D 840D MD number Transition time STOP D to safe operational stop Default: 0.1 Min. input value: 0 Max. input value: 10 Change valid after POWER ON Protection level (R/W): 7/2 Unit: s Data type: DOUBLE Valid as from SW version: 3.4 Meaning This data defines the time period between the initiation of a STOP D and the activation of the safe operational stop function. Once the time has expired, the drive is monitored for safe operational stop. If the axis/spindle has still not been stopped, STOP A or B is initiated. 36956 $MA_SAFE_PULSE_DISABLE_DELAY 840D MD number Delay time pulse disable Default: 0.1 Min. input value: 0 Max. input value: 10 Change valid after POWER ON Protection level (R/W): 7/2 Unit: s Data type: DOUBLE Valid as from SW version: 3.4 Meaning In STOP B mode, the axis is braked along the current limit with speed setpoint 0. After the delay time defined in this data, the braking mode changes to STOP A for pulse disabling. Special cases, errors The pulses are disabled earlier than defined in this data if the condition for pulse disabling is defined in 36960: $MA_SAFE_STANDSTILL_VELO_TOL or in MD 36620: $MA_SERVO_DISABLE_DELAY_TIME. If the timer in this data is set to zero, STOP A (immediate pulse disabling) is activated immediately from STOP B mode. Related to ... MD 36960: $MA_SAFE_STANDSTILL_VELO_TOL MD 36620: $MA_SERVO_DISABLE_DELAY_TIME MD 36060: $MA_STANDSTILL_VELO_TOL 36957 $MA_SAFE_PULSE_DIS_CHECK_TIME 840D MD number Time for testing pulse disable Default: 0.1 Min. input value: 0 Max. input value: 10 Change valid after POWER ON Protection level (R/W): 7/2 Unit: s Data type: DOUBLE Valid as from SW version: 3.4 Meaning The time limit for disabling of pulses after pulse disabling has been requested is set in this data. The time that elapses between setting of the "Enable pulses" SGA and detection of the "Pulses disabled status" SGE must not exceed the time limit set in this data. STOP A is initiated if this time limit is exceeded.
36960 $MA_SAFE_STANDSTILL_VELO_TOL 840D MD number Creep speed pulse disabling Default: 0 Min. input value: 0 Max. input value: 1 000 Change valid after POWER ON Protection level (R/W): 7/2 Unit: mm/min, inches/min, rev/min Data type: DOUBLE Valid as from SW version: 3.4 Meaning When the axis/spindle speed drops below this limit, it is judged to be at a "standstill". In STOP B mode, the pulses are then disabled (through transition to STOP A mode). Related to ... MD 36956: $MA_SAFE_PULSE_DISABLE_DELAY
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36961 $MA_SAFE_VELO_STOP_MODE 840D MD number Stop reaction for safe velocity Default: 5 Min. input value: 0 Max. input value: 5 Change valid after POWER ON Protection level (R/W): 7/2 Unit: Data type: BYTE Valid as from SW version: 3.4 Meaning When a limit value for safe velocity 1, 2, 3 or 4 is exceeded, the stop reaction set in this data is initiated. = 0, 1, 2, 3 means that STOP A, B, C and D are set for each SG level = 5 means that the stop reaction can be configured SG-specifically in MD 36963/1363 A setting of 4 causes an alarm to be output. MD 36931: $MA_SAFE_VELO_LIMIT[n] MD 36963: $MA_SAFE_VELO_STOP_REACTION[n]
36962 $MA_SAFE_POS_STOP_MODE 840D MD number Stop reaction safe velocity Default: 2 Min. input value: 2 Max. input value: 3 Change valid after POWER ON Protection level (R/W): 7/2 Unit: Data type: BYTE Valid as from SW version: 3.4 Meaning The stop reaction specified in this data is initiated when the axis crosses safe limit position 1 or 2. Related to ... = 2, 3, 4 stands for STOP C, D, E that is activated in the event of error MD 36934: $MA_SAFE_POS_LIMIT_PLUS>n@ MD 36935: $MA_SAFE_POS_LIMIT_MINUS>n@
36963 840D $MA_SAFE_VELO_STOP_REACTION[n] MD number SG-specific stop reaction Default: 2 Min. input value: 0 Max. input value: 3 Change valid after POWER ON Protection level (R/W): 7/2 Unit: Data type: BYTE Valid as from SW version: 4.2 Meaning When a limit value for safe velocity 1, 2, 3 or 4 is exceeded, the stop reaction set in this data is initiated. n = 0, 1, 2, 3 Application example stands for SG1, SG2, SG3, SG4
Setting = 0, 1, 2, 3 corresponds to STOP A, B, C, D STOP B must be initiated at SG1, STOP C at SG2 and SG3 and STOP D at SG4. To achieve this response, the MD must be supplied as follows: $MA_SAFE_VELO_STOP_REACTION[0]=1 STOP B applies at SG1 $MA_SAFE_VELO_STOP_REACTION[1]=2 STOP C applies at SG2 $MA_SAFE_VELO_STOP_REACTION[2]=2 STOP C applies at SG3 $MA_SAFE_VELO_STOP_REACTION[3]=3 STOP D applies at SG4 This function is active only when MD 36961 and MD 1361 are set to 5. MD 36931: $MA_SAFE_VELO_LIMIT[n] MD 36961: $MA_SAFE_VELO_STOP_MODE
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36970 $MA_SAFE_SVSS_DISABLE_INPUT 840D MD number Input assignment SBH/SG deselection Default: 0 Min. input value: 0 Max. input value: 81 1E 08 10 Change valid after POWER ON Protection level (R/W): 7/2 Unit: Hexadecimal Data type: DWORD Valid as from SW version: 3.4 Meaning This data defines the NCK input for selection/deselection of the SBH and SG functions. Structure: Perm. Ss mm xx nn values nn = I/O no. 01-10 xx = Submodule no. 01-08 mm = ss = Module no. Segment no. 01-1E 01, 81 Explanation Bit number on submodule Slot no. of submodule within terminal block Number of logical slot in which terminal block with external I/O devices is inserted (drive number) 01: Identifier for 611D bus 81: Signal processed as inverted signal
A single bit is connected to a terminal with each entry. The structure is the same as $MN_HW_ASSIGN_ANA_FASTIN. Signal means =0 SG or SBH is selected =1 SG and SBH are selected Input value "0" means: There is no assignment, the input remains at 0, SG and SBH cannot be deselected. Input value "80 00 00 00" means: There is no assignment, the input remains at 1 If MD bit 31 is set, then the signal is inverted for processing (ss = 81). /FB/, A4, Digital and Analog NCK I/O Devices MD 10366: $MN_HW_ASSIGN_DIG_FASTIN MD 13010: $MN_DRIVE_LOGIC_NR
References
36971 $MA_SAFE_SS_DISABLE_INPUT 840D MD number Input assignment SBH deselection Default: 0 Min. input value: 0 Max. input value: 81 1E 08 10 Change valid after POWER ON Protection level (R/W): 7/2 Unit: Hexadecimal Data type: DWORD Valid as from SW version: 3.4 Meaning Assignment of the NCK input for deselecting the safe operational stop function. Structure: See $MA_SAFE_SVSS_DISABLE_INPUT Assignment of terminal signal level to safe functions if safe velocity or safe operational stop has been activated. Signal =0 =1 Special cases, errors means Safe operational stop is selected Safe velocity is selected (only if STOP C, D or E has not been activated by other functions) If MD bit 31 is set, then the signal is inverted for processing (ss = 81). This input has no meaning if SG and SBH have been deselected (see $MA_SAFE_SVSS_DISABLE_INPUT). MD 36970: $MA_SAFE_SVSS_DISABLE_INPUT
References
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36972 $MA_SAFE_VELO_SELECT_INPUT[n] 840D MD number Input assignment SG selection Default: 0 Min. input value: 0 Max. input value: 81 1E 08 10 Change valid after POWER ON Protection level (R/W): 7/2 Unit: Hexadecimal Data type: DWORD Valid as from SW version: 3.4 Meaning The two inputs for selecting SG1, SG2, SG3 or SG4 are defined in this data. Structure: See $MA_SAFE_SVSS_DISABLE_INPUT n = 1, 0 stands for bits 1, 0 for selecting SG1 to SG4 Assignment of input bits to safe velocities: Bit 1 Bit 0 Selected SG 0 0 SG1 0 1 SG2 1 0 SG3 1 1 SG4 If the MD bits 31 are set, then the signal is inverted for processing (ss = 81). MD 36971: $MA_SAFE_SVSS_DISABLE_INPUT
Special cases, errors References
36973 $MA_SAFE_POS_SELECT_INPUT 840D MD number Input assignment SE selection Default: 0 Min. input value: 0 Max. input value: 81 1E 08 10 Change valid after POWER ON Protection level (R/W): 7/2 Unit: Hexadecimal Data type: DWORD Valid as from SW version: 3.4 Meaning This data defines the input for selecting safe limit position 1 or 2. Structure: See $MA_SAFE_SVSS_DISABLE_INPUT Signal means =0 SE1 is active =1 SE2 is active If the MD bit 31 is set, then the signal is inverted for processing (ss = 81). MD 36970: $MA_SAFE_SVSS_DISABLE_INPUT
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36974 $MA_SAFE_GEAR_SELECT_INPUT[n] 840D MD number Input assignment gear ratio selection Default: 0 Min. input value: 0 Max. input value: 81 1E 08 10 Change valid after POWER ON Protection level (R/W): 7/2 Unit: Hexadecimal Data type: DWORD Valid as from SW version: 3.4 Meaning Assignment of input terminals for selecting the gear ratio (gear stage). Structure: See $MA_SAFE_SVSS_DISABLE_INPUT n = 2, 1, 0 stands for bits 2, 1, 0 for selecting gear stages 1 to 8 Bit 2 Bit 1 Bit 0 Active gear stage 0 0 0 Stage 1 0 0 1 Stage 2 0 1 0 Stage 3 ... ... ... ... 1 1 1 Stage 8 If MD bits 31 are set, then the signals are inverted for processing (ss = 81). MD 36970: $MA_SAFE_SVSS_DISABLE_INPUT
36975 $MA_SAFE_STOP_REQUEST_INPUT 840D MD number Input assignment "Test stop selection" Default: 0 Min. input value: 0 Max. input value: 81 1E 08 10 Change valid after POWER ON Protection level (R/W): 7/2 Unit: Hexadecimal Data type: DWORD Valid as from SW version: 3.4 Meaning This data defines the input for selecting the test stop. Structure: See $MA_SAFE_SVSS_DISABLE_INPUT Signal means =0 Test stop is deactivated =1 Test stop is executed If MD bit 31 is set, then the signal is inverted for processing (ss = 81) MD 36970: $MA_SAFE_SVSS_DISABLE_INPUT
36976 $MA_SAFE_PULSE_STATUS_INPUT 840D MD number Input assignment "Pulses disabled" status Default: 0 Min. input value: 0 Max. input value: 81 1E 08 10 Change valid after POWER ON Protection level (R/W): 7/2 Unit: Hexadecimal Data type: DWORD Valid as from SW version: 3.4 Meaning This data defines the input for reading back the "pulse disabled" status signal. Structure: See $MA_SAFE_SVSS_DISABLE_INPUT Signal means =0 Pulses are enabled =1 Pulses are disabled If MD bit 31 is set, then the signal is inverted for processing (ss = 81) $MA_SAFE_SVSS_DISABLE_INPUT
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840D 36978 $MA_SAFE_OVR_INPUT>n MD number Input assignment for SG override selection Default: 0 Min. input value: 0 Max. input value: 81 1E 08 10 Change valid after POWER ON Protection level (R/W): 7/2 Unit: Hexadecimal Data type: DWORD Valid as from SW version: 4.2 Meaning Assignment of NCK inputs for override of limit value of safe velocities 2 and 4. Structure:: See $MA_SAFE_SVSS_DISABLE_INPUT n = 3, 2, 1, 0 stand for override selection bits 3, 2, 1, 0 Assignment of input bits to SG override values: Bit 3 0 0 to 1 Bit 2 0 0 1 Bit 1 0 0 1 Bit 0 0 1 1 Override 0 is selected Override 1 is selected Override 15 is selected
The override factor itself (percentage) is defined via the following machine data: On 840D MD 36932: $MA_SAFE_VELO_OVR_FACTOR>n@ On 611D MD 1332: $MD_SAFE_VELO_OVR_FACTOR>n@ The Override for safe velocity function is enabled via MD 36901 (MD 1301): $MA($MD)_SAFE_FUNCTION_ENABLE. If MD bit 31 is set, then the signals are processed in inverted form (ss = 81). MD 36970: $MA_SAFE_SVSS_DISABLE_INPUT MD 36932: $MA_SAFE_VELO_OVR_FACTOR>n@ See Section 3.4.5 Override for safe velocity
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36980 $MA_SAFE_SVSS_STATUS_OUTPUT 840D MD number Output assignment SBH/SG active Default: 0 Min. input value: 0 Max. input value: 81 1E 08 10 Change valid after POWER ON Protection level (R/W): 7/2 Unit: Hexadecimal Data type: DWORD Valid as from SW version: 3.4 Meaning Assignment of the output for signalling the status of the safe velocity or safe operational stop function. Structure: Perm. ss mm xx nn values nn = I/O no. 01-10 xx = Submodule no. 01-08 mm = ss = Module no. Segment no. 01-1E 01, 81 Explanation Bit number on submodule Slot no. of submodule within terminal block Number of logical slot in which terminal block with external I/O devices is inserted (drive number) 01: Identifier for 611D bus 81: Signal processed as inverted signal
Every entry connects a single output bit to a terminal. The data has the same structure as $MN_HW_ASSIGN_ANA_FASTOUT. means SG and SBH are not active (only if STOP C, D or E has not been activated by other functions) =1 SG or SBH is active Input value "0" means: There is no assignment, the output remains unaffected by status changes Input value "80 00 00 00" means: There is no assignment, the output remains at "1" If a single output signal is connected to a terminal, the following applies: If MD bit 31 is set, then the signal is inverted for processing (ss = 81) If several output signals are connected to the same terminal, the following applies: If MD bit 31 is set (ss = 81), the relevant signal is initially inverted. The (in some cases) inverted output signals are then ANDed and the result output at the terminal. /FB/, A4, Digital and Analog NCK I/O Devices MD 10368: $MN_HW_ASSIGN_DIG_FASTOUT MD 13010: $MN_DRIVE_LOGIC_NR Signal =0
References
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36981 $MA_SAFE_SS_STATUS_OUTPUT 840D MD number Output assignment for SBH active Default: 0 Min. input value: 0 Max. input value: 81 01 00 20 Change valid after POWER ON Protection level (R/W): 7/2 Unit: Hexadecimal Data type: DWORD Valid as from SW version: 4.2 Meaning This data determines the output or system variable for the SBH active signal. Structure: See $MA_SAFE_EXT_STOP_INPUT Signal means =0 SBH is not active =1 SBH is active If a single output signal is applied to a terminal, then the following applies: If MD bit 31 is set, then the signal is processed in inverted form (ss = 81). If several output signals are applied to the same terminal, then the following applies: If MD bit 31 is set (ss = 81), then the relevant signal is initially inverted. The output signals (which may be inverted) are then ANDed and the result output at the terminal.
36982 840D $MA_SAFE_VELO_STATUS_OUTPUT[n] MD number Output assignment for SG active Default: 0 Min. input value: 0 Max. input value: 81 01 00 20 Change valid after POWER ON Protection level (R/W): 7/2 Unit: Hexadecimal Data type: DWORD Valid as from SW version: 4.2 Meaning This data determines the outputs or system variables for the SG active bit 0 and SG active bit 1 signals. Structure: See $MA_SAFE_EXT_STOP_INPUT n = 1, 0 SG active Bit 1 Bit 0 =0 =0 stands for SG active, bits 1, 0
means SG1 active if SBH/SG is active and SBH is not active SBH active if SBH/SG and SBH are active =1 =0 SG2 active =0 =1 SG3 active =1 =1 SG4 active If a single output signal is applied to a terminal, then the following applies: If MD bit 31 is set, then the signal is processed in inverted form (ss = 81). If several output signals are applied to the same terminal, then the following applies: If MD bit 31 is set (ss = 81), then the relevant signal is initially inverted. The output signals (which may be inverted) are then ANDed and the result output at the terminal.
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36985 $MA_SAFE_VELO_X_STATUS_OUTPUT 840D MD number Output assignment for n < nx Default: 0 Min. input value: 0 Max. input value: 81 01 00 20 Change valid after POWER ON Protection level (R/W): 7/2 Unit: Hexadecimal Data type: DWORD Valid as from SW version: 4.2 Meaning This data determines the output or system variable for the n < nx signal. Structure: See $MA_SAFE_SVSS_STATUS_OUTPUT Signal means =0 Actual speed is higher than limit speed in $MA_SAFE_VELO_X =1 Actual speed is lower or equal to limit speed $MA_SAFE_VELO_X If a single output signal is applied to a terminal, then the following applies: If MD bit 31 is set, then the signal is processed in inverted form (ss = 81). If several output signals are applied to the same terminal, then the following applies: If MD bit 31 is set (ss = 81), then the relevant signal is initially inverted. The output signals (which may be inverted) are then ANDed and the result output at the terminal. MD 36980: $MA_SAFE_SVSS_STATUS_OUTPUT
Related to ... Special cases, errors
References
36986 $MA_SAFE_PULSE_ENABLE_OUTPUT 840D MD number "Enable pulses" output assignment Default: 0 Min. input value: 0 Max. input value: 81 1E 08 10 Change valid after POWER ON Protection level (R/W): 7/2 Unit: Hexadecimal Data type: DWORD Valid as from SW version: 3.4 Meaning This data defines the output for the "Enable pulses" request. Structure: See $MA_SAFE_SVSS_STATUS_OUTPUT Signal means =0 Request for pulse disable =1 Request for pulse enable If a single output signal is connected to a terminal, the following applies: If MD bit 31 is set, then the signal is inverted for processing (ss = 81) If several output signals are connected to the same terminal, the following applies: If MD bit 31 is set (ss = 81), the relevant signal is initially inverted. The (in some cases) inverted output signals are then ANDed and the result output at the terminal. MD 36980: $MA_SAFE_SVSS_STATUS_OUTPUT
References
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36987 $MA_SAFE_REFP_STATUS_OUTPUT 840D MD number Output assignment "Axis safely referenced" Default: 0 Min. input value: 0 Max. input value: 81 1E 08 10 Change valid after POWER ON Protection level (R/W): 7/2 Unit: Hexadecimal Data type: DWORD Valid as from SW version: 3.4 Meaning This data specifies the output for the "Axis safely referenced" signal. Structure: See $MA_SAFE_SVSS_STATUS_OUTPUT means Axis is not safely referenced (i.e. the safe end position monitoring function is deactivated) =1 Axis is safely referenced If a single output signal is connected to a terminal, the following applies: If MD bit 31 is set, then the signal is inverted for processing (ss = 81) If several output signals are connected to the same terminal, the following applies: If MD bit 31 is set (ss = 81), the relevant signal is initially inverted. The (in some cases) inverted output signals are then ANDed and the result output at the terminal. MD 36980: $MA_SAFE_SVSS_STATUS_OUTPUT Signal =0
References
36988 $MA_SAFE_CAM_PLUS_OUTPUT[n] 840D MD number Output assignment SN1 + to SN4 + Default: 0 Min. input value: 0 Max. input value: 81 1E 08 10 Change valid after POWER ON Protection level (R/W): 7/2 Unit: Hexadecimal Data type: DWORD Valid as from SW version: 3.4 Meaning This data specifies the outputs for plus cams SN1 + to SN4 +. Structure: See $MA_SAFE_SVSS_STATUS_OUTPUT n = 0, 1, 2, 3 stands for the assignment of plus cams SN1 +, SN2 +, SN3 +, SN4 + Signal means =0 Axis is to the left of cam (actual value cam position) =1 Axis is to the right of cam (actual value > cam position) If a single output signal is connected to a terminal, the following applies: If MD bit 31 is set, then the signal is inverted for processing (ss = 81) If several output signals are connected to the same terminal, the following applies: If MD bit 31 is set (ss = 81), the relevant signal is initially inverted. The (in some cases) inverted output signals are then ANDed and the result output at the terminal. MD 36980: $MA_SAFE_SVSS_STATUS_OUTPUT
References
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36989 $MA_SAFE_CAM_MINUS_OUTPUT[n] 840D MD number Output assignment SN1 - to SN4 Default: 0 Min. input value: 0 Max. input value: 81 1E 08 10 Change valid after POWER ON Protection level (R/W): 7/2 Unit: Hexadecimal Data type: DWORD Valid as from SW version: 3.4 Meaning This data defines the outputs for minus cams SN1 - to SN4 -. Structure: See $MA_SAFE_SVSS_STATUS_OUTPUT n = 0, 1, 2, 3 stands for the assignment of minus cams SN1 -, SN2 -, SN3 -, SN4 Signal means =0 Axis is to left of cam (actual value cam position) =1 Axis is to the right of cam (actual value > cam position) If a single output signal is connected to a terminal, the following applies: If MD bit 31 is set, then the signal is inverted for processing (ss = 81) If several output signals are connected to the same terminal, the following applies: If MD bit 31 is set (ss = 81), the relevant signal is initially inverted. The (in some cases) inverted output signals are then ANDed and the result output at the terminal. If the plus cam is negated and applied to an output with the minus cam, then the signals are ANDed, resulting in a single cam signal for area sensing purposes. MD 36980: $MA_SAFE_SVSS_STATUS_OUTPUT
References 36995 MD number Default:0
$MA_SAFE_STANDSTILL_POS 840D Standstill position Min. input value: Max. input value: -2 147 483 647 2 147 483 647 Change valid after POWER ON Protection level (R/W): 0/0 Unit: Data type: DWORD Valid as from SW version: 3.4 Meaning The position at which the axis has currently stopped is displayed in this MD. To be able to perform a plausibility check on the axis referencing when the control system is next switched on, the current axis position is stored permanently when the following events take place: When safe operational stop (SBH) is selected Cyclically when SE/SN is active Any manual changes to the MD are detected the next time the control is switched on and the axis reference checked for plausibility. "User agreement" must be given again after referencing.
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36997 $MA_SAFE_ACKN 840D MD number User agreement Default: 0 Min. input value: 0 Max. input value: FF FF FF FF Change valid after POWER ON Protection level (R/W): 7/2 Unit: Hexadecimal Data type: DWORD Valid as from SW version: 3.4 Meaning The user agreement status is displayed in this machine data. The user can confirm or cancel his "user agreement" via an appropriate screen display. If it is detected internally in the software that the reference to the machine has been lost, then the "user agreement" is automatically cancelled (e.g. during gear changes, or if the plausibility comparison with the stored standstill position fails during referencing). Any manual changes to the MD are detected the next time the control is switched on and the axis reference checked for plausibility. "User agreement" must be given again after referencing.
36998 $MA_SAFE_ACT_CHECKSUM 840D MD number Actual checksum Default: 0 Min. input value: 0 Max. input value: FF FF FF FF Change valid after POWER ON Protection level (R/W): 7/Unit: Hexadecimal Data type: DWORD Valid as from SW version: 3.4 Meaning The actual checksum of the current values of safety-relevant machine data which is calculated after POWER ON or on RESET is entered in this data. 36999 $MA_SAFE_DES_CHECKSUM 840D MD number Setpoint checksum Default: 0 Min. input value: 0 Max. input value: FF FF FF FF Change valid after POWER ON Protection level (R/W): 7/1 Unit: Hexadecimal Data type: DWORD Valid as from SW version: 3.4 Meaning This data contains the setpoint checksum of the current values of safetyrelevant machine data that was stored during the last machine acceptance test.
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4.2
4.2.1
Table 4-2 Number
Machine and service data for SINUMERIK 840C

Overview of nmachine data for SINUMERIK 840C Identifier Reference /IAC/ /IAC/
General 155 Position control basic cycle 168 Drive basic cycle time 40000 Display of checksum of SI NCK MD 40001 Checksum of SI NCK MD 40002 Display cross-wise reference cycle 40010 Ratio between monitoring cycle and position control basic cycle Axis-specific 1224* Cutout delay servo enable 200* Assignment axis actual value 276* Acceleration 3364* Acceleration, parameter set 2 3368* Acceleration, parameter set 3 3372* Acceleration, parameter set 4 3376* Acceleration, parameter set 5 3380* Acceleration, parameter set 6 3384* Acceleration, parameter set 7 3388* Acceleration, parameter set 8 4100* Actual value assignment for SI operation 4104* Grating of linear scale for SI operation 4108* Encoder marks per rev for SI operation 4112* Spindle pitch for SI operation 4116* Denominator of encoder/load gear 1 for SI operation 4120* Denominator of encoder/load gear 2 for SI operation to to 4144* Denominator of encoder/load gear 8 for SI operation 4148* Numerator of encoder/load gear 1 for SI operation 4152* Numerator of encoder/load gear 2 for SI operation to to 4176* Numerator of encoder/load gear 8 for SI operation 4180* Standstill tolerance for SI operation 4184* Limit value for safe velocity 1 4188* Limit value for safe velocity 2 4192* Limit value for safe velocity 3 4196* Limit value for safe velocity 4 4200* Upper limit value for safe limit position 1 4204* Upper limit value for safe limit position 2 4208* Lower limit value for safe limit position 1 4212* Lower limit value for safe limit position 2 4216* Plus cam position for safe cams 1 4220* Plus cam position for safe cams 2 4224* Plus cam position for safe cams 3 4228* Plus cam position for safe cams 4 4232* Minus cam position for safe cams 1 4236* Minus cam position for safe cams 2 4240* Minus cam position for safe cams 3 4244* Minus cam position for safe cams 4 4248* Tolerance for safe cams 4252* Actual value comparison tolerance (referencing) 4256* Actual value comparison tolerance (cross-check) 4260* Tolerance time for SGE switchover 4264* Delay time SG switchover 4268* Delay time pulse disable 4272* Time for testing pulse disable 4276* Transition time STOP C to SBH
/IAC/ /IAC/ /IAC/ /IAC/ /IAC/ /IAC/ /IAC/ /IAC/ /IAC/ /IAC/
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Number 4280* 4284* 4288* 4292* 4296* 4500* 4504* 4508*
Identifier
Reference
Transition time STOP D to SBH Transition time STOP E to SBH Creep speed pulse disabling Velocity limit nx for safe operation (from SW6.1) Actual velocity tolerance for SBR (from SW6.1) Enable SBH/SG/SE function Cam enable safe operation Axis-specific bits for safe operation Bit 7: Display inches/metric Bit 6: Rotary axis Bit 5: Select STOP E for SG Bit 4: Select STOP D/E for SG Bit 3: Select STOP E for SE Bit 2: Select STOP D/E for SE 4512* Axis-specific bits for safe operation Bit 1: Sign change Bit 0: Linear scale Activation of NCK I/O for SI 45800 SGE screen CSB (low) 45802 SGE screen mixed I/O 1 (low) 45803 SGE screen mixed I/O 1 (high) 45804 SGE screen mixed I/O 2 (low) 45805 SGE screen mixed I/O 2 (high) 45808 SGA screen mixed I/O 1 (low) 45809 SGA screen mixed I/O 1 (high) 45810 SGA screen mixed I/O 2 (low) 45811 SGA screen mixed I/O 2 (high) Input/output assignment 4600* Input assignment SBH/SG deselection 4604* Input assignment SBH deselection 4608* Input assignment "Pulses disabled" status 4612* Input assignment SG selection, bit 0 4616* Input assignment SG selection, bit 1 4632* Input assignment gear ratio selection, bit 0 4636* Input assignment gear ratio selection, bit 1 4640* Input assignment gear ratio selection, bit 2 4648* Input assignment SE selection 4660* Input assignment "Test stop selection" 4700* Output assignment SN1 + 4704* Output assignment SN1 4708* Output assignment SN2 + 4712* Output assignment SN2 4716* Output assignment SN3 + 4720* Output assignment SN3 4724* Output assignment SN4 + 4728* Output assignment SN4 4732* Output assignment SBH/SG active 4736* Output assignment "Axis safely referenced" 4740* "Pulse enable" Output assignment 4744* Output assignment for SBH active (from SW6.1) 4752* Output assignment for SG active, bit 0 (from SW6.1) 4756* Output assignment for SG active, bit 1 (from SW6.1) 4760* Output assignment for n < nx (from SW6.1) 4772* Output assignment for SG1 active (from SW6.1) 4776* Output assignment for SG2 active (from SW6.1) 4780* Output assignment for SG3 active (from SW6.1) 4784* Output assignment for SG4 active (from SW6.1) Note: The * is a dummy for axis machine data (* = 0 stands for axis 1, * = 1 stands for axis 2, etc.).
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4.2.2
General
General information about machine data and explanations of their contents such as unit, effectiveness, etc. can be found in the following references: References: /LIC/, Installation and Start-Up Guide Lists, SINUMERIK 840C
Effective after POWER ON Units -
40000
Default -
Display of checksum of SI NCK MD

Lower input limit Upper input limit -
Meaning:
The control system calculates a checksum of machine data 40010 to 49999 during power-up and enters it in this machine data.
40001
Default -
Checksum of SI NCK MD
Meaning: Related to:
The checksum of machine data for safe operation is automatically calculated on selection of softkey "Accept SI + NCKPO" and entered in this data. MD 40000
40002
Default -
Display cross-check cycle

Effective after POWER ON Units Position control basic cycle
Meaning:
This data shows the time required for full execution of the cross-check cycle. It is the product of this data and the position control basic cycle in MD 155. It is a pure display data and cannot be written. MD 40000
Related to:
40010
Default 4
Ratio between monitoring cycle and position control basic cycle

Lower input limit 1 Upper input limit 200
Effective after POWER ON Units Position control basic cycle
Meaning:
Ratio between monitoring cycle and position control basic cycle. The monitoring cycle is the product of this data and the position control basic cycle in MD 155. The position control basic cycle is derived from the drive basic cycle time in MD 168. MD 1300 (is an MD for 611D)
Related to:
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Notes If the set monitoring cycle is not a multiple of the axial position control cycle in MD1396* for all axes with a least one enabled safety function, then the alarm "Parameterization error NC-MD) with service number 300 is output. The monitoring cycle defines the reaction time of the monitoring functions. It must be noted that the load on the CPU is increased when a short monitoring cycle is set.
4100*
Default 0
Actual value assignment for SI operation

