Page 1 Function Manual Safety Functions Integrated in the System/ Drive Connectinb Sensors/ Actuators Data Description Commissioning Diagnostics Valid for Control Interaction with SINUMERIK 840D sl Other Functions SINUMERIK 840D sl (export version) Drive Appendix SINAMICS S120 Software version Index 1.3.2 03.06 Edition...
Page 2 03.06 6FC5 397-4BP10-0BA0 Registered Trademarks Any product names mentioned may be trademarks or product designations of Siemens or their suppliers, whose use by third parties for their own purposes may infringe the rights of the trademark owners. We have checked the contents of this manual for agreement with the hardware and software described.
Page 3 “Support” Target group This documentation is intended for manufacturers/end users of machine tools and production machines who use SINUMERIK 840D sl and SINAMICS S120 and the integrated safety functions (SINUMERIK Safety Integrated Standard scope The functionality of the standard scope is described in the following documenta- tion.
Page 4 Fax: +49 (0) 9131 / 98 – 63315 Email: mailto:motioncontrol.docu@siemens.com Fax form: Refer to the reply form at the end of the document. SINUMERIK Internet address http://www.siemens.com/motioncontrol © Siemens AG, 2006. All rights reserved SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 5 The EC Declaration of Conformity for the EMC Directive can be found/obtained S the internet: http://www.ad.siemens.de/csinfo under product/order no. 15257461 S the relevant branch office of the A&D MC group of Siemens AG. Standard scope The main areas covered by this Description of Functions are as follows: S Regulations and Standards...
Page 6 With a warning triangle indicates that minor personal injury can result if proper precautions are not taken. Caution without warning triangle indicates that material damage can result if proper precautions are not taken. © Siemens AG, 2006. All rights reserved SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 7 Additional notes Note This symbol always appears in the document where further information is provided. © Siemens AG, 2006. All rights reserved SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 15: Regulations And Standards
US, must fulfill the local US requirements even if the ma- chinery construction company (OEM) is based in Europe. © Siemens AG, 2006. All rights reserved 1-15 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 16: Functional Safety
EU Directives involved are also fulfilled. S EU Directives specify that the Member States must mutually recognize domes- tic regulations. © Siemens AG, 2006. All rights reserved 1-16 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 17: Machinery Directive (98/37/Ec)
The manufacturer of a machine must provide proof that his machine is in com- pliance with the basic requirements. This proof is made more simple by applying harmonized Standards. © Siemens AG, 2006. All rights reserved 1-17 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 18: Harmonized European Standards
– Type B2 standards for protective safety devices are defined for various ma- chine types – e.g. Emergency Stop devices, two-hand operating circuits, interlocking elements, contactless protective devices, safety-related parts of controls. © Siemens AG, 2006. All rights reserved 1-18 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 19 Where relevant, it should be noted that it is not mandatory that the Standard is applied but that the safety goal must be achieved. © Siemens AG, 2006. All rights reserved 1-19 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 20: Standards To Implement Safety-Related Programmable Electronic Controls
Standards. Either prEN ISO 13849–1 (rev) or EN IEC 62061 is applied depen- ding on the particular technology (mechanical, hydraulic, pneumatic, electrical, electronic, programmable electronic), risk classification and architecture. © Siemens AG, 2006. All rights reserved 1-20 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 21: Pren/Iso 13849-1 (Revision From En 954-1)
(PL) are used, for this purpose, based on the various Categories. The following safety-related characteristic quantities are required for devices/equipment: S Category (structural requirement) S PL: Performance Level © Siemens AG, 2006. All rights reserved 1-21 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 22: En Iec 62061
Safety-related characteristic quantities for subsystems: S SIL CL: SIL claim limit SIL claim limit S PFH Probability of dangerous failures per hour © Siemens AG, 2006. All rights reserved 1-22 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 23 EN 954–1/EN ISO 13849–1 should be applied for non-electrical systems. © Siemens AG, 2006. All rights reserved 1-23 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 25: Risk Analysis/Assessment
If the risk is to be further reduced, suitable protective measures must be selected and also applied. The risk assessment should then be repeated. © Siemens AG, 2006. All rights reserved 1-25 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 26: Risk Reduction
EN 62061 can be used as an alternative to EN 954/ISO 13849. Electronic controls and bus systems must also comply with IEC/EN 61508. © Siemens AG, 2006. All rights reserved 1-26 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 27: Risk Reduction
Residual risks must be clearly referred to in the machine/plant documentation (user information according to EN ISO 12100–2). © Siemens AG, 2006. All rights reserved 1-27 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 29: Nrtl Listing
(i.e. certified by an NRTL). A note states that IEC 61508 provides the requirements to design such a con- troller. © Siemens AG, 2006. All rights reserved 1-29 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 31: Machine Safety In Japan
Emergency Stop Concepts...) should be clarified with customers at an early phase so that they can be integrated in the risk assessment/risk reduction. © Siemens AG, 2006. All rights reserved 1-31 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 32: Other Safety-Related Subjects And Issues
Regulations and Standards is provided in the Chapters listed below: S Chapter 1: Regulations and Standards S Chapter 2: Specification and design of safety-related controls for machines © Siemens AG, 2006. All rights reserved 1-32 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 33: Brief Description
This helps reduce the susceptibility to faults – and the integration also reduces the amount of cabling. © Siemens AG, 2006. All rights reserved 2-33 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 34 Safety systems: External ––> Integrated SINUMERIK Safety Integrated Using the “SINUMERIK Safety Integrated” function, for SINUMERIK 840D sl, for all power/performance classes, integrated safety functions are available in conjunction with the SINAMICS S120 drive system; these are used to monitor standstill (zero speed), velocity and position.
Page 35: System Structure And Basic Features
Motor Module Motor control Safety-relevant monitoring functions Fig. 2-3 Evaluation/logic with monitoring functions and examples of sensors and actua- tors © Siemens AG, 2006. All rights reserved 2-35 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 36 For example, the appropri- ate stop responses for the drives can be initiated and the actuators shutdown via the shutdown paths. © Siemens AG, 2006. All rights reserved 2-36 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 37: Overview, Si Functions
Partially automated acceptance test for all safety-related functions. Simple op- eration of the test process, automatic configuration of Trace functions and auto- matic generation of an acceptance report. © Siemens AG, 2006. All rights reserved 2-37 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 39: System Features
Fault analysis 3.1.1 Monitoring The SINUMERIK 840D sl control with SINAMICS S120 is equipped with various standard monitoring functions. These functions detect system faults/errors and ini- tiate specific responses (also refer to the appropriate literature). These standard monitoring functions do not comply with EN 954–1 or IEC 61508.