Lower input limit 0 Upper input limit 30 20 01 61
Effective after POWER ON Units Hexadecimal
Meaning: Structure:
ss mm xx nn
The actual value assignment of the encoder for safe operation is entered via this data. See also MD 200*
Permitted values 0 10 Explanation Reserved Address assignment 611D (measuring circuit/digital setpoint channel) Slot 1 Slot 2 No module installed Logical drive number
xx=
nn= Local axis number Identifier of digital drive (user input) Number of measuring circuit connection Logical drive no./ Measuring circuit board no.
mm= ss=
01 02 00 01 to 30
4104*
Default 10 000
Grating of linear scale for SI operation

Lower input limit 1 Upper input limit 8 000 000
Effective after POWER ON Units 0.01 m
Meaning:
This data defines the grating pitch of the linear scale used. Note This MD is not relevant for rotary encoders.
4108*
Default 2 048
Encoder marks per rev for SI operation

Lower input limit 1 Upper input limit 10 000
Meaning:
This data defines the number of markings per revolution for rotary encoders. Note This MD is not relevant for linear encoders.
4-158
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4112*
Default 1 000
Spindle pitch for SI operation

Effective after POWER ON Units 0.01 mm/rev
Meaning:
Gear ratio of the gearbox between encoder and load for a linear axis with rotary encoder.
4116* 4120* to 4144*

Default 1
Denominator of encoder/load gear 1 for SI operation Denominator of encoder/load gear 2 for SI operation to Denominator encoder/load gear 8 for SI operation
Effective after POWER ON
Units -
Meaning:
Denominator of the gearbox between encoder and load, i.e. the denominator of the fraction "No. of encoder revolutions / No. of load revolutions MD 4148* to 4176*, MD 4632*, 4636* and 4640* Note The current gear ratio is selected via safety-relevant input signals (SGE).
Related to:
4148* 4152* to 4176*

Default 1
Numerator of encoder/load gear 1 for SI operation Numerator of encoder/load gear 2 for SI operation to Numerator of encoder/load gear 8 for SI operation
Units -
Meaning:
Numerator of the gearbox between encoder and load, i.e. the numerator of the fraction "No. of encoder revolutions / No. of load revolutions" MD 4116* to 4144*, MD 4632*, 4636* and 4640* Note The current gear ratio is selected via safety-relevant input signals (SGE).
Related to:
4180*
Default 1 000
Standstill tolerance for SI operation

Effective after POWER ON Units m or 0.001 degrees
Meaning:
The tolerance band for safe operation stop is specified via this data. If the difference between the position setpoint and actual value leaves this band when the SBH function is selected, then the control system activates alarm 1324* with the appropriate system reaction.
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4184* 4188* 4192* 4196*

Default 5 000
Limit value for safe velocity 1 Limit value for safe velocity 2 Limit value for safe velocity 3 Limit value for safe velocity 4
Units 0.01 mm/min or 0.01 rev/min
Meaning:
Definition of limit values for safe velocities 1, 2, 3 or 4. If SG1, SG2, SG3 or SG4 is selected and the current speed exceeds this limit value, then the control system activates alarm 1328* with the stop reaction configured in MD 4508*. MD 4500*, MD 4612*, MD 4616* Note When the SBH/SG function is active and a 1-encoder system installed, the speed is monitored on the basis of an encoder limit frequency of 200 kHz (300 kHz as from SW 6.1). An appropriate alarm is output when this frequency limit is exceeded.
Related to:
4200* 4204*
Default 100 000
Upper limit value for safe limit position 1 Upper limit value for safe limit position 2
Lower input limit -2 147 483 Upper input limit 2 147 483
Effective after POWER ON Units mm or degrees
Meaning:
The upper limit value for safe limit positions 1 and 2 is specified in this data. If SE1 or SE2 is selected and the current actual position exceeds this limit value, then the control system activates alarm 1332* with the stop reaction configured in MD 4508* and then switches over to SBH mode. If the SBH tolerance window is violated, stop reactions STOP B and A are initiated.
Special cases, errors:
If the value entered in MD 4200*, 4204* is lower than or equal to the value entered in MD 4208*, 4212*, then a parameterization error message is output. MD 4208* and 4212*, MD 4500*, MD 4648*
Related to:
4208* 4212*
Default -100 000
Lower limit value for safe limit position 1 Lower limit value for safe limit position 2
Effective after POWER ON Units mm or degrees
Meaning:
This data specifies the lower limit value for safe limit positions 1 and 2. If SE1 or SE2 is selected and the current actual position drops below this limit value, then the control system activates alarm 1332* with the stop reaction configured in MD 4508* and then switches over to SBH mode. If the SBH tolerance window is violated, stop reactions STOP B and A are initiated.
Special cases, errors:
If the value entered in MD 4200*, 4204* is lower than or equal to the value entered in MD 4208*, 4212*, then a parameterization error message is output. MD 4200* and 4204*, MD 4500*, MD 4648*
Related to:
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4216* 4220* 4224* 4228*

Default 10
Plus cam position for safe cams 1 Plus cam position for safe cams 2 Plus cam position for safe cams 3 Plus cam position for safe cams 4
Lower input limit - 2 147 483 Upper input limit 2 147 483
Units mm or degrees
Meaning:
The plus cam position for safe cams SN1 +, SN2 +, SN3 + and SN4 + is specified in this data. If the actual position is the value set here when the safe cam function is active, then the appropriate safety-relevant output signal (SGA) is set to 0 and to 1 if the actual position is ! this value.
Related to:
MD 4700* to 4728*, MD 4504* Note If the cam is not active, the output signal is set to 0.
4232* 4236* 4240* 4244*

Default -10
Minus cam position for safe cams 1 Minus cam position for safe cams 2 Minus cam position for safe cams 3 Minus cam position for safe cams 4
Units mm or degrees
Meaning:
The minus cam position for safe cams SN1 -, SN2 -, SN3 - and SN4 - is specified in this data. If the actual position is the value set here when the safe cam function is active, then the appropriate safety-relevant output signal (SGA) is set to 0 and to 1 if the actual position is ! this value. MD 4700* - 4728*, 4504* Note If the cam is not active, the output signal is set to 0.
Related to:
4248*
Default 100
Tolerance for safe cams

Meaning:
Owing to the different mounting locations of the encoders and variations in clock cycle and signal transit times, the cam signals of the two monitoring channels never switch at exactly the same position and never simultaneously. This data specifies the tolerance for all cams as a load-side distance. The monitoring channels may have different signal states for the same cam within this tolerance band.
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4252*
Default 10
Actual value comparison tolerance (referencing)

Lower input limit 1 Upper input limit 1 000 or 36 000
Meaning:
The tolerance for the actual value check after referencing (with an incremental encoder) or power ON (with an absolute encoder) is set in this data (see Section 2.4.2 Adjustment, measurement, axis states and previous history). A second absolute actual position is calculated from the last standstill position to be stored prior to control power OFF and the distance traversed since power ON. The control system checks the actual values after referencing on the basis of the two actual positions, the traversed distance and this data. Note If these two actual positions deviate from one another by more than the value set in this data when SN or SE is selected, then alarm 1340* is displayed and user agreement must be given for referencing. The following factors must be taken into consideration when calculating tolerance values: Backlash, leadscrew errors, temperature errors, torsion with 2-encoder system, gear play on shift gearboxes, lower resolution with 2-encoder system, oscillating distance for shift gearboxes.
4256*
Default 100
Actual value comparison tolerance (cross-check)

Lower input limit 1 Upper input limit 10 000 or 360 000
Meaning:
Owing to the fact that encoders are not mounted in identical locations and the effects of backlash, torsion, leadscrew errors, etc., the actual positions sensed simultaneously by the NCK and drive may not be exactly the same. The tolerance band for the actual position cross-check in the two monitoring channels is specified in this data.
Note "Finger protection" (about 10 mm) is the primary consideration when setting this tolerance value. Stop reaction STOP F is activated when the tolerance band is violated.
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4260*
Default 500
Tolerance time for SGE switchover

Effective after POWER ON Units ms
Meaning:
SGE switchovers do not take effect simultaneously owing to variations in transit times for SGE transmission in the two monitoring channels. A data cross-check would output an error message in this case. This data is used to specify the period of time after SGE switchovers during which no cross-check of actual values and monitoring results is carried out (cross-comparison of machine data continues!). The selected monitoring functions continue to operate unhindered in both monitoring channels. Note System-dependent minimum tolerance time: 2 x PLC cycle time (maximum cycle) + 1 x IPO cycle time The variations in transit time in the external circuitry (e.g. relay operating times) must also be taken into account.
4264*
Default 100
Delay time SG switchover

Meaning:
A timer with the value in this data is started on transition from a high to a lower safe velocity or when safe operational stop is selected when the safe velocity function is active.
!
4268*
Default 100
Important While the timer is in operation, the speed continues to be monitored for the last selected velocity limit value. During this period, the axis/spindle can be braked, for example, via the PLC user program without the monitor signalling an error and initiating a stop reaction.
Delay time pulse disable

Meaning:
In STOP B mode, the axis is braked along the current limit with speed setpoint 0. After the delay time defined in this data, the braking mode changes to STOP A for pulse disabling. The pulses are disabled earlier than defined in this data if the condition for pulse disabling is defined in MD 4288* (Creep speed pulse disabling) or in MD 1224* (Cutout delay servo enable). If the timer in this data is set to zero, STOP A (immediate pulse disabling) is activated immediately from STOP B mode.
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4272*
Default 100
Time for testing pulse disable

Meaning:
The time limit for disabling of pulses after pulse disabling has been requested (e.g. after Test stop selection) is set in this data. STOP A is activated if pulse disabling has not taken place within the set time. Important The time that elapses between setting of the "Enable pulses" SGA and detection of the "Pulses disabled status" SGE must not exceed the time limit set in this data.
!
4276* 4280* 4284*
Default 100
Transition time STOP C to SBH Transition time STOP D to SBH Transition time STOP E to SBH
Units ms
Meaning:
This data defines the time period between the initiation of a STOP C, D or E and the activation of the safe operational stop function. Once the time has expired, the drive is monitored for safe operational stop. If the axis/spindle has still not been stopped, STOP A or B is initiated. Note If a STOP C or STOP E is selected, pulse disabling takes place via the drive after the timers set in MD 1224* (or MD 156) and the drive MD 1404* have expired. Safe disabling of the pulses via the SGA or switchover to safe operational stop mode takes place after the timers in the machine data for safe operation have expired.
4288*
Default 0
Creep speed pulse disabling

Effective after POWER ON Units 0.01 mm/min or 0.01 rev/min
Meaning:
When the axis/spindle speed drops below this limit, it is judged to be at a "standstill". In STOP B mode, the pulses are then disabled (through transition to STOP A mode).
4292*
Default 2 000
Limit speed nx for safe operation

Meaning: Related to:
This data is set to define the limit speed nx for SGA n < nx.. MD 1346: (velocity limit nx)
4-164
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4296*
Default 30 000
Actual speed tolerance for SBR

Meaning:
The value in this data is cross-checked with the setting in MD 1348. This MD has no function in the NCK monitoring channel. MD 1348 is used for the safe braking ramp function in the drive monitoring channel.
4300*
Default 600
2-encoder drift/slip tolerance (from SW 6.3)

Effective POWER ON Units 0.01 mm/min or 0.01 rev/min
If bit 3 is set in MD 4500*, the difference between the velocities of NC and drive is monitored to the value as parameterized here. In case of exceeding, STOP F is triggered with error sensing 3 (actual value comparison) or 44-57 (comparison of dynamic data deriving from the actual value).
Bit No. 5 4 3 Reserved, the bits must be 0. 0 0 0
NC MD
4500*
7 Enable Cam synchronization (from SW6.1)
6 0
2 0
0 Enable SE SBH/SG
Note: If bit 1 is set, bit 0 must be set as well because the control switches to SBH mode with reactions STOP C, D and E.
Bit 0 + Bit 1, Meaning:
This data is used to enable safe functions for an axis or spindle. The number of axes to be enabled for safe operation must be less or equal to the number specified in the global option and in this axis-specific enabling data, i.e. it is not possible to enable more axes/spindles for safe operation on an axis-specific basis than have been enabled in the global option. Global option Note If an insufficient number of axes/spindles has been enabled for safe operation by means of the global option, the corresponding error message is output.
Related to:
Bit 3 Bit 7
1: Enable of actual value synchronization 0: No enable 1: Enable of cam synchronization 0: No enable
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NC-MD
4504*
SN4 SN4 + SN3 Note: If one of these bits is set, then bit 0 in MD 4500* must also be set.
Bit No. 4 3 Enable safe cams SN3 + SN2 -
2 SN2 +
1 SN1 -
0 SN1 +
Meaning:
The partial function safe cams 1, 2, 3 and 4 can be enabled for an axis/spindle in this data. It is only possible to enable on an axis-specific basis as many axes/spindles for safe operation as have been enabled by the global option. The more bits set, the more computing time the safe functions require.
Related to:
Global option
MD bit =0 =1 means Safe cam is not enabled Safe cam is enabled
Note If an insufficient number of axes/spindles has been enabled for safe operation by means of the global option, the error message "Too many axes, safe operation" is output.
NC-MD
4508*
Bit 2
7 6 Inches/metric Rotary axis display
5 Select STOP E for SG
Bit No. 4 3 Select Select STOP E STOP D/E for SE for SG
2 Select STOP D/E for SE
1 Reserved
0 Reserved
1: 0:
Select STOP D or E when the active limit value for safe limit position is exceeded STOP C Select STOP E (effective only when bit 2 = 1) Select STOP D (effective only when bit 2 = 1) Select STOP D or E when the active limit value for safe velocity is exceeded STOP C Select STOP E (effective only when bit 4 = 1) Select STOP D (effective only when bit 4 = 1) Axis is rotary axis Axis is linear axis Display in inches Display metric
Bit 3 Bit 4
1: 0: 1: 0:
Bit 5 Bit 6
1: 0: 1: 0: 1: 0:
Bit 7
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Notes The following applies to parameterization of bits 2 to 5: If STOP E is selected, but not configured, then STOP C takes effect automatically, but with the parameterized switchover times of STOP E (see MD 4284*). If bit 6 is set, the actual position is converted without any allowance for the parameterized spindle pitch (see MD 4112*). If bit 7 is set, all NC machine data for safe operation are displayed in inches.
NC-MD
4512*
Bit 0 Bit 1
7 Reserved
6 Reserved
5 Reserved
Bit No. 4 3 Reserved Reserved
2 Reserved
1 Sign change
0 Linear scale
1: Linear encoder is connected 2: Rotary encoder is connected 1: Change in sign of actual value 0: No change in sign
45800
Default 0000 0000
SGE screen CSB (low)

Lower input limit 0000 0000 Upper input limit 1111 1111
Effective after POWER ON Units Binary
Meaning:
This data defines the NCK inputs (SGE screen) that are available for safe functions. Nondefined inputs can be used for other functions.
Table 4-3 Definition of SGE screen for CSB module Machine data bits Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 * * * * * 7 6 5 4 3
MD status CSB input Note: * = 1: Input can be used for safe functions * = 0: Input can be used for other types of function
Bit 2 * 2
Bit 1 * 1
Bit 0 * 0
Related to: Example
MD 45802 and MD 45803 MD 45800 = 0000 1100 Inputs 3 and 2 on the CSB module can be used as NCK inputs for safe functions. Note Inputs 0 and 1 on the CSB module are used by the control system for specific functions such as measurement and deletion of distance to go. If the inputs are used for Safety Integrated, these other functions will no longer be available.
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45802 45803 45808 45809

Default 0000 0000
SGE screen mixed I/O 1 (low) SGE screen mixed I/O 1 (high) SGA screen mixed I/O 1 (low) SGA screen mixed I/O 1 (high)
Units Binary
Meaning:
These machine data are used to define the NCK inputs (SGE screen) and NCK outputs (SGA screen) that are available on the mixed I/O module 1 for safe functions. Any nondefined inputs and outputs can be used for other functions. Definition of SGE and SGE screens for mixed I/O module 1
MD 45803, Bit No. MD 45802, Bit No. 7 6 5 4 3 2 1 0 7 6 5 * * * * * * * * * * * 15 14 13 12 11 10 9 8 7 6 5 MD 45809 MD 45808 * * * * * * * * * * * 15 14 13 12 11 10 9 8 7 6 5 * = 1: Input/output can be used for safe functions * = 0: Input/output can be used for other functions 4 * 4 * 4 3 * 3 * 3 2 * 2 * 2 1 * 1 * 1 0 * 0 * 0
Table 4-4
MD status Input MD status Output Note:
Related to:
MD 45804, MD 45805, MD 45810, MD 45811 Example MD 45802 = 0000 0011 MD 45808 = 0000 0111 On mixed I/O module no. 1, inputs 1 and 0 and outputs 2, 1 and 0 can be used for safe functions.
45804 45805 45810 45811

Default 0000 0000
SGE screen mixed I/O 2 (low) SGE screen mixed I/O 2 (high) SGA screen mixed I/O 2 (low) SGA screen mixed I/O 2 (high)
Units Binary
Meaning:
These machine data are used to define the NCK inputs (SGE screen) and NCK outputs (SGA screen) that are available on the mixed I/O module 2 for safe functions. Any nondefined inputs and outputs can be used for other functions. Definition of SGE and SGE screens for mixed I/O module 2
MD 45805, Bit No. MD 45804, Bit No. 7 6 5 4 3 2 1 0 7 6 5 * * * * * * * * * * * 15 14 13 12 11 10 9 8 7 6 5 MD 45811 MD 45810 * * * * * * * * * * * 15 14 13 12 11 10 9 8 7 6 5 * = 1: Input/output can be used for safe functions * = 0: Input/output can be used for other functions 4 * 4 * 4 3 * 3 * 3 2 * 2 * 2 1 * 1 * 1 0 * 0 * 0
Table 4-5
MD status Input MD-Status Output Note:
Related to:
MD 45802, MD 45803, MD 45808, MD 45809
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4600*
Default 0
Input assignment SBH/SG deselection

Lower input limit 0 Upper input limit 3 02 00 16 1
Effective after POWER ON Units Decimal
Meaning:
This data defines the NCK input for selecting/deselecting the SBH and SG functions.
Structure:
s mm xx nn y y= nn= xx= mm= s= Inversion I/O No. Reserved Module number Module Permitted values 0 1 01-06 01-16 00 01 01-02 0 1 2 3 Explanation Not inverted for processing Inverted for processing On CSB On MIXED I/O Reserved On CSB On MIXED I/O 0 or 1 is processed (y=0 or 1) depending on inversion Reserved CSB MIXED I/O
Each entry connects an individual bit to a terminal.

Signal =0 =1 Meaning SG or SBH is selected. SG and SBH are deselected (only if a STOP C, D or E has not been activated by other functions)
Note: If digit is 0 (y) = 1, then the signal is inverted for processing. An inputs value of 0 00 00 00 1 means: There is no assignment, the input remains permanently at 1
4604*
Default 0
Input assignment SBH deselection

Meaning: Structure: Assignment:
Assignment of input for deselection of safe operational stop function. See MD 4600* Terminal signal level to safe functions if either safe velocity or safe operational stop has been activated.
Signal =0 =1 Meaning SBH is selected. SG is selected (only if a STOP C, D or E has not been activated by other functions)
Note: If digit is 0 (y) = 1, then the signal is inverted for processing. If SG and SBH have been deselected (see (MD 4600*), then this input has no meaning.
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4608*
Default 0
Input assignment "Pulses disabled" status

Meaning: Structure:
This data defines the input for reading back the "pulse disabled" status signal. See MD 4600*
Signal means =0 Pulses are enabled =1 Pulses are disabled Note: If digit is 0 (y) = 1, then the signal is inverted for processing.
4612* 4616*
Default 0
Input assignment SG selection, bit 0 Input assignment SG selection, bit 1

Meaning Structure: Assignment:
This data defines the two inputs for selecting SG1, SG2, SG3 or SG4. See MD 4600* Inputs bits to safe velocities:
Bit 1 Bit 0 Selected safe velocity 0 0 SG 1 0 1 SG 2 1 0 SG 3 1 1 SG 4 Note: If digit is 0 (y) = 1, then the signal is inverted for processing.
4632* 4636* 4640*

Default 0
Input assignment gear ratio selection, bit 0 Input assignment gear ratio selection, bit 1 Input assignment gear ratio selection, bit 2
Units Decimal
Meaning: Structure: Assignment:
Assignment of input terminals for safe selection of gear stage. See MD 4600* Input bits to selected gear stage:
Bit 2 Bit 1 Bit 0 Active gear stage 0 0 0 Stage 1 0 0 1 Stage 2 0 1 0 Stage 3 to to 1 1 1 Stage 8 Note: If digit is 0 (y) = 1, then the signal is inverted for processing.
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4648*
Default 0
Input assignment SE selection

Meaning: Structure:
The data defines the input for selecting safe limit position 1 or 2. See MD 4600*
Signal means =0 SE1 is selected =1 SE2 is selected Note: If digit is 0 (y) = 1, then the signal is inverted for processing.
4660*
Default 0
Input assignment "Test stop selection"

Meaning: Structure:
This data defines the input for selecting the test stop. See MD 4600*
Signal Meaning =0 Test stop is deactivated =1 Test stop is executed Note: If digit is 0 (y) = 1, then the signal is inverted for processing.
4700* 4708* 4716* 4724*

Default 0
Output assignment SN1 + Output assignment SN2 + Output assignment SN3 + Output assignment SN4 +
Units Decimal
Meaning: Structure:
This data defines the outputs for plus cams SN1 + to SN4 +. See MD 4732*
Signal =0 =1 Meaning Axis is to the left of cam (actual value cam position) Axis is to the right of cam (actual value > cam position)
Note If a single output signal is applied to a terminal, then the following applies: If digit is 0 (y) = 1, then the signal is inverted for processing. If several output signals are applied to a terminal, then the following applies: If digit is 0 (y) = 1, then the signal is inverted for processing. The (in some cases) inverted output signals are then ANDed and the result output at the terminal. If the plus cam is negated and applied to an output with the minus cam, then the signals are ANDed and a single cam signal is produced for area sensing purposes.
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4704* 4712* 4720* 4728*

Default 0
Output assignment SN1 Output assignment SN2 Output assignment SN3 Output assignment SN4 Lower input limit 0 Upper input limit 3 02 00 16 1
Units Decimal
Meaning: Structure:
The outputs for minus cams SN1 - to SN4 - are set with this data. See MD 4732*
Signal =0 =1 Meaning Axis is to the left of cam (actual value cam position) Axis is to the right of cam (actual value > cam position)
Note If a single output signal is applied to a terminal, then the following applies: If digit is 0 (y) = 1, then the signal is inverted for processing. If several output signals are applied to a terminal, then the following applies: If digit is 0 (y) = 1, then the signal is inverted for processing. The (in some cases) inverted output signals are then ANDed and the result output at the terminal. If the plus cam is negated and applied to an output with the minus cam, then the signals are ANDed and a single cam signal is produced for area sensing purposes.
4732*
Default 0
Output assignment SBH/SG active

Meaning: Structure:
s mm xx nn y
Assignment of output for signal indicating status of functions SBH and SG.
y= nn= xx= mm= s=
Inversion I/O No. Reserved Module number Module
Permitted values 0 1 01-16 00 01-02 0 1 2 3
Explanation Not inverted for processing Inverted for processing On MIXED-I/O Reserved On MIXED-I/O Not processed Reserved Reserved MIXED-I/O
Each entry connects an individual output bit to a terminal.

Signal =0 Meaning SG and SBH are deactivated (unless STOP C, D or E have been activated by other functions) SG or SBH is active
=1 Note: Input value 0 00 00 00 1" means: If there is not assignment, then the output stays permanently at 1
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Note If a single output signal is applied to a terminal, then the following applies: If digit is 0 (y) = 1, then the signal is inverted for processing. If several output signals are applied to a terminal, then the following applies: If digit is 0 (y) = 1, then the signal is inverted for processing. The (in some cases) inverted output signals are then ANDed and the result output at the terminal.
4736*
Default 0
Output assignment "Axis safely referenced"

Meaning: Structure:
This data defines the output for the "Axis safely referenced" signal. See MD 4732*
Signal =0 =1 Meaning Axis is not safely referenced (i.e. the safe limit position monitor is deactivated) Axis is safely referenced
4740*
Default 0
Output assignment "Pulse enable"

Meaning: Structure:
This data defines the output for the "Pulse disable" request. See MD 4732*
Signal =0 =1 Meaning Request for "Pulse disable" Request for " Pulse enable "
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4744*
Default 0
Output assignment for SBH active

Meaning: Structure::
This data defines the output for the SBH active signal. See MD 4732*
Signal =0 =1 Meaning SBH is not active SBH is active
4752* 4756*
Default 0
Output assignment for SG active, bit 0 Output assignment for SG active, bit 1
Meaning: Structure:
This data defines the output for the SG active, bit 0 and SG active, bit 1 signals. See MD 4732*
Bit 0 =0 =0 =1 =1 SG active Bit 1 =0 =1 =0 =1 Meaning SG1 active if SBH/SG is active and SBH is not active SBH active if SBH/SG and SBH are active SG2 active SG3 active SG4 active
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4760*
Default 0
Output assignment for n < nx

This data defines the output for the n < nx signal. See MD 4732*
Signal =0 =1 Meaning Actual speed is greater than limit speed set in MD 4292* Actual speed is lower or equal to limit speed
4772* 4776* 4780* 4784*

Default 0
Output assignment for SG1 active Output assignment for SG2 active Output assignment for SG3 active Output assignment for SG4 active
Units Decimal
This data defines the output for the SG1, 2, 3, 4 active signal. See MD 4732*
Signal =0 =1 Meaning SG1, 2, 3, 4 is not active SG1, 2, 3, 4 is active
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4.2.3
Table 4-6 Number 300 301 302 303 304 305 306 307 308 1000 1001 1002 1003 1004 1005 1006 1007 1008
Overview of SI service data

Overview of SI service data for SINUMERIK 840C Identifier Actual value safe functions NC Diagnosis for STOP F Actual value safe functions drive SI power-up position, NCK monitoring channel (from SW6.1) SI power-up position, drive monitoring channel (from SW6.1) SGE image, NCK monitoring channel (from SW6.1) SGE image, drive monitoring channel (from SW6.1) SGA image, NCK monitoring channel (from SW6.1) SGA image, drive monitoring channel (from SW6.1) Parameterization error safe functions SGE image 1 in NCK monitoring channel SGE image 1 in drive monitoring channel SGA image 1 in NCK monitoring channel SGA image 1 in drive monitoring channel SGE image 2 NCK monitoring channel (from SW6.1) SGE image 2 drive monitoring channel (from SW6.1) SGA image 2 NCK monitoring channel (from SW6.1) SGA image 2 drive monitoring channel (from SW6.1)
4.2.4
Description of service data
Display of service data
The following service data for SINUMERIK Safety Integrated are output in the SI service display.
300
Default -
Actual value safe functions NC

Effective immediately Units m/min or 0.001 rev/min
The actual value for the safe functions on the NC side is displayed in this service data. It is updated in MD 40010 "Ratio between monitoring cycle and position control basic cycle".
301
Default -
Diagnosis for STOP F

Effective immediately Units -
The fine diagnosis for alarm 1336 "Defect in a monitoring channel" is displayed in this service data in the form of a number (appropriate error code). A table listing the errors codes that might be displayed can be found in Section 6.2 Alarms for SINUMERIK 840C
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302
Default -
Actual value safe functions drive

Effective immediately Units m/min or 0.001 rev/min
The actual value for the safe functions on the drive side is displayed in this service data. It is updated in MD 40002 "Display cross-wise reference cycle".
303 304
SI power-up position NCK monitoring channel ( SW6.1) SI power-up position drive monitoring channel ( SW6.1)
Default Lower input limit Upper input limit -
Effective immediately Units -
These service data facilitate error diagnosis in the event of alarm Defect in a monitoring channel with error fine code 1003 or 3. These data contain the zero-speed position, which was read out of the SRAM on the last power-up, of the axis or drive. The last stored value is displayed here is no user agreement was given.
305 306 307 308

Default -
SGE image NCK monitoring channel ( SW6.1) SGE image drive monitoring channel ( SW6.1) SGA image NCK monitoring channel ( SW6.1) SGA image drive monitoring channel ( SW6.1)
Effective immediately
Units -
These data display the 32-bit SGE/SGA images. Each data is compiled of the following information:
Table 4-7 Service data 305 306 307 308 Compilation of service data 305 to 308 Bit 31 16 15 1005 1006 1007 1008 0 1001 1002 1003 1004
309
Default 0
SI speed difference (from SW 6.3)

Effective immediately Units mm/min or rev/min
Display of actual SZ speed difference established between NC and drive. The calculation takes place in the cross-check cycle (NC MD 40002).
310
Default 0
Maximum SI speed difference (from SW 6.3)

Effective immediately Units mm/min or rev/min
Display of maximum SZ speed difference between NC and drive. The calculation takes place in the cross-check cycle (NC MD 40002). The maximum value since the last NC POWER ON is displayed.
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1000
Bit No. 8 (from SW6.1)
Parameterization errors safe functions

Cause Certain conditions must be observed with respect to cam positions when cam synchronization is used. The cam parameter settings (MD 4216* to 4244*) +/- tolerance (minimum tolerance from MD 4248* and 4256*) are too close to the actual value overrange (linear axis: 737.280 m, rotary axis: +/2048 revolutions) Tolerance values have been input incorrectly (MD 4248* - 4260*, 4180*). The maximum input values for limit switches or cams has been exceeded (MD4200* - 4244*). Activation of a safety function for an analog drive. The HW required for safe functions is not available. Error in actual value assignment (MD 4100*): No digital drive selected Incorrect measuring circuit or connection number Conversion of the encoder data is producing impermissible conversion factors. The monitoring cycle set in MD 40000 for safe operation is not a multiple of the position control cycle of this axis. The measuring circuit connection (MD 4100*) assigned for safe operation is already occupied by another axis/spindle. Remedy Reduce settings in MD 4216* to 4244* or reduce tolerance
7 6 5 4 3
Enter MDs correctly. Enter MDs correctly. Safe functions cannot be used for analog drives. Install drive module with 611D performance closed-loop control module. Enter 4100* correctly.
2 1
Check MD 4104* - 4176*. Check the position control cycle and monitoring cycle of this axis (MDs 168, 155, 1396*, 40000). Assign another measuring circuit Caution: In safe operation with 1 encoder, the 2nd measuring circuit connection cannot be assigned to other functions.
1001
High byte Bit 15 Test stop selection Bit 7 Reserved Bit 14 Reserved Bit 6 Reserved
SGE image 1 in NCK monitoring channel