Page 40: Residual Risks
For a synchronous linear motor, the movement can be a maximum of one pole width. This corresponds to the following distances: 1FN1-07 2 7 mm 1FN1-12/-18/-24 36 mm 1FN3 20 mm © Siemens AG, 2006. All rights reserved 3-40 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 41: Safety Functions
For the above mentioned encoder fault, the risk is only possible for a few encoder types as a result of their principle of operation (e.g. encoders with microprocessor-controlled signal generation). © Siemens AG, 2006. All rights reserved 3-41 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 42: System Requirements
Which modules can be configured with which versions that can be downloaded are also specified in the download area. © Siemens AG, 2006. All rights reserved 3-42 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 43: Safety Functions Integrated In The Drive
If this expected response in a monitoring channel is not fulfilled, the drive coasts to a standstill (two channel) and an appropriate message is output. © Siemens AG, 2006. All rights reserved 4-43 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 45 The stop response is transferred to the other monitoring channel so that two-chan- nel stopping can be carried out. Detailed information on the stop responses, see Section 6.3 “Safe Stops A-F”. © Siemens AG, 2006. All rights reserved 4-45 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 46: Parameter, Checksum, Version, Password
S All the factory settings can be restored (p0976 = 1 and p0009 = 1 on the Con- trol Unit) even when the safety functions are enabled (p9601 = p9801 = 1). © Siemens AG, 2006. All rights reserved 4-46 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 47 – Default setting for p9761 = 0 In other words: The safety password does not need to be set during initial commissioning. S Changing the password © Siemens AG, 2006. All rights reserved 4-47 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 48 Parameter overview (see Subsection 8.2.2 “Description of the parameters”) S p9761 “Enter SI password” S p9762 “New SI password” S p9763 “Confirm SI password” © Siemens AG, 2006. All rights reserved 4-48 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 49: Safe Standstill (Sh)
S Synchronous rotary motors: Max. movement = 180° / number of pole pairs S Synchronous linear motors: Max. movement = pole width © Siemens AG, 2006. All rights reserved 4-49 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 50 By appropriately interconnecting the binector input to a joint input terminal for the drives to be combined to form a group. © Siemens AG, 2006. All rights reserved 4-50 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 51 Drive 4 r0722. p9620 Drive Drive Drive Group 1 Group 2 Fig. 4-2 Example: terminal grouping for safe standstill (SH) © Siemens AG, 2006. All rights reserved 4-51 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 52 If the two input signals for selecting/deselecting safe standstill differ momentarily, i.e. within the tolerance time in p9650/p9850, the drive is stopped although no message is output. © Siemens AG, 2006. All rights reserved 4-52 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 53 “CU inputs/outputs, sampling time” S r9780 “SI monitoring clock cycle (Control Unit)” S r9880 “SI monitoring clock cycle (Motor Module)” © Siemens AG, 2006. All rights reserved 4-53 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 54: Safe Brake Control (Sbc)
The safe brake control function only becomes active if at least one safety monitor- ing function is enabled (i.e. p9601 = p9801 0). © Siemens AG, 2006. All rights reserved 4-54 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 55 If the Motor Module or Control Unit detects a fault, the brake current is switched off and the safe status is reached. © Siemens AG, 2006. All rights reserved 4-55 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 56 “CU inputs/outputs, sampling time” S r9780 “SI monitoring clock cycle (Control Unit)” S r9880 “SI monitoring clock cycle (Motor Module)” © Siemens AG, 2006. All rights reserved 4-56 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 57: Commissioning The Sh And Sbc Functions
Terminal ”EP” 4. For operation with SBC, the following applies: A brake must be connected to the appropriate Motor Module connector. © Siemens AG, 2006. All rights reserved 4-57 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 59 – the terminals for safe standstill can be grouped Note: The safe standstill terminals must be grouped identically in both monitoring channels. © Siemens AG, 2006. All rights reserved 4-59 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 60 The commissioning engineer can change the time required for carrying out the forced checking procedure and testing the safety shutdownl paths. © Siemens AG, 2006. All rights reserved 4-60 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 61 CompactFlash card. The new safety parameterization becomes effective on the Control Unit and on the Motor Module. © Siemens AG, 2006. All rights reserved 4-61 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 62: Safety Faults
In this way, errors are detected in the monitoring channels. After STOP F, STOP A is initiated. When STOP A is present safe standstill (SH) is effective. © Siemens AG, 2006. All rights reserved 4-62 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 63 The faults and alarms for SINAMICS Safety Integrated are described in the following documentation: References: /LH1/ SINAMICS S List Manual – Section 3.2 © Siemens AG, 2006. All rights reserved 4-63 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 64: Overview Of Parameters And Function Diagrams
Actual checksum Safety Integrated parameters – p9799 p9899 Reference checksum, Safety Integrated parame- Safety Integrated com- ters missioning (p0010 = 95) © Siemens AG, 2006. All rights reserved 4-64 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 65 The SINAMICS Safety Integrated parameters are described in the following references: References: /LH1/ SINAMICS S List Manual – Section 1.2 © Siemens AG, 2006. All rights reserved 4-65 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 66: Acceptance Test And Certificate
If any parameters are altered by Safety Integrated functions, the acceptance test must be carried-out again and documented in the acceptance certificate. © Siemens AG, 2006. All rights reserved 4-66 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 67 9. Verify the data backups (archives) 10.Countersignatures Appendix Measurement records for functional test parts 1 and 2. S Alarm logs S Trace recordings © Siemens AG, 2006. All rights reserved 4-67 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 68: Documentation
Machine description and overview diagram Designation Type Serial number Vendor End customer Electrical axes Other axes Spindles Block diagram of the machine © Siemens AG, 2006. All rights reserved 4-68 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 69 = r9880 = r9780 = r9880 = Table 4-6 Safety Integrated functions per drive Drive number Safety Integrated function © Siemens AG, 2006. All rights reserved 4-69 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 70 Description of safety equipment Examples: Wiring of SH terminals (protective door, Emergency Stop), grouping of SH terminals, holding brake for vertical axis, etc. © Siemens AG, 2006. All rights reserved 4-70 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 71: Function Test
= r9773.1 = 1 (SH selected and active – drive) For terminal grouping for “safe standstill”: r9774.0 = r9774.1 = 1 (SH selected and active – group) Deselect SH © Siemens AG, 2006. All rights reserved 4-71 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 72 = r9773.1 = 0 (SH deselected and inactive – drive) Run the drive Ensure that the correct drive is running © Siemens AG, 2006. All rights reserved 4-72 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 73 Correct wiring of the shutdown paths Crosswise comparison of SH terminals Routine for the forced checking procedure of the shutdown paths © Siemens AG, 2006. All rights reserved 4-73 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 74 = r9773.1 = 1 (SH selected and active – drive) r9772.4 = r9872.4 = 1 (SBC requested – CU and MM) Deselect SH © Siemens AG, 2006. All rights reserved 4-74 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 75: Completing The Log
Routine for forced checking procedure of the brake control 4.6.4 Completing the log Safety Integrated parameters Were the specified values checked? Control Unit Motor Module © Siemens AG, 2006. All rights reserved 4-75 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 76 Startup engineer This confirms that the tests and checks have been correctly carried-out. Date Name Company / de- Signature partment © Siemens AG, 2006. All rights reserved 4-76 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 77 4.6 Acceptance test and certificate Machine manufacturer This confirms that the parameterization recorded above is correct. Date Name Company / de- Signature partment © Siemens AG, 2006. All rights reserved 4-77 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 78 Safety Functions Integrated in the Drive 03.06 4.6 Acceptance test and certificate Notes © Siemens AG, 2006. All rights reserved 4-78 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 79: Basics On The Safety Functions Integrated In The System/Drive
(see Subsection 8.1.2 “Description of the machine data”). for SINAMICS S 120 p9500 SI motion, monitoring clock cycle (see Subsection 8.2.2, “Description of the parameters”) © Siemens AG, 2006. All rights reserved 5-79 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 80: Crosswise Data Comparison
MD 10092: $MN_INFO_CROSSCHECK_CYCLE_TIME. If the monitoring clock cycle is modified, then the crosswise comparison clock cycle is also changed. © Siemens AG, 2006. All rights reserved 5-80 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 81: Forced Checking Procedure
“safe programmable logic” (SPL) is tested to ensure that it is correctly functioning (see Subsection 7.1.2 “Forced checking procedure of SPL signals”). © Siemens AG, 2006. All rights reserved 5-81 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 82 If the crosswise data comparison identifies an error, then this results in a stop response (see Section 6.3 “Safe Stops A-F”). © Siemens AG, 2006. All rights reserved 5-82 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 83: Actual Value Conditioning
Remarks motor 1-encoder system 1-encoder system 2-encoder system 2-encoder system 2-encoder system 2-encoder system Note: x –> encoder connection © Siemens AG, 2006. All rights reserved 5-83 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 84 In this case, the safety-relevant actual values for an axis are supplied from 2 sepa- rate encoders. In standard applications, the drive evaluates the motor encoder (IMS) and the NC, the measuring system (DMS). © Siemens AG, 2006. All rights reserved 5-84 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 85 (not used for encoders with DRIVE-CLiQ interface) Fig. 5-2 2-encoder system for a feed drive (FD), connected through 2 Sensor Modules © Siemens AG, 2006. All rights reserved 5-85 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 86 DRIVE-CLiQ interface) Incremental encoder Fig. 5-3 2-encoder system for the main spindle, connected via 2 Sensor Modules © Siemens AG, 2006. All rights reserved 5-86 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 87: Encoder Adjustment, Calibrating The Axes
(closed-loop) axes/spindles. Reference: /IAD/, Commissioning Manual SINUMERIK 840D sl /FBD/, Description of Functions, SINUMERIK 840D sl, R1, “Reference point approach” © Siemens AG, 2006. All rights reserved 5-87 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 88: Axis States
“Reference point reached” = “0” Axis state “Axis not referenced” for 840D sl DB31-61, DBX60.4 / DBX60.5 Reference: /IAD/, Commissioning Manual, SINUMERIK 840D sl © Siemens AG, 2006. All rights reserved 5-88 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 89 (including the traversing distance to the refer- ence point with ERN) must be within a tolerance window specified using the appropriate machine data. © Siemens AG, 2006. All rights reserved 5-89 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 90: User Agreement
An axis/spindle with integrated safety functions can have the following status: User agreement = yes, or User agreement = no © Siemens AG, 2006. All rights reserved 5-90 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 91 NC and drive). When the user agreement is can- celled, the axis state “axis safely referenced” is always reset (see Fig. 5-5 “Axis states when referencing”). © Siemens AG, 2006. All rights reserved 5-91 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 92: Taking Into Account Selector Gearboxes
– e.g. interdependency on the operating mode of the spindle. These 8 pairs must be parameterized and se- lected depending on the encoder configuration. © Siemens AG, 2006. All rights reserved 5-92 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 93 The user is responsible in bringing the axis back into the “axis safely referenced” state if the functions “safe software limit switch” or “safe cams” are used. © Siemens AG, 2006. All rights reserved 5-93 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 94: Actual Value Synchronization (Slip For 2-Encoder Systems)
Actual values are only synchronized when there is an actual value difference between the two channels of 2 mm or 2 mDegrees in each SI monitoring clock cycle. © Siemens AG, 2006. All rights reserved 5-94 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 95: Encoder Limit Frequency