Bit 13 Reserved Bit 5 Reserved Bit 12 Bit 11 Bit 10 SE Reserved selection Bit 4 Bit 3 SG selection Bit 1 Bit 0 Bit 9 Bit 8 Gear ratio selection Bit 2 Bit 1 Bit 0 Bit 1 SBH deselection Bit 0 SBH/SG deselection
Low byte
Bit 2 Pulses disabled status
Note: These signals are output in the Status display.
1002
High byte Bit 15 Test stop selection Bit 7 Reserved Bit 14 Reserved Bit 6 Reserved
SGE image 1 in drive monitoring channel

Bit 13 Reserved Bit 5 Reserved Bit 12 Bit 11 Bit 10 SE Reserved selection Bit 4 Bit 3 SG selection Bit 1 Bit 0 Bit 9 Bit 8 Gear ratio selection Bit 2 Bit 1 Bit 0 Bit 1 SBH deselection Bit 0 SBH/SG deselection
Low byte
Bit 2 Reserved
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1003
High byte Bit 15 SN4 Bit 7 Axis safely referenced Bit 14 SN4 + Bit 6 Reserved
SGA image 1 in NCK monitoring channel

Bit 13 Bit 12 Bit 11 Bit 10 Cam signals of plus and minus cams SN3 SN3 + SN2 SN2 + Bit 5 Bit 4 Bit 3 Bit 2 Reserved Reserved Reserved Enable pulses Bit 9 SN1 Bit 1 Reserved Bit 8 SN1 + Bit 0 SBH/SG active
Low byte
1004
High byte Bit 15 SN4 Bit 7 Axis safely referenced Bit 14 SN4 + Bit 6 Reserved
SGA image 1 in drive monitoring channel

Bit 13 Bit 12 Bit 11 Bit 10 Cam signals of plus and minus cams SN3 SN3 + SN2 SN2 + Bit 5 Bit 4 Bit 3 Bit 2 Reserved Reserved Reserved Pulses are disabled status Bit 9 SN1 Bit 1 Reserved Bit 8 SN1 + Bit 0 SBH/SG active
Low byte
1005 1006
High byte Low byte Bit 15 0 Bit 7 0
SGE image 2 in NCK monitoring channel (from SW6.1) SGE image 2 in drive monitoring channel (from SW6.1)
Bit 14 0 Bit 6 0 Bit 13 0 Bit 5 0 Bit 12 0 Bit 4 0 Bit 11 0 Bit 3 0 Bit 10 0 Bit 2 0 Bit 9 0 Bit 1 0 Bit 8 0 Bit 0 0
Note: The setting must always be 0.
1007 1008
High byte Low byte Bit 15 Reserved Bit 7 Reserved
SGA image 2 in NCK monitoring channel (from SW6.1) SGA image 2 in drive monitoring channel (from SW6.1)
Bit 14 Reserved Bit 6 Reserved Bit 13 Reserved Bit 5 n < nx Bit 12 Reserved Bit 4 SG active bit 1 Bit 11 Reserved Bit 3 SG active bit 0 Bit 10 Reserved Bit 2 Reserved Bit 9 Reserved Bit 1 SBH active Bit 8 Reserved Bit 0 Reserved
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4.3
4.3.1
Machine data for SIMODRIVE 611D

MD on 840D MD on 840C 10090: $MA_SAFETY_SYSCLOCK_TIME_RATIO 40010: Ratio monitoring cycle to position control basic cycle 36901: $MA_SAFE_FUNCTION_ENABLE 4500*: Enable SBH/SG/SE function 4504*: Cam enable safe operation 36902: $MA_SAFE_IS_ROT_AX 4508*: Axis-specific bits for safe functions Bit 6: Axis type Bit 7: Inches display 36905: $MA_SAFE_MODULO_RANGE Not available on 840C 36916: $MA_SAFE_ENC_IS_LINEAR 36925: $MA_SAFE_ENC_POLARITY 4512*: Axis-specific bits for safe functions Bit 0: Linear scale 4512*: Axis-specific bits for safe functions Bit 1: Sign change 36917: $MA_SAFE_ENC_GRID_POINT_DIST 4104*: Grid spacing linear scale for safe functions 36918: $MA_SAFE_ENC_RESOL 4108*: Encoder marks per revolution for safe functions 36920: $MA_SAFE_ENC_GEAR_PITCH 4112*: Spindle pitch for safe operation 36921: $MA_SAFE_ENC_GEAR_DENOM[n] 4116*: Denominator of encoder/load gear 1 for SI functions 4120*: Denominator of encoder/load gear 2 for SI operation to 4144*: Denominator of encoder/load gear 8 for SI safe operation 36922: $MA_SAFE_ENC_GEAR_NUMERA[n] 4148*: Numerator of encoder/load gear 1 for SI operation 4152*: Numerator of encoder/load gear 2 for SI operation to 4176*: Numerator of encoder/load gear 8 for SI operation 36930: $MA_SAFE_STANDSTILL_TOL 4180*: Standstill tolerance for SI operation 36931: $MA_SAFE_VELO_LIMIT[n] 4184*: Limit value for safe velocity 1 4188*: Limit value for safe velocity 2 4192*: Limit value for safe velocity 3 4196*: Limit value for safe velocity 4 36932: $MA_ SAFE_VELO_OVR_FACTOR[n] (from SW4.2) Not available on 840C 36934: $MA_SAFE_POS_LIMIT_PLUS[n] 4200*: Upper limit value for safe limit position 1 4204*: Upper limit value for safe limit position 2 36935: $MA_SAFE_POS_LIMIT_MINUS[n] 4208*: Lower limit value for safe limit position 1 4212*: Lower limit value for safe limit position 2 36936: $MA_SAFE_CAM_POS_PLUS>n@ 4216*: Plus cam position for safe cams 1 4220*: Plus cam position for safe cams 2 4224*: Plus cam position for safe cams 3 4228*: Plus cam position for safe cams 4 Equivalent
Table 4-8 Machine data for SIMODRIVE 611D No. Identifier on 611D Name 1300 $MD_SAFETY_CYCLE_TIME Monitoring cycle 1301 $MD_SAFE_FUNCTION_ENABLE Enable safe functions $MD_SAFE_IS_ROT_AX Axis-specific bits for safe functions Bit 0: Axis type Bit 1: Inches system $MD_SAFE_MODULO_RANGE Modulo value for SN $MD_SAFE_ENC_CONFIG Motor encoder configuration safe functions Bit 0: Linear scale Bit 1: Sign change Bit 2: 2-encoder system $MD_SAFE_ENC_GRID_POINT_DIST Grid spacing linear scale $MD_SAFE_ENC_RESOL Encoder marks per revolution $MD_SAFE_ENC_GEAR_PITCH Spindle pitch $MD_SAFE_ENC_GEAR_DENOM[n] Denominator of encoder/load gear
1302
1305 1316
1317 1318 1320 1321
1322
$MD_SAFE_ENC_GEAR_NUMERA[n] Numerator of encoder/load gear
1330 1331
$MD_SAFE_STANDSTILL_TOL Standstill tolerance $MD_SAFE_VELO_LIMIT[n] Limit values for safe velocity
1332
1334
$MD_SAFE_VELO_OVR_FACTOR[n] (from SW4.2) Override factor for SG $MD_SAFE_POS_LIMIT_PLUS[n] Upper limit value for safe limit position $MD_SAFE_POS_LIMIT_MINUS[n] Lower limit value for safe limit position $MD_SAFE_CAM_POS_PLUS>n@ Plus cam position for safe cams
1335
1336
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No. 1337
Identifier on 611D Name $MD_SAFE_CAM_POS_MINUS[n] Minus cam position for safe cams
1340 1342
1344
1346
1348
1350 1351 1352 1353 1354 1356 1357 1360 1361
$MD_SAFE_CAM_TOL Tolerance for safe cams $MD_SAFE_POS_TOL Actual value comparison tolerance (crosscheck) $MD_SAFE_REFP_POS_TOL Actual value comparison tolerance (referencing) $MD_SAFE_VELO_X (840D from SW4.2, 840C from SW6.1) Velocity limit nx $MD_SAFE_STOP_VELO_TOL (840D from SW4.2, 840C from SW6.1) Actual velocity tolerance for SBR $MD_SAFE_MODE_SWITCH_TIME Tolerance time for SGE switchover $MD_SAFE_VELO_SWITCH_DELAY Delay time velocity switchover $MD_SAFE_STOP_SWITCH_TIME_C Transition time STOP C to SBH $MD_SAFE_STOP_SWITCH_TIME_D Transition time STOP D to SBH $MD_SAFE_STOP_SWITCH_TIME_E Transition time STOP E to SBH $MD_SAFE_PULSE_DISABLE_DELAY Delay time pulse disable $MD_SAFE_PULSE_DIS_CHECK_TIME Time for testing pulse disable $MD_SAFE_STANDSTILL_VELO_TOL Creep velocity pulse disabling $MD_SAFE_VELO_STOP_MODE Stop reaction safe velocity $MD_SAFE_POS_STOP_MODE Stop reaction safe limit position $MD_SAFE_VELO_STOP_REACTION[n] (840D from SW4.2) SG-specific stop reaction Firmware version Safety Integrated (from SW 6.3) $MD_SAFE_DIAG_NC_RESULTLIST1 Diagnosis NC result list 1 $MD_SAFE_DIAG_611D_RESULTLIST1 Diagnosis 611D result list 1 $MD_SAFE_DIAG_NC_RESULTLIST2 Diagnosis NC result list 2 $MD_SAFE_DIAG_611D_RESULTLIST2 Diagnosis 611D result list 2 $MD_SAFE_STOP_F_DIAGNOSIS Diagnosis for STOP F $MD_SAFE_ACKN_WRITE User agreement $MD_SAFE_ACKN_READ 611D internal agreement
MD on 840D MD on 840C 36937: $MA_SAFE_CAM_POS_MINUS[n] 4232*: Minus cam position for safe cams 1 4236*: Minus cam position for safe cams 2 4240*: Minus cam position for safe cams 3 4244*: Minus cam position for safe cams 4 36940: $MA_SAFE_CAM_TOL 4248*: Tolerance for safe cams 36942: $MA_SAFE_POS_TOL 4256*: Actual value comparison tolerance (cross-check) 36944: $MA_SAFE_REFP_POS_TOL 4252*: Actual value comparison tolerance (referencing) 36946: $MA_SAFE_VELO_X (from SW4.2) 4292*: Velocity limit nx for safe operation (from SW6.1) 36948: $MA_SAFE_STOP_VELO_TOL (from SW4.2) 4296*: Actual velocity tolerance for SBR (from SW6.1) 36950: $MA_SAFE_MODE_SWITCH_TIME 4260*: Tolerance time for SGE switchover 36951: $MA_SAFE_VELO_SWITCH_DELAY 4264*: Delay time velocity switchover 36952: $MA_SAFE_STOP_SWITCH_TIME_C 4276*: Transition time STOP C to SBH 36953: $MA_SAFE_STOP_SWITCH_TIME_D 4280*: Transition time STOP D to SBH 36954: $MA_SAFE_STOP_SWITCH_TIME_E 4284*: Transition time STOP E to SBH 36956: $MA_SAFE_PULSE_DISABLE_DELAY 4268*: Delay time pulse disable 36957: $MA_SAFE_PULSE_DIS_CHECK_TIME 4272*: Time for testing pulse disable 36960: $MA_SAFE_STANDSTILL_VELO_TOL 4288*: Creep velocity pulse disabling 36961: $MA_SAFE_VELO_STOP_MODE 4508*: Axis-specific bits for safe functions Bit 4: Selection STOP D/E for SG 36962: $MA_SAFE_POS_STOP_MODE 4508*: Axis-specific bits for safe functions Bit 2: Selection STOP D/E for SE 36961: $MA_SAFE_VELO_STOP_REACTION[n] (from SW4.2) Not available on 840C
Equivalent
1362
1363
1390 1391 1392 1393 1394 1395 1396 1397
Not available on 840D Not available on 840C Not available on 840D Not available on 840C Not available on 840D Not available on 840C Not available on 840D Not available on 840C Integrated in alarm text in 840D 301: Diagnosis for STOP F Not available on 840D Not available on 840C Not available on 840D Not available on 840C
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No. 1398
1399
Identifier on 611D Name $MD_SAFE_ACT_CHECKSUM Display checksum of machine data for safe functions $MD_SAFE_DES_CHECKSUM Display checksum of machine data for safe functions
MD on 840D MD on 840C $MA_SAFE_ACT_CHECKSUM 40000: Display checksum of machine data for safe functions $MA_SAFE_DES_CHECKSUM 40001: Display checksum of machine data for safe functions
Equivalent
Note: The drive machine data are copied to the drive after selection of softkey COPY TO DRIVE. 13xx Drive machine data marked in this way are not taken into account during the copy operation. The machine data must enter these data by hand. The same description as given for equivalent machine data of the 840D and 840C systems apply to the machine data copied to the drive.
Loading the motor default data
When the motor default data are loaded, some drive machine data are overwritten. If another type of motor is mounted in the course of servicing and the associated motor default data are loaded, then the encoder data must be changed back to their original value.
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4.3.2
1300

$MD_SAFETY_CYCLE_TIME
Monitoring cycle Relevant for: FDD/MSD Data type: short integer
611D
Unit: 31.25 s
Default: 384 (= 12 ms)
Minimum value: 16
Maximum value: 800
Effective after: POWER ON
This data sets the monitoring cycle for safe operation. Position control cycle monitoring cycle 25ms The monitoring cycle defines the reaction time of the monitoring functions. It must be noted that the load on the CPU is increased when a short monitoring cycle is set.
1301
$MD_SAFE_FUNCTION_ENABLE
Enable safe functions Relevant for: FDD/MSD Data type: Binary
611D
Unit: Hexadecimal
Default: 0
Minimum value: 0
Maximum value: FF 03 FF E3 (from SW 4.2)
This data enables the partial functions for safe operation on an axis-specific or spindle-specific basis. The bit assignment is as follows:
Bit 15 High byte SN4 + SN3 Bit 6 Bit 5 Enable (840D from SW4.2) Stopping Override Cam via SGE for safe synchrovelocity nization SN4 Bit 7 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Enable safe cams SN3 + SN2 SN2 + Bit 4 Bit 3 Bit 2 Reserved, bits must be 0 0 0 0 Bit 9 SN1 Bit 1 Bit 8 SN1 + Bit 0 Enable SBH/SG
Low byte
SE
1302
$MD_SAFE_IS_ROT_AX
Axis-specific bits for safe functions Relevant for: FDD/MSD Maximum value: 00 03 Data type: Binary
611D
Unit: -
Default: 0 Bit 15 Bit 14
Minimum value: 0
Effective after: POWER ON Bit 9 0 Bit 1 Inch system Bit 8 0 Bit 0 Axis type
Safety-function bits that are specific to axis and encoder

High byte 0 Bit 7 Low byte 0 Bit 13 Bit 12 Bit 11 Bit 10 Reserved, these bits must be set to "0" 0 0 0 0 0 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Reserved, these bits must be set to "0" 0 0 0 0 0
Bit 0 Bit 1
1: 0: 1: 0:
Rotary axis/spindle Linear axis Inches system Metric system
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1305
$MD_SAFE_MODULO_RANGE
Modulo value for SN Relevant: for: FDD/MSD Maximum value 737 280 000 Data type: long integer
611D
Valid as of: SW4.2 in 840D Effective after: POWER ON
Unit: mdegree
Default: 0
Minimum value 0
Actual value range within which safe cams for rotary axes are calculated. The axis must be a rotary axis ($MA_/$MD_SAFE_IS_ROT_AX = 1). Setting = 0: Modulo correction after +/- 2048 revolutions (i.e. after 737 280 degrees)
Setting > 0 and multiples of 360 000 mdegree: Modulo correction after this setting (e.g. setting = 360 the actual value range is between 0 and 359.999 degrees, i.e. a modulo correction is carried out after every revolution.
Related machine data: MD 36905: $MA_SAFE_MODULO_RANGE MD 36936/1336: $MA_/$MD_SAFE_CAM_POS_PLUS[n] MD 36937/1337: $MA_/$MD_SAFE_CAM_POS_MINUS[n]
1316
$MD_SAFE_ENC_CONFIG
Motor encoder configuration safe functions Relevant for: FDD/MSD Data type: Binary
611D
Unit: -
Default: 0
Minimum value: 0
Maximum value: 00 07
Safety-function bits that are specific to axis and encoder.

Bit 15 High byte 0 Bit 7 Low byte 0 0 0 0 0 2encoder system Sign change Motor encoder (IMS) 0 Bit 6 0 Bit 5 Bit 14 Bit 13 Bit 12 Bit 11 Reserved 0 0 Bit 4 Bit 3 Bit 10 0 Bit 2 Bit 9 0 Bit 1 Bit 8 0 Bit 0
Bit 0 Bit 1 Bit 2
1: 0: 1: 0: 1: 0:
Linear motor encoder (e.g.: linear scale for linear motor) Rotary motor encoder Sign change No sign change 2-encoder system (no monitoring for encoder limit frequency) 1-encoder system (monitoring for encoder limit frequency)
1317
$MD_SAFE_ENC_GRID_POINT_DIST
Grid spacing linear scale Relevant for: FDD/MSD Data type: float
611D
Unit: m
Default: 10
Minimum value: 0.010
Grid spacing of encoder (applies only to linear encoders)
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1318
$MD_SAFE_ENC_RESOL
Encoder marks per revolution Relevant for: FDD/MSD Data type: -
611D
Unit:
Default: 2 048
Minimum value: 1
Number of marks per encoder revolution (applies only to rotary encoders)
1320
$MD_SAFE_ENC_GEAR_PITCH
Spindle pitch Relevant for: FDD/MSD Data type: float
611D
Unit: mm/rev
Default: 10
Minimum value: 0.1
Maximum value: 8 388.00
Gear ratio of gear unit between encoder and load (applies to linear axes with rotary encoder)
1321
$MD_SAFE_ENC_GEAR_DEMON[n]
Denominator of encoder/load gear Relevant for: FDD/MSD Data type: long integer
611D
Unit: -
Default: 1
Minimum value: 1
Maximum value: 8 388 607
Denominator of gear unit between encoder and load, i.e. the denominator of the fraction "No. of encoder revolutions / No. of load revolutions" There are a total of 8 values (n = 0 ... 7); the current value is selected by means of SGEs.
1322
$MD_SAFE_ENC_GEAR_NUMERA[n]
Numerator of encoder/load gear Relevant for: FDD/MSD Data type: long Integer
611D
Unit: -
Default: 1
Minimum value: 1
Numerator of gear unit between encoder and load, i.e. the numerator of the fraction "No. of encoder revolutions / No. of load revolutions" There are a total of 8 values (n = 0 ... 7); the current value is selected by means of SGEs.
1330
$MD_SAFE_STANDSTILL_TOL
Standstill tolerance Relevant for: FDD/MSD Data type: long integer
611D
Unit: m or 0.001 degrees
Default: 1 000
Minimum value: 1
Limit value for safe standstill monitoring. This machine data positions the standstill tolerance window for the SBH monitoring. The actual value must remain within this window or else an alarm (tolerance band for safe operational stop exceeded) is output and the drive is switched to a safe operational stop.
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1331
$MD_SAFE_VELO_LIMIT[n]
Limit values for safe velocity Relevant for: FDD/MSD Data type: float
611D
Unit: mm/min or rev/min
Default: 2 000
Minimum value 0
Limit values for safe monitoring of the velocity n = 0, 1, 2, 3, stands for limit value of SG1, 2, 3, 4 If the current actual speed exceeds this limit value, the drive activates an alarm and stop reaction (that can be parameterized in MD 1361: $MD_SAFE_VELO_STOP_MODE) and then switches to safe operational stop mode. With active SBH/SG and a 1-encoder system, the speed is monitored on the basis of an encoder limit frequency of 200 kHz (300 kHz, 840D from SW3.6, 840C from SW5.7). The parameterized stop reaction is output when the limit is exceeded.
1332
$MD_SAFE_VELO_OVR_FACTOR>n
Override factor for SG Relevant for: FDD/MSD Data type: short Integer
611D
Valid as of: SW version: 4.2 Effective after: POWER ON
Unit: %
Default: 100
Minimum value: 1
Maximum value: 100
It is possible to select overrides via SGEs for safe velocities 2 and 4 and to set the associated override value (percentage) in this machine data. n = 0, 1, ... , 15 stand for overrides 0, 1, ... 15 The Override for safe velocity function is enabled via MD 36901(MD 1301): $MA($MD)_SAFE_FUNCTION_ENABLE (see Section 3.4.5 Override for safe velocity).
1334
$MD_SAFE_POS_LIMIT_PLUS[n]
Upper limit value for safe limit position Relevant for: FDD/MSD Data type: long integer
611D
Default: 100 000 000
Minimum value: -2 147 000 000
Maximum value: 2 147 000 000
Upper (positive) limit value for safe monitoring of limit position n = 0, 1 stands for safe limit position 1, 2 When the active upper limit value is exceeded, the drive activates an alarm and stop reaction (that can be parameterized in MD 1362: $MD_SAFE_POS_STOP_MODE) and then switches to safe operational stop mode.
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1335
$MD_SAFE_POS_LIMIT_MINUS[n]
Lower limit value for safe limit position Relevant for: FDD/MSD Data type: long integer
611D
Default: -100 000 000
Lower (negative) limit value for safe limit position monitoring. n = 0, 1 stands for safe limit position 1, 2 When the active lower limit value is exceeded, the drive activates an alarm and stop reaction (that can be parameterized in MD 1362: $MD_SAFE_POS_STOP_MODE) and then switches to safe operational stop mode.
1336
$MD_SAFE_CAM_POS_PLUS[n]
Plus cam position for safe cams Relevant for: FDD/MSD Data type: long integer
611D
Default: 10 000
Operating threshold for positive cams. n = 0, 1, 2, 3 stands for positive cams SN1 +, SN2 +, SN3 +, SN4 + If the safe actual position exceeds the position set in the machine data, then the SGA assigned to the relevant cam is set to 1.
1337
$MD_SAFE_CAM_POS_MINUS[n]
Minus cam position for safe cams Relevant for: FDD/MSD Data type: long integer
611D
Default: -10 000
Operating threshold for negative cams. n = 0, 1, 2, 3 stands for negative cams SN1 -, SN2 -,SN3 -, SN4 If the safe actual position exceeds the position set in the machine data, then the SGA assigned to the relevant cam is set to 1.
1340
$MD_SAFE_CAM_TOL
Tolerance for safe cams Relevant for: FDD/MSD Data type: long integer
611D
Default: 100
Minimum value: 1
Maximum value 10 000
Tolerance threshold for all cams. As a result of minute measuring, computational and transit-time deviations, the two monitoring channels (NC and drive) rarely detect the crossing of a cam position at exactly the same time and in exactly the same position. This data creates a tolerance window within which cam results in the two monitoring channels may deviate without causing an error alarm.
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1342
$MD_SAFE_POS_TOL
Actual value comparison tolerance (cross-check) Relevant for: FDD/MSD Data type: long integer
611D
Default: 100
Minimum value: 1
Maximum value: 10 000 or 360 000
Tolerance threshold for the cross-check of the position actual value between the NC and drive. This machine data creates a tolerance window within which the position actual values of the NC and drive may deviate from one another. "Finger protection" (about 10 mm) is the primary consideration when setting this tolerance value. If the deviation between the position actual values is greater than the tolerance window, an alarm with error code is output.
1344
$MD_SAFE_REFP_POS_TOL
Actual value comparison tolerance (referencing) Relevant for: FDD/MSD Data type: long integer
611D
Default: 10
Minimum value: 0
Maximum value: 1 000 or 36 000
Tolerance threshold for the actual value check after referencing. A second absolute actual position is calculated from the last standstill position to be stored prior to encoder power OFF and the distance traversed since power ON. These two actual positions must be within the tolerance window or else the axis cannot be referenced without "user agreement". If this agreement has not been given, an alarm with error code is output. The following factors must be taken into consideration when calculating tolerance values: Backlash, leadscrew errors, temperature errors, torsion with 2-encoder system, gear play on shift gearboxes, lower resolution with 2-encoder system, oscillating distance for shift gearboxes.
1346
$MD_SAFE_VELO_X
Velocity limit nx Relevant for: MSD/FDD Minimum value: 0 Maximum value: 1 000 Data type: float
611D
Valid as of: SW4.2 on 840D SW6.1 on 840C Effective after: POWER ON
Unit: mm/min rev/min
Default: 20
This data defines the velocity limit nx for SGA n < nx. Setting 0 means: n < nx is not active.
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1348
$MD_SAFE_STOP_VELO_TOL
Actual velocity tolerance for SBR Relevant for: FDD/MSD Maximum value: 20 000.0 Data type: DOUBLE
611D
Valid as of: SW4.2 on 840D SW6.1 on 840C Effective after: POWER ON
Unit: Default: mm/min, 300.0 inch/min, rev./min
Minimum value: 0.0
After the safe braking ramp has been activated, the current speed plus the speed tolerance set in this machine data are applied as a velocity limit. Recommended settings: See Section 2.5.6 Safe braking ramp
1350
$MD_SAFE_MODE_SWITCH_TIME
Tolerance time for SGE switchover Relevant for: FDD/MSD Data type: float
611D
Unit: ms
Default: 500
Minimum value: 0
Timer for SGE changes. The timer is started every time new SGEs are accepted. The new monitoring functions are instantly active, but the crosscheck of time-variable data (i.e. actual values and result lists) must be postponed for a short period since the two monitoring channels do not detect the SGE changes at exactly the same time. Note System-dependent minimum tolerance time: 2 x PLC cycle time (maximum cycle) + 1 x IPO cycle time The variations in transit time in the external circuitry (e.g. relay operating times) must also be taken into account.
1351
$MD_SAFE_VELO_SWITCH_DELAY
Delay time velocity switchover Relevant for: FDD/MSD Data type: float
611D
Unit: ms
Default: 100
Minimum value: 0
The timer is started on transition from the safe velocity function to safe operational stop mode or when the speed monitoring limit is reduced to a lower speed. During this period, the last selected safe velocity limit remains active.
1352
$MD_SAFE_STOP_SWITCH_TIME_C
Transition time STOP C to SBH Relevant for: FDD/MSD Data type: float
611D
Unit: ms
Default: 100
Minimum value: 0
On expiry of the timer set in this data, the system switches from STOP C mode (initiated by the SG or SE monitoring function) to safe operational stop mode. After the time period has elapsed, the axis/spindle is monitored for safe operational stop. If it has still not reached zero speed, a STOP A or STOP B is initiated.
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1353
$MD_SAFE_STOP_SWITCH_TIME_D
Transition time STOP D to SBH Relevant for: FDD/MSD Data type: float
611D
Unit: ms
Default: 100
Minimum value: 0
On expiry of the timer set in this data, the system switches from STOP D mode (initiated by the SG or SE monitoring function) to safe operational stop mode. After the time period has elapsed, the axis/spindle is monitored for safe operational stop. If it has still not reached zero speed, a STOP A or STOP B is initiated.
1354
$MD_SAFE_STOP_SWITCH_TIME_E
Transition time STOP E to safe operational stop Relevant for: FDD/MSD Data type: float
611D
Unit: ms
Default: 100
Minimum value: 0
On expiry of the timer set in this data, the system switches from STOP E mode (initiated by the SG or SE monitoring function) to safe operational stop mode. After the time period has elapsed, the axis/spindle is monitored for safe operational stop. If it has still not reached zero speed, a STOP A or STOP B is initiated.
1356
$MD_SAFE_PULSE_DISABLE_DELAY
Delay time pulse disable Relevant for: FDD/MSD Data type: float
611D
Unit: ms
Default: 100
Minimum value: 0
Delay time for disabling of pulses after activation of a STOP B. The pulses are disabled earlier than defined in this data if the condition for pulse disabling is defined in MD 1360: $MD_SAFE_STANDSTILL_VELO_TOL. If the timer in this data is set to zero, STOP A (immediate pulse disabling) is activated immediately from STOP B mode.
1357
$MD_SAFE_PULSE_DIS_CHECK_TIME
Time for testing pulse disable Relevant for: FDD/MSD Data type: float
611D
Unit: ms
Default: 100
Minimum value: 0
On expiry of the timer set in this data, the drive pulses must be disabled if requested by the SGE "Test stop selection". If the pulses are not disabled on time, a STOP A reaction is activated.
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1360
$MD_SAFE_STANDSTILL_VELO_TOL
Creep speed pulse disabling Relevant for: FDD/MSD Data type: float
611D
Unit: mm/min or rev/min
Default: 0.0
Minimum value: 0.0
Maximum value: 1 000.0
When the axis speed drops below this limit, it is judged to be at a "standstill". In STOP B mode, the pulses are then disabled (through transition to STOP A mode). MD 1356: $MD_SAFE_PULSE_DISABLE_DELAY must be noted. If the delay time expires before the speed drops below the limit set in the above data, then the drive pulses are disabled prematurely.
1361
$MD_SAFE_VELO_STOP_MODE
Stop reaction safe velocity Relevant for: FDD/MSD Data type: short integer
611D
Unit: -
Default: 2
Minimum value: 2
Maximum value: 4
If a selected limit value for safe velocity 1, 2, 3 or 4 is exceeded, the stop reaction set in the above data is initiated. = 0, 1, 2, 3 correspond to STOP A, B, C, D as error reactions. = 5 means that the stop reaction can be configured for specific SGs in MD 36963/1363.
1362
$MD_SAFE_POS_STOP_MODE
Stop reaction safe limit position Relevant for: FDD/MSD Data type: short integer
611D
Unit: -
Default: 5
Minimum value: 0
Maximum value: 5
When the activated safe limit position 1 or 2 is exceeded, the stop reaction specified in this data is initiated. = 2, 3, 4 stands for STOP C, D or E that is initiated in response to an error.
1363
$MD_SAFE_VELO_STOP_REACTION[n]
SG-specific stop reaction Relevant for: FDD/MSD Data type: BYTE
611D
840D from SW4.2 Effective after: POWER ON
Unit: -
Default: 2
Minimum value: 0
Maximum value: 3
The stop reaction programmed in this data is initiated when a selected limit value for safe velocity 1, 2, 3 or 4 is exceeded. n = 0, 1, 2, 3 stand for SG1, SG2, SG3, SG4
Value = 0, 1, 2, 3 corresponds to STOP A, B, C, D This function is active only if MD 36961 and MD 1361 have been set to 5.
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1390
Default -
Firmwarestand Safety Integrated (from SW 6.3)

Minimum value Maximum value -
This only readable machine data is used to display the current SI version of the drive.
1391 1392
$MD_SAFE_DIAG_NC_RESULTLIST1 $MD_SAFE_DIAG_611D_RESULTLIST1
Diagnosis NC result list 1 Diagnosis 611D result list 1 Default: Minimum value: 0 0 Relevant for: FDD/MSD Maximum value: FFFF FFFF Data type: Long Integer
611D
Unit: -
These machine data are used to decode errors in result list 1.