(depending on the context); when the enco- der limit frequency is exceeded, an appropriate alarm is output (see Section 6.5 “Safely-reduced speed”) © Siemens AG, 2006. All rights reserved 5-95 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 96: Enabling The Safety-Related Functions
S SE S SN S SG override S Actual value synchronization S External STOPs S Cam synchronization S STOP E © Siemens AG, 2006. All rights reserved 5-96 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 97: Switching The System On/Off
We recommend that the “safe operating stop (SBH)” function is selected. For axes with SE/SN, the stop position is used to internally check the position when powering-up. © Siemens AG, 2006. All rights reserved 5-97 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 98 For axes with safety SE and SN functions, when powering-up, a user agreement is again required after the position has been checked. © Siemens AG, 2006. All rights reserved 5-98 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 99: Safety Functions Integrated In The System/Drive
(parameters, alarms etc.). The standard pre-assignment (default setting) of the associated parameters is generally sufficient in the context of the motion monitoring functions. © Siemens AG, 2006. All rights reserved 6-99 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 100 S Safe standstill is activated after a STOP A. S Safe standstill is automatically activated from every monitoring channel when testing the shutdown paths. © Siemens AG, 2006. All rights reserved 6-100 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 101 After the machine has been powered-up, the “safe standstill” function must always be tested for all of the axes/spindles by testing the shutdown path using Safety Integrated. © Siemens AG, 2006. All rights reserved 6-101 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 102 CU that the pulses must be cancelled in the SI monitoring chan- nel integrated in the drive. © Siemens AG, 2006. All rights reserved 6-102 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 103 – If the Motor Module detects that communications to the NCK have failed, then this is identified by the safety functions integrated in the drive and an SH is initiated. © Siemens AG, 2006. All rights reserved 6-103 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 104: Testing The Shutdown Paths
“test block”. Note If the brake control is enabled, then when the test stop is initiated, the brake is also controlled. © Siemens AG, 2006. All rights reserved 6-104 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 105 S For vertical (suspended) axes, the manufacturer must ensure that these can be locked (to stop them falling). Message The “test stop running” message is displayed during the “test stop”. © Siemens AG, 2006. All rights reserved 6-105 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 106: Safe Operating Stop (Sbh)
In this case, the encoder coarse position must be taken into account for a 1-encoder system (see Section 5.4 “Actual value conditioning”). © Siemens AG, 2006. All rights reserved 6-106 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 107: Selecting/De-Selecting The Safe Operating Stop
–> Any signal state The active SG stage is displayed using SGA “SGA active bit 0” and “SG active bit 1”. © Siemens AG, 2006. All rights reserved 6-107 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 108 (for 840D sl: 27010, for SINAMICS S120: F01707) and STOP B/A initiated! © Siemens AG, 2006. All rights reserved 6-108 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 109 The NCK-SGA “SBH active” is configured using the following machine data: with 840D sl MD 36981: $MA_SAFE_SS_STATUS_OUTPUT Configuring NCK-SGEs with 840D sl MD 36971: $MA_SAFE_SS_DISABLE_INPUT © Siemens AG, 2006. All rights reserved 6-109 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 110: Effects When The Limit Is Exceeded For Sbh
S120: p9560 SI motion, pulse cancellation shutdown speed S An alarm is generated (for 840D sl: 27010, for S120: F01707) © Siemens AG, 2006. All rights reserved 6-110 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 111 Time required to reach the shutdown speed for STOP B. Time required to stop the axis for a STOP B. © Siemens AG, 2006. All rights reserved 6-111 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 112 Each axis must be measured during commissioning (start-up) to determine the distance that it travels between the limit switch being violated and it coming to a standstill. © Siemens AG, 2006. All rights reserved 6-112 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 114 SG/SE RESET retraction + timer t the programmed started retraction and stopping =0: SBH is activated motion (ESR). SBH active © Siemens AG, 2006. All rights reserved 6-114 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 115 * There is an immediate transition from STOP B to A if t = 0 or the parameterized speed threshold is exceeded. © Siemens AG, 2006. All rights reserved 6-115 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 116 It is possible to advance to stop responses that have a higher priority. It is not possible to advance to stop responses that have a lower priority. © Siemens AG, 2006. All rights reserved 6-116 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 117 Configuring NCK-SGEs for 840D sl: MD 36977: $MA_SAFE_EXT_STOP_INPUT[n]: (input assignment, external stop request) with n = 0, 1, 2, 3. © Siemens AG, 2006. All rights reserved 6-117 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 118 SGE “de-select ext. STOP D”: via SGA “STOP D active” for SGE “de-select ext. STOP E”: via SGA “STOP E active” © Siemens AG, 2006. All rights reserved 6-118 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 119 S A higher stop request (STOP A; B; C or D) with a higher priority is received from an internal monitoring function © Siemens AG, 2006. All rights reserved 6-119 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 120: Description Of Stop A
STOP A. S Alarm message for an internally initiated STOP A: The alarm message “STOP A initiated” is displayed. © Siemens AG, 2006. All rights reserved 6-120 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 121 The MD 36977: $MA_SAFE_EXT_STOP_INPUT[0] is used to define the selection/ de-selection of the external brake request, in this case, “de-select external STOP A” (SH, pulse cancellation). © Siemens AG, 2006. All rights reserved 6-121 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 122: Description Of Stop B
STOP B, the system immediately changes over to a STOP A. © Siemens AG, 2006. All rights reserved 6-122 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 123: Description Of Stop C
The SBH function is automatically activated after the timer expires. S Effect: The drive is braked at the current limit under closed-loop speed control and brought into SBH. © Siemens AG, 2006. All rights reserved 6-123 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 124: Description Of Stop D
This signal indicates that STOP D is active. 0 signal: STOP D is not active. 1 signal: STOP D is active. © Siemens AG, 2006. All rights reserved 6-124 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 125: Description Of Stop E
This variable saves the user having to search through all of the axes. © Siemens AG, 2006. All rights reserved 6-125 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 126 Possible cause: S The retraction position cannot be reached within the specified time. © Siemens AG, 2006. All rights reserved 6-126 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 127: Description Of Stop F
STOP B, an ESR or braking along the programmed path can be initi- ated (e.g. by writing to $AC_ESR_TRIGGER or initiating an external STOP D). © Siemens AG, 2006. All rights reserved 6-127 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 128 STOP B is initiated 2.5 s after t1. The axis is already stationary at this time, which means that the pulses can be immediately cancelled. © Siemens AG, 2006. All rights reserved 6-128 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 129 STOP B is initiated 2.5 s after t2. The axis is already stationary at this time, which means that the pulses can be immediately cancelled. © Siemens AG, 2006. All rights reserved 6-129 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 130: Forced Checking Procedure Of The External Stops
Which SGEs/SGAs are required for the test stop of external STOPs? The following SGEs/SGAs can be used to perform the test stop for external STOPs: © Siemens AG, 2006. All rights reserved 6-130 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 131 PLC-SGE “de-select ext. STOP D” PLC-SGA “STOP D is active” PLC-SGE “de-select ext. STOP E” PLC-SGA “STOP E is active” © Siemens AG, 2006. All rights reserved 6-131 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 132: Safe Braking Ramp (Sbr)
MD/parameter 36946/p9546 plus the value in MD/parameter 36948/p9548. for 840D sl: MD 36946: $MA_SAFE_VELO_X (speed limit n for SINAMICS S120: p9546: SI motion speed limit n © Siemens AG, 2006. All rights reserved 6-132 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 133 MD 35410: SPIND_OSCILL_ACCEL Recommendation: The value entered for the SBR tolerance should be approx. 20% higher than the calculated value. © Siemens AG, 2006. All rights reserved 6-133 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 134 This time and thus the residual distance traveled by the axis is determined by the axis design (motor, mass, friction, ...). © Siemens AG, 2006. All rights reserved 6-134 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 135 With an assessment, based on this risk analysis, it should be defined as to which additional measures are required, e.g. external brakes. © Siemens AG, 2006. All rights reserved 6-135 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 136: Safely-Reduced Speed (Sg)
S The option and functions must be enabled in the axis-specific machine data S The SGEs “SBH/SG de-selection” and “SBH de-selection” must be configured © Siemens AG, 2006. All rights reserved 6-136 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 137: Speed Monitoring, Encoder Limit Frequency
The encoder limit frequency is 500 kHz. When the encoder limit frequency in SG is exceeded, the SG-specific parameterized stop is initiated. © Siemens AG, 2006. All rights reserved 6-137 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 138: Selecting/De-Selecting Safely Reduced Speed
The required speed limit is selected as follows by combining the following SGEs: © Siemens AG, 2006. All rights reserved 6-138 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 139 However, if the actual speed is higher than the new limit value when the time has expired, an appropriate alarm is output with the configurable stop res- ponse. © Siemens AG, 2006. All rights reserved 6-139 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 140 The speeds to be taken into account (speed at which hands/arms are moved to appropriately arrange protective devices/guards) are specified in Standard DIN EN 999. © Siemens AG, 2006. All rights reserved 6-140 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 141: Effects When The Limit Value Is Exceeded For Sg
The monitoring functions provided by SI are basically axis-specific. This means that it is not possible to directly monitor the TCP. © Siemens AG, 2006. All rights reserved 6-141 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 142 (STOP B/C: typical 2 position controller clock cycles, maximum 2 position controller clock cycles) (STOP D/E: typical 2 interpolation clock cycles, maximum 2 interpolation clock cycles + 2 monitoring clock cycles) © Siemens AG, 2006. All rights reserved 6-142 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 143 The SG-specific stop responses can be set using the following machine data: for 840D sl: MD 36963: $MA_SAFE_VELO_STOP_REACTION[n] for SINAMICS S120: p9563[0...3]: SI motion SG-specific stop response © Siemens AG, 2006. All rights reserved 6-143 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 144: Override For Safely-Reduced Speed
Changing-over an SG override SG override values are changed-over subject to the same conditions as those that apply to speed limit values. © Siemens AG, 2006. All rights reserved 6-144 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 145 ... with override stage 10 – ” – ... with override stage 11 – ” – ... with override stage 12 © Siemens AG, 2006. All rights reserved 6-145 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 146 NCK-SGEs (override selection bits 3, 2, 1, 0) are configured using the following machine data: for 840D sl: MD 36978: $MA_SAFE_OVR_INPUT[n] (input assignment for override selection) © Siemens AG, 2006. All rights reserved 6-146 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 147: Example: Override For Safely-Reduced Speed
SGEs “SG override selection bit 3 and bit 2” are not required to select an SG override – i.e. they do not need to be configured (they are internally set to “0”). © Siemens AG, 2006. All rights reserved 6-147 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 148 840D sl for SINAMICS S120 MD number Value Parameter No. Value 36932[0] p9532[0] 36932[1] p9532[1] 36932[2] p9532[2] 36932[3] p9532[3] © Siemens AG, 2006. All rights reserved 6-148 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 149: Safety-Related Output "N
MD / following parameters: for 840D sl: MD 36946 $MA_SAFE_VELO_X for SINAMICS S120: p9546 SI motion speed limit n © Siemens AG, 2006. All rights reserved 6-149 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...