Bit No. Function Bit No. Function Bit No. Function Bit No. Function Bit 31 Bit 23 Bit 15 Bit 7 SG1 Bit 30 Bit 22 Bit 14 Bit 6 SG1 Bit 29 Bit 21 Bit 13 SG4 Bit 5 SE2 Bit 28 Bit 20 Bit 12 SG4 Bit 4 SE2 Bit 27 Bit 19 Bit 11 SG3 Bit 3 SE1 Bit 26 Bit 18 Bit 10 SG3 Bit 2 SE1 Bit 25 Bit 17 Bit 9 SG2 Bit 1 SBH Bit 24 Bit 16 Bit 8 SG2 Bit 0 SBH
The bits assigned to SI functions have an identical status in error-free operation, but have different statuses when an error has occurred. In the case of a difference between 1391 and 1392, an error has occurred in the SI function that is assigned to this bit. Example: MD 1391 = 0000 1556Hex = 0000 0000 0000 0000 0001 0101 0101 0110Binary MD 1392 = 0000 1557Hex = 0000 0000 0000 0000 0001 0101 0101 0111Binary --> bit 0 is different --> error in result cross-check of safe operational stop (SBH function. All data that are relevant for the safe operational stop function must be checked in the NCK and drive channels. Explanation of the gray-shaded last two places:
01 10 00 11 invalid, i. e. not selected selected and correct value not reached, boundaries violated value exceeded
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1393 1394
$MD_SAFE_DIAG_NC_RESULTLIST2 $MD_SAFE_DIAG_611D_RESULTLIST2
Diagnosis NC result list 2 Diagnosis 611D result list 2 Default: Minimum value: 0 0 Relevant for: FDD/MSD Maximum value: FFFF FFFF Data type: Long Integer
611D
Unit: -
These machine data are used to decode errors in result list 2.

Bit No. Function Bit No. Function Bit 31 Bit 23 Bit 30 Bit 22 Bit 29 Bit 21 Cam modulo range Bit 13 SN4 + Bit 5 SN2 + Bit 28 Bit 20 Cam modulo range Bit 12 SN4 + Bit 4 SN2 + Bit 27 Bit 19 nx lower limit Bit 11 SN3 Bit 3 SN1 Bit 26 Bit 18 nx lower limit Bit 10 SN3 Bit 2 SN1 Bit 25 Bit 17 nx upper limit Bit 9 SN3 + Bit 1 SN1 + Bit 24 Bit 16 nx upper limit Bit 8 SN3 + Bit 0 SN1 +
Bit No. Function Bit No. Function
Bit 15 SN4 Bit 7 SN2 -
Bit 14 SN4 Bit 6 SN2 -
The bits assigned to SI functions have an identical status in error-free operation, but have different statuses when an error has occurred. In the case of a difference between 1393 and 1394, an error has occurred in the SI function that is assigned to this bit. Example: MD 1393 = 0000 1547Hex = 0000 0000 0000 0000 0001 0101 0100 0111Binary MD 1394 = 0000 1557Hex = 0000 0000 0000 0000 0001 0101 0101 0111Binary --> Bit 4 is different --> error in result cross-check of safe cam (SN2 +). All data that are relevant for this cam must be checked in the NCK and drive channels.
1395
$MD_SAFE_STOP_F_DIAGNOSIS
Diagnosis for STOP F Relevant for: FDD/MSD Data type: Integer
611D
Unit: -
Default: 32 767
Minimum value: 0
The fine diagnosis for the following alarms is displayed in this data: On 840D Alarm 27001 "Defect in a monitoring channel" On 840C Alarm 1336 "Defect in a monitoring channel" On 611D Alarm 300911 "Defect in a monitoring channel" With error code = 1: Evaluate fine decoding of errors in MDs 1391 and 1392 With error code = 2: Evaluate fine decoding of errors in MD 1393 and 1394 The error code is output with the alarm display on the SINUMERIK 840D. A table listing the possible error codes for the SINUMERIK 840C can be found in Section 6.2 Alarms for SINUMERIK 840C The error code is output with the alarm display on the 611D.
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1396
$MD_SAFE_ACKN_WRITE
User agreement Relevant for: FDD/MSD Data type: Binary
611D
Unit: Hexadecimal
Default: 00 00
Minimum value: 00 00
Maximum value: FF FF
The user must input his agreement (acknowledgement) manually to switch the axis from the "Axis referenced" (IS) state to the "Axis safely referenced" (SGA) state. User agreement does not have to be given when the axis is referenced again provided that the comparison of the standstill position and the "reference position" that is automatically made during power-up produces a positive result.
Bit 15 ... 0 = 00AC =0 Meaning Agreement set Agreement not set
1397
$MD_SAFE_ACKN_READ
611D internal agreement Relevant for: FDD/MSD Data type: Binary
611D
Unit: Hexadecimal
Default: 00 00
Minimum value: 00 00
Maximum value: FF FF
Display data indicating that an axis is in the "Axis safely referenced" state after user agreement has been set.
Bit 15 ... 0 = 00AC =0 Meaning Agreement set Agreement not set
1398
$MD_SAFE_ACT_CHECKSUM
Display checksum of machine data for safe functions Relevant for: FDD/MSD Data type: long integer
611D
Unit:
Default: 00 00 00 00
Minimum value: 00 00 00 00
Maximum value: FF FF FF FF
This machine data contains the actual checksum of the current values of the SI machine data that is calculated after POWER ON. If the actual checksum is not the same as the setpoint checksum in MD 1399: $MD_SAFE_DES_CHECKSUM, then the alarm 300744 "Checksum error safety monitors" is displayed.
1399
$MD_SAFE_DES_CHECKSUM
Checksum of machine data for safe functions Relevant for: FDD/MSD Data type: long integer
611D
Unit:
Default: 00 00 00 00
Minimum value: 00 00 00 00
Maximum value: FF FF FF FF
This data contains the setpoint checksum of the current values of the SI machine data that was stored during the last acceptance test. The actual checksum is calculated after POWER ON, entered in MD 1398: $MD_SAFE_ACT_CHECKSUM and compared with the setpoint checksum stored in this data. When the values are not identical, the data have either been changed or there is an error present and alarm 300744 "Checksum error safety monitors" is displayed.
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4.4
General
Interface signals
The safety-relevant input and output signals (SGEs and SGAs) are signals that are sent to and arrive from the system via two channels: Via the NCK monitoring channel <--> NCK I/O devices <--> signal processing <--> NCK SGE/SGA interface <-> NCK CPU Via the drive monitoring channel <--> PLC I/O devices <--> signal processing via PLC <--> NC/PLC interface <-->drive CPU
Note The SGEs/SGAs in the drive monitoring channel are mapped in an area of the NC/PLC interface (signals to/from drive) and must be supplied in the PLC user program. Owing to the two-channel structure of Safety Integrated, the machine manufacturer must supply the SGEs and SGAs in both the NCK monitoring channel and the drive monitoring channel. Unused SGEs must be set to a defined status.
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4.4.1
Table 4-9 DB 31 ... Byte ... ... ... 22
Interface signals for SINUMERIK 840D

Interface signals on 840D Signals to/from drive Bit 7 Bit 6 Bit 5 Bit 4 ... ... ... Reserved Reserved Reserved SG selection Bit 1 Bit 0 Reserved Bit 2 Reserved SBHdeselection SBH/SGdeselection Bit 3 Bit 2 Bit 1 Bit 0
23
Teststop selection
Reserved
Reserved
SE selection
Gear ratio selection Bit 1 Bit 0
SGE (signals to drive) 32 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved
33 Bit 3 ... ... ... 108
Override selection (from SW4.2) Bit 2 Bit 1 Bit 0 ... ... ... Axis safely referenced Reserved Reserved Reserved Reserved "Pulses are disabled" status Reserved SBH/SG active Reserved Reserved Reserved Reserved
109 SN4 SN4 +
Cam signals of plus and minus cams SN3 SN3 + SN2 SN2 + SN1 SN1 +
SGA (signals from drive) 110 Reserved Reserved n < nx SG active (as from SW4.2) Bit 1 Bit 0 Reserved SBH active
(as from SW4.2) 111
(as from SW4.2)
Reserved
Reserved
Note: DB 31 / 32 / 33 ... contains the interface signals for axis/spindle 1 / 2 / 3 ...
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4.4.2
Interface signals for SINUMERIK 840C

Note Interface signals are organized as follows. Example shows axis 1 signals: Signals SGAs (signals from drive) SGEs (signals to drive) Bytes in DB 28 In SW5.4: DL0, DR0 From SW5.7: DL0, DR0, DL60, DR60 In SW5.4: DL1, DR1 from SW5.7: DL1, DR1, DL61, DR61
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Table 4-10 DB 28 DL ... DW ... DR ... DL 0
Interface signals on 840C SGA/SGE (signals from/to drive) Bit 15 Bit 7 Axis safely referenced Bit 14 Bit 6 Reserved Bit 13 Bit 5 Reserved Bit 12 Bit No. Bit 4 Reserved Bit 3 Reserved Bit 2 Bit 1 Reserved Bit 0 SBH/SG active "Pulses are disabled" status SGA (signals from drive, axis 1) Bit 11 Bit 10 Bit 9 Bit 8
DW 0 DR 0 SN4 DL 1 Reserved SN4 + Reserved
Cam signals of plus and minus cams SN3 Reserved SN3 + SN2 SN2 + Reserved SN1 SBH deselection SN1 + SBH/SG deselection
SG selection
DW 1 DR 1 Teststop selection Reserved
Bit 1 Bit 0 SGE (signals to drive, axis 1) Reserved SE Reserved selection Bit 2
Gear ratio selection Bit 1 Bit 0
DL 2 DW 2 DR 2 DL 3 DW 3 DR 3 to DL 58 DW 58 DR 58 DL 59 DW 59 DR 59 DL 60 Reserved Reserved to SGA (signals from drive, axis 30) SGE (signals to drive, axis 2) SGA (signals from drive, axis 2)
SGE (signals to drive, axis 30) n < nx SG active (from SW6.1) Reserved (from Bit 1 Bit 0 SW6.1) SGA (Signals from drive, axis 1) Reserved Reserved SGE (Signals to drive, axis 1) Reserved SGA (Signals from drive, axis 2) SBH active (from SW6.1) Reserved
DW 60 DR 60 DL 61 DW 61 DR 61 DL 62 DW 62 DR 62 DL 63 DW 63 DR 63 to DL 118 DW 118 DR 118 DL 119 DW 119 DR 119
SGE (Signals to drive, axis 2) to SGA (Signals from drive, axis 30)
SGE (Signals to drive, axis 30)
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4.4.3
Description of interface signals Description of signals to drive
SGE SBH/SG deselection SBH deselection
These signals are used to select/deselect the SBH and SG functions.

Table 4-11 Selection/deselection of SBH and SG Meaning
SGE SBH/SG SBH deselecdeselection tion =1 x =0 =0 =0 =1
SBH and SG are deselected SBH is selected (see Section ????) SG is selected - The drive can be switched to SBH mode manually - The drive is switched over to SBH mode internally in control in the event of an error.
x: Signal state optional
SGE SG selection, bits 1, 0
By combining these signals, it is possible to select the velocity limit value for SG1, 2, 3 or 4 when the SG function is activated.
Table 4-12 Selection of velocity limit values for SG SGE SG selection SG selection Meaning Bit 1 Bit 0 =0 =0 Velocity limit value for SG1 is selected =0 =1 Velocity limit value for SG2 is selected =1 =0 Velocity limit value for SG3 is selected =1 =1 Velocity limit value for SG4 is selected
SGE Gear ratio selection, bits 1, 0
The combination of these signals determines the selected gear ratio 1, 2, ... ,8.
Table 4-13 Gear ratio selection SGE gear ratio selection Bit 2 Bit 1 Bit 0 Meaning 0 0 0 Gear stage 1 is selected 0 0 1 Gear stage 2 is selected 0 1 0 Gear stage 3 is selected ... ... 1 1 1 Gear stage 8 is selected
SGE SE selection
SE1 or SE2 is selected when this SGE is activated and the SE function is active. 0 signal: 1 signal: SE1 is selected SE2 is selected
SGE Test stop selection
This signal initiates testing of the pulse disable path in the drive monitoring channel (see Section 2.5 Safe reaction via pulse disable paths and stops).
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SGE "Test stop selection" "Test stop in progress" phase "Pulse disable" phase
1 2 Timer and check
SGA "Pulses are disabled status"
1 2 3
Pulse disabling commences when the signal is set (1 PLC cycle). A timer is activated when the test stop is started. Execution of the test stop is checked via SGA "Pulses are disabled status" when the timer has elapsed. The signals are reset by the system. Signal shape of SGE Test stop selection
NST_01.DS4
Fig. 4-1
Description of signals from drive

SGA SBH/SG active This SGA is used by the drive monitoring channel to signal the status of the SBH and SG functions in the following way: 0 signal: 1 signal: SBH/SG is not active SBH/SG is active
SGA Pulses are disabled status
After the disable path test has been initiated via the SGE "Test stop selection" or in the event of a limit-value violation with a STOP A reaction, this SGA is output to indicate that the drive pulses have been internally disabled (see Section 2.5.1 Pulse disable paths). 0 signal: 1 signal: Other status "Pulses are disabled" status
SGA Axis safely referenced
This SGA indicates whether the relevant axis/spindle is safely referenced (see Section 2.4.2 Adjustment measurement, axis states and previous history). 0 signal: 1 signal: Axis is not safely referenced Axis is safely referenced
SGA SN1 +, SN1 SN2 +, SN2 SN3 +, SN3 SN4 +, SN4 -
These signals are used to indicate which plus or minus cam of cam pair 1, 2, 3 or 4 is "actuated". 0 signal: 1 signal: Axis/spindle to left of cam (actual value cam position) Axis/spindle to right of cam (actual value ! cam position)
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SGA n < nx (840D from SW4.2 840C from SW6.1)
This SGA indicates whether the absolute actual speed is higher or lower than a velocity limit set via a machine data (see Section 3.4.6 SGA n < nx and SG active). 1 signal: 0 signal: Actual speed is lower than limit speed Actual speed is higher or equal to limit speed
SGA SG active, bits 1,0 (840D from SW4.2 840C from SW6.1)
These SGAs indicate which safe velocity, and therefore which velocity limit value, is being actively monitored (see Section 3.4.6 SGA n < n x and SG active).
SGA SBH active (840D from SW4.2 840C from SW6.1)
This signal indicates the status of safe operational stop (SBH) (see Section 3.3 Safe operational stop (SBH). 1 signal: 0 signal: SBH is active SBH is not active
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4.5
4.5.1
System variables
System variables for SINUMERIK 840D
System variable $VA_IS
This variable allows the safe actual value used by SINUMERIK Safety Integrated for each axis/spindle to be read and processed further from the NC part program. Example: When an NC part program is started, a check must be made to determine whether the X axis would come close to limit positions as the result of zero offsets during execution of the program. The part program can, for example, be programmed as follows: IF ($VA_IS[X] < 10000) GOTOF POS_OK MESG (Axis has nearly reached limit switch!) POS_OK: ... ; if actual value too large, ; then message, ; otherwise continue here
The variable can also be used in synchronous actions in order to reduce the override when the axis is nearly at the limit switch.
Difference between $VA_IS and $AA_IM
Apart from variable $VA_IS, it is also possible to use variable $AA_IM to read actual values.
Table 4-14 Variable $VA_IS $AA_IM Difference between $VA_IS and $AA_IM Meaning Read the actual value used by SINUMERIK Safety Integrated Read the setpoint (position control setpoint) used by the closed-loop control
References:
/PAD/, Programming Guide
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Installation and Start-Up
5.1 General information about installation and start-up....................................................5-204 5.1.1 Acceptance test and report......................................................................................5-204 5.1.2 Data copy function ...................................................................................................5-206 5.1.3 Altering data ............................................................................................................5-206 5.2 Start-up of SI functions on SINUMERIK 840D............................................................5-207 5.2.1 Operator inputs during start-up................................................................................5-207 5.2.2 Initial start-up ...........................................................................................................5-209 5.2.3 Series start-up .........................................................................................................5-212 5.2.4 Software upgrade ....................................................................................................5-212 5.2. 5 Trouble-shooting procedure....................................................................................5-213 5.3 Starting up SI functions on SINUMERIK 840C ...........................................................5-215 5.3.1 Operator inputs during start-up................................................................................5-215 5.3.2 Initial start-up ...........................................................................................................5-216 5.3.3 Software update.......................................................................................................5-219 5.3.4 Trouble-shooting procedure.....................................................................................5-219 5.3.5 Interrogation of a password for safe operation ........................................................5-219 5.3.6 Options ....................................................................................................................5-220 5.3.7 NC machine data .....................................................................................................5-220 5.3.8 Series start-up .........................................................................................................5-220 5.3.9 Acceptance report ...................................................................................................5-222
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SINUMERIK Safety Integrated 5 Installation and Start-Up
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5.1
General information about installation and start-up

Note If SI functions SH, SBH and SG have been enabled, then they become operational after the control system has powered up (basic display on screen). Cam and limit positions can be evaluated reliably for the SN and SE functions once the axes have been "safely" referenced.
Caution
Protection of operating personnel must be the primary consideration when machine data for the SINUMERIK Safety Integrated option are configured. For this reason, calculate and optimize the parameterizable tolerances, limit values and delay times for start-up purposes on the basis of the performance characteristics of the machine concerned.
5.1.1
Acceptance test and report
Acceptance test
The machine manufacturer must perform an acceptance test of the activated SI functions on the machine. This test must provoke violation of all limit values enter for the enabled SI functions to ensure that they are operating correctly. Note Some of the standard NC monitoring functions, such as zero speed monitoring, software limit switches, etc. must be deactivated (by reducing monitoring limits to prevent response of monitor) before the acceptance test is carried out. The operational sequence of the safe functions can be measured and logged via servo trace (840C, 840D as from SW 4.2) or DAC outputs. References /IAD/, Installation and Start-Up Guide SINUMERIK 840D /IAC/, Installation and Start-Up Guide SINUMERIK 840C
Acceptance report
Each SI function must be tested by an appropriately authorized person and recorded in the acceptance report. The report must be signed by the person who has performed the tests and filed in the machine logbook. Note If the machine data of SI functions are changed, a new acceptance test must be carried out on the altered SI function and recorded in the acceptance report. Section 5.3.9 Acceptance report lists the information which should be specified in an acceptance report.
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Testing the SGAs and SGEs
The data cross-check operation can be tested by removing the connectors on the NCK I/O equipment (NCU terminal block or mixed I/O modules).
Checking the test stop
The NCK and drive test stops can be checked by means of interface signal "Pulse enable". On SINUMERIK 840D: DB31-48, DBX21.7 On SINUMERIK 840C: DB29, D120.7, D124.7, etc. Negative test: Remove the terminal block for AS1/ AS2 from the drive and carry out the NCK test stop. Stop reaction STOP A must be activated.
Testing the SBH SI function
Testing the SI function SBH by provoking violation of monitoring limits Execute numerically controlled traversing motion (JOG). Provide positive feedback in position closed-loop control through polarity reversal of position actual value via machine data. Start function generator with speed controller/setpoint specification References /IAD/, Installation and Start-Up Guide SINUMERIK 840D /IAC/, Installation and Start-Up Guide SINUMERIK 840C
The distance travelled by the axis until it is stopped by the configured stop reaction can be found in the actual value display. The time required to stop the axis can be calculated by recording the actual speed value via DACs.
Testing the SG SI function
The following cases need to be tested. Good case When the actual speed has exceeded the active speed limit value, the axis is brought to a safe operational stop (SBH) by the configured stop reaction within the switchover time. Bad case When the actual speed has exceeded the active speed limit, the axis is not brought to an SBH by the configured stop reaction within the switchover time, resulting in a transition from the STOP B state to the STOP A state. Switchover between the safe speed limit values (if set). Selection of a limit value that is lower than the current axis speed. Switchover between the SG and SBH functions.
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Testing the SN SI function
Testing the cams by traversing them at various axis speeds. Position the cam at the centre of the axis. Traverse the cam at various axis speeds and in rapid traverse mode. Calculate the time and distance travelled by the axis until the desired cam signal (NCK-SGA, PLC-SGA) is output.
Testing the SE SI function
Testing the limit positions by traversing them at various axis speeds. Place the limit position at the centre of the axis. Traverse the position at various axis speeds and in rapid traverse mode. Calculate the remaining distance travelled by the axis until it is brought to a standstill by the configured stop reaction. Position the safe limit stop in front of the axis fixed stop at a distance corresponding to the calculated remaining distance plus a safety clearance defined by the machine manufacturer. Note Owing to the large number of possible encoder combinations (see Table "Combination of encoder type"), the SI encoder data must be entered separately for the NC and for the drive (also applies with 1-encoder system). For details, please see marked data in Table 4-8 Machine data for SIMODRIVE 611D.
5.1.2
Data copy function

In order to avoid the need to copy SI machine data twice, i.e. into the NCK and drive machine data displays, softkeys have been provided that transfer NC machine data relating to SI functions from the NCK component into the appropriate drive machine data. The softkey is labelled COPY SI DATA and can be found in the "Drive configuration" display on the 840D and COPY -> DRIVE in the "SI configuration" display on the 840C. Note The SI machine data that define the encoder characteristics must be entered separately for the NCK and drive by the start-up engineer. The copy function cannot be used to transfer the drive machine data that are marked in Table 4-8 Machine data for SIMODRIVE 611D.
5.1.3
Altering data
The user must enter the correct password before he can transfer the machine data for SI functions to the system. After the data for SI functions have been altered, a new acceptance test must be performed on the affected SI function(s) and then recorded and confirmed in the acceptance report.
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5.2
5.2.1
Start-up of SI functions on SINUMERIK 840D

Operator inputs during start-up
Configuration of safe functions
To start up SI functions, select the display "Start-up/Machine configuration" in the basic display of the control system by means of softkey START-UP. The screenshot below is an example of the display that then appears:
Start-up Parameter CHAN1 Dienste Diagnose CHAN1
Channel reset Kanal aktiv Programm angehalten: abgebrochen: Program luft Programmaborted Kanal RESET aktiv
MPF.DIR JOG MPF.DIR AUTO MPF.DIR AUTO MAR.MPF JOG TEST.MPF MAR.MPF
ROV SKP DAY ROV SBL2 ROV LCD T-Nr. brighter MMC-Alarm MO1 DRF PRT FST quittieren FST LCD darker T-Nr. Change D-Nr. language + V24 NCK D-Nr. Stop Reset PG Lschen
25030 Standard-Maschine: Achse X1 Istgeschwindigkeit Alarmgrenze Programme/Daten

Werkzeugkorrekturdaten Machine configuration Name Typ Lnge Datum Freigabe Alarme MMC MMC_1 DIR1 10.04.95 Nr. Datum Lsch. Text T-Nummer 1 Diagnose D-Nummer Schneidenanzahl X 1 10.04.95 DIR X Werkzeugtyp 100 Datenhaltung 25030 02.01.96 1 Dialog-Programmierung Standard Maschine: Achse XI Istgeschwindigkeit Alarmgrenze X Machine axis Drive Channel 10.04.95 Schneidenlage DIR 10.04.95 X DIR Index 11:10:50 NameDP-Anwenderbilder Type Number Type Geometrie Verschlei Basis 10.04.95 DIR X DP-Werkzeuge Lngenkorrektur GP-Makros DIR 0.000 10.04.95 mm X 0.000 : 1 Lnge 1 X1 DP-Hilfe Linear axis 6 VSA 0.000 mm 1 10.04.95 0.000 X DIR 0.000 Lnge 2 : 0.000 0.000 Lnge 3 : DIR 0.000 X 10.04.95 mm DP-Basisinfo 2 Y1
Radiuskorrektur 3 Radius Z1 DP7.18.res 4 DPR.17.res A1 DP9.18.res DP10,19.res DP11,20.res Lngenkorrektur DP25.res
Technologie-Speicher HSA-Daten : 0.000 Linear axis MBDDE-Alarmtexte 0.000 Teileprogramme 0.000 : Spindle 0.000 : NC_Daten 0.000 : OEM-Daten : Unterprogramme 0.000 System
Linear axis
DIR DIR DIR DIR MDN DIR DIR DIR
VSA 10.04.95
10.04.95 HSA 10.04.95 10.04.95 10.04.95 10.04.95
1 X
X 1 X X 1 X X X X
0.000 10 0.000 0.000 14 0.000 0.000 0.000
10.04.95 VSA mm 10.04.95
Password... Suchen Archiv Neue Schneide
Current access level manufacturer Festplatte: Freiwinkel Speicher: 0.000 Freier

: :
0.000
Grad 355.565.568
Drives AnwenderProtokoll PLCServo daten Status
NCU:
2 i EXIT Systemeinstellungen
DeNeues activate Werkzeug Tool WerkzeugSchnittmanagem. verwaltung stelle
Machine WerkzeugAlarmeein data Daten korrektur
User P-ParaDaten aus Meldungen views meter
NC Setting SerienAlarmDaten IBN protokoll
PLC Nullpkt. Daten ServiceVerschieb verwalten anzeigen
MMC DatenAuswahl
Fig. 5-1
Example of display for "Start-up/Machine configuration" on 840D
An NCK RESET can be executed in this display. The softkey "MACHINE DATA" must be selected to allow SI data to be entered. To copy and confirm SI data, select the softkey labelled DRIVE CONFIG. to call the appropriate display. The following screenshot is an example of this display:
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Fig. 5-2
Example of display for "Start-up/Drive configuration" on 840D
Softkey COPY SI DATA
When this softkey is selected, all NC machine data that are relevant for SI functions are transferred to the corresponding drive machine (exception: Encoder data, see Table 4-8 Machine data for SIMODRIVE 611D). The bootfiles are automatically saved after the data have been copied.
Softkey CONFIRM SI DATA
Perform an NCK RESET and then store the current checksum by selecting the softkey labelled CONFIRM SI DATA in the "Drive configuration" display and acknowledging the following dialog box with "OK". The SI data will be monitored for changes from now on. After you have confirmed the SI data, the bootfiles are automatically saved.
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5.2.2
Initial start-up
It is advisable to start up the machine to the extent that axes can be moved. The safety monitors can then be tested immediately after entry of the SI data. This type of test is absolutely essential in order to find any data input errors. It is referred to as the "acceptance test".
The following steps must be taken in the order given to start up SI functions:
Step 1 Enable option
Enable option "Start-up" basic display: Set the password (at least machine manufacturer password) by selecting softkeys PASSWORD\SET PASSWORD "General machine data" display: Enter the number of axes for which safety monitors need to be activated in the option machine data
Step 2 Monitoring cycle
Enter the monitoring cycle "General machine data" display: Enter the factor for the monitoring cycle in data $MN_SAFETY_SYSCLOCK_TIME_RATIO (see Section 2.3.4 Safety monitoring cycle and cross-check cycle). The actual monitoring time is displayed immediately in data $MN_INFO_SAFETY_CYCLE_TIME.
Note Before you perform an NCK RESET, you must copy the current monitoring cycle to machine data $MD_SAFETY_CYCLE_TIME of the drive by selecting softkey COPY SI DATA in the "Drive configuration" display.
Step 3 Set axis monitor
Set the monitor for all axes that need to be monitored. Enter the following in the order given in the "Axis-specific machine data" display Function enabling bits Axis characteristics (rotary or linear axis) Measuring-circuit assignment, i.e. which encoder will supply the "safety" actual value, what type of encoder is it and what type of mechanical flange-mounting has been used. You must perform an NCK RESET now for rotary axes. Monitoring limit and tolerances Switchover and monitoring times Stop reactions after a monitor has responded
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Assignment of safety-relevant inputs and outputs, i.e. which hardware terminals are supplying the drive signals for the NC monitoring channel and where are the checkback and cam signals being sent (the PLC accepts this link for the drive monitoring channel, i.e. there are no corresponding drive machine data).
Recommendation: The limits monitored by software switches should be set to lower values during start-up.
Step 4 Actual value and measuring circuit assignment
Assignment of measuring circuits and actual values to axes/spindles Select the softkey labelled COPY SI DATA in the "Drive configuration" display Enter the measuring circuit assignment, i.e. which encoder will supply the "safety" actual value", what type of encoder is it and what type of mechanical flange-mounting has been used, for each drive in the "FDD machine data" display. This need not be done for encoders of type ERN 1387; only the data for the absolute encoder need be set for encoders of type EQN 1325. The data copied with the softkey can be checked visually at the same time. If you alter anything in the "FDD or MSD" display, select the softkey SAVE BOOTFILES to transfer the setting to the non-volatile memory. Perform an NCK RESET.
Step 5 Confirm/save monitoring data
Confirm and save the monitoring data Select the CONFIRM SI DATA in the "Drive configuration" display. A dialog box describing the effect of the softkey then appears. Select OK to acknowledge the box. The current checksum of the safe-relevant data is then stored in both monitoring channels and monitored for changes from that point onwards. The drive data are also saved to a non-volatile memory automatically (as with SAVE BOOTFILES). A dialog box is now displayed on the screen requesting you to perform an acceptance test. You must acknowledge the box. The safety monitoring functions are now ready to operate and can be activated as described in Section 2.3.4 Safety monitoring cycle and crosscheck cycle.
Step 6 User agreement
Enter user agreement (see 2.3.5 User agreement) The safe limit position monitoring and safe cams are now activated (provided that they have been enabled, see Section 2.3.6 "Enabling the individual safe function"). This step can be omitted if you do not wish to use either of these functions. Keyswitch position 3 must be set for User agreement.
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Step 7 Machine start-up
Carry out general machine tests. Optimize axes/spindle. Adjust SI functions (monitoring limits, timers).
Step 8 Acceptance test
Carry out acceptance test and enter report in logbook. A function test must be performed on all enabled safety monitors for each axis/spindle. For suggestions on how to test activated SI functions, please refer to Section 5.1.1 Acceptance test and report.
Step 9 Activate standard monitors again
All standard monitoring functions (e.g. zero-speed monitor, software limit switches) that were deactivated or altered for the purpose of the acceptance test must now be re-activated/returned to original settings.
Step 10 Save machine data
Save machine data. Use softkeys SERVICES\DATA OUTPUT to save all machine data to an external computer or the hard disk in the MMC. These data can be used to carry out a series start-up.
To be able to carry out series start-ups, the machine data of the NCK and drive must be available as separate data sets (the softkey COPY SI DATA may not be used for the purpose of series start-ups). Caution On completion of the acceptance test, all illegal (old) MD files must be removed from the hard disk (to avoid confusion between old and new data). The data which correspond to the acceptance test data must be backed up.
Step 11 Delete password
Delete password. To delete the password, go to display "Start-up/Machine configuration" and select the softkey labelled PASSWORD...\DELETE PASSWORD.
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5.2.3
Series start-up
The settings for the safety monitoring functions are automatically transferred with other data in the course of a normal series start-up process. The following steps need to be taken in addition to the normal start-up procedure: 1. Enter user agreement 2. Perform acceptance test (individual monitors must be tested at random) Note When series machines are started up, two separate data sets for the drive and NCK must be imported to the control system. The copy function may be used after machine data have been altered.
Sequence of operations for series start-up
The following sequence of operations is advisable for series start-ups: Load the data set for the series machine (separate sets for NCK and drive) into the control system. Calibrate absolute encoder Carry out a POWER ON. This ensures that any errors, i.e. deviations in data content, that may exist between the NCK and drive will be detected by the checksum check and data cross-check. The data must be checked if an error is detected. If no error is discovered, then the data are unaltered and identical to the acceptance test data. The copy function may be used if data are altered subsequently. Perform random function tests The tests are required for acceptance of the new machine. Set special features When special features are set, each altered safety data must be checked. The copy functions may be used.
5.2.4
Software upgrade
Important Please read the instructions in the relevant Upgrade Guide carefully before upgrading the software.
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5.2. 5
Trouble-shooting procedure
The alarms that are activated in response to an error are output in the "DIAGNOSIS - ALARMS" display. When the alarm "Defect in a monitoring channel" is output, the code for the error cause is displayed directly in alarm "Diagnosis for STOP F" for the NCK monitoring channel. The cause for the alarm in the drive monitoring channel can be found in MD 1395: MD_SAFE_STOP_F_DIAGNOSIS in the START-UP - MACHINE DATA - FDD OR MSD" display.
Note Different error codes may be displayed for the NCK and drive monitoring channels. The following is displayed in the "DIAGNOSIS - SERVICE DISPLAYS SERVICE AXIS" display:
Fig. 5-3
Diagnostics display on SINUMERIK 840D
Note Safe setpoint speed limit (available soon) The safe input and output signals are shown individually in the following diagram.
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Bit 2 Gear ratio Bit 1 selection Bit 0
Bit 1
Safe input signals, axis 1 Safe input signals, drive 1 Safe input signals, axis 2 Safe input signals, drive 2
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0
Bit 3 Bit 2 Bit 1 Bit 0 Override selection Axis saely referenced
Safe output signals, axis 1 Safe output signals, drive 1 Safe output signals, axis 2 Safe output signals, drive 2
Axis: Drive:
1 0 1 1 1 1 1 1 1 0 0 0 0 1 0 0 1 0 1 1 1 1 1 1 1 0 0 0 0 1 0 0
Pulses disabled status
0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0
Bit 1 SG active Bit 0 n < nx SBH active
NCK monitoring channel Drive montoring channel
Fig. 5-4
Status display of safe input/output signals
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Enable pulses
SN4 SN4 SN3 SN3
SN2 SN2 SN1 SN1
SBH/SG active
Diag_02.ds4
+ +
+ +
Bit 0
SBH deselcetion SBH/SG deselection
Test stop selection
SE selection
SG selection
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5.3
5.3.1
Starting up SI functions on SINUMERIK 840C

Operator inputs during start-up
Configuration of safe functions
To start up and diagnose SI functions, call the DIAGNOSIS display, press the ETC key and then the softkey labelled SAFE FUNCTIONS. The following display then appears:
Fig. 5-5
Configuration for SINUMERIK Safety Integrated
Softkey COPY
DRIVE
When you select the softkey COPY --> DRIVE, all NC machine data that are related to SI functions are transferred to the corresponding drive machine data (exception: Encoder data, see Table 4-8 Machine data for SIMODRIVE 611D).
Softkey ACCEPT SI + NCKPO
When you select softkey ACCEPT SI + NCKPO, the following happens: The bootfiles for all drives are saved An NCK POWER ON is executed Checksums of the SI machine data of the NCK and drive are calculated The calculated checksum is copied to the comparison machine data (NCK and drive) An NCK-POWER ON is executed
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Softkey CHANGE SI PASSWORD
After the CHANGE SI PASSWORD softkey has been selected, it is possible to change the password that protects the SI function data. The previous password must be known before it can be changed.
5.3.2
Initial start-up
It is recommended that the machine be started up to the extent that axes can be moved. The safety monitors can then be tested immediately after entry of the SI data. This type of test is absolutely essential in order to find any data input errors. It is referred to as the "acceptance test". The following steps must be taken in the order given to start up SI functions:
Step 1 Enable option
Enable option Go to the option display Set the option password Set the number of axes Define a spindle with SI functions as a C axis. Increase the alarm log size for start-up.
Step 2 Define monitoring cycle
Define monitoring cycle Enter the monitoring cycle time in MD 40010: Monitoring cycle in the "SI General" display (see Section 2.3.4 Safety monitoring cycle and cross-check cycle).
Step 3 Configure SI functions
Define SI functions for individual axes Select the "SI configuration" display and set the desired safe functions for each axis.
Step 4 SGE/SGA assignment
Assignment of safety-relevant inputs and outputs. The safety-relevant inputs and outputs are assigned in the "SGE/SGA assignment" display. This assignment defines which hardware terminals will supply the drive signals for the NC monitoring channel and where the checkbacks and cam signals will be sent. These links must be accepted by the user program in the PLC for the drive monitoring channel, i.e. there are no corresponding drive machine data.
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Step 5 Actual value and measuring circuit assignment
Assignment of measuring circuits and actual values to axes The actual value assignment for the NC is entered in the "SI drive" display. The axis characteristics (linear or rotary) are defined in the "SI drive" display. The gear factors and encoder data must be entered separately for the NCK and drive.
Step 6 Set axis monitoring functions
Set the monitoring functions for all selected axes with SI functions. Enter the following parameters in the order given in the "SI axis" display: Switchover and monitoring times Monitoring thresholds and tolerances (set "nonsensitive" values to start with). Stop reactions after a monitor has responded.
Recommendation: The limits monitored by software switches should be set to lower values during start-up.
Step 7 Save monitoring data
Transfer the set monitoring limits to system Select the softkey COPY -> DRIVE in the "SI Configuration" display
Step 8 Check/save monitoring data
Check the copied data (step 7) in the "SI drive" display. Select the softkey ACCEPT SI + NCKPO in the "SI configuration" display to activate the following sequence of operations: The bootfiles for all drives are saved. NCK-POWER ON The checksum of the SI machine data of the NCK and drive is calculated. The calculated checksum is copied to the comparison machine data (NCK and drive). NCK-POWER ON
After the control system has powered up, a dialog box with the message PERFORM ACCEPTANCE TEST appears on the user interface. This box must be acknowledged with the softkey OK. Delete the data for Safety Integrated by selecting softkey FORMAT USER MEMORY in the general reset state. The following SI data of the NCK and drive are then erased in the SRAM: SBH positions "User agreement given" flag
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Note If the deviation between the actual values is so great that the actual value cross check monitor has responded (MD 4256*: Actual value comparison (cross-check) tolerance), the contents of the actual value memory can be reset with the function "Format user memory".
Step 9 User agreement
Give user agreement (see Section 2.3.5 User agreement) The safe limit position monitors and safe cams are now activated (provided they have been enabled, see Section 2.3.6 Enabling individual safe functions). This step can be omitted if neither of these functions is used. The "User agreement" display can be selected started from the JOG mode.
Step 10 Machine start-up
Perform general machine tests. Optimize axes/spindle. Adjust SI functions (monitoring limits, timers).
Step 11 Acceptance test
Perform acceptance test and enter in logbook. A function test must be performed on all enabled safety monitors for each axis/spindle. For suggestions on how to test activated SI functions, please refer to Section 5.1.1 Acceptance test and report.
Step 12 Activate standard monitors again
All standard monitoring functions (e.g. zero-speed monitor, software limit switches) that were deactivated or altered for the purpose of the acceptance test must now be re-activated/returned to original settings.
Step 13 Data save
Save machine data. Once you have completed the acceptance test, all machine data must be saved as ASCII files on the hard disk. the servo-trace recordings made during the acceptance test can also be saved on the hard disk. You should also save all machine data to an external storage medium via the "Services, "Data output" area. These data can be used for series start-ups. To be able to carry out series start-ups, the machine data of the NCK and drive must be available as separate data sets (the softkey COPY - DRIVE may not be used for the purpose of series start-ups).
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Caution On completion of the acceptance text, all illegal (old) MD files must be removed from the hard disk (to avoid confusion between old and new data). The data which correspond to the acceptance test data must be backed up..
Step 14 Delete password
Delete password. The password is automatically deleted after the MMC has powered up.
5.3.3
Software update
!
5.3.4
Important Please read the instructions in the relevant Update Guide carefully before updating the software.
Trouble-shooting procedure
Check the overview of alarms or the alarm log to find out which alarm has been activated. When the alarm "Defect in a monitoring channel" is output, refer to machine data MD 301: Diagnosis for STOP F in the "SI service" display for the cause of the alarm in the NCK monitoring channel. If the alarm has occurred in the drive monitoring channel, refer to MD 1395: MD_SAFE_STOP_F_DIAGNOSIS in the "SI drive" display for the cause of the alarm. Note that the error fine identifier may not always be the same in the NCK and drive monitoring channels. Generally speaking, the NC and drive signal the same error (two-channel structure). An overview of the service data is given in Section 4.2.3 Overview of SI service data.
5.3.5
Interrogation of a password for safe operation

As with previous software versions, changes to machine data are protected by the start-up password. A special password is used additionally to protect copying of SI machine data to TEA3 and the transfer of boot files.
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5.3.6
Options
Options are entered in the standard option display on the SINUMERIK 840C. "Number of axes with SI functions" option A check to determine whether the number of axes with enabled SI functions exceeds the permissible maximum, i.e. more than the number specified in the option display, is activated through selection of the ACTIVATE OPTIONS softkey. If the actual number of axes exceeds the specified number, then the number is reduced accordingly "from the back" (i.e. from axis 30 to axis 1). This option is therefore handled in the same way as the "Total number of axes" and "Total number of main spindles" options. The softkey ACTIVATE OPTIONS does not activate SI functions for any axes. This is done in the appropriate enabling machine data. Every time a safety function relating to an axis or spindle is activated, a check is made to ensure that the "Number of axes with SI functions" will not be exceeded by activation of another SI function or has not already been exceeded. The appropriate option data is read for this purpose. If it is determined that the maximum number of axes with SI functions has been exceeded, then an error text "Max. ... axes with SI functions" is output. It is permissible to enter more safety axes in the option than have actually been assigned SI functions.
5.3.7
NC machine data
There are two types of machine data on the SINUMERIK 840C, i.e. axis-related and spindle-related. No distinction is made between them with respect to safe operation. In this case, all machine data are axis-related. If, for example, a safe speed limit must be applied to a spindle, then a C axis must be assigned to the spindle concerned.
Axis - spindle
5.3.8
Series start-up
As previously, a complete memory dump of the MMC hard disk can be made for the purpose of performing a series start-up. The checksum monitors are active when this method is used. In addition to the normal start-up procedure, the following steps must be taken: 1. Input user agreement 2. Carry out acceptance test (individual monitors must be tested at random) Note When series machines are started up, 2 separate data sets for the drive and NCK must be imported to the control system. The copy function may be used after machine data have been altered.
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Sequence of operations for series start-up
The following sequence of operations is advisable for series start-ups: Load the data set for the series machine (separate sets for NCK and drive) into the control system. Perform POWER ON. This ensures that any errors, i.e. deviations in data content, that may exist between the NCK and drive will be detected by the checksum check and data cross-check. The data must be checked if an error is detected. If no error is discovered, then the data are unaltered and identical to the acceptance test data. The copy function may be used if data are altered subsequently. Perform random function tests The tests are required for acceptance of the new machine. Set special features When special features are set, each altered safety data must be checked. The copy functions may be used.
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5.3.9
Acceptance report
Acceptance report
The machine manufacturer must carry out an acceptance test of the activated SINUMERIK Safety Integrated (SI functions) safe functions on the machine. The acceptance test must be designed to trigger violation of all specified limit values of the enabled SI functions so that it is possible to check and verify that they are operating correctly.
Authorized person, acceptance report
All SI functions must be acceptance-tested by an authorized person and the test results recorded in a test report. The report must be signed by the person who carried out the acceptance tests. The acceptance test report must be attached to the logbook of the relevant machine. Note Please read the information in Section 5.2 Start up of SINUMERIK 840D and Section 5.3 Start up of SINUMERIK 840C. The acceptance report presented below is both an example and recommendation. The specified values apply to the plant chosen for this particular example. Template for acceptance report: An electronic template for acceptance reports is available in the Toolbox for SINUMERIK 840D on the DOCONCD for SINUMERIK 840D and 840C on the Service CD for SINUMERIK 840D and 840C
Description of plant
The plant description must include the following information: Details about machine Details about control system
Table 5-1 Type Designation Type Serial no. Electrical axes Other axes Spindles
Machine details Description Machining center Three linear 97-05-23 Three linear axes and one rotary axis One spindle
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Table 5-2 Type
Control system details Description 840D with SW35/13_00 NCU 572 AS 314 MMC 102 NCK version 32.06.H5 Drive version 03.20.03 IPO cycle 12 ms PLC version 35.03.04 BP version 3.4 Monitoring cycle 12 ms
Type and SW version NC type PLC type Operator panel SW versions
Clock cycles (enter values from relevant MD)
Basic system cycle 4 ms
Configuration plan
Details of how the axis/spindle is configured are specified in the configuration plan.
Table 5-3 Configuration details Chan. Axis/ Motor measuring spindle system 1 1 1 1 1 X1 Y1 Z1 SP1 B1 ERN ERN ERN ERN ERN
Direct measuring system LS481C / 0.004 mm LS481C / 0.004 mm LS481C / 0.004 mm
SI functions SBH/SG, SE, SN SBH/SG, SE, SN SBH/SG, SE, SN SBH/SG SBH/SG
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SI functions per axis/spindle
This table contains full details about safe functions enabled for individual axes/spindles.
Table 5-4 Axis/ spindle X1 X1 X1 X1 X1 X1 Y1 Y1 Y1 Y1 Y1 Y1 Z1 Z1 Z1 Z1 Z1 Z1 SP1 SP1 B1 B1
Details of safe functions SI function Limit value SE1+ SE1SN1+ SN1SG1 SBH SE1+ SE1SN1+ SN1SG1 SBH SE1+ SE1SN1+ SN1SG1 SBH SG1 SBH SG1 SBH 0.2 mm -75.2 mm -30.0 mm -45.0 mm
Active when User agreement is set User agreement is set Always Always
2 200 mm/min Door to operating area open and enabling button 1.0 mm 0.2 mm -550.2 mm -30.0 mm -520.0 mm 2 200 mm 1.0 mm 0.2 mm -300.2 mm -30.0 mm -270.0 mm 2 200 mm 1.0 mm 2 200 rev/min 1.0 deg. 2 200 rev/min 1.0 deg. Door to operating area open User agreement is set User agreement is set Always Always Door to operating area open and enabling button Door to operating area open User agreement is set User agreement is set Always Always Door to operating area open and enabling button Door to operating area open Door to operating area open and enabling button Door to operating area open Door to operating area open and enabling button Door to operating area open
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Description of safety strategy

Table 5-5
This table contains full details about the safety strategy employed.
Details of safety strategy
Functions SE and SN are always active when user agreement is set. The safe cams (SN) are used to define the direction of travel for axis referencing. They ensure that axes can only be referenced in the direction that is further than 30 mm away from the limit position (depending on stored axis positions). The Safe operational stop function (SBH) is activated when the protective door is opened. This function is replaced by the Safe speed function (SG1) when the enabling button is actuated.
Execution of test
Initial start-up Series start-up
(please tick)
Table 5-6 Test of pulse disable paths Test initiated by Remarks e.g. external circuit The Open protective door button is pressed to test all pulse disable paths To check that the pulse disable paths were properly tested, MD 36957: SAFE_PULS_DIS_CHECK_TIME was set to 1 s and reset to 0.1s again after the test.
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Table 5-7 Cross-check test Test initiated by E.g. SGEs supplied by different inputs Drive SGE for SG disconnected
Alarm number and error code
27001, 300911, 300901, 27023 and 27024
Table 5-8 Test of switchover between SI functions Test initiated by Remarks E.g. open protective door Open protective door The SBH function is activated immediately, travel commands are disabled in one channel by the PLC. The SBH function is activated after elapse of the delay set in MD 36951: SAFE_VELO_SWITCH_DELAY (= 0.2 s), all axes are stopped without error within this delay period by the PLC.
Actuate enabling button at max. setup speed
Table 5-9 SG Axis/ no. spindle
Test of safe speeds (SG) Test initiated Excess by speed E.g. increase MD JOG velocity
Reaction time
Overtravel
Displayed alarm numbers
System yes no
SG1 X1
MD 32020: JOG_VELO = 3 000 mm/min MD 32020: JOG_VELO = 3 000 mm/min MD 32020: JOG_VELO = 3 000 mm/min MD 32020: JOG_VELO = 3 000 rev/min MD 32020: JOG_VELO = 3 000 rev/min
3 000 mm/min
25 ms
1.2 mm 27011, 27022, 300908 and 300914
B1
SG1 Y1
3 000 mm/min
26 ms
1.3 mm As above, but for master and following axes 1.5 mm As above
B2
SG1 Z1
3 000 mm/min
30 ms
B5
SG1 SP1
3 000 rev/min
27 ms
1.3 As above degrees
B3
SG1 B1
3 000 rev/min
30 ms
1.5 As above degrees
B4
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Table 5-10 Axis/ spindle X1
Test of SBH Test initiated by
Excess speed 10 000 mm/min
Reaction time 20 ms
Overtravel 3.8 mm
Displayed alarm numbers 27010, 27023, 27024, 300907, 300901 and 300900 As above As above
System yes no
Function generator
B6
Y1 Z1 SP1
Function generator Function generator Function generator
10 000 mm/min 10 000 mm/min 10 000 rev/min
34 ms 24 ms 20 ms
6.3 mm 2.2 mm
B7 B8 B9
5.5 As above degrees 2.9 As above degrees
B1
Function generator
10 000 rev/min
20 ms
B10
Table 5-11 Test of SE SE no. Axis/spindle SE1+ SE1SE1+ SE1SE1+ SE1X1 X1 Y1 Y1 Z1 Z1
Speed 600 mm/min 600 mm/min 600 mm/min

2) 1)
Reaction time 1)
Overtravel 0.098 mm 0.059 mm 0.097 mm
System yes no X X X
1)
1)
600 mm/min 600 mm/min
0.149 mm 0.172 mm
X X
1)
Note: 1. Due to the risk of mechanical damage to the machine, the safe limit stops were approached at 30% of setup velocity on request. 2. It was not possible to test SE1- on the Y1 axis since a device for dressing the grinding wheel was mounted in this area.
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Table 5-12 Test of SN SN no. Axis/spindle SN1+ SN1SN1+ SN1SN1+ SN1X1 X1 Y1 Y1 Z1 Z1
Position +30.0 mm -45.0 mm +30.0 mm -520.0 mm +30.0 mm -90.0 mm
Reaction Determines direction of travel for referencing Determines direction of travel for referencing Determines direction of travel for referencing Determines direction of travel for referencing Determines direction of travel for referencing Determines direction of travel for referencing
SI machine data
Table 5-13 Machine data for SINUMERIK Safety Integrated Preset limit values checked yes no X X
System yes X X no
Drive NC
Checksum
Table 5-14 Name X1 Y1 Z1 SP1 B1 Checksums for SINUMERIK Safety Integrated Axis/spindle Drive number NC 1 2 3 4 5 E8F0FFD CCF7E113 59E5E6FE 6E566E30 FB4469DD
Checksum (8 HEX) Drive 115135 115E16 1161F4 115E16 1161F4
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Backup data
Table 5-15
Backup data for SINUMERIK Safety Integrated Storage medium Type Label Date Diskette Diskette ________ NCK.IBN PLC.IBN _________ July 3, 1997 July 3, 1997 July 3, 1997
Stored where (location)? Machine and manufacturer Machine and manufacturer Machine and manufacturer
Machine data PLC program Circuit diagrams
Counter-signature of start-up engineer
Provides confirmation that the above tests and checks have been carried out according to specifications.
Table 5-16 Date July 3, 1997
Counter-signature of start-up engineer Name Company/Dept. Start-up engineer _______________
Signature _______________
Counter-signature of machine manufacturer
Provides confirmation that the limit values specified and recorded above are correct.
Table 5-17 Date July 3, 1997
Counter-signature of machine manufacturer Name Company/Dept. Manufacturer _______________
Signature _______________
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Notes
5-230
Alarms
6.1 Alarms for SINUMERIK 840D .....................................................................................6-232 6.2 Alarms for SINUMERIK 840C .....................................................................................6-241 6.3 SIMODRIVE 611D alarms ..........................................................................................6-252
6-231
SINUMERIK Safety Integrated 6 Alarms
05/99
6.1
Alarms for SINUMERIK 840D

Detailed explanations of all alarms that are not described here can be found in the following References for the SINUMERIK 840D system with SIMODRIVE 611D: References: Note In systems with MMC 101/102, the alarms are also explained in the online help. /DAD/, Diagnostics Guide
Alarms for SINUMERIK 840D/611D
Alarms for SINUMERIK Safety Integrated
The alarms that can occur in connection with the SINUMERIK Safety Integrated option are listed below:
27000
Explanation
Axis %1 is not safely referenced

The axis must be referenced and the position obtained after referencing confirmed by the user (user agreement). The axis might already be referenced, but in this case, there is still no confirmation that the referencing process has supplied the right result. This can happen, for example, if the axis was moved after the machine was switched off. The standstill position stored before power OFF is no longer valid. Alarm is displayed. Display at the NC/PLC interface. The SGA "Axis safely referenced" is not set. The safe limit position monitoring function is deactivated. The safe cams are calculated and output, but their significance is limited because referencing has not been confirmed. Traverse axes to a known position, change to the "Referencing" operating mode and select softkey "Agreement". Check the positions displayed in the "Agreement" display on the machine. If they are what you expect them to be at the known position, confirm "safely referenced axis" by entering "User agreement". The alarm disappears automatically when user agreement is given. Warning
Reaction
Remedy
To continue program
If the axis is not yet safely referenced and user agreement have not been given, then the following applies: - The safe cams are active, but no yet reliable - The safe limit positions are not yet active
6-232
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27001
Explanation
Axis %1: Defect in a monitoring channel, error code %2

The cross-check between the two monitoring channels has detected a difference in the input data or results of the monitoring functions. One of the monitors is no longer operating reliable, i.e. operation of the drive is no longer being monitored reliably. Alarm is displayed. A STOP F process is initiated, i.e. a message is generated and an NC starting lockout activated (if only the data cross-check is active). Alternatively, if the safety monitoring functions are active, an immediate transition to STOP B is made. Display at the NC/PLC interface. Find the difference between the monitoring channels. The cause of the error is indicated by error code %2. The safety-relevant machine data might not be identical or the SGEs (safety-relevant input signals) might not be at the same level (check by measuring). If the error is not caused by one of the above, there may be a CPU error, e.g. a "toggled memory cell". This type of error may be temporary (eliminate by a POWER ON) or permanent (appears again after POWER ON, replace hardware). Eliminate the error and press the RESET key. The program is then aborted. If a safety monitor was active, STOP B is automatically activated. The control system must then be switched off and on again (POWER ON).
Cause, remedy Look for the cause in the other channel and interpret error code E.g. SGEs have not activated functions identically in the two channels, analyse fine error coding in 611D-MD 1391 and 1392 Check cam tolerance Analyse fine error coding in 611D-MD 1393 and 1394 Incorrect evaluation of encoder (check MDs). Difference in stored standstill positions Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values
Reaction
Remedy
To continue program
Table 6-1 No. Name 0 No error
Error code for STOP F on 840D/611D Explanation There is no error in this channel. There may be one in the other channel. Differences in the evaluation of SBH/SG/SE functions in the NCK and drive monitoring channels
Result list 1
Result list 2
Differences in the evaluation of the SN function in the NCK and drive monitoring channels Difference between position actual values in drive and NCK monitoring channels exceeds setting in MD 36942: $MA_SAFE_POS_TOL (actual value cross-check) or MD 1342: $MD_SAFE_POS_TOL MD 36901 and MD 1301 are not identical MD 36931[0] and MD 1331[0] are not identical MD 36931[1] and MD 1331[1] are not identical MD 36931[2] and MD 1331[2] are not identical MD 36931[3] and MD 1331[3] are not identical MD 36930 and MD 1330 are not identical MD 36934[0] and MD 1334[0] are not identical MD 36935[0] and MD 1335[0] are not identical MD 36934[1] and MD 1334[1] are not identical MD 36935[1] and MD 1335[1] are not identical MD 36936[0] + MD 36940 and MD 1336[0] + MD 1340 are not identical MD 36936[0] and MD 1336[0] are not identical MD 36937[0] + MD 36940 and MD 1337[0] + MD 1340 are not identical MD 36937[0] and MD 1337[0] are not identical MD 36936[1] + MD 36940 and MD 1336[1] + MD 1340 are not identical
4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19
No cross-check Function enabling signals Limit value for SG1 Limit value for SG2 Limit value for SG3 Limit value for SG4 Standstill tolerance Upper limit value SE1 Lower limit value SE1 Upper limit value SE2 Lower limit value SE2 Safe cam 1+ (+ tolerance) Safe cam 1+ Safe cam 1(+ tolerance) Safe cam 1Safe cam 2+ (+ tolerance)
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No. 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44
Name Safe cam 2+ Safe cam 2(+ tolerance) Safe cam 2Safe cam 3+ (+ tolerance) Safe cam 3+ Safe cam 3(+ tolerance) Safe cam 3Safe cam 4+ (+ tolerance) Safe cam 4+ Safe cam 4(+ tolerance) Safe cam 4Position tolerance Reference position tolerance Delay time speed switchover Tolerance time for SGE switchover Delay time pulse disable Time for testing pulse disable Transition time STOP C to SBH Transition time STOP D to SBH Transition time STOP E to SBH Stop reaction after SG Stop reaction after SE Creep speed pulse disabling Memory test stop reaction Position actual value + limit value SG1 Position actual value - limit value SG1 Position actual value + limit value SG2 Position actual value - limit value SG2 Position actual value + limit value SG3 Position actual value - limit value SG3 Position actual value + limit value SG4 Position actual value - limit value SG4 Standstill position + tolerance
Explanation MD 36936[1] and MD 1336[1] are not identical MD 36937[1] + MD 36940 and MD 1337[1] + MD 1340 are not identical MD 36937[1] and MD 1337[1] are not identical MD 36936[2] + MD 36940 and MD 1336[2] + MD 1340 are not identical MD 36936[2] and MD 1336[2] are not identical MD 36937[2] + MD 36940 and MD 1337[2] + MD 1340 are not identical MD 36937[2] and MD 1337[2] are not identical MD 36936[3] + MD 36940 and MD 1336[3] + MD 1340 are not identical MD 36936[3] and MD 1336[3] are not identical MD 36937[3] + MD 36940 and MD 1337[3] + MD 1340 are not identical MD 36937[3] and MD 1337[3] are not identical MD 36942 and MD 1342 are not identical MD 36944 and MD 1344 are not identical MD 36951 and MD 1351 are not identical MD 36950 and MD 1350 are not identical MD 36956 and MD 1356 are not identical MD 36957 and MD 1357 are not identical MD 36952 and MD 1352 are not identical MD 36953 and MD 1353 are not identical MD 36954 and MD 1354 are not identical MD 36961 and MD 1361 are not identical MD 36962 and MD 1362 are not identical MD 36960 and MD 1360 are not identical Position actual values (error code 3) are different or MD 36931[0] and MD 1331[0] are not identical (error code 6) Position actual values (error code 3) are different or MD 36931[0] and MD 1331[0] are not identical (error code 6) Position actual values (error code 3) are different or MD 36931[1] and MD 1331[1] are not identical (error code 7) Position actual values (error code 3) are different or MD 36931[1] and MD 1331[1] are not identical (error code 7) Position actual values (error code 3) are different or MD 36931[2] and MD 1331[2] are not identical (error code 8) Position actual values (error code 3) are different or MD 36931[2] and MD 1331[2] are not identical (error code 8) Position actual values (error code 3) are different or MD 36931[3] and MD 1331[3] are not identical (error code 9) Position actual values (error code 3) are different or MD 36931[3] and MD 1331[3] are not identical (error code 9) Position actual values (error code 3) are different or MD 36930 and MD 1330 are not identical (error code 10)
Cause, remedy Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values -
45
46
47
48
49
50
51
52
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No. 53
Name Standstill position - tolerance
54
Position actual value + nx + tolerance
55
Position actual value + nx
56
Position actual value - nx
57
Position actual value - nx tolerance
58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 1000
Current Stop request SG override factor 1 SG override factor 2 SG override factor 3 SG override factor 4 SG override factor 5 SG override factor 6 SG override factor 7 SG override factor 8 SG override factor 9 SG override factor 10 SG override factor 11 SG override factor 12 SG override factor 13 SG override factor 14 SG override factor 15 SG override factor 16 Speed limit nx Stop reaction for SG1 Stop reaction for SG2 Stop reaction for SG3 Stop reaction for SG4 Modulo value for safe cams Speed tolerance for safe braking ramp Check timer has expired
Explanation Position actual values (error code 3) are different or MD 36930 and MD 1330 are not identical (error code 10) Position actual values (error code 3) are different or MD 36946 and MD 1346 are not identical (error code 75) or MD 36942 and MD 1342 are not identical (error code 31) Position actual values (error code 3) are different or MD 36946 and MD 1346 are not identical (error code 75) Position actual values (error code 3) are different or MD 36946 and MD 1346 are not identical (error code 75) Position actual values (error code 3) are different or MD 36946 and MD 1346 are not identical (error code 75) or MD 36942 and MD 1342 are not identical (error code 31) Available soon MD 36932 [0] and MD 1332[0] are not identical MD 36932[1] and MD 1332[1] are not identical MD 36932[2] and MD 1332[2] are not identical MD 36932[3] and MD 1332[3] are not identical MD 36932[4] and MD 1332[4] are not identical MD 36932[5] and MD 1332[5] are not identical MD 36932[6] and MD 1332[6] are not identical MD 36932[7] and MD 1332[7] are not identical MD 36932[8] and MD 1332[8] are not identical MD 36932[9] and MD 1332[9] are not identical MD 36932[10] and MD 1332[10] are not identical MD 36932[11] and MD 1332[11] are not identical MD 36932[12] and MD 1332[12] are not identical MD 36932[13] and MD 1332[13] are not identical MD 36932[14] and MD 1332[14] are not identical MD 36932[15] and MD 1332[15] are not identical MD 36946 and MD 1346 are not identical MD 36963[0] and MD 1363[0] are not identical MD 36963[1] and MD 1363[1] are not identical MD 36963[2] and MD 1363[2] are not identical MD 36963[3] and MD 1363[3] are not identical MD 36905 and MD 1305 are not identical MD 36948 and MD 1348 are not identical
Cause, remedy -
Set both MD identically Set both MD identically Set both MD identically Set both MD identically Set both MD identically Set both MD identically Set both MD identically Set both MD identically Set both MD identically Set both MD identically Set both MD identically Set both MD identically Set both MD identically Set both MD identically Set both MD identically Set both MD identically Set both MD identically Set both MD identically Set both MD identically Set both MD identically Set both MD identically Set both MD identically Set both MD identically E.g. contact problems (loose contact). -
1001 1002 1003
The timer for SGE changes has not run down within the check timer period (e.g. the SGEs are switching too frequently in direct sequence). Check timer initialization error The timer for SGE changes has not started the check timer (applies only to 611D) User agreement timer has The user agreement status on the drive is not expired the same as on the NCK Reference tolerance violated The comparison between the stored standstill position and the current position has detected a greater deviation than set in MD 36944: $MA_SAFE_REFP_POS_TOL (Actual value comparison tolerance (referencing)) or MD1344: $MD_SAFE_REFP_POS_TOL
6-235
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No. 1004
Name Plausibility violation of user agreement Pulses are already disabled on selection of test stop
1005
Explanation User agreement has been given for an axis that - is already safely referenced - is not yet referenced The "Pulses are disabled" signal is already present when the test stop is selected
Cause, remedy -
1006 1007 1008
Error in forced dormant error detection on SGAs Communications failure between PLC and drive Errors in data transmission between PLC and drive
An error has been detected during a cyclic check of the SGAs (applies only to 611D). If a communications failure is signalled by the drive, then either the PLC or the NC has failed. Transmission of the SGEs/SGAs between the PLC and drive is protected by a checksum. In the event of an error, the calculated checksum is not identical to the transferred checksum. If the stop is initiated by the drive, then either the PLC or NC has failed.
The test stop has been selected when no pulse enabling signal is present, mistake in wiring of SGE "Pulses are disabled" -
Note: Example: If the error code contains, for example, the value "12", then the cross-check operation has detected a difference between the NCK and drive monitoring channels in the MD for lower limit value SE1.
27002
Explanation Reaction Remedy To continue program
Axis %1: Test stop in progress