Page 150 SGA “n < n ” can have different states. This must be taken into account in the safe processing of the SGAs. © Siemens AG, 2006. All rights reserved 6-150 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 151: Safe Software Limit Switches (Se)
S The stop response is implemented internally in the software (and is therefore faster than a hardware limit switch response) when software limit switches are passed (i.e. actuated) © Siemens AG, 2006. All rights reserved 6-151 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 152 The user can select either STOP C, D or STOP E. Effect S The configured stop response is initiated S The relevant alarm is displayed © Siemens AG, 2006. All rights reserved 6-152 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 153 STOP C: typical 2 position controller clock cycles, maximum 2 position controller clock cycles STOP D/E: typical 2 interpolation clock cycles, maximum 2 interpolation clock cycles + 2 monitoring clock cycles © Siemens AG, 2006. All rights reserved 6-153 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 154 Each axis must be measured during commissioning (start-up) to determine the distance that it travels between the limit switch being violated and it coming to a standstill. © Siemens AG, 2006. All rights reserved 6-154 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 155: Safe Software Cams (Sn)
SI motion, enable safety functions, bits 8...15 SGA assignment is defined using machine data for 840D sl: 36988: $MA_SAFE_CAM_PLUS_OUTPUT[n] and for SINAMICS S120: 36989: $MA_SAFE_CAM_MINUS_OUTPUT[n] © Siemens AG, 2006. All rights reserved 6-155 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 156: Special Points To Be Noted
This must be taken into account when safely processing the cam signals, e.g. by filtering the different signal states by means of a logic circuit (see “Synchronizing cam signals”). © Siemens AG, 2006. All rights reserved 6-156 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 157 Fig. 6-16 Hysteresis of cam SGAs If the cam is incorrectly/inadmissibly parameterized, then this is indicated by Alarm 27033. © Siemens AG, 2006. All rights reserved 6-157 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 158 SI motion, SN plus cams position for SINAMICS S120 MD 36937: $MA_SAFE_CAM_POS_MINUS[n] for 840D sl p9537: SI motion, SN minus cams position) for SINAMICS S120 © Siemens AG, 2006. All rights reserved 6-158 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 159: Effects When Sn Responds
1 position controller clock cycle + 5 monitoring clock cycles + 2 inter- polation clock cycles + 3 PLC cycles © Siemens AG, 2006. All rights reserved 6-159 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 160 Safety Functions Integrated in the System/Drive 03.06 6.8 Safe software cams (SN) Notes © Siemens AG, 2006. All rights reserved 6-160 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 161: Connecting Sensors/Actuators
(see Fig. 7-1 “NCK and drive monitoring channel”). All of the re- quests and feedback signals for safety-related functions should be entered or re- trieved through both monitoring channels (tw0-channel structure). © Siemens AG, 2006. All rights reserved 7-161 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 162 (crosswise data comparison between the drive and NCK). A STOP D/E is trig- gered for an SPL crosswise data comparison. © Siemens AG, 2006. All rights reserved 7-162 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 163 The access to SGE/SGA signals is described in Section 7.2 “Connecting I/O via PROFIsafe” and Section 7.3 “Safe programmable logic (SPL)”. © Siemens AG, 2006. All rights reserved 7-163 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 164 STOP C active STOP D active STOP E active Fig. 7-3 SGEs and SGAs in every monitoring channel for each axis/spindle © Siemens AG, 2006. All rights reserved 7-164 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 165 How many SGEs/SGAs are required as a minimum? Depending on the particular application, only some of the maximum number of SGEs/SGAs available are required. © Siemens AG, 2006. All rights reserved 7-165 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 166 SN1 –, SN2 –, SN3 –, SN4 – (only where required) SN1+, SN2+, SN3+, SN4+ (only where required) Status, pulses cancelled (drive) © Siemens AG, 2006. All rights reserved 7-166 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 167: Forced Checking Procedure Of Spl Signals
In this scope, the user must configure the forced checking procedure. © Siemens AG, 2006. All rights reserved 7-167 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 169 “external STOPs” must be subject to a forced checking procedure one after the other in both chan- nels. © Siemens AG, 2006. All rights reserved 7-169 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 170: Connecting Sensors - Actuators Using The 3-Terminal Concept
© Siemens AG, 2006. All rights reserved 7-170 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 171 In conjunction with the safety-related control of a brake, no feedback signal is available. The brake test will identify as to whether the actuator is correctly func- tioning from a mechanical perspective. © Siemens AG, 2006. All rights reserved 7-171 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 172 Note It is not necessary to provide cross-circuit fault detection in the input module. © Siemens AG, 2006. All rights reserved 7-172 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 173: Sensor Connection Using The 4-Terminal Concept
VS2) of the safety input module. For the connection concept with 4 terminals, both equivalence (NC contact/NC contact, NO contact/NO contact) as well as non- equivalence (NC contact/NO contact) contact versions are possible. © Siemens AG, 2006. All rights reserved 7-173 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 174 (activating) contact) with the 4-terminal concept Fig. 7-7 Sensor connection using the 4-terminal concept © Siemens AG, 2006. All rights reserved 7-174 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 175: Multiple Distribution And Multiple Interlocking
2 SGE ... yes/no for axis 3 SGE ... yes/no Output n Fig. 7-8 Multiple distribution for NCK––SGE © Siemens AG, 2006. All rights reserved 7-175 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 176 Input x & for axis 2 yes/no for axis 3 yes/no Input n Fig. 7-9 Multiple assignment for NCK-SGAs © Siemens AG, 2006. All rights reserved 7-176 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 177 Axis 1: MD 36987: $MA_SAFE_REFP_STATUS_OUTPUT = INSI x Axis 2: MD 36987: $MA_SAFE_REFP_STATUS_OUTPUT = INSI x Axis 3: MD 36987: $MA_SAFE_REFP_STATUS_OUTPUT = INSI x © Siemens AG, 2006. All rights reserved 7-177 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 178: Connecting I/O Via Profisafe
Connecting I/O via PROFIsafe 7.2.1 Function description The fail-safe DP master (F master) integrated in the SINUMERIK 840D sl allows, in conjunction with fail-safe DP modules (F modules), fail-safe communications along PROFIBUS DP specified in accordance with the PROFIsafe profile (PROFI- safe communication).