A function check is currently being carried out on the disable path through setting of the "Test stop selection" SGE. Alarm is displayed. No remedial action need be taken. The message merely informs the user that a check is in progress. The alarm automatically disappears when the delay time defined in MD: $MA_SAFE_PULSE_DIS_CHECK_TIME has expired and the SGE "Test stop selection" is cancelled when the control detects pulse disabling, i.e. the test has been successful (a failed test is indicated by alarm 27001 with error code 1005 or alarm 27024).
27010
Explanation Reaction
Axis %1: Tolerance for safe operational stop exceeded POWER ON

The axis has moved too far away from the setpoint position, i.e. by further than the amount specified in MD: $MA_SAFE_STANDSTILL_TOL. Alarm is displayed. NC program execution is halted. The axis is stopped with a zero speed setpoint (STOP B). As soon as the speed actual value drops below the speed set in MD: $MA_SAFE_STANDSTILL_VELO_TOL, but at the latest after expiry of the time set in MD: $MA_SAFE_PULSE_DISABLE_DELAY: Drive pulses are disabled (STOP A) NC START is locked out Display at the NC/PLC interface Mode group not ready Channel not ready Check the tolerance of the standstill monitor: Has the value been set in accordance with the accuracy and dynamic control response of the drive? If not, increase tolerance. If yes, check machine for any damage and repair if necessary. Program cannot be continued. Alarm can only be acknowledged by means of POWER ON.
Remedy
To continue program
6-236
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27011
Explanation
Axis %1: Safe speed exceeded
RESET
Reaction
Remedy
To continue program
The axis has moved too quickly, i.e. more quickly than is permitted by the setting in MD $MA_SAFE_VELO_LIMIT. With the SBH and SG functions active and a 1-encoder system, the speed that corresponds to an encoder limit frequency of 200 kHz (300 kHz from SW4.2) has been exceeded. Alarm is displayed. NC program execution is halted. The axis is stopped with STOP A, B, C, D or E depending on configuration in MD 36961: $MA_SAFE_VELO_STOP_MODE or MD 36963: $MA_SAFE_VELO_STOP_REACTION. NC START lockout. Display at the interface. If the operator has not made an obvious error: Check the input value of the MD. Check the SGEs: Of the 4 available speed limits, was the correct speed selected? If the MDs and SGEs are correct, check the machine for any damage and repair if necessary. Clear the error and press the RESET key (the program is aborted).
27012
Explanation Reaction
Axis %1: Safe limit position crossed
RESET
Remedy
To continue program
The axis has crossed the limit position that is entered in MD: $MA_SAFE_POS_LIMIT_PLUS or MD: $MA_SAFE_POS_LIMIT_MINUS. Alarm is displayed. NC program execution is halted. The axis is stopped with STOP C, D or E depending on what is configured in MD: $MA_SAFE_POS_STOP_MODE. NC START lockout. Display at the NC/PLC interface. If the operator has not made an obvious error: Check the input value of the machine data. Check the SGEs: Of the 2 available limit positions, was the correct limit position selected? If the MDs and SGEs are correct, check machine for damage and repair if necessary. Cancel the user agreement for this axis. Then press the RESET key. The program is aborted and the alarm reset. Traverse the axis in JOG mode into the valid traversing area. After the error in the NC program has been cleared and the axis position checked, user agreement can be given and the program started again.
27013
Safe braking ramp exceeded
POWER ON
After activation of STOP B or C, the speed has exceeded the tolerance setting programmed in MD 36948: $MA_SAFE_STOP_VELO_TOL. Alarm is displayed. Disabling of pulses (via SGA). NC program execution is halted. NC START is disabled. Display at NC/PLC interface. Mode group in Not ready state. Channel in Not ready state. Check setting in MD 36948. Check braking response of affected drive. Program cannot be continued. Alarm can only be acknowledged with POWER ON.
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27020
Explanation
Axis %1: Stop E activated
RESET
Reaction Remedy To continue program
This alarm is displayed at the same time as alarms "Safe speed exceeded" or "Safe limit position crossed" (when appropriately configured in MD: $MA_SAFE_VELO_STOP_MODE or MD: $MA_SAFE_POS_STOP_MODE). It indicates that a LIFTFAST-ASUP has been started and that a safe operational stop (SBH) has been internally activated. Alarm is displayed. NC program execution is halted. The axis is stopped with STOP E. NC START is locked out. Display at the NC/PLC interface. Eliminate causes for "Safe speed exceeded" or "Safe limit position crossed" (see description of alarms). Clear the error and press the RESET key (the program is aborted).
27021
Explanation
Axis %1: Stop D activated
RESET
This alarm is displayed at the same time as alarms "Safe speed exceeded" or "Safe limit position crossed" (when appropriately configured in MD: $MA_SAFE_VELO_STOP_MODE or MD: $MA_SAFE_POS_STOP_MODE). It indicates that a "Brake on path" operation has been started and that a safe operational stop (SBH) has been internally activated. Alarm is displayed. NC program execution is halted. The axis is stopped with STOP D. NC START is locked out. Display at the NC/PLC interface. Eliminate causes for "Safe speed exceeded" or "Safe limit position crossed" (see description of alarms). Clear the error and press the RESET key (the program is aborted).
27022
Explanation
Axis %1: Stop C activated
RESET
This alarm is displayed at the same time as alarms "Safe speed exceeded" or "Safe limit position crossed" (when appropriately configured in MD: $MA_SAFE_VELO_STOP_MODE or MD: $MA_SAFE_POS_STOP_MODE). It indicates that a "Brake along current limit" operation has been started and that a safe operational stop (SBH) has been internally activated. Alarm is displayed. NC program execution is halted. The axis is stopped with STOP C. NC START is locked out. Display at the NC/PLC interface. Eliminate causes for "Safe speed exceeded" or "Safe limit position crossed" (see description of alarms). Clear the error and press the RESET key (the program is aborted).
27023
Explanation
Axis %1: Stop B activated
POWER ON
Reaction
Remedy To continue program
This alarm is output with alarm "Tolerance for safe operational stop exceeded" or after alarm "STOP F activated". It indicates that a "Brake along current limit" operation has been started and that the timer for switchover to STOP A (see MD: $MA_SAFE_PULSE_DISABLE_DELAY) has been internally activated. Alarm is displayed. NC program execution is halted. The axis is stopped with STOP B. Switchover timer to STOP A is started. NC START is locked out. Display at the NC/PLC interface. Mode group is not ready, channel is not ready. Eliminate causes for "Tolerance for safe operational stop exceeded" or "STOP F activated" (see description of alarms). Program cannot be continued. Alarm can only be acknowledged by means of POWER ON.
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27024
Axis %1: Stop A activated
POWER ON
This alarm is output with alarm "Tolerance for safe operational stop exceeded" or after a STOP B reaction or a failed test stop. It indicates that "pulse disabling" has been activated. Alarm is displayed. NC program execution is halted. The axis is stopped with STOP A. Pulses are disabled (via SGA). NC START is locked out. Display at the NC/PLC interface. Mode group is not ready, channel is not ready. Eliminate causes for "Tolerance for safe operational stop exceeded" or "STOP F activated" (see description of alarms). Program cannot be continued. Alarm can only be acknowledged by means of POWER ON.
27030
Explanation
Axis %1: Function not available with this 611D control module POWER ON
The SINUMERIK Safety Integrated option requires 611D performance closedloop control modules with two measuring circuits per drive and a pulsedisabling relay. An attempt has been made to activate a safety function even though a module of this type is not installed. Alarm is displayed. Pulses are disabled. NC START is locked out. Display at the NC/PLC interface. Mode group is not ready, channel is not ready. Replace module or deactivate safety functions in MD: $MA_SAFE_FUNCTION_ENABLE again. The alarm is activated during power-up. No program can be started. Alarm can only be acknowledged by means of POWER ON.
27031
Explanation
Axis %1: Limit value for safe speed %2 with gear ratio %3 too high (max. %4) POWER ON
All limit values in MD: $MA_SAFE_VELO_LIMIT must be set such that the limit frequency of the amplitude monitor in the measuring-circuit hardware (200 KHz, from SW 4.2 300 kHz) is not exceeded. The limit value that does not fulfil this condition is specified here as the second parameter (1 for SG1, 2 for SG2, etc.). The third parameter specifies the gear stage, e.g. 1 for gear stage 1, 2 for gear stage 2, etc. The fourth parameter defines the maximum speed that may be input to ensure that the frequency remains just below the permissible limit in safe operation. Alarm is displayed. Pulses are disabled (via SGA). NC START is locked out. Display at the NC/PLC interface. Mode group is not ready, channel is not ready. Reduce the limit value in MD: $MA_SAFE_VELO_LIMIT[x], x = (2nd alarm parameter) - 1 or correct the gear stage setting. The alarm is activated during power-up. No program can be started. Alarm can only be acknowledged by means of POWER ON.
6-239
05/99
27032
Axis %1: Checksum error safety monitors. Confirmation and acceptance test are needed! POWER ON
The MDs $MA_SAFE ... are protected by a checksum after the control system has been accepted. Alarm 27032 indicates that the current checksum is no longer the same as the stored setpoint checksum, i.e. that an MD value has either been changed illegally or that a data is defective. Alarm is displayed. Pulses are disabled (via SGA). NC START is locked out. Display at the NC/PLC interface. Check MDs. Perform a new checksum calculation. Carry out new acceptance test on safety functions. The alarm is activated during power-up. No program can be started. Alarm can only be acknowledged by means of POWER ON.
Explanation
27033
Axis %1: Parameter setting of machine data %2[%3] invalid POWER ON

The MD with the specified name and index has been set to an invalid value. The cause can be found in the description of the machine data. Alarm is displayed. Pulses are disabled (via SGA). NC START is locked out. Display at the NC/PLC interface. Mode group is not ready, channel is not ready. Check and alter the MD named in the alarm text. Perform a new checksum calculation. Carry out new acceptance test on safety functions. The alarm is activated during power-up. No program can be started. Alarm can only be acknowledged by means of POWER ON.
300xxx
Explanation
SIMODRIVE 611D alarms

Alarms with the Number 300xxx can be generated by the drive and are described in Section 6.3 SIMODRIVE 611D alarms
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6.2
Alarms for SINUMERIK 840C

Detailed explanations of all alarms that are not described here can be found in the following References for the SINUMERIK 840C system:
Alarms for SINUMERIK 840C/611D
References:
/DAC/, Diagnostics Guide
Alarms that may occur in connection with SINUMERIK Safety Integrated are listed below. Note If several alarm numbers are specified, the following applies: First No. / second No. is an axis-specific / spindle-specific alarm.
103
Alarm scan Effect Explanation Remedy To continue program
Initialization error NCK FB
POWER ON
During control system power-up NC START is locked out Follow-up mode Cancellation of mode group ready signal The machine data for the SGE/SGA input/output assignments (46000 - 47999) have been entered incorrectly. The errored MD number is output in the alarm as block number Nxxxxx. Correct the machine data named in alarm text. The alarm is activated during power-up. No program can be started. Alarm can only be acknowledged by means of POWER ON. Note Alarm 103 is output only if the machine manufacturer has taken appropriate configuration measures. An error has occurred in the Safety NCK FB. Please refer to the machine manufacturer's documentation for explanation of the alarm and remedial measures.
104
Error in machine data
POWER ON
During control system power-up After a warm restart After a change to a machine data NC START is locked out Follow-up mode Cancellation of mode group ready signal A machine data has been set to an implausible value. The errored machine data is output in the alarm text as block number N. Interpret the block number and correct the relevant machine data. The alarm is activated during power-up. No program can be started. Alarm can only be acknowledged by means of POWER ON.
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105
Alarm scan Effect
Error in NCK FB
POWER ON
Explanation Remedy To continue program
When control is operating in cyclical mode NC START is locked out Follow-up mode Cancellation of mode group ready signal Interruption of machining operation The cyclic routines of the NCK FB has supplied a return value other than zero and requested alarm class POWER ON. The return value is output in the alarm as block number Nxxxxx. Interpret the block number and check the NCK FB. No program can be started. Alarm can only be acknowledged by means of POWER ON. Note Alarm 105 is output only if the machine manufacturer has taken appropriate configuration measures. An error has occurred in the Safety NCK FB. Please refer to the machine manufacturer's documentation for explanation of the alarm and remedial measures.
110
Alarm scan Effect Explanation
Checksum error safety monitors POWER ON

During control system power-up NC START is locked out The MDs for safety functions are protected by a checksum after the control system has been acceptance-tested. Alarm 110 indicates that the current checksum is no longer the same as the stored setpoint checksum, i.e. that an MD value has either been changed illegally or that a data is defective. Check MDs. Perform a new checksum calculation. Carry out new acceptance test on safety functions. The alarm is activated during power-up. No program can be started. Alarm can only be acknowledged by means of POWER ON.
2505
Alarm scan Effect
Error in NCK FB
RESET
When control system is operating in cyclic mode NC START is locked out Follow-up mode Cancellation of mode group ready signal Interruption in machining operation The machine data for the SGE/SGA input/output assignments (46000 - 47999) have been entered incorrectly. The errored MD number is output in the alarm as block number Nxxxxx. Correct the machine data named in alarm text. No program can be started. Alarm can only be acknowledged by means of RESET. Note Alarm 2505 is output only if the machine manufacturer has taken appropriate configuration measures. An error has occurred in the Safety NCK FB. Please refer to the machine manufacturer's documentation for explanation of the alarm and remedial measures.
6-242
05/99
2506
Extended function output in target block RESET

During block search in AUTOMATIC or MDA mode NC START is locked out The target block of the block search must not be a G501 block because the output of a collection of auxiliary functions and the extended function output contain in the G501 block will collide functionally. Select another target block. Acknowledge the alarm by means of RESET.
3262
Error in NCK FB
CANCEL
When control is operating in cyclical mode None The cyclic routines of the NCK FB has supplied a return value other than zero and requested alarm class CANCEL. The return value is output in the alarm as block number N. Interpret the block number and check the NCK FB. Acknowledge the alarm by CANCEL. Note Alarm 3262 is output only if the machine manufacturer has taken appropriate configuration measures. An error has occurred in the Safety NCK FB. Please refer to the machine manufacturer's documentation for explanation of the alarm and remedial measures.
3263
Illegal axis position
CANCEL
During execution in AUTOMATIC or MDA modes NC START is locked out Interruption of machining operation The position of the material entry coordinate is outside the traversing path of the block. Alter part program. Acknowledge the alarm by CANCEL.
1012* / 2019*
Alarm scan Effect
Parameterization error in NC MD
During control system power-up NC START is locked out Follow-up mode Cancellation of mode group ready signal Interruption in machining operation The service number for parameterization errors, and thus the exact cause of errors, is output in the service display AXIS. Invalid values in the SI machine data may be the reason for the following service numbers being displayed. In this case, more detailed information will be shown in the SI SERVICE DISPLAY.
Service No. 300 Cause The monitoring cycle set in MD 40010 for Safety Integrated is not a multiple of the position control cycle of this axis The measuring circuit connection (MD 4100*) assigned to SI is already occupied by another Remedy Check the position control cycle of this axis as well as the monitoring cycle (MD 168, 155, 1396*, 40010) Assign a different measuring circuit: Note: In safe operation with 1 encoder, the 2nd measuring circuit connection
Explanation
329
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Service No. 331
Cause axis/spindle. Error has occurred in the conversion of SI MDs. This can affect the following MDs: MD 4184* to 4196*, MD 4200* to 4244*, 4248* to 4260*, 4180*
Remedy cannot be assigned to other functions. Check machine data, interpret detailed information in SI SERVICE DISPLAY (data 1000)
Check and re-enter the relevant machine data. Program cannot be continued
1324* / 2094*
Alarm scan Effect Explanation Remedy
Tolerance for safe operation stop exceeded POWER ON

After selection of SBH After activation of STOP C, D, E and expiry of timer Alarm is displayed Activation of STOP B and A The axis has moved too far away from the setpoint position, i.e. by further than the amount specified in MD 4180*: (Standstill tolerance for safe operation). Check the tolerance of the standstill monitor: Has the value been set in accordance with the accuracy and dynamic control response of the drive? If not, increase tolerance. If yes, check machine for any damage and repair if necessary.
1328* / 2095*
Safe speed exceeded
RESET
Remedy
After selection of SG Alarm is displayed Activation of STOP C, D, E (depending on configuration) The axis has moved too quickly, i.e. more quickly than is permitted by the setting in MD 4184*, 4188*, 4192*, 4196*: (Limit value for safe speed 1, 2, 3, 4). With the SBH and SG functions active and a 1-encoder system, the speed that corresponds to an encoder limit frequency of 200 kHz (from SW 5.7 300 kHz) has been exceeded. If the operator has not made an obvious error: Check the input value of the MD. Check the SGEs: Of the 4 available speed limits, was the correct speed selected? If the MDs and SGEs are correct, check the machine for any damage and repair if necessary.
6-244
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1332* / 2096*
Safe limit position crossed
RESET
To continue program
After enabling of safety function SE Alarm is displayed Activation of STOP C, D, E (depending on configuration) The axis has crossed the limit position that is entered in MD 4200*, 4204*: (Upper limit value for safe limit position 1, 2) or MD 4208*, 4212*: (Lower limit value for safe limit position 1, 2). If the operator has not made an obvious error: Check the input value of the machine data. Check the SGEs: Of the 2 available limit positions, was the correct limit position selected? If the MDs and SGEs are correct, check machine for damage and repair if necessary. Cancel the user agreement for this axis. Then press the RESET key. The program is aborted and the alarm reset. Traverse the axis in JOG mode into the valid traversing area. After the error in the NC program has been cleared and the axis position checked, user agreement can be given and the program started again.
1336* / 2097*
Alarm scan Effect
Defect in a monitoring channel RESET

After selection of at least one safety function Alarm is displayed NC START is locked out STOP F STOP B and A when SI function is active The cross-check between the two monitoring channels has detected a difference in the input data or results of the monitoring functions. One of the monitors is no longer operating reliable, i.e. operation of the drive is no longer being monitored reliably. Find the difference between the two monitoring channels. The error code that specifies the cause is displayed in the following machine data: On 840C SSD 301: Diagnosis for STOP F (SI service display) On 611D MD 1395: Diagnosis for STOP F (SI drive display) The meaning of the error code can be found in Table 6-2 Error code for STOP F on 840C/611D. The safety-relevant machine data might not be identical (re-load if necessary) or the SGEs (safety-relevant input signals) might not be at the same level (measure again or check in SI service display). If the error is not caused by one of the above, there may be a CPU error, e.g. a "toggled memory cell". This type of error may be temporary (eliminate by a POWER ON) or permanent (appears again after POWER ON, replace hardware). Eliminate the error and press the RESET key. The program is then aborted. If a safety monitor was active, STOP B is automatically activated. The control system must then be switched off and on again (POWER ON).
Explanation
Remedy
To continue program
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Table 6-2 No. Name 0 No error
Error code for STOP F on 840C/611D Explanation There is no error in this channel. There may be one in the other channel. Differences in the evaluation of SBH/SG/SE functions in the NCK and drive monitoring channels
Result list 1
Result list 2
Differences in the evaluation of the SN function in the NCK and drive monitoring channels Difference between position actual values in drive and NCK monitoring channels exceeds setting in MD 4256*: Tolerance actual value cross-check or MD 1342 MD 4500*, 4504* and MD 1301 are not identical MD 4184* and MD 1331[0] are not identical MD 4188* and MD 1331[1] are not identical MD 4192* and MD 1331[2] are not identical MD 4196* and MD 1331[3] are not identical MD 4180* and MD 1330 are not identical MD 4200* and MD 1334[0] are not identical MD 4208* and MD 1335[0] are not identical MD 4204* and MD 1334[1] are not identical MD 4212* and MD 1335[1] are not identical MD 4216* + MD 4248* and MD 1336[0] + MD 1340 are not identical MD 4216* and MD 1336[0] are not identical MD 4232* + MD 4248* and MD 1337[0] + MD 1340 are not identical MD 4232* and MD 1337[0] are not identical MD 4220* + MD 4248* and MD 1336[1] + MD 1340 are not identical MD 4220* and MD 1336[1] are not identical MD 4236* + MD 4248* and MD 1337[1] + MD 1340 are not identical MD 4236* and MD 1337[1] are not identical MD 4224* + MD 4248* and MD 1336[2] + MD 1340 are not identical MD 4224* and MD 1336 are not identical MD 4240* + MD 4248* and MD 1337[2] + MD 1340 are not identical MD 4240* and MD 1337[2] are not identical MD 4228* + MD 4248* and MD 1336[3] + MD 1340 are not identical MD 4228* and MD 1336[3] are not identical MD 4244* + MD 4248* and MD 1337[3] + MD 1340 are not identical MD 4244* and MD 1337[3] are not identical MD 4256* and MD 1342 are not identical MD 4252* and MD 1344 are not identical MD 4264* and MD 1351 are not identical MD 4260* and MD 1350 are not identical MD 4268* and MD 1356 are not identical
4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35
No cross-check Function enabling signals Limit value for SG1 Limit value for SG2 Limit value for SG3 Limit value for SG4 Standstill tolerance Upper limit value SE1 Lower limit value SE1 Upper limit value SE2 Lower limit value SE2 Safe cam 1+ (+ tolerance) Safe cam 1+ Safe cam 1(+ tolerance) Safe cam 1Safe cam 2+ (+ tolerance) Safe cam 2+ Safe cam 2(+ tolerance) Safe cam 2Safe cam 3+ (+ tolerance) Safe cam 3+ Safe cam 3(+ tolerance) Safe cam 3Safe cam 4+ (+ tolerance) Safe cam 4+ Safe cam 4(+ tolerance) Safe cam 4Position tolerance Reference position tolerance Delay time speed switchover Tolerance time for SGE switchover Delay time pulse disable
Cause, Remedy Look for the cause in the other channel and interpret error code E.g. SGEs have not activated functions identically in the two channels, analyse fine error coding in 611D-MD 1391 and 1392 Check cam tolerance Analyse fine error coding in 611D-MD 1393 and 1394 Incorrect evaluation of encoder (check MDs). Difference in stored standstill positions Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values
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36 37 38 39 40 41 42 43 44
Time for testing pulse disable Transition time STOP C to SBH Transition time STOP D to SBH Transition time STOP E to SBH Stop reaction after SG Stop reaction after SE Creep speed pulse disabling Memory test stop reaction Position actual value + limit value SG1 Position actual value - limit value SG1 Position actual value + limit value SG2 Position actual value - limit value SG2 Position actual value + limit value SG3 Position actual value - limit value SG3 Position actual value + limit value SG4 Position actual value - limit value SG4 Standstill position + tolerance
MD 4272* and MD 1357 are not identical MD 4276* and MD 1352 are not identical MD 4280* and MD 1353 are not identical MD 4284* and MD 1354 are not identical MD 4508*.4, 4508*.5 and MD 1361 are not identical MD 4508*.2, 4508*.3 and MD 1362 are not identical MD 4288* and MD 1360 are not identical Position actual values (error code 3) are different or MD 4184* and MD 1331[0] are not identical (error code 6) Position actual values (error code 3) are different or MD 4184* and MD 1331[0] are not identical (error code 6) Position actual values (error code 3) are different or MD 4184* and MD 1331[1] are not identical (error code 7) Position actual values (error code 3) are different or MD 4184* and MD 1331[1] are not identical (error code 7) Position actual values (error code 3) are different or MD 4184* and MD 1331[2] are not identical (error code 8) Position actual values (error code 3) are different or MD 4184* and MD 1331[2] are not identical (error code 8) Position actual values (error code 3) are different or MD 4184* and MD 1331[3] are not identical (error code 9) Position actual values (error code 3) are different or MD 4184* and MD 1331[3] are not identical (error code 9) Position actual values (error code 3) are different or MD 4180* and MD 1330 are not identical (error code 10) Position actual values (error code 3) are different or MD 4180* and MD 1330 are not identical (error code 10) Position actual values (error code 3) are different or MD 4292* and MD 1346 are not identical (error code 75) or MD 4256* and MD 1342 are not identical (error code 31) Position actual values (error code 3) are different or MD 4292* and MD 1346 are not identical (error code 75) Position actual values (error code 3) are different or MD 4292* and MD 1346 are not identical (error code 75) Position actual values (error code 3) are different or MD 4292* and MD 1346 are not identical (error code 75) or MD 4256* and MD 1342 are not identical (error code 31) MD 1301 Bit 6 is not 0 MD 1301 Bit 5 is not 0 MD 1301 Bit 5 is not 0 MD 1301 Bit 5 is not 0 MD 1301 Bit 5 is not 0 MD 1301 Bit 5 is not 0 MD 1301 Bit 5 is not 0 MD 1301 Bit 5 is not 0 MD 1301 Bit 5 is not 0
Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values Set MDs to identical values -
45
46
47
48
49
50
51
52
53
Standstill position - tolerance
54
Position actual value + nx + Tol
55
Position actual value + nx
56
Position actual value - nx
57
Position actual value - nx Tol
58 59 60 61 62 63 64 65 66
Stop request SG override factor 1 SG override factor 2 SG override factor 3 SG override factor 4 SG override factor 5 SG override factor 6 SG override factor 7 SG override factor 8
Set bit to 0 Set bit to 0 Set bit to 0 Set bit to 0 Set bit to 0 Set bit to 0 Set bit to 0 Set bit to 0 Set bit to 0
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No. 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 1000
Name SG override factor 9 SG override factor 10 SG override factor 11 SG override factor 12 SG override factor 13 SG override factor 14 SG override factor 15 SG override factor 16 Speed limit nx Stop reaction for SG1
1001 1002 1003
1004
1005
Explanation MD 1301 Bit 5 is not 0 MD 1301 Bit 5 is not 0 MD 1301 Bit 5 is not 0 MD 1301 Bit 5 is not 0 MD 1301 Bit 5 is not 0 MD 1301 Bit 5 is not 0 MD 1301 Bit 5 is not 0 MD 1301 Bit 5 is not 0 MD 4292* and MD 1346 are not identical MD 4508*.4, 4508*.5 and MD 1361 are not identical Stop reaction for SG2 MD 4508*.4, 4508*.5 and MD 1361 are not identical Stop reaction for SG3 MD 4508*.4, 4508*.5 and MD 1361 are not identical Stop reaction for SG4 MD 4508*.4, 4508*.5 and MD 1361 are not identical SI modulo value for SN MD 1367 is not 0 Speed tolerance for SBR MD 4296* and MD 1348 are not identical Check timer has expired The timer for SGE changes has not run down within the check timer period (e.g. the SGEs are switching too frequently in direct sequence). Check timer initialization error The timer for SGE changes has not started the check timer User agreement timer has The user agreement status on the drive is not expired the same as on the NCK Reference tolerance violated The comparison between the stored standstill position and the current position has detected a greater deviation than set in MD 4252*: Actual value comparison tolerance (referencing) or MD 1344 Plausibility violation of user User agreement has been given for an axis that agreement - is already safely referenced - is not yet referenced Pulses are already disabled The "Pulses are disabled" signal is already on selection of test stop present when the test stop is selected
Cause, Remedy Set bit to 0 Set bit to 0 Set bit to 0 Set bit to 0 Set bit to 0 Set bit to 0 Set bit to 0 Set bit to 0 Set both MD identically Set both MD identically Set both MD identically Set both MD identically Set both MD identically Set MD to 0 Set both MD identically E.g. contact problems (loose contact). -
1006 1007 1008
Error in forced dormant error detection on SGAs Communications failure between PLC and drive Errors in data transmission between PLC and drive
An error has been detected during a cyclic check of the SGAs If a communications failure is signalled by the drive, then either the PLC or the NC has failed. Transmission of the SGEs/SGAs between the PLC and drive is protected by a checksum. In the event of an error, the calculated checksum is not identical to the transferred checksum. If the stop is initiated by the drive, then either the PLC or NC has failed.
The test stop has been selected when no pulse enabling signal is present, mistake in wiring of SGE "Pulses are disabled" -
Note: Example: If the error code contains, for example, the value "12", then the cross-check operation has detected a difference between the NCK and drive monitoring channels in the MD for lower limit value SE1.
6-248
05/99
1340*
Alarm scan Effect
Axis is not safely referenced