Page 179 This means that both standard components and F components can be used on a PROFIBUS system. © Siemens AG, 2006. All rights reserved 7-179 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 180: System Structure
Just like Safety Integrated, the PROFIsafe system structure also has a 2-channel diverse system design based on the PLC and NCK-PROFIsafe layer. © Siemens AG, 2006. All rights reserved 7-180 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 181: Parameterizing The F Master (Nck)
– PROFIsafe address of the F module – F net data filter – SGE/SGA assignment SPL-SGE interface See Subsection 7.2.5 “Parameterizing the SPL-SGE inter- face (NCK)”. © Siemens AG, 2006. All rights reserved 7-181 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 182: Parameterizing The Profisafe Communication (Nck)
As part of the PROFIsafe communications, a cyclic interrupt of the PLC user pro- gram (OB1) is made. This is realized in the PROFIsafe clock cycle via OB40. © Siemens AG, 2006. All rights reserved 7-182 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 183 S Interrupt: 27253 ”PROFIsafe communications error F master components %1, error %2“ is displayed and the configured Stop response (Stop D or E) is output to the safety axes. © Siemens AG, 2006. All rights reserved 7-183 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 184: Parameterizing The Spl-Sge Interface
32 bit units are known as sub-slots. This sub-division, for assigning the F-DI mo- dule to the F master is expressed in the sub-slot address. © Siemens AG, 2006. All rights reserved 7-184 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 185 ...IN_ASSIGN[n]), it is possible and also makes sense to use the same PRO- FIsafe and sub-slot address a multiple number of times within the machine data: S $MN_PROFISAFE_IN_ADDRESS[0...max. Index] possible and/or practical © Siemens AG, 2006. All rights reserved 7-185 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 186 F-DI module Sub-slot[1] 10101010 10101010 10101010 10101010 MD: ..._IN_ADDRESS[5] Fig. 7-13 Filtering the F net data signals in the input direction © Siemens AG, 2006. All rights reserved 7-186 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 187 F-DI module 10101010 10101010 Sub-slot[1] 10101010 10101010 MD: ..._IN_ADDRESS[5] Fig. 7-14 Transfer: Filtered F net data signals in SPL-SGE © Siemens AG, 2006. All rights reserved 7-187 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 188: Parameterizing The Spl-Sga Interface
SPL-SGA are written – as F net data – into the 2nd sub-slot of the F-DO module with PROFIsafe address: 100H. © Siemens AG, 2006. All rights reserved 7-188 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 189 S MD10386 $MN_PROFISAFE_OUT_ADDRESS[3] = 05 01 0100 S MD13301 $MN_PROFISAFE_OUT_FILTER[3] = 0000 1031 © Siemens AG, 2006. All rights reserved 7-189 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 190 F net data of the F-DO module 00000000 00000000 00010000 00010000 Sub-slot[0] MD: ..._OUT_ADDRESS[3] Fig. 7-17 Selecting the SPL-SGA for filtering © Siemens AG, 2006. All rights reserved 7-190 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 191: Module Type (Nck)
F modules as a result of the parameterization in the NCK machine data: S MD 10388: $MN_PROFISAFE_IN_ASSIGN S MD 10389: $MN_PROFISAFE_OUT_ASSIGN © Siemens AG, 2006. All rights reserved 7-191 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 192: Response Times
PLC side and the PLC user program to be run-through in the OB40 context. These times typically lie in the vicinity of a few milliseconds. © Siemens AG, 2006. All rights reserved 7-192 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 193 Formula IPO + 0...m * IPO + OB40_INT Max. times 25 ms + 50 ms + 50 ms 125 ms © Siemens AG, 2006. All rights reserved 7-193 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 194 > 2) This time is valid for the case: PST = n * IPO = 25 ms © Siemens AG, 2006. All rights reserved 7-194 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 195: Functional Limitations
AND’ed SPL output data as F net (useful) data. F modules As far as the F modules that can be operated with a SINUMERIK 840D sl, the fol- lowing limitations apply: S F modules with dynamic i parameters are not supported.
Page 196: Safe Programmable Logic (Spl)
(e.g.: mode switch, light interlocking, motor brakes, ...) barriers, Emergency Stop,...) PLC-SPL SGEs SGAs Fig. 7-18 Safe programmable logic © Siemens AG, 2006. All rights reserved 7-196 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 197 – otherwise a STOP D. Any changes to data on the NCK and PLC side do not take effect until after power © Siemens AG, 2006. All rights reserved 7-197 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 198 $A_STATSID, bit 29 and the status signal DB18.DBX119.5 must be evaluated in the SPL in order to bring, as far as possible, the SPL-SGAs into a safe state (deleted/cleared SPL-SGAs). © Siemens AG, 2006. All rights reserved 7-198 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 199 PLC signal processing Interface Axis/spindle DB Process System Drive monitoring channel Fig. 7-19 Communications between the NCK-drive-PLC components © Siemens AG, 2006. All rights reserved 7-199 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 200: Nck-Spl Program
(on the NC side) of an SPL. These can be used to develop the SPL step-by- step. They can only be read by the NCK. © Siemens AG, 2006. All rights reserved 7-200 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 201 STOP D/E is triggered SPL program file is to be changed No response Alarm 27093 is triggered (written, deleted, re-named, edited) © Siemens AG, 2006. All rights reserved 7-201 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 202: Starting The Spl
ASUB can be started in all operating states of the NC (RESET/JOG/not all axes referenced/read-in active). 4. $MN_ASUP_START_PRIO_LEVEL=1: Interrupt priority, from which MD $MN_ASUP_START_MASK becomes active. © Siemens AG, 2006. All rights reserved 7-202 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 203: Starting The Nck-Spl Using The Prog_Event Mechanism
The start condition when booting (bit 3 ==1) must be active in order to start the NCK-SPL (SAFE.SPF) via PROG_EVENT.SPF. © Siemens AG, 2006. All rights reserved 7-203 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 204 ( ) End of the part program ––> $P_PROG_EVENT == 2 ( ) Operator panel reset ––> $P_PROG_EVENT == 3 (x) Boot ––> $P_PROG_EVENT == 4 © Siemens AG, 2006. All rights reserved 7-204 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 205 DEFINE STOP_D_EXT AS $A_INSE[8] DEFINE STOP_A_XT AS $A_INSE[9] ; Program section N10 IDS=01 DO STOP_A_DISABLE=STOP_A_EXT N20 IDS=02 DO $A_OUTSE[1]=NOT $A_OUTSE[1] N30 M17 © Siemens AG, 2006. All rights reserved 7-205 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 206: Starting The Nck-Spl From The Plc User Program
’/_N_CST_DIR/’ NCK-SPL path name Addr2 STRING ’_N_SAFE_SPF’ NCK-SPL program name [values in brackets are standard values required for the call] © Siemens AG, 2006. All rights reserved 7-206 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 207: Diagnostics/Commissioning
$A_OUTSID as long as there is no NCK-SPL. This means that the NCK- SPL can be commissioned step-by-step. This data may only be accessed du- ring the commissioning phase. © Siemens AG, 2006. All rights reserved 7-207 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 208 The following applies to all system variables of the NCK-SPL outputs: They can be written from and read back to the SPL program. © Siemens AG, 2006. All rights reserved 7-208 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 209: Safe Software Relay
Timer2 E_AND Timer3 Fig. 7-20 Function diagram of the “safety relay” The description is provided in the following © Siemens AG, 2006. All rights reserved 7-209 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 210 ($A_MARKERSI, $A_INSE, $A_OUTSE,...). The following functions must be called: © Siemens AG, 2006. All rights reserved 7-210 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 211 A3 are not supplied. However, if TI1 is specified, output A1 must also be para- meterized via SIRELOUT. The same applies for TI2 and A2 and TI3 and A3. © Siemens AG, 2006. All rights reserved 7-211 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 212 The input quantities and timers of the safety relay are either not parameterized or not correctly parameterized. To correct or avoid errors: Call SIRELIN and SIRELTIME with the correct parameterization. © Siemens AG, 2006. All rights reserved 7-212 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 213 For additional measurements, while A0 remains at 0, t4i is only re-saved if the measured time t4 is greater than the old value of t4i. © Siemens AG, 2006. All rights reserved 7-213 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 214 N300 IDS=10 DO M_STATUS_! = SIRELAY(1) ––––––––––––––––––––Error handling––––––––––––––––––––––––––––– N310 IDS=11 EVERY M_STATUS_1 < > DO ..© Siemens AG, 2006. All rights reserved 7-214 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 215 Value 3 for switch-off delay Out0 BOOL Output, instantaneous (no delay) Out1 BOOL Output, delayed by TimeValue1 Out2 BOOL Output, delayed by TimeValue2 © Siemens AG, 2006. All rights reserved 7-215 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 216: System Variables For Sinumerik 840D Sl
Safety Integrated $AA_IM[axis] Actual position of the DOUBLE closed-loop control $VA_IM[axis] Encoder actual value in DOUBLE the machine coordinate system © Siemens AG, 2006. All rights reserved 7-216 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 217 Image of the PLC inputs n = 1, 2 $A_OUTSE[n] NCK output n = 1, 2, ... 64 BOOL stand for the No. of the output © Siemens AG, 2006. All rights reserved 7-217 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 218 $A_LEVELSID Crosswise data 0...320 comparison stack level display: Number of signals for which NCK and PLC detect different signal levels © Siemens AG, 2006. All rights reserved 7-218 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 219: Behavior After Power On / Mode Change / Reset
SPL data on the PLC side The safe programmable logic of the PLC (PLC-SPL) is a sub-function of the safety functions integrated in the SINUMERIK. © Siemens AG, 2006. All rights reserved 7-219 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 220 The error number (1–320) refers to SPL_DATA as an array with 5x64=320 signals. © Siemens AG, 2006. All rights reserved 7-220 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 221: Direct Communications Between Nck And Plc-Spl
$A_PLCSIOUT[1...32] DB18.DBD128 32 bits from the NCK to PLC $A_PLCSIIN[1...32] DB18.DBD132 32 bits from the PLC to NCK © Siemens AG, 2006. All rights reserved 7-221 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 222 NCK-SPL program (SAFE.SPF). A corresponding programming command is rejected with the Alarm 17070 “Channel %1 Block %2 Data write-protected”. © Siemens AG, 2006. All rights reserved 7-222 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 223: Safe Brake Test (Sbt)