After selection of SE/SN Alarm is displayed The SGA "Axis safely referenced" is not set The safe limit positions are not active The safe cam signals are output, but not reliable in terms of safe operation 1.) The axis is not referenced or 2.) There is no user agreement for this axis or it has been cancelled. This can happen, for example, if the axis has been moved since the machine was switched off with the result that the standstill position stored before power OFF is not longer valid. For 1.) Reference axis For 2.) Input user agreement The alarm automatically disappears when user agreement has been given. Warning If the axis is not yet safely referenced and user agreement has not been given, then the following applies: - The safe cams are active, but no yet reliable - The safe limit positions are not yet active
Explanation
Remedy
!
1344* / 2088*
Test stop in progress

After selection of at least one safety function Alarm is displayed A function check is currently being carried out on the disable path through setting of the "Test stop selection" SGE. No remedial action need be taken. The message merely informs the user that a check is in progress. The alarm automatically disappears when the delay time defined in MD: 4272*: (Time for testing pulse disable) has expired and when the control detects pulse disabling, i.e. the test has been successful (a failed test is indicated by alarm 27001 with error code 1005 or alarm 27024).
1348* / 2089*
Alarm scan Effect
Stop E activated
RESET
Explanation
After selection of SG, SE NC START is locked out Initiation of ESR Activation of SBH Follow-up mode for all axes in this mode group Cancellation of mode group ready signal Interruption in machining operation This alarm is displayed at the same time as alarms "Safe speed exceeded" or "Safe limit position crossed" (when stop reactions are appropriately configured in MD 4508* bits 5 and 4 or 4508* bits 3 and 2). It indicates that a configured ESR has been initiated and that SBH mode has been internally activated. Eliminate causes for "Safe speed exceeded" or "Safe limit position crossed" (see description of alarms). Clear the error and press the RESET key (the program is aborted and must be restarted).
6-249
05/99
1352* / 2090*
Alarm scan Effect
Stop D activated
RESET
Explanation
After selection of SG, SE NC START is locked out Axis is braked along path Activation of SBH Interruption in machining operation This alarm is displayed at the same time as alarms "Safe speed exceeded" or "Safe limit position crossed" (when stop reactions are appropriately configured in MD 4508* bits 5 and 4 or 4508* bits 3 and 2). It indicates that a configured ESR has been initiated and that SBH mode has been internally activated. Eliminate causes for "Safe speed exceeded" or "Safe limit position crossed" (see description of alarms). Clear the error and press the RESET key (the program is aborted and must be restarted).
1356* / 2091*
Alarm scan Effect
Stop C activated
RESET
Explanation
After selection of SG, SE NC START is locked out Follow-up mode for all axes in this mode group Cancellation of mode group ready signal Interruption in machining operation This alarm is displayed at the same time as alarms "Safe speed exceeded" or "Safe limit position crossed" (when stop reactions are appropriately configured in MD 4508* bits 5 and 4 or 4508* bits 3 and 2). It indicates that "Braking along the path" has been initiated and that SBH mode has been internally activated. Eliminate causes for "Safe speed exceeded" or "Safe limit position crossed" (see description of alarms). Clear the error and press the RESET key (the program is aborted and must be restarted).
1360* / 2092*
Alarm scan Effect
Stop B activated
POWER ON
Explanation
After selection of SBH After initiation of STOP C, D, E After initiation of STOP F with activated SBH/SG or SE, SN NC START is locked out Follow-up mode for all axes in this mode group Cancellation of mode group ready signal Interruption in machining operation Pulse disabling after timer expiry (SGA) This alarm is output at the same time as alarms "Tolerance for safe operational stop exceeded" or "STOP F activated". It indicates that "Braking along current limit" has been initiated and that the timer for switchover to STOP A (see MD 4268*: (Delay time pulse disable)) has been internally activated Eliminate causes for "Tolerance for safe operational stop exceeded" or "STOP F activated" (see description of alarms). Program cannot be continued. Alarm can only be acknowledged by means of POWER ON.
6-250
05/99
1364* / 2093*
Alarm scan Effect
Stop A activated
POWER ON
After selection of SBH After initiation of STOP B NC START is locked out Cancellation of mode group ready signal Interruption in machining operation Instantaneous pulse disabling (SGA) This alarm is output at the same time as alarms "Tolerance for safe operational stop exceeded" or after a STOP B reaction or a failed test stop. It indicates the "pulse disabling" has been activated. Eliminate causes for "Tolerance for safe operational stop exceeded" or "STOP F activated" (see description of alarms). Program cannot be continued. Alarm can only be acknowledged by means of POWER ON.
300xxx
Explanation

Alarms with the Number 300xxx can be generated by the drive and are described in Section 6.3 SOMODRIVE 611D alarms.
6-251
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6.3

Alarms that may occur in connection with SINUMERIK Safety Integrated are listed below.
300500
System error drive
POWER ON
In the appropriate clock cycle On FDD: Generator-mode stop (equivalent to STOP B) On MSD: Pulse and controller disable (equivalent to STOP A) This error occurs if the computing time available in the drive processor is not sufficient to process SI functions in the cycle specified in the additional info.
Error No. ... On 840D: 03 On 840C: F003 ... Additional info 40 Explanation
Monitoring cycle for SINUMERIK Safety Integrated too short
Remedy
Increase the relevant cycle or subordinate cycle (e.g. current-control, speedcontrol or position-control cycle) or deselect any functions that are not required.
300743
Function not available with this 611D control module POWER ON

During control system power-up. Power-up process is interrupted, pulses remain disabled. The SINUMERIK Safety Integrated option can only be used in conjunction with 611D performance closed-loop control modules (see Section 2.6 System requirements). This alarm is activated if the appropriate hardware is not installed. It is also output if motor types 1PH2/4/6 are connected and no 611D performance closed-loop control module is installed. Replace the 611D control module by the required module type.
Remedy
300744
Checksum error safety monitors
POWER ON
Remedy
During control system power-up. Power-up process is interrupted, pulses remain disabled. The checksum of the safe-relevant machine data calculated by the drive and stored in MD 1398: $MD_SAFE_ACT_CHECKSUM is not the same as the setpoint checksum that was stored in MD 1399: $MD_SAFE_DES_CHECKSUM during the most recent machine acceptance test. The safety-relevant data have been changed or an error has occurred. Check all safety-relevant MDs and correct if necessary. Then execute a POWER ON. Carry out an acceptance test on the machine.
6-252
05/99
300745
Incorrect limit settings for safe limit positions POWER ON

During control system power-up. Power-up process is interrupted, pulses remain disabled. The data for the upper limit for the SE monitor contains a lower value than the data for the lower limit. Check and alter the MDs MD 1334: $MD_SAFE_POS_LIMIT_PLUS[n] Upper limit value for safe limit position and MD 1335: $MD_SAFE_POS_LIMIT_MINUS[n] Lower limit value for safe limit position so that the upper limit value is higher than the lower limit value.
300746
SBH/SG function not enabled
POWER ON
During control system power-up. Power-up process is interrupted, pulses remain disabled. The SBH/SG function is not enabled in MD 1301: $MD_SAFE_FUNCTION_ENABLE (see Section 4.3 Machine data for SIMODRIVE 611D) although the SE/SN function is selected in the MD. Enable the SBH/SG function via MD 1301: $MD_SAFE_FUNCTION_ENABLE.
300747
Monitoring cycle MD 1300 invalid POWER ON

During control system power-up. Power-up process is interrupted, pulses remain disabled. MD 1300: $MD_SAFETY_CYCLE_TIME has not been set to a multiple of the NC position control cycle. Set the monitoring cycle in MD 1300: $MD_SAFETY_CYCLE_TIME to n * NC position control cycle,. Note that n must be 1.
300748
Monitoring cycle not identical for both axes POWER ON

During control system power-up. Power-up process is interrupted, pulses remain disabled. The monitoring cycle for the two axes of a 2-axis module has not been set to the same value. Set MD 1300: $MD_SAFETY_CYCLE_TIME to the same value on all drives of the module.
6-253
05/99
300749
Conversion factor between motor and load too large POWER ON

During control system power-up. Power-up process is interrupted, pulses remain disabled. The conversion factor from motor system [increments] to load system [ m/m] is greater than 1 or the factor that converts the load system to the motor system is greater than 65535. The condition governing the load to motor system conversion factor is: m_to_incr 65535 The condition governing the motor to load system conversion factor is: incr_to_m 1 1 with m_ to _ incr = incr _ to _ m With a rotary motor encoder and a rotary axis, the following applies:
incr _ to _ m( n) = MD1321:$ MD _ SAFE _ ENC _ GEAR _ DENOM ( n ) MD1322:$ MD _ SAFE _ ENC _ NUMERA( n ) * incr _ to _ m_ rot _ rot
Conditions
Formula for rotary axis
with n = 0 ... 7 (gear stage) and

incr _ to _ m_ rot _ rot = 360000 8192 * 1 MD1318:$ MD _ SAFE _ ENC _ RESOL
* incr _ to _ m_ rot _ lin
Formula for linear axis
With a rotary motor encoder and a linear axis, the following applies:
incr _ to _ m( n) = MD1321:$ MD _ SAFE _ ENC _ GEAR _ DENOM (n) MD1322:$ MD _ SAFE _ ENC _ NUMERA(n)
with n = 0 ... 7 (gear stage) and

incr _ to _ m_ rot _ lin = 1000 8192 * 1 MD1318:$ MD _ SAFE _ ENC _ RESOL * MD1320:$ MD _ SAFE _ ENC _ GEAR _ PITCH
Remedy
Check the following safety-relevant MDs in relation to the motor encoder type or axis type and correct them if necessary. MD 1317: $MD_SAFE_ENC_GRID_POINT_DIST Grid spacing linear scale (for a linear encoder) MD 1318: $MD_SAFE_ENC_RESOL Encoder marks per revolution (for a rotary encoder) MD 1318: $MD_SAFE_ENC_RESOL MD 1320: $MD_SAFE_ENC_GEAR_PITCH (for a rotary encoder and linear axis) MD 1321: $MD_SAFE_ENC_GEAR_DENOM MD 1322: $MD_SAFE_ENC_GEAR_NUMERA (when gearbox is used) The motor encoder type or axis type is defined in MD 1302: $MD_SAFE_IS_ROT_AX.
300776
Alarm scan Effect
Measuring circuit monitor motor (incremental) inactive
RESET
Explanation Remedy
During control system power-up and cyclically On FDD: Controllers are disabled, motor are braked, SIMODRIVE_READY and DRIVE_READY are cancelled On MSD: Pulses are disabled, motor coasts to a standstill, SIMODRIVE_READY and DRIVE_READY are cancelled Note: The reaction (FDD, MSD) can be configured via 611D MD 1613.0. When the Safety Integrated option is active (MD 1301 0), the measuring circuit motor (incremental) must be activated via 611D MD 1600.4. Activate the measuring circuit monitor motor (incremental).
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300900
Stop A activated
POWER ON
Remedy
In monitoring cycle. The drive is brought to a stop by means of STOP A, the drive pulses are disabled simultaneously via the relay "Drive_IMP. There are various reasons for the initiation of a STOP A reaction: 1. The timer in MD 1356: $MD_SAFE_PULSE_DISABLE_DELAY (see Section 4.3 Machine data for SIMODRIVE 611D) for STOP B has expired. 2. The actual speed has dropped below the speed threshold in MD 1360: $MD_SAFE_STANDSTILL_VELO_TOL (see Section 4.3 Machine data for SIMODRIVE 611D) for STOP B. 3. The user has requested a disable path test by means of the SGE "Test stop selection", but the pulses have still not been disabled after expiry of the timer set in MD 1357: $MD_SAFE_PULSE_DIS_CHECK_TIME. 4. The safe braking ramp function (SBR) has responded. 5. The SG-specific stop reaction is set to STOP A and has responded. The user must identify the proper cause and take appropriate measures.
300901
Stop B activated
POWER ON
Remedy
In monitoring cycle The drive is stopped by means of a STOP B reaction, the pulses are then disabled via the relay "Drive_IMP. There are several reasons why a STOP B reaction may be initiated: 1. The safe operational stop window has been violated. 2. Called after STOP F, i.e. an error has been detected during the crosscheck process. 3. The SG-specific stop reaction is set to STOP B and has responded. The user must identify the proper cause and take appropriate measures.
300906
Axis %1, drive %1 Safe braking ramp exceeded
POWER ON
In monitoring cycle The drive is stopped by a STOP A. The actual speed of the axis has not decreased on braking with nset = 0, but has increased again to the corrected speed limit. Check braking characteristics and adjust speed tolerance (MD 36948/1348, MD 4296*/1348) if necessary. The system can only be restarted by POWER ON.
300907
Tolerance for safe operational stop exceeded
POWER ON
In monitoring cycle The drive is stopped by means of a STOP A or STOP B reaction (depending on MD 1356: $MD_PULSE_DISABLE_DELAY). The drive pulses are disabled via the relay "Drive_IMP" at the same time. The deviation between the actual position and the setpoint/standstill position is too large (outside standstill tolerance window). The standstill window is parameterized in MD 1330: $MD_SAFE_STANDSTILL_TOL. The user must identify the proper cause and take appropriate measures.
6-255
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300908
Stop C activated
RESET
Remedy
In monitoring cycle The drive is brought to a stop by means of a STOP C reaction. On completion of the stop sequence, the drive remains under closed-loop control while the axis is monitored for SBH. There may be various reasons (depending on configuration) for the activation of a STOP C: 1. The safe velocity monitoring has been (MD 1361: $MD_SAFE_VELO_STOP_MODE) or MD 1363: $MD_SAFE_VELO_STOP_REACTION (840D from SW 4.2)). 2. The safe limit position monitoring has been activated (MD 1362: $MD_SAFE_POS_STOP_MODE). The user must identify the proper cause and take appropriate measures.
300909
Stop D activated
RESET
Remedy
In monitoring cycle The drive is stopped by the NC and a STOP D reaction. On completion of the stop sequence, the drive remains under closed-loop control while the axis is monitored for SBH. There may be various reasons (depending on configuration) for the activation of a STOP D: 1. The safe velocity monitoring has been (MD 1361: $MD_SAFE_VELO_STOP_MODE) or MD 1363: $MD_SAFE_VELO_STOP_REACTION (840D from SW 4.2)). 2. The safe limit position monitoring has been activated (MD 1362: $MD_SAFE_POS_STOP_MODE). The user must identify the proper cause and take appropriate measures.
300910
Stop E activated
RESET
Remedy
In monitoring cycle The drive is stopped by the NC and a STOP E reaction. On completion of the stop sequence, the drive remains under closed-loop control while the axis is monitored for SBH. There may be various reasons (depending on configuration) for the activation of a STOP E: 1. The safe speed monitor has been (MD 1361: $MD_SAFE_VELO_STOP_MODE). 2. The safe limit position monitor has been activated (MD 1362: $MD_SAFE_POS_STOP_MODE). The user must identify the proper cause and take appropriate measures.
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300911
Alarm scan Effect
Defect in a monitoring channel RESET

In monitoring cycle If there are no Safety Integrated monitoring functions active, then STOP F does not initiate a braking process, but only displays the message "Defect in a monitoring channel". If, on the other hand, SBH/SG, SE or SN are active, then the drive is stopped by means of stop reactions STOP A/B. A difference has been found during the cross-check of data and results between the NC and drive. A STOP F reaction has therefore been initiated. Find the difference between the monitoring channels. The error code indicating the error cause is displayed as follows: On 840D Is output with the alarm text On 840C MD 301: Diagnosis for STOP F On 611D MD 1395: $MD_SAFE_STOP_F_DIAGNOSIS The meaning of the error code can be found in Table 6-1 Error code for STOP F on 840D/611D or in Table 6-2 Error code for STOP F on 840C/611D. The safety-relevant machine data might not be identical (re-load if necessary) or the SGEs (safety-relevant input signals) might not be at the same level (measure again or check in SI service display). If the error is not caused by one of the above, there may be a CPU error, e.g. a "toggled memory cell". This type of error may be temporary (eliminate by a POWER ON) or permanent (appears again after POWER ON, replace hardware).
Explanation Remedy
300914
Alarm scan Effect
Safe speed exceeded
RESET
Explanation Remedy
In monitoring cycle The drive is stopped by the stop reaction configured in MD 1361: $MD_SAFE_VELO_STOP_MODE or MD 1363: $MD_SAFE_VELO_STOP_REACTION (840D from SW 4.2). On completion of the stop sequence, the drive remains under closed-loop control while the axis is monitored for SBH. The axis has moved quicker than specified in MD 1331: $MD_SAFE_VELO_LIMIT[n], i.e. the axis has exceeded the permissible speed limit value. The user must identify the proper cause and take appropriate measures.
300915
Safe limit position crossed
RESET
In monitoring cycle The drive is stopped by the stop reaction configured in MD 1362: $MD_SAFE_POS_STOP_MODE. On completion of the stop sequence, the drive remains under closed-loop control while the axis is monitored for SBH. The axis has traversed beyond the safe limit position defined in MD 1334: $MD_SAFE_POS_LIMIT_PLUS[n] and MD 1335: $MD_SAFE_POS_LIMIT_MINUS[n]. Check the input value of the machine data. Check the SGEs: Of the 2 available limit positions, was the correct limit position selected? If the MDs and SGEs are correct, check machine for damage and repair if necessary.
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300950
Axis is not safely referenced

In monitoring cycle No stop reaction is initiated. When the functions SN/SE are enabled, the message remains active until the axis has reached the "Axis safely referenced" state. 1.) The axis is not referenced or 2.) No user agreement has been given for this axis or it has been cancelled again. This may occur, for example, if the axis is moved after the machine has been switched off with the result that the zero-speed position stored prior to POWER OFF is no longer applicable. This message requests the user to confirm the current actual position. The user must therefore determine the position beforehand, for example, using one of the following methods: 1. Measure the position 2. Traverse axis to a known position If the axis cannot be automatically referenced in a reliable manner, then the user must enter "user agreement" for the new position by a softkey input. The user agreement confirms that the above position is a "safe reference", i.e. the axis has now reached the "Axis safely referenced" state. Warning If the axis is not yet safely referenced and user agreement has not been given, then the following applies: - The safe cams are active, but no yet reliable - The safe limit positions are not yet active
Remedy
!
300951
Alarm scan Effect
Test stop in progress

In monitoring cycle The drive pulses are disabled. 1. A STOP A reaction is activated if a positive acknowledgement of pulse disabling has not arrived after the delay period configured in MD 1357: $MD_SAFE_PULSE_DIS_CHECK_TIME (Time for testing pulse disable). 2. If disabling of the drive pulses is acknowledged internally in the drive within the configured timer period, then no stop reaction is activated. When the test stop is selected via the SGE "Test stop selection", the message remains active until the test stop is deselected. The user has activated the test stop function by setting the SGE "Test stop selection". If he cancels this SGE, then the message is also deactivated. If a STOP A has been activated, then the drive system can only be restarted by a POWER ON.
Explanation Remedy
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301701
Limit value for SG too high
POWER ON
During control system power-up. The power-up process is interrupted. The pulses remain disabled. The limit value set for the safe speed is higher than the speed that corresponds to a limit frequency of 200 kHz (300 kHz for 840D from SW 4.2 and for 840C from SW 6.1. The maximum permissible speed that can be monitored by the SG function is calculated as follows:
n m ax [
rev 200000[ Hz ] * 60 ]= No . of encoder markings m in 1 * n max gear ratio
Monitoring condition
MD1331:$ MD _ SAFE _ VELO _ LIMIT[n]

Remedy
Check input value in machine data MD 1331: $MD_SAFE_VELO_LIMIT[n], correct if necessary and execute a POWER ON.
301706
Explanation
Axis %1, drive %2 invalid parameterization of cam position POWER ON

At least one parameterized cam that is enabled via MD 1301: $MD_SAFE_FUNCTION_ENABLE is failing to comply with the rule that cam positions must not be located within the tolerance range around the modulo position. The following tolerance ranges apply: When cam synchronizaton is not active (MD 1301 bit 7 = 0): Lower modulo value + POS_TOL cam position Upper modulo value - POS_TOL cam position > When cam synchronization is active (MD 1301 bit 7 = 1): Lower modulo value + POS_TOL Upper modulo value - POS_TOL - CAM_TOL > cam position cam position
Reaction Remedy
Explanations: POS_TOL: Actual value tolerance (MD 1342: $MD_SAFE_POS_TOL) CAM_TOL: Cam tolerance (MD 1340: $MD_SAFE_CAM_TOL) Lower/upper modulo values: Defined in MD 1305: $MD_SAFE_MODULO_RANGE Power-up process is aborted. Alarm is displayed. Pulses remain disabled. Check/correct parameter settings of cam positions in MD 1336: $MD_SAFE_CAM_POS_PLUS or MD 1337: $MD_SAFE_CAM_POS_MINUS and execute POWER ON. Check MD 1305: $MD_SAFE_MODULO_RANGE.
301707
Axis %1, drive %2 invalid parameterization of modulo value for SN POWER ON

The cam modulo range parameterized in MD 1305: $MD_SAFE_MODULO_RANGE for a rotary axis is failing to comply with the rule that only multiple integers of 360 degrees may be set for this range. An alarm is displayed. Pulses are disabled. NC START is disabled. Display at NC/PLC interface. Mode group and channel are in Not ready state. Alter parameter settings for cam modulo range in MD 1305: $MD_SAFE_MODULO_RANGE. The alarm is output during power-up. It must be acknowledged by a POWER ON.
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301708
Effect Explanation
Actual value synchronization not permitted (from SW 6.3) POWER ON

The runup process is interrupted. The pulses remain disabled.
$MD_SAFE_FUNCTION_ENABLE (safe function enable) is selected. This is only permitted for SBH/SG monitoring, as the absolute actual position is not important for these types of monitoring. However, at least one additonal monitoring function with required absolute reference SE/SN is selected. Deselect the actual value synchronization for drift/slip or the safe limit position monitoring and/or the safe cam monitoring in MD 1301: $MD_SAFE_FUNCTION_ENABLE (safe function enable).
Remedy
6-260
Configuring Example
7.1 General information about configuring .......................................................................7-262 7.2 Example circuits for Safety Integrated ........................................................................7-263 7.2.1 Drive wiring ..............................................................................................................7-265 7.2.2 EMERGENCY STOP function..................................................................................7-266 7.2.3 Monitoring of protective door ...................................................................................7-267 7.2.4 Selection/deselection of safe operation...................................................................7-268 7.2.5 Testing the pulse disable path.................................................................................7-273
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SINUMERIK Safety Integrated 7 Configuring Example
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7.1
General information about configuring

Please refer to the information in the following references for instructions on how to interconnect the SINUMERIK 840D/840C and SIMODRIVE 611D systems:
References for SINUMERIK 840D
References:
/HBD/, NCU Manual /IAD/, Installation and Start-Up Guide /LID/, Lists
References for SINUMERIK 840C
References:
/NAC/, Interface Description, Part 2: Connection Conditions /IAC/, Installation and Start-Up Guide, Instructions /LIC/, Installation and Start-Up Guide, Lists
References for SIMODRIVE 611
References:
/PJ1/, SIMODRIVE 611, Configuring Guide for Inverters /PJ2/, SIMODRIVE, Configuring Guide for Three-Phase AC Motors
References for switchgear
References:
/ASI/, Low-Voltage Switchgear and Systems, Catalog 1995/1996
Note The EMERGENCY STOP function is not replaced by SINUMERIK Safety Integrated, i.e. the EMERGENCY STOP function must be implemented as in systems without SI functions. Please note that the wiring options for the incoming mains supply unit are not restricted in any way by the SINUMERIK Safety Integrated option. For example, three-wire or six-wire mains connections, star-delta operation and operation under power failure conditions can still be implemented as before.
Some basic configuring information
The following basic configuring options are available: SG/SBH active in all operating modes SG/SBH deactivated in automatic mode
SG/SBH active in all operating modes
If the safety functions "Safe speed" (SG) and "Safe operational stop" (SBH) are constantly active, then they can also be used in automatic mode to protect the machine (e.g. max. speed of grinding wheel). However, the signal stage of the SGA "SG/SGH" does not change at any time when this method is used. Interlocking devices such as protective doors cannot, therefore, be operated as a function of "SG/SBH active". The timers (delay times) must be adjusted in accordance with the maximum possible speed in this case.
SG/SBH deactivated in automatic mode
With this method, an interlock can be switched as a function of "SG/SBH active". The protective door can only be opened if it is monitored by a safety function. The functions SE and SN remain active.
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7.2
Example circuits for Safety Integrated

The circuit shown below is an example of a drive with an incremental measuring system. It is provided to illustrate the principle of how a safety zone on a machine can be monitored. The following functions are implemented with Safety Integrated in the example: Monitoring of drive with opened protective door Monitoring of drive for a speed limit value with open protective door and actuated enabling key Testing of disable paths
General information
Note This basic circuit must be adapted to the various safety zones (if applicable) and the number of axes according to the machine configuration. SINUMERIK Safety Integrated functions are used to monitor the drives for standstill or speed and to stop them in the event of an error.
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Relationship between individual diagrams

Fig. 7-2 Fig. 7-3
The example circuit is divided into various individual diagrams that represent in total a functionally cohesive wiring arrangement.
Fig. 7-4 Fig. 7-5 Fig. 7-6 Fig. 7-7 Fig. 7-8
Drive wiring diagram
EMERGENCYSTOP wiring diagram
Wiring diagram of protective door monitoring
Selection and deselection of safety functions (NCK) (PLC)
Logic in drive monitoring channel (PLC prgm.)
Door magnet control (PLC prgm.)
Testing the disable path (PLC prgm.)
Terminals SGE Monitoring comparators NCK SBH/SG deselection SBH deselection Test stop selection Pulses disabled status
internal connection
SGA Terminals UEBER_02.DS4
SBH/SG active Enable pulses

internal connection
PLC SBH/SG active SBH/SG deselection (Enable pulses) SBH deselection Test stop selection Pulses are disabled status
HW connections SW connections
Fig. 7-1
Overview of individual diagrams in configuring example
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7.2.1
Drive wiring
Description
The mains incoming supply module (NE module) is connected to the line via a three-wire connection. The line contactor integrated in the NE module is used to isolate the drives from the mains supply (an external line contactor is therefore not needed. The function at terminal 112 (setup mode) is no longer needed.
Leading contact of main switch
NCK SGA "Enable pulses"
NCK SGE "Pulses disabled status"
K12
K1
K12
0V
K10
K11 + 24 V 0V
NS1
Term. 63
Term. 48
Term.. 112
Term. 663
Term. 64
NS2
Term. 9
Term.. 19
Term. AS1 Term. AS2
NE module
Drive module +24 V K10
Kl. 113
Kl. 111
SIMO_01.DS4
Mechanical brake 0V
Fig. 7-2
Example of circuit for SIMODRIVE 611D drive
Reference to contactor contacts in other diagrams
K11, NO contact Fig. 7-2 Example of circuit for EMERGENCY STOP function
Note A holding brake is used additionally for vertical axes.
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7.2.2
EMERGENCY STOP function
Description
When an EMERGENCY STOP occurs, all the drives in the drive grouping are shut down via terminal 64 (controller disable) on the mains incoming supply module. The drives brake at maximum current (configurable). After a certain delay (if, for example, the spindle has also braked and is stationary), the internal line contactor in the NE module is opened via terminal 48 (DIN EN 60204-1). As an additional safety measure to prevent the line contactor from closing again, the connection between terminals NS1, NS2 is opened (see Fig. 7-2 Example of circuit for SIMODRIVE 611D). If "pulse disabling" is initiated via terminal 663 or terminal 48, the drives are disconnected from the power supply and would "coast" to a standstill if they were still moving. A short-circuit brake (K10 drops out with delay via K11) can be used here to make sure that the drives are stopped safely (applies only to permanent-field motors (e.g. 1FT6 ...), but not to induction motors (e.g. 1PH6 ...)).
+24 V
EMERGENCY STOP
K12
K1
Other "Emergency stop" control units
Ready Closed
K12
Term. 111 Terminals on NE module Term. 213
K11
Delay L+ LX1 X2 X3 X4 X5 X6 L+ LSIEMENS 3TK28 safety relay module K1 Delay module 3TK29 K12 K10 0V
NOTAUS01.DS4
Time delay until all drives (incl. spindle) have braked
Short-circuit braking
Fig. 7-3
Example of circuit for EMERGENCY STOP function
K1, NO contact K1, NO contact K12, NC contact K12, NO contact K12, NO contact K12, NO contact
Fig. 7-3 Example of circuit for EMERGENCY STOP function Fig. 7-3 Example of circuit for SIMODRIVE 611D Fig. 7-3 Example of circuit for EMERGENCY STOP function Fig. 7-3 Example of circuit for EMERGENCY STOP function Fig. 7-3 Example of circuit for SIMODRIVE 611D Fig. 7-3 Example of circuit for SIMODRIVE 611D
K10, NO contact Fig. 7-3 Example of circuit for SIMODRIVE 611D
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7.2.3
Monitoring of protective door
Description
The following circuit is provided for monitoring the protective door:

A ATM open PLC 1)
24 V
closed E OPEN L+ X1 LX2 (PLC) 1) X3 X4 X5 X6
Type: TZF 1):see Notes on diagram
K2
SIE MENS 3TK28 safety relay
TUER_01.DS4
0V
Fig. 7-4
Example of circuit for monitoring of protective door
Notes on diagram 1. The door solenoid is operated via the PLC user program as a function of the SGA "SBH/SG active (see Section 7.2.4 Selection/deselection of safe operation). We recommend the use of a door release solenoid with a mechanical system (as shown) that drives the contacts of the checkback signals. The door lock is evaluated as follows: Terminal X3 of the safety relay is activated when the door is open and terminal X6 on the safety relay when the door is closed.
K2, NO contact K2, NO contact
Fig. 7-5 Selection and deselection of safety functions Fig. 7-5 Selection and deselection of safety functions
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7.2.4
Selection/deselection of safe operation
Description
"Safe operation" for operating modes "Setup" and "Testing" means the following: The drives are monitored for standstill. When safe operation is selected, the SGA "SBH/SG active" is output. This SGA operates the door release solenoid and the door can therefore be opened. The example circuit shown below has a two-channel structure. Both channels are identical functionally. The NCK monitoring channel has a hardware construction based on contactors. Contactor 31 selects safe operation. Contactor K33 is activated to deselect safe operation. The drive monitoring channel is constructed in the software on the basis of a PLC user program (the switch terminals are wired to PLC inputs). Note Any deviation between the two channels (NCK and drive) is detected by the data and result cross-check. This system responds accordingly if an error is found.
Selection of safe operation
The preconditions for the selection of safe operation are as follows: The drives must be stationary The user must have specified the machine operating mode (e.g. "Setup") in which the protective door can be opened The key "Selection of safety operation" must have been actuated The disable path must have been tested within the last 8 hours. If not, the user must carry out this test before selecting safety operation (see Section 7.2.5 Testing the pulse disable path).
Enabling key
SINUMERIK Safety Integrated offers a simple solution for operating modes that are required to have an enabling key by the state of the art. The enabling key influences the SGE "SBH deselection (see Fig. 7-5 Selection and deselection of safety functions) and can switch over between the SBH and SG modes. When the enabling key is selected, the axis is monitored for the configured safe speed limit (SG). When it is deselected, the axis is monitored for a safe operational stop (SBH) state.
Description
Contactor K31 picks up when the "Select safe operation" key is actuated, thereby causing K33 to drop out. The same function is linked via the PLC for the drive channel. The state of the door lock is acquired via a safety relay (see Fig. 7-4 Example of circuit for monitoring of protective door). When the door is closed, the contacts of the safety relay are closed, i.e. when the protective door is open or the supply voltage (24 V) is not connected, the SGEs "SBH/SG deselection and "SBH deselection" are not set, thereby resulting in selection of the safety functions.
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Deselection of safe operation
In order to deselect safe operation, the protective door must be closed. The user must also confirm that the safety zone is in order. Contactor K33 consequently picks up and the SGEs "SBH/SG deselection" and "SBH deselection" of the NCK are set. The same link must be implemented for the PLC SGEs (drive monitoring channel) via the PLC user program. The signal "SBH/SG active" is then reset and the door release solenoid is no longer operated (i.e. the door cannot be opened). The machine can now operate, for example, in automatic mode. Note The door locking solenoids are operated from one channel via the PLC because the door lock state is sensed reliably via a two-channel checkback (see safety relay K2). If the door were to be unlocked, the standstill monitor would be selected instantaneously causing an immediate shutdown of the drives.
+24 V 1) K2 Safety relay +24 V K33 S1 Enabling key S3 E E (PLC) BAM (PLC) TZR +24 V
Operating mode 2) V selector switch S1 (lockable) Selection of safe operation S2 and door release
K31 A 3) (PLC) +24 V
E (PLC) ASB
E E E (PLC) 4) (NCK) (NCK) ZST SBH/SG SBH deselection deselection
+24 V Acknowledgement safety area OK S4 K42 K33 (PLC) E QSB Door lock
+24 V
S5 E (PLC) VER
H1
K31
K33
1), 2), 3), 4) : see Notes on diagram 0V
8-hour monitoring cycle
"Execute forced dormant error detection
Selection of safe operation and door release
Deselection of safe operation
ANAB_01.DS4
Fig. 7-5
Selection and deselection of safety functions
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Notes on the Figure 1. When the protective door is closed, the contacts on the safety relay are closed. 2. It is recommended to link the safety relay to the operating mode selector switch on the machine which must also be protected by SI functions. This ensures that the safety functions and the door release can only be selected in the operating mode selected for this purpose by the user. 3. Explanations, see Section 7.2.5 Testing the pulse disable path. 4. If the enabling circuit is interrupted, then the axis must be stopped (e.g. via NC/PLC interface signal) or else the comparator would respond and initiate a stop reaction on expiry of the delay set in the MD.
K42, NO contact Fig. 7-5 Selection and deselection of safety functions K42, NC contact Fig. 7-5 Selection and deselection of safety functions K33, NO contact Fig. 7-5 Selection and deselection of safety functions K33, NC contact Fig. 7-5 Selection and deselection of safety functions K33, NO contact Fig. 7-5 Selection and deselection of safety functions K33, NO contact Fig. 7-5 Selection and deselection of safety functions K33, NO contact Fig. 7-5 Selection and deselection of safety functions
Function block for drive monitoring channel
"Selection and deselection" of safe operation in the drive monitoring channel (PLC) must have an identical functional structure (see Fig. 7-5 Selection and deselection of safety fucntions). Double contacts are therefore provided for the keys "Selection of safe operation and door release" and "Acknowledge safety zone OK". A contact of safety relay K2 is also required for evaluation of the protective door status. The logic in the drive monitoring channel is implemented by means of a block in the PLC user program. The block requires and processes the following signals:
Table 7-1 I: Input Q: Output I I I I I Table 7-2 Signals for K32 K34 T1 Required PLC inputs/outputs Code Switch Meaning ASB QSB TZR ZST BAM S2 S4 K2 S3 S1 Selection safety functions and door release Acknowledge safety zone OK "Door closed" message from safety relay Enabling key Machine operating mode
Required internal signals (PLC memory bit) Meaning Status depends on contactor K31 Status depends on contactor K33 Status for time monitoring (8 hours, PLC timer, description see Section 7.2.5 Testing the pulse disable path
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Table 7-3 Required PLC interface signals Interface signal Name On 840D DB 31-48, DBX22.0 SBH/SG deselection On 840C DB 28, D2.0, D4.0, etc. On 840D DB 31-48, DBX22.1 SBH deselection On 840C DB 28, D2.1, D4.1, etc.
TZR ASB BAM T1 TZR K32 TZR QSB K32 TZR K32 K34 ZST K34
K32
ZW_KA_01.DS4
K34 (SGE)=SBH/SG deselection
(SGE)=SBH deselection
: Are PLC inputs/outputs All other signals are generated internally (e.g. PLC memory bits and timers)
Fig. 7-6 Logic in drive monitoring channel (PLC user program)
Operation of door solenoid
The PLC SGA "SBH/SG active" is evaluated for the purpose of operating the door solenoid (see Fig. 7-5 Selection and deselection of safety functions). This signal is output after safe operation has been selected (see Fig. 7-5 Selection and deselection of safety functions). In order to deselect safe operation again (e.g. after the protective door has been closed), the contact of safety relay K2 must be closed. However, the contact can only be closed if the door is shut and the release solenoid is deenergized. The PLC user program shown below shows how a control circuit of this type can be implemented for the door solenoid. The PLC inputs/outputs are shown in Fig. 7-4 Example of circuit monitoring of protective door and Fig. 7-5 Selection and deselection of safety functions.
Table 7-4 I: Inputs Q: Output I I Q Table 7-5 Signals for RSM Required PLC inputs/outputs Code Switch Meaning VER AUF ATM S5 "Lock door" signal via key from user "Door open" signal from door monitor Operation of door solenoid
Required internal signals (PLC memory bits) Meaning Reset door solenoid
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Table 7-6 Required PLC interface signals Interface signal Name On 840D DB 31-48, DBX108.0 SBH/SG active On 840C DB 28, D0.8, D2.8, etc. SBH/SG active
SBH/SG active ATM RSM SBH/SG active VER AUF SBH/SG active RSM
ZW_KA_02.DS4
RSM
Are PLC inputs/outputs All other signals are generated internally, (e.g. PLC memory bits and timers)
Fig. 7-7
Logic for control of door solenoid
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7.2.5
Testing the pulse disable path
Description
The purpose of testing the pulse disable path is to determine when pulse disabling can still be executed correctly via both monitoring channels (see Section 2.5 Safe reaction via pulse disable paths and stops). This test must be carried out every time the machine is switched on and then, for example, repeated every 8 hours if the operator has access to the hazardous area. The test must be carried out separate only the pulse disable path in the NCK and in the drive (PLC). The test can be initiated via a single channel for the NCK and drive (PLC) successively. The pulse disable path test can be implemented by means of a function block (PLC user program) in the PLC.
Test conditions
The drives must be at a standstill. The SGE "Pulses disabled status" (NCK) and the SGA "Pulses are disabled status" (drive) must not be active. The test may only be activated if permitted by the process on the machine (operating mode, no program being processed).
Disable path test Initiation FB from process E1 PLC user function block (PLC FB) Monitoring comparator NCK A1 SGA SGE "Test stop "Enable selection" pulses" SGE "Pulses disabled status" Drive (PLC) SGE "Test stop selection" ("Enable pulses") Drive bus Drive module
Terminal 663 Terminal AS2
HW connections SW connections
ZWDYN_02.DS4
SGA "Pulses are disabled" status
Fig. 7-8
Testing the pulse disable path
Start conditions for FB
The test of the pulse disable path should be initiated through an appropriate link with the process on the machine (PLC user program) (e.g. when a protective door is opened or a tool is changed).
FB structure
Prevent restarting of this function block (set memory bit). Test the pulse disable path of the NCK: Set the signal "Test stop selection" on the NCK. Wait for the checkback via PLC SGE "Pulses are disabled status" (see Notes on structure of FB). Reset the signal "Test stop selection" on the NCK. Wait until the PLC SGE "Pulses are disabled status" disappears.
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Testing the pulse disable path of the drive: Set the signal "Test stop selection" for the drive on the PLC interface. Wait for the checkback via PLC SGE "Pulses are disabled status" (see Notes on structure of FB). Reset the PLC signal "Test stop selection". Wait until the PLC SGE "Pulses are disabled status" disappears.
Restart the 8-hour monitoring cycle in the PLC (timer T1). Enable restarting of this function block (reset memory bit). End of function block
Notes on structure of FB "Pulses disabled status" checkback: Disabling of the pulses is fed back by NCK SGE "Pulses disabled status" via terminal AS2 (611D performance closed-loop control module (see Fig. 7-2 Example of circuit for SIMODRIVE 611D). Disabling of the pulses via the drive bus is fed back simultaneously by PLC SGA "Pulses are disabled status". This signal can be evaluated by the function block.
Time monitoring
The time monitor T1 that operates in an 8-hour cycle and requests testing of the pulse disable path is implemented via the PLC. The status of the time monitor is signalled to the process via a PLC output and can prevent selection of protective door release via contactor K42 (see Fig. 7-5 Selection and deselection of safety functions). PLC output = 1 signal: Monitoring timer running. PLC output = 0 signal: Monitoring timer expired.
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Has time monitor T1 expired? No Output signal = 1 Output signal = 0 Yes
Prevent selection of protective door release
Initiate "Execute forced dormant error detection" message
Prevent start of any NC program
ZWDYN_03.DS4
Fig. 7-9
Operating principle of time monitor
The time monitor T1 has expired as a result of the following: After the machine is switched on or If the pulse disable paths have not been tested for more than 8 hours.
Note Expiry of the time monitors is annunciated via a signalling device (the message on the signalling device can also be linked in the PLC to prevent any program from starting in the NC). When the time monitors have expired, a protective door cannot be opened until the pulse disable paths have been tested again.
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Notes
7-276
Appendix
A.1
AS1/AS2
A
Starting lockout 1/2 (terminals on 611D performance closed-loop control module)
Abbreviations
ASIC
Application Specific Integrated Circuit
ASUP
Asynchronous subprogram
BG
Professional association
BIA
Berufsgenossenschaftliches Institut fr Arbeitssicherheit (German Institute for Occupational Safety)
CPU
Central Processing Unit
CRC
Cyclic Redundancy Check
DAC
Digital/Analog Converter
DI
Digital Input
DKE-AK
German electrotechnical working committee
DL
Data Left
DMP
Distributed Machine I/Os
DMS
Direct Measuring System
DO
Digital Output
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SINUMERIK Safety Integrated A Appendix
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DPR
Dual Port RAM
DR
Data Right
DW
Data Word
EM
Encoder Marks (Per Rev)
ENDAT
Encoder Data (interface for absolute encoder)
EQN/ERN
Part of an order code for absolute/incremental encoders made by Heidenhain
ESD
Electrostatic Discharge
ESR
Extended Standstill and Retraction
FDD
Feed Drive
HHU
Hand-Held Unit
HMS
High-Resolution Measuring System
HW
Hardware
I/RF
Infeed/Regenerative Feedback Unit
IB
Input Byte
IMS
Indirect Measuring System
INST-SU
Installation and Start-Up
IPO
Interpolator
IS
Interface Signal
LEC
Leadscrew Error Compensation
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LIFTFAST
Rapid Lift Off Contour
LL
Lower Limit
LSB
Least Significant Bit
MD
Machine Data
MDD
Machine Data Dialog
MDIR
Machinery Directive
Mixed I/O
I/O module with analog and digital signals
MLFB
Machine-readable product designation (corresponds to order number)
MMC
Man Machine Communication (operator interface for man-machine communication)
MSB
Most Significant Bit
MSD
Main Spindle Drive
MT
Machine Tool
NC
Numerical Control
NCK
NC Kernel
NCK FB
NC Kernel Function Block
NE
Mains Incoming Supply Module
QB
Output Byte
OI
Operator Interface
A-279
05/99
OP
Operator Panel
PD
Pulse Disable
PLC
Programmable Logic Controller
PS
Power Supply
RPM
Revolutions per Minute
SBH
Safe Operational Stop
SBR
Safe Braking Ramp
SE
Safe Limit Position
SF
Safety Function
SG
Safe Speed
SGA
Safety-Relevant Outputs
SGE
Safety-Relevant Inputs
SH
Safe Standstill
SI
Safety Integrated
SIZAG
Siemens gear wheel encoder
SK
Softkey
SN
Safe Cams
SO
Safe Operation
SSD
Servo Service Data
A-280
05/99
STOP A, B, C, D, E, F
Stop Reaction: In the event of a fault, the system reacts depending on the configured STOP reaction
SW
Software
TCP
Tool Center Point
TEA
Testing Data Active
UL
Upper Limit
Gear Ratio
A-281
05/99
A.2
A.2.1
List of References
List of references, general
/ASI/
Low-Voltage Switchgear and Systems Catalog 1995/1996 Siemens Drives and Standard Products Order No.: E20002-K1002-A101-A6
A.2.2
List of references for SINUMERIK 840D
/DAD/
SINUMERIK FM-NC/SINUMERIK 840D Diagnostics Guide Order No.: 6FC5 298-2AA20-0BP1
/HBD/
SINUMERIK 840D NCU Manual Order No.: 6FC5 297-2AC10-0BP1
/IAD/
SINUMERIK 840D Installation and Start-Up Guide Order No.: 6FC5 297-2AB10-0BP1
/LID/
SINUMERIK 840D Lists Order No.: 6FC5 297-2AB70-0BP0
/FBD/
SINUMERIK FM-NC/SINUMERIK 840D Description of Functions, Basic Machine (Part 1), Order No.: 6FC5 297-2AC20-0BP1 SINUMERIK FM-NC/SINUMERIK 840D Description of Functions, Extended Functions (Part 2), Order No.: 6FC5 297-2AC30-0BP1 SINUMERIK FM-NC/SINUMERIK 840D Description of Functions, Special Functions (Part 3), Order No.: 6FC5 297-2AC80-0BP0
/PAD/
SINUMERIK 840D Programming Guide Order No.: 6FC5 298-2AB00-0BP1
/S7H/
SIMATIC S7-300 Manual (HW Description) Order No.: 6ES7030-0AA00-8AA0
A-282
05/99
A.2.3
List of References for SINUMERIK 840C
/DAC/
SINUMERIK 840C Diagnostics Guide Order No.: 6FC5 198-5AB40-0BP0
/NAC/
SINUMERIK 840C Interface Description, Part 2: Connection Conditions Order No. 6FC5 197-5AA10-0BP0
/BAC/
SINUMERIK 840C Operator's Guide Order No.: 6FC5 198-5AA00-0BP0
/IAC/
SINUMERIK 840C Installation and Start-Up Guide, Instructions with 611D Order No.: 6FC5 197-5AA50-0BP1
/LIC/
SINUMERIK 840C Installation and Start-Up Guide, Lists Order No.: 6FC5197-5AA60-0BP1
/WDC/
SINUMERIK 840C Planning Guide PLC 135 WB/WB2/WD Order No.: 6FC5 197-5AA80-0BP0
A.2.4
List of References for SIMODRIVE 611
/PJ1/
SIMODRIVE 611 Planning Guide Transistor PWM Inverters for AC Feed Drives and AC Main Spindle Drives Order No.: 6SN1197-0AA00-0BP2
/PJ2/
SIMODRIVE Planning Guide AC Motors for Feed and Main Spindle Drives Order No.: 6SN1 197-0AA20-0BP0
A-283
05/99
Notes
A-284
Index
I
Output assignment 3-119 Specify 3-117 Cam signals................................................3-117 Cam synchronization Enabling for 840C 4-165 Enabling for 840D 4-133 Combinations of encoder types....................2-35 Configurable stop reactions..........................2-49 Configuration Basic information 7-262 Reference for 7-262 Confirm/save monitoring data for 840C 5-217 for 840D 5-210 Conformity ....................................................2-22 Copying of SI data......................................5-206 Cost-cutting potential....................................1-19 Cross monitoring ..........................................1-18 Cross-check cycle ........................................2-31 in 840C 4-157 on 840D 4-133 Cross-check operation .................................2-30
1
1-encoder system ........................................ 2-35
2
2-encoder system ........................................ 2-36
A
Absolute encoder ......................................... 2-35 Acceptance report...................................... 5-204 Acceptance test ...................5-204; 5-211; 5-218 Actual value and measuring circle assignment for 840C 5-217 Actual value and measuring circuit assignment for 840D 5-210 Adjustment of the motor encoder................. 2-37 Alarms for 611D 6-252 for 840C 6-241 for 840D 6-232 Alteration of SI data ................................... 5-206 Assignment table for stop reactions............. 2-49 Axis vertical 2-65 Axis - spindle for 840C............................... 5-220 Axis referenced ............................................ 2-38
D
Define monitoring cycle for 840C 5-216 Definition of terms ........................................2-24 Delete password for 840C 5-219 for 840D 5-211 Different signal transit times .........................3-75 Digital NCK inputs/outputs on 840C 3-78 on 840D 3-76 Digital PLC inputs/outputs on 840C 3-81 on 840D 3-80 Direct measuring system..............................2-36 Disable path of drive CPU ............................2-42 Disable path of NCK CPU ............................2-43 Disable paths................................................2-42 Preconditions 2-44
B
Belt drive ...................................................... 2-68 BG-PRFZERT mask .......................................ix
C
Cam positions
I-285
SINUMERIK Safety Integrated I Index
05/99
Stop reactions 2-48 Test 2-44 Disable paths with a double-axis module..... 2-45 Disable paths with several axes................... 2-45 Diverse structure.......................................... 2-29 DMP compact modules................................ 3-76 DMS ............................................................. 2-36 Door solenoid............................................. 7-271 Dormant error............................................... 2-25 Drive module................................................ 2-58
I
Incremental encoder.....................................2-35 Integrated safety functions ...........................1-18 Interface signals .........................................4-195 from drive 4-200 to drive 4-199
L
Limit frequency .............................................3-92 Load default motor data .............................4-182 Logbook...........................................5-211; 5-218 Low-voltage directive....................................2-22
E
EMERGENCY STOP ................................. 7-266 EMV Directive .............................................. 2-22 Enable of functions in 840C 4-165; 4-166 of functions in 840D 4-133 Enable option for 840C 5-216 for 840D 5-209 Enabling key .............................................. 7-268 Enabling of monitoring functions.................. 2-34 Encoder limit frequency ............................... 3-92 Encoder replacement................................... 2-40 Encoder types 1-encoder-system 2-35 Encoder zero................................................ 2-37 Enter monitoring cycle for 840D 5-209 Error analysis ............................................... 2-60 in automatic mode 2-62 Error analysis in setup mode ....................... 2-60 Error analysis in test mode .......................... 2-61 Error code .................................................... 2-53 Fine decoding of errors 2-53 Error code for STOP F for 840C/611D 6-246 for 840D/611D 6-233 EU Directives ............................................... 2-22 Examination certificate......................................ix Example circuits......................................... 7-263
M
Machine data for 611D Description 4-183 Overview 4-180 Machine data for 840C General 4-157 Machine data for 840D Description 4-132; 4-157 General 4-132 Overview 4-130 Machine zero ................................................2-37 Machinery directive........... 1-19; 2-22; 2-23; 2-63 Measurement of machine.............................2-37 Measuring system switchover on 840D and 840C .........................................................2-65 Mechatronics ................................................1-19 Modulo display ...........................................3-119 Monitoring channel Drive 2-29; 3-72 NCK 2-29; 3-72 Monitoring cycle ...........................................2-31 for 840C 5-216 for 840D 5-209 in 611D 4-183 on 840D 4-132 Monitoring devices .......................................1-17 Monitoring functions Standard 2-59 Multiple assignment.............................3-77; 3-79 Multiple distribution.......................................3-79
F
Forced dormant error detection ................... 2-29 Forced dormant errors ................................. 2-30
G
Gantry axes on 840D and 840C................... 2-65 Gearbox ....................................................... 3-94 General error analysis.................................. 2-63 Global enable............................................... 2-34
N
NC-/PLC interface ......................................4-195 NCK inputs/outputs on 840C 3-78 on 840D 3-76 NCK RESET for 840D ................................5-207 NCK SGEs/SGAs .........................................3-75 NCU terminal block ......................................3-76 New functions between 04.96 and 08.97 Editions .........................................................vii
I-286
05/99
O
OEM Users for 840C 2-67 Users for 840D 2-66 OEM applications......................................... 2-66 Offset value.................................................. 2-37 Options for 840C........................................ 5-220 Ordering data option .................................... 2-34 Override factor safe velocity ........................ 3-99 Overview of nmachine data for SINUMERIK 840C....................................................... 4-155
P
Parking an axis ............................................ 2-65 Password for 840C .................................... 5-219 Performance closed-loop control ................. 3-83 Performance closed-loop control module2-35; 2-36 PLC SGEs/SGAs ......................................... 3-76 Power ON position ....................................... 2-39 Power up of the control system.................... 2-59 Previous history ........................................... 2-39 Product liability............................................. 2-23 Products with Safety Integrated ........................vi Protective door........................................... 7-267 Protective measures .................................... 1-19 passive and active 1-17 Pulse disable ............................................... 2-45 Purpose of safety systems........................... 1-17
R
Reaction time ............................................... 2-31 Reference point reached..................... 2-37; 2-38 Reference position ....................................... 2-39 Reliability...................................................... 2-24 Reliable signal processing ........................... 3-73 Requirements with SINUMERIK 840C 2-58 with SINUMERIK 840D 2-58 Requirements of system .............................. 2-58 Residual risk ................................................ 2-63 Risk assessment................................. 2-23; 2-28 Rotary axis ...................................... 4-134; 4-166 Cam act. value 3-119 Endless rotating 3-119 Modulo display 3-119 Safe cams 3-119
S
Safe..................................................... 2-24; 2-25 Safe breaking ramp...................................... 2-55 Safe cams ......................................... 2-27; 3-117 Features of function 3-117 Hysteresis 3-118 Machine data 3-126
Output assignment 3-119 Requirements 3-117 Special feature 3-118 Specification of cam positons 3-117 Test 5-206 Tolerance 3-118 Safe limit positions .....................................3-113 Configurable stop reactions 3-114 Exit 3-114 Features of function 3-113 Machine data 3-116 Requirements 3-113 Test 5-206 Upper and lower limit vaues 3-113 Safe operation ..............................................2-25 Safe operational stop ...................................2-26 Safe operational stop ...................................3-85 Deselection 3-87 Features of function 3-85 Machine data 3-90 Selection 3-86 Test 5-205 Safe speed ...................................................3-91 Configurable stop reaction 3-96 Features of function 3-91 Machine data 3-112 Requirements 3-91 Selection 3-92 Selection of speed limit values 3-93 Switching over between speed limit values3-93 Test 5-205 Safe standstill ...............................................3-83 Features of function 3-83 Machine data 3-84 Requirements 3-83 Selection/deselection 3-83 Safe stopping ...............................................2-26 Safely reduced speed...................................2-26 Safety ...........................................................2-24 Safety analysis .............................................2-23 Safety category 3 ...................... 1-18; 2-28; 2-63 Safety Integrated ..........................................2-25 Safety standards ..........................................2-22 Save bootfiles for 840C 5-217 Save SI data for 840C 5-217 for 840D 5-211 SBH ..............................................................3-85 SBR ..............................................................2-55 Screen for NCK inputs and outputs on 840C3-79 SE...............................................................3-113 Series start-up .................................5-212; 5-221 Service data for 840C.................................4-176 Set axis monitor for 840D 5-209 Set axis monitoring for 840C 5-217 Set password for 840C 5-216 for 840D 5-209 SG ................................................................3-91
I-287
05/99
SG specific STOPs ...................................... 3-98 SGA SBH active 3-87 SGA screen Mixed I/O 1 4-168 Mixed I/O 2 4-168 SGE screen CSB (low) 4-167 Mixed I/O 1 4-168 Mixed I/O 2 4-168 SGE/SGA Features of functions 3-72 Machine data 3-82 Signal transit times in channels 3-75 Test 5-205 What is the minimum number? 3-74 Which ones are provided? 3-74 SGE/SGA Assignment for 840C 5-216 for 840D 5-210 SGEs/SGAs for Test stop ............................ 2-44 SH ................................................................ 3-83 Shift gearboxes ............................................ 3-94 SI password for 840C ................................ 5-216 Slip between motor and load 2-68 SN .............................................................. 3-117 Softkey CONFIRM SI-DATA for 840D........ 5-208 Softkey COPY SI-DATEN for 840D............ 5-208 Software version with 840C/611D 2-58 with 840D/611D 2-58 Speed limit values Selection 3-93 Switching over 3-93 Speed monitoring......................................... 3-92 Spindle - axis for 840C............................... 5-220 Standstill tolerance ...................................... 3-85 Start-up for 840C Series start-up 5-220 Start-up of 840D Initial start-up 5-209; 5-216 Series start-up 5-212 STOP A........................................................ 2-48 Description 2-50 STOP B........................................................ 2-48 Description 2-50 STOP C........................................................ 2-48 Description 2-51 STOP D........................................................ 2-48 Description 2-52 STOP E........................................................ 2-48 Description 2-52 STOP F ........................................................ 2-48 Description 2-52 Stop reaction Sequence 2-50
SG-specific 3-98 Stop reaction priorities..................................2-49 Stop reactions ..............................................2-48 Machine data 2-54 Overview 2-48 Storage standstill position ............................2-59 Store bootfiles for 840D 5-208 Store standstill position ................................2-39 Stored standstill position ..............................2-39 Stored user agreement.................................2-39 Switch-on......................................................2-59 Synchronization of cam signals Enable 3-118 System variable..........................................4-202
T
Terms ...........................................................2-25 Test of disable path ......................................2-44 Test stop.......................................................2-45 Check 5-205 Preconditions 2-44 SGEs/SGAs 2-44 When carry out? 2-44 Teststop Sequence 2-45 Time monitoring..........................................7-274 Time response On violation of SG limit value 3-97 When limit position is crossed 3-115 Time response when cam position is crossed3-121 Tolerance for SN ........................................3-118 Trouble-shooting for 840C 5-219 on 840D 5-213 Types of encoder..........................................2-35 2-encoder system 2-36
U
User agreement............................................2-32 for 840C 5-218 for 840D 5-210 Interlock 2-33 Stored 2-38
V
Velocities and speeds ..................................3-91 Verification....................................................2-23 Vertical axis ..................................................2-65
I-288
Siemens AG A&D MC IS P.O. Box 3180 D-91050 Erlangen Federal Republic of Germany
(Tel: ++180 / 538 - 8008 [Hotline]) (Fax: ++49-9131/98-1145) Email: motioncontrol.docu @siemens.de From Name:
Suggestions Corrections For Publication/Manual: SINUMERIK 840 C/SIMODRIVE 611D Safety Integrated Manufacturer Documentation
Description of Functions Order No.: Edition: 6FC5 197-0AC50-0BP0 05/99
Company/Department Address: ____________ Telephone: __________ / Telefax: ________ /
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SINUMERIK 840C/SIMODRIVE 611D Safety Integrated

Description of functions 05/99 Edition

Overview of SINUMERIK 840C Documentation / OEM Version for Windows

SINUMERIK 840/840C/ 850/880/ 880 GA2

Operators Guide OEM Version Windows Standard

Measuring Cycles Version 20 Users Guide

Users Guide Simulation Milling and Turning

Interface: Signals Connection Conditions

Function Block Packages Function Macros

PLC 135 WB/WB2d/WD Quick Reference, Planning S5HLL

SINUMERIK WS 800A CL 800 Cycle Language Users Guide

Planning Guide Graphic Programming System

Users Guide OEM Version for Windows

Alarm Dialog for PC OEM Version for Windows

Description of Functions SINUMERIK Safety Integrated

Installation Guide Instructions Lists Difference Description Windows

Spare Parts List

SINUMERIK 840 C/ SIMODRIVE 611D Safety Integrated

Safety Systems Safe Functions

Installation and Start-Up Alarms

Appendix Abbreviations List of References

Status code in the "Remarks" column:

Edition 04/96 08/97 05/99

SINUMERIK Safety Integrated Preface

Notes for the reader

SINUMERIK Safety Integrated Preface

Notes on how to use this Manual

Products with integrated safety functions

SINUMERIK Safety Integrated Preface

840C 05/99 edition

Actual value synchronisation (Section 3.7)

840D 04/99 edition Explanation of symbols

SINUMERIK Safety Integrated Preface

Logo This symbol indicates the SINUMERIK Safety Integrated function.

SINUMERIK Safety Integrated Preface

Type-examination certificate sign (BG-PRFZERT)

Type-examination certificate sign for SINUMERIK 840D/611D and 840C/611D

SINUMERIK Safety Integrated Preface

Type-examination certificate for SINUMERIK 840D/611D

SINUMERIK Safety Integrated Preface

Type-examination certificate for SINUMERIK 840C/611D

SINUMERIK Safety Integrated Preface

SINUMERIK Safety Integrated Contents

SINUMERIK Safety Integrated Contents

SINUMERIK Safety Integrated Contents

SINUMERIK Safety Integrated Contents

What is the purpose of safety systems?

What is the difference between conventional and modern approaches to safety?

SINUMERIK Safety Integrated 1 Brief Description

And how do these systems guarantee safety?

Integrated safety functions

SINUMERIK Safety Integrated 1 Brief Description

Which components can be omitted?

SINUMERIK Safety Integrated 1 Brief Description

General Information on Safety Systems

SINUMERIK Safety Integrated

2 General Information on Safety Systems

Directives, standards and legislation

EU directives, that set minimum legal standards

Relevant safety standards