840D sl MD 37000: $MA_FIXED_STOP_MODE MD 37030: $MA_FIXED_STOP_THRESHOLD MD 36966 $MA_SAFE_BRAKETEST_TORQUE MD 36967: $MA_SAFE_BRAKETEST_POS_TOL MD 36968: $MA_SAFE_BRAKETEST_CONTROL © Siemens AG, 2006. All rights reserved 7-223 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 225 If the measured tor- drive que m matches that parameterized in drive parameter p1532, m becomes the value from the MD $MA_SAFE_BRAKETEST_TORQUE. © Siemens AG, 2006. All rights reserved 7-225 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 226 PLC via FC 18 must be greater than this threshold value. Furthermore, the drive must have reached its torque limit parameterized using $MA_SAFE_BRAKETEST_TORQUE. © Siemens AG, 2006. All rights reserved 7-226 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 227: Operational Sequence
The following table lists all of the formal parameters of the brake test function Signal Type Type Comment Start BOOL Starts the brake test BOOL Acknowledge fault © Siemens AG, 2006. All rights reserved 7-227 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 228 Brake opens during the holding time Fault when de-selecting the brake test Internal fault “PLC-controlled axis” signal not enabled in the user program © Siemens AG, 2006. All rights reserved 7-228 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 229 52.1 //Control Z axis brake S5T#200MS SE T //Delay, feedback signal brake is closed 109.0 //Feedback signal, close brake initiated © Siemens AG, 2006. All rights reserved 7-229 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 230 //Axis number of axis to be tested, Z axis TimerNo :=T110 //Timer number TV_BTactiv :=S5T#200MS//Monitoring time value: Brake test TV_Bclosed :=S5T#1S //Monitoring time value: Brake closed © Siemens AG, 2006. All rights reserved 7-230 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 231 //Test successful UN M 109.2 //Brake test error (group error) 110.3 //Step (3) FP M 110.7 110.3 //Reset step (3) © Siemens AG, 2006. All rights reserved 7-231 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 232: Limitations And Constraints
In the case of an error – Alarm 20097 “Axis %1 incorrect brake test direction” is output. © Siemens AG, 2006. All rights reserved 7-232 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 233: Activating
, positioned symmetrically around this MD, would mean that the drive would not be able to produce the required holding torque for this axis (p1532+m lower than m © Siemens AG, 2006. All rights reserved 7-233 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 234 %2” can be enabled using bit 5 in machine data $MN_ENA- BLE_ALARM_MASK. This alarm supplies detailed information if the brake test is interrupted. © Siemens AG, 2006. All rights reserved 7-234 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 235: Data Description
Stop response for SPL errors 10098 PROFISAFE_IPO_TIME_RA TIO Factor PROFIsafe communications clock cycle time 10099 INFO_PROFISAFE_CYCLE_TIME PROFIsafe communications clock –– cycle time © Siemens AG, 2006. All rights reserved 8-235 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 236 36901 SAFE_FUNCTION_ENABLE Enable safety-related functions 36902 SAFE_IS_ROT_AX Rotary axis 36905 SAFE_MODULO_RANGE Modulo value, safe cams 36906 SAFE_CTRLOUT_MODULE_NR SI drive assignment © Siemens AG, 2006. All rights reserved 8-236 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 237 Delay time, speed changeover 36952 SAFE_STOP_SWITCH_TIME_C Transition time, STOP C to safe Standstill 36953 SAFE_STOP_SWITCH_TIME_D Transition time, STOP D to safe Standstill © Siemens AG, 2006. All rights reserved 8-237 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 238 SAFE_CONFIG_CHANGE_DATE[n] Date/time of the last change –– SI-NCK-MD 36994 SAFE_PREV_CONFIG[n] Data, previous safety function –– 36995 SAFE_STANDSTILL_POS Standstill position –– © Siemens AG, 2006. All rights reserved 8-238 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 239: Description Of Machine Data
CPU. corresponds with.. MD 10050: $MN_SYSCLOCK_CYCLE_TIME MD 10091: $MN_INFO_SAFETY_CYCLE_TIME MD 10092: $MN_INFO_CROSSCHECK_CYCLE_TIME © Siemens AG, 2006. All rights reserved 8-239 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 240 This MD is only used for service purposes. The value of the MD can only be 0 or 1. The value cannot be changed. Special cases, errors,... © Siemens AG, 2006. All rights reserved 8-240 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 241 This machine data must be set to 0 to generate an acceptance report. This allows the system to document all of the alarms that have been initiated. Special cases, errors,... © Siemens AG, 2006. All rights reserved 8-241 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 242 DBX36.1 in DB18 must also be set to signal the PLC about this parameterization. For a different parameter assignment, Alarm 27090 is output, “Error for crosswise data comparison NCK-PLC”. Special cases, errors,... © Siemens AG, 2006. All rights reserved 8-242 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 243 “F_source_address” parameter set in S7-ES for the F slaves. An attempt to establish communications is only made for F slaves that have entered this address. Special cases, errors,... © Siemens AG, 2006. All rights reserved 8-243 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 244 The system variables $A_INSE[1...4] are supplied with the state of the input terminals of the PROFIsafe module that was defined in MD PROFISAFE_IN_ADDRESS[0]. Special cases, errors,... © Siemens AG, 2006. All rights reserved 8-244 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 245 Logical I/O addresses of the SI telegram of drives connected to PROFIBUS. An address is assigned to a drive. Special cases, errors,... © Siemens AG, 2006. All rights reserved 8-245 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 246 000 0000 0001 1100 internal NCK F net data image xxxx x111 001x xxxx $INSE[n], x = not relevant corresponds with... Additional references © Siemens AG, 2006. All rights reserved 8-246 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 247 SPL start. It is possible to completely suppress this alarm by changing MD $MN_SAFE_DIAGNOSTIC_MASK, bit 1. corresponds with... Additional references © Siemens AG, 2006. All rights reserved 8-247 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 248 The user program is called using the following search path: 1. /_N_CUS_DIR/_NPROG_EVENT_SPF 2. /_N_CMA_DIR/_NPROG_EVENT_SPF 3. /_N_CST_DIR/_NPROG_EVENT_SPF corresponds with... Additional references © Siemens AG, 2006. All rights reserved 8-248 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 249 The value set in this MD must be the same as the value set in MD: $MA_IS_ROT_AX. If they are not identical a parameterizing error is displayed. corresponds with... © Siemens AG, 2006. All rights reserved 8-249 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 250 The same drive must be assigned that was also selected using CTRLOUT_MODULE_NR and DRIVE_LOGIC_ADDRESS. Special cases, errors,... corresponds with... © Siemens AG, 2006. All rights reserved 8-250 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 251 Safety Integrated operates with one encoder for NCK and drive monitoring. Value = 0: Safety Integrated operates with different encoders for NCK and drive monitoring. Special cases, errors,... corresponds with... © Siemens AG, 2006. All rights reserved 8-251 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 252 This MD specifies the number of pulses per revolution for a rotary encoder. Not relevant for a linear encoder. corresponds with... © Siemens AG, 2006. All rights reserved 8-252 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 253 0, 1, ... 7 stands for gearbox stages 1, 2, ... 8 The actual value is selected using safety-related input signals (SGE). corresponds with... MD 36921: $MA_SAFE_ENC_GEAR_DENOM[n] © Siemens AG, 2006. All rights reserved 8-253 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 254 This MD is then overwritten. corresponds with... r9881: SI motion Sensor Module Node Identifier control © Siemens AG, 2006. All rights reserved 8-254 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 255 1 and 3. Additional references MD 36978: $MA_SAFE_OVR_INPUT[n] MD 36931: $MA_SAFE_VELO_LIMIT[n] Additional references Refer to Subsection 6.5.4: “Override for safely-reduced speed” © Siemens AG, 2006. All rights reserved 8-255 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 256 This data is not included in the axial checksum $MA_SAFE_ACT_CHECKSUM, as it is a single-channel function. Additional references Refer to Section : 11.1 “Limiting the setpoint speed” © Siemens AG, 2006. All rights reserved 8-256 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 257 If the actual position falls below this value, SGA is set to 0. n = 0, 1, 2, 3 stand for the plus cam position of SN1+, SN2+, SN3+, SN4+ © Siemens AG, 2006. All rights reserved 8-257 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 258 The tolerance bandwidth for the crosswise comparison of the actual positions in the two monitoring channels is specified in this machine data. © Siemens AG, 2006. All rights reserved 8-258 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 259 – with a valid user agreement – then Alarm 27001 is output with Fault code 1003 and a new user agreement is required for referencing. Special cases, errors,... © Siemens AG, 2006. All rights reserved 8-259 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 260 Additional references Refer to Section 6.4: “Safe braking ramp (SBR)” (a recommended setting and setting formula are specified in this Chapter). © Siemens AG, 2006. All rights reserved 8-260 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 261 The different run time (propagation time) is mainly caused by the PLC cycle time. Special cases, errors,... Additional references Refer to Section 7.1: “safety-related input/output signals (SGE/SGA)” © Siemens AG, 2006. All rights reserved 8-261 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 262 After the time has expired, the drive is monitored for a safe operating stop. If the axis/spindle was still not able to be stopped, STOP B/A is initiated. corresponds with... © Siemens AG, 2006. All rights reserved 8-262 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 263 STOP B to a STOP A (immediate pulse cancellation). corresponds with... MD 36960: $MA_SAFE_STANDSTILL_VELO_TOL MD 36620: $MA_SERVO_DISABLE_DELAY_TIME MD 36060: $MA_STANDSTILL_VELO_TOL © Siemens AG, 2006. All rights reserved 8-263 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 264 STOP B mode the pulses are then cancelled (as a result of the transition to STOP A). corresponds with... MD 36956: $MA_SAFE_PULSE_DISABLE_DELAY © Siemens AG, 2006. All rights reserved 8-264 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 265 When passing a safe limit position 1 or 2, then the stop response specified in this machine data is initiated. 2: STOP C STOP D STOP E corresponds with... MD 36934: $MA_SAFE_POS_LIMIT_PLUS[n] MD 36935: $MA_SAFE_POS_LIMIT_MINUS[n] © Siemens AG, 2006. All rights reserved 8-265 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 266 This function is only active when MD 36961 has the value 5. corresponds with... MD 10089: $MA_SAFE_PULSE_DIS_TIME_BUSFAIL MD 36961: $MA_SAFE_VELO_STOP_MODE © Siemens AG, 2006. All rights reserved 8-266 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 267 (e.g. dressing axes). Alarms are displayed when parking operation is subsequently de-selected. corresponds with... © Siemens AG, 2006. All rights reserved 8-267 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 268 1: The measured torque at the instant in time that the brake test is selected is used as the average value of the torque limit. corresponds with... Additional references Refer to Section 7.4: “Safe brake test (SBT)” © Siemens AG, 2006. All rights reserved 8-268 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 269 The maximum input value for all axial NCK_SGE configured machine data is 84020220. An incorrect entry will be detected the next time the system boots and flagged using Alarm 27033. © Siemens AG, 2006. All rights reserved 8-269 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 270 This input is of no significance if SG and SBH have been de-selected (refer to $MA_SAFE_SVSS_DISABLE_INPUT). corresponds with... MD 36970: $MA_SAFE_SVSS_DISABLE_INPUT © Siemens AG, 2006. All rights reserved 8-270 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 271 If the MD bits 31 are set, then the signal is processed inverted (i = 8). corresponds with... MD 36970: $MA_SAFE_SVSS_DISABLE_INPUT © Siemens AG, 2006. All rights reserved 8-271 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 272 MD 36932: $MA_SAFE_VELO_OVR_FACTOR[n] Additional references Refer to Subsection 6.5.4: “Override for safely-reduced speed”, refer to MD 36970: $MA_SAFE_SVSS_DISABLE_INPUT © Siemens AG, 2006. All rights reserved 8-272 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 273 The maximum input value for all axial NCK_SGA configuring machine data is 84010220. An incorrect entry will be detected the next time the system boots and flagged using Alarm 27033. © Siemens AG, 2006. All rights reserved 8-273 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 274 AND’ed and the result is output at the terminal. corresponds with... Additional references Refer to MD 36970: $MA_SAFE_SVSS_DISABLE_INPUT © Siemens AG, 2006. All rights reserved 8-274 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 275 Special cases, errors,... If MD bit 31 is set, then the signal is processed inverted. Additional references Refer to MD 36980: $MA_SAFE_SVSS_DISABLE_OUTPUT © Siemens AG, 2006. All rights reserved 8-275 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 276 If MD bit 31 is set, then the signal is processed inverted. Additional references Refer to MD 36980: $MA_SAFE_SVSS_DISABLE_OUTPUT (also refer to Section 6.8: Safe software cams, output assignment) © Siemens AG, 2006. All rights reserved 8-276 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 277 This is obtained from INFO_SAFETY_CYCLE_TIME and the number of data to be compared crosswise. The displayed axial value depends on the associated drive module. Special cases, errors,... © Siemens AG, 2006. All rights reserved 8-277 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 278 Any manual changes to the MD are detected the next time that the control is powered-up (plausibility check). A new user agreement is required after referencing. © Siemens AG, 2006. All rights reserved 8-278 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 279 0: Axial monitoring functions and global NC machine data 1: HW component IDs © Siemens AG, 2006. All rights reserved 8-279 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 280 2: The function is only controlled from the PLC 3: NCK and PLC are peers [same priority] (user ensures synchronization) © Siemens AG, 2006. All rights reserved 8-280 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 281: Parameters For Sinamics S120
For a complete list of the parameters in the SINAMICS S120 drive system, refer References: /LH1/ SINAMICS S List Manual © Siemens AG, 2006. All rights reserved 8-281 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 282: Parameter Overview
SI motion, SG-specific stop response 36963 $MA_SAFE_VELO_ST OP_REACTION[n] p9570 SI motion, acceptance test mode Corresponds to BTSS variables for NCK © Siemens AG, 2006. All rights reserved 8-282 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 283 SI enable safe brake control (Motor Module) p9810 SI PROFIsafe address (Motor Module) p9850 SI SGE changeover tolerance time (Motor Module) © Siemens AG, 2006. All rights reserved 8-283 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 284 If another type of motor is installed (e.g. after repairs have been carried-out) and the associated motor default data is downloaded, then the encoder data must be changed back to its original value. © Siemens AG, 2006. All rights reserved 8-284 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 285: Description Of Parameters
The Safety Integrated monitoring clock cycle is, just like all other SI drive parame- ters, a drive-specific monitoring clock cycle. However, different SI monitoring clock cycles within a drive system are not supported. © Siemens AG, 2006. All rights reserved 8-285 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 286 0000 bin 0000 bin 0011 bin Power ON Bit 0, motor encoder rotary/linear Bit 1, position actual value, sign change © Siemens AG, 2006. All rights reserved 8-286 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 287 Protection level: axis with rotary encoder Units: Default value: Minimum value: Maximum value: Data type: Effective: mm/rev 8388 REAL32 Power ON © Siemens AG, 2006. All rights reserved 8-287 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 288 F01707 (“SI motion: Tolerance for safe operating stop exceeded”) and activates the stop response STOP B/A. © Siemens AG, 2006. All rights reserved 8-288 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 289 Note: The following applies when setting the SE limit values: p9534 > p9535. See also: p9501, p9535, p9562 and C01715 “SI motion: Safe limit position ex- ceeded”. © Siemens AG, 2006. All rights reserved 8-289 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 290 Units: Default value: Minimum value: Maximum value: Data type: Effective: 0,001 10 mm or REAL32 Power ON 10 degree © Siemens AG, 2006. All rights reserved 8-290 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 291 Units: Default value: Minimum value: Maximum value: Data type: Effective: mm/min 6000 REAL32 Power ON © Siemens AG, 2006. All rights reserved 8-291 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 292 Sets the transi (SBH)tion time from STOP F to STOP B Protection level: Units: Default value: Minimum value: Maximum value: Data type: Effective: 60 000 REAL32 Power ON © Siemens AG, 2006. All rights reserved 8-292 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 293 After the time, parameterized in p9556, has expired or the speed threshold, para- meterized in p9560, has expired, stop response STOP A is initiated. © Siemens AG, 2006. All rights reserved 8-293 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 294 [0] = limit value SG1 [1] = limit value SG2 [2] = limit value SG3 [3] = limit value SG4 © Siemens AG, 2006. All rights reserved 8-294 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 295 These parameters are also relevant for the motion monitoring functions as the safe standstill is carried-out by monitoring functions integrated in the drive. See Section 6.1 “Safe standstill (SH)”. © Siemens AG, 2006. All rights reserved 8-295 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 296: Commissioning
The parameterized time is internally rounded-off to an integer multiple of the monitoring clock cycle. © Siemens AG, 2006. All rights reserved 8-296 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 297 Alarm A01699 (“SI CU: Necessary to test the shutdown paths”) he will be re- quested to test the shutdown paths, i.e. select/de-select SH. In so doing, r9773, bit 31 is set to 1. © Siemens AG, 2006. All rights reserved 8-297 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 298: Diagnostics
Actual value > Upper limit SBR Actual value > Lower limit SBR See also: C01711 “SI motion: Defect in a monitoring channel”. © Siemens AG, 2006. All rights reserved 8-298 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 299 Bit 13: Close brake control signal from the control Units: Default value: Minimum value: Maximum value: Data type: Effective: – – – – – © Siemens AG, 2006. All rights reserved 8-299 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 300 CRC error in SGE or SGA. Check communications be- PLC and drive tween the drive and control or NCK and PLC (SPL). © Siemens AG, 2006. All rights reserved 8-300 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 301 Minimum value: Maximum value: Data type: Effective: – – – – See also: F01680 “SI motion: Checksum error safe monitoring functions”. © Siemens AG, 2006. All rights reserved 8-301 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 302 See also r9744, r9747, r9748, p9752, r9753, r9754, r9755, r9756, p9759 Units: Default value: Minimum value: Maximum value: Data type: Effective: – – – – – © Siemens AG, 2006. All rights reserved 8-302 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 303 See also r9744, r9747, r9748, r7949, p9752, r9753,r9754, r9755, p9759 Units: Default value: Minimum value: Maximum value: Data type: Effective: – – © Siemens AG, 2006. All rights reserved 8-303 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 304 Bit 2: SI motion supported Units: Default value: Minimum value: Maximum value: Data type: Effective: – – – – – © Siemens AG, 2006. All rights reserved 8-304 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 305 Control Unit. See also: r9880 Units: Default value: Minimum value: Maximum value: Data type: Effective: – – – – REAL32 © Siemens AG, 2006. All rights reserved 8-305 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 306 Status of the feedback signals of the safety shut- DIAG_U and DIAG_L down paths on the Control Unit and Motor Module are different. © Siemens AG, 2006. All rights reserved 8-306 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 307 Sets the PROFIsafe address of the Motor Module. Protection level: Units: Default value: Minimum value: Maximum value: Data type: Effective: – 0000 hex 0000 hex FFFF hex © Siemens AG, 2006. All rights reserved 8-307 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 308 Bit 2: SI motion supported Units: Default value: Minimum value: Maximum value: Data type: Effective: – – – – – © Siemens AG, 2006. All rights reserved 8-308 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 309 The list of crosswise compared data depends on the particular application. Units: Default value: Minimum value: Maximum value: Data type: Effective: – – – – – © Siemens AG, 2006. All rights reserved 8-309 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 310 Protection level: Motor Module (actual checksum). Units: Default value: Minimum value: Maximum value: Data type: Effective: – – – – – © Siemens AG, 2006. All rights reserved 8-310 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 311 The actual checksum (r9898) calculated by the MM must be entered into the refer- ence checksum p9899. This therefore acknowledges the safety commissioning on the Motor Module. © Siemens AG, 2006. All rights reserved 8-311 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 312: Interface Signals
SGEs and SGAs in both the NCK monitoring channel and the drive monitoring channel. Unused SGEs must be set to a defined state. © Siemens AG, 2006. All rights reserved 8-312 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 313: Interface Signals For Sinumerik 840Dsl
Note: DB 31 / 32 / 33 ... contains the interface signals for axis/spindle 1 / 2 / 3 ... © Siemens AG, 2006. All rights reserved 8-313 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 314: Description Of The Interface Signals
Bit 1 Bit 0 Meaning Gearbox stage 1 is selected Gearbox stage 2 is selected Gearbox stage 3 is selected © Siemens AG, 2006. All rights reserved 8-314 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 315 840D sl: MD 36932: $MA_SAFE_VELO_OVR_FACTOR[n] for SINAMICS S120: p9532[n]: SI motion, override factor © Siemens AG, 2006. All rights reserved 8-315 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 316 STOP A. 0 signal: “Pulse cancellation” is requested 1 signal: “Pulse cancellation” is not requested © Siemens AG, 2006. All rights reserved 8-316 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 317 (braking at the current limit) have a higher priority and can interrupt an external STOP D (braking along a path). © Siemens AG, 2006. All rights reserved 8-317 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 318 This SGE must be connected to the brake control using a BiCo interconnection in the drive (p0858 to source r9719, bit 13). This connection is parameterized as standard. © Siemens AG, 2006. All rights reserved 8-318 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 319 The signal must be used for the forced checking procedure for external STOPs. 0 signal: STOP A/B is not active 1 signal: STOP A/B is active © Siemens AG, 2006. All rights reserved 8-319 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 320 SGA “n < n ” Fig. 8-2 Signal n < n , dependent on the speed characteristic © Siemens AG, 2006. All rights reserved 8-320 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 321 The state “SG active bits 1, 0” = “0” has different meanings. A clear interpretation can be obtained by additionally evalu- ating the SGAs “SBH active” and “SBH/SG active”. © Siemens AG, 2006. All rights reserved 8-321 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 322: Plc Data Block (Db 18)
INSEP_ADDR (address 7th input byte) DBW16 INSEP_ADDR (address 8th input byte) DBW18 OUTSEP_ADDR (address 1st output byte) DBW20 OUTSEP_ADDR (address 2nd output byte) DBW22 © Siemens AG, 2006. All rights reserved 8-322 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 323 SPL_DATA.OUTSEP[1...32] DBD 46 SPL_DATA.OUTSEP[33...64] DBD 50 Data area for user SPL SPL_DATA.INSIP[1...32] DBD 54 SPL_DATA.INSIP[33...64] DBD 58 SPL_DATA.OUTSIP[1...32] DBD 62 © Siemens AG, 2006. All rights reserved 8-323 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 324 1 – 320 = signal number starting from SPL_DATA.INSEP[1] DBD 124 Crosswise data comparison stack level display (diagnostics capability: How many SPL signals currently have different levels) © Siemens AG, 2006. All rights reserved 8-324 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 325 4th output 3rd output 2nd output 1st output byte byte byte byte byte byte byte byte DBB141 DBB142 up to DBB149 © Siemens AG, 2006. All rights reserved 8-325 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 326 (AWP) 1 = Transfer of input byte, specified in INSEP_ADDR[1..8] to INSEP[1..8] by the basic program © Siemens AG, 2006. All rights reserved 8-326 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 327 COMM_TO Bool 0 –> 1 communications timeout de- tected, PLC will go into the stop con- dition in 5 s © Siemens AG, 2006. All rights reserved 8-327 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 328 0 = no assignment from PROFIsafe F SAFE modules to OUTSEP [1..8] 1 = transfer from OUTSEP [1..8] to PROFIsafe F module using the basic program © Siemens AG, 2006. All rights reserved 8-328 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 329: System Variables
= 1, 2, ... 64 BOOL stands for the No. of the out- $A_OUTSED[n] NCK outputs n = 1,2 © Siemens AG, 2006. All rights reserved 8-329 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 330 The number of these system variables depends on the option SI Basic or SI Comfort. For SI Basic, the following applies: 4 INSE[1..4] 4 OUTSE[1..4] 4 INSED[1] 4 OUTSED[1] © Siemens AG, 2006. All rights reserved 8-330 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 331 Actual Safety Integrated Stop E [0,MAX_INT] for any axis No stop otherwise: For one of the axes, a Stop E is present © Siemens AG, 2006. All rights reserved 8-331 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 332: Description Of The System Variables
Difference between $VA_IS and $AA_IM Both variable $VA_IS and variable $AA_IM can be used to read actual values. © Siemens AG, 2006. All rights reserved 8-332 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 333 ($MA_SAFE_STOP_SWITCH_TIME_F) $VA_XFAULTSI[X] (X = axis identifier) Information about Safety Integrated Stop F for this axis © Siemens AG, 2006. All rights reserved 8-333 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 334 These system variables can only be read by the user program. System variable $A_INSE[1...64] The system variables $A_INSE contain the input circuit of the NCK-SPL. © Siemens AG, 2006. All rights reserved 8-334 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 335 $A_OUTSID[1] corresponds to $A_OUTSI[1...32] $A_OUTSID[2] corresponds to $A_OUTSI[33...64] These system variables can be read by the user program and written into by SAFE.SPF. © Siemens AG, 2006. All rights reserved 8-335 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 336 This gives the user the opportunity to respond to this error with specific synchronous actions. © Siemens AG, 2006. All rights reserved 8-336 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 337 Images of the PLC-side internal SPL input signals (status signals from the drive monitoring channel) can be read using these system variables. Associated DB18 values: DB18.DBX54.0 ... DBX61.7 © Siemens AG, 2006. All rights reserved 8-337 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 338 Images of the PLC-side external SPL output signals (status signals from the PLC- SPL) can be read using these system variables. Associated DB18 values: DB18.DBX46.0 ... DBX53.7 © Siemens AG, 2006. All rights reserved 8-338 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 339 As soon as commissioning has been signaled as completed, access to these sys- tem variables is blocked. If these program commands are processed, Alarm 17210 is output to indicate an error condition. © Siemens AG, 2006. All rights reserved 8-339 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 340 $A_TIMERSI is only possible from the program saved in program file /_N_CST_DIR/_N_SAFE_SPF reserved for the SPL. Access operations from other programs are flagged as an error with Alarm 17070. © Siemens AG, 2006. All rights reserved 8-340 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 342: Hmi Screens And Softkeys
All of the axes are listed in this screen that were activated for Safety Integrated. Soft key: All axes Here, defined axes are listed independent of whether it involves a safety axis or not. © Siemens AG, 2006. All rights reserved 9-342 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 343 The copy function has no effect for the drive parameters marked in the Table 8-2 “Parameters for SINAMICS S120”. Drive data is automatically saved after data has been copied. © Siemens AG, 2006. All rights reserved 9-343 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 344 “OK”. From now on, SI data will be monitored for any changes. Drive data is automatically saved after data has been acknowl- edged. © Siemens AG, 2006. All rights reserved 9-344 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 345 Softkey Drive/NCK RESET The drives are reset and then a power on carried-out for the NCK. © Siemens AG, 2006. All rights reserved 9-345 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 346 The Control Unit parameters are listed here and can be changed. Drive MDs The drive parameters are listed here and can be changed. © Siemens AG, 2006. All rights reserved 9-346 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 347: Procedure When Commissioning The Drive For The First Time
In the screen “Axis-specific machine data” set the function enable bits (MD 36901: $MA_SAFE_FUNCTION_ENABLE) of all axes for which the safety-relevant motion monitoring functions are to be used. © Siemens AG, 2006. All rights reserved 9-347 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 348 Setting the CRC and saving the parameterization that was just made is simulta- neously carried-out for all drives using the softkey “Activate drive commission- ing”. © Siemens AG, 2006. All rights reserved 9-348 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 349 5. A dialog box is displayed on the screen requesting you to perform an accep- tance test. You must acknowledge this dialog box. Now carry-out the NCK reset and drive reset that are listed. © Siemens AG, 2006. All rights reserved 9-349 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 350 Data that corresponds to the acceptance test data must be backed-up (archived). Step 10: Delete (clear) the password in order to prevent the unauthorized change of ma- chine data. © Siemens AG, 2006. All rights reserved 9-350 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 351: Series Commissioning
The tests are required for acceptance of the new machine. Software/hardware upgrade Caution Please carefully read the instructions in the relevant Update Manual before updating the software. © Siemens AG, 2006. All rights reserved 9-351 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 352: Changing Data
MD $MA_SAFE_DES_CHECKSUM and a subsequent power on. This MD is calculated - also for axes that were not released for Safety Integrated. © Siemens AG, 2006. All rights reserved 9-352 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 353: Acceptance Test
If machine data for SI functions is changed, a new acceptance test must be carried-out for the modified SI function and recorded in the acceptance report. © Siemens AG, 2006. All rights reserved 9-353 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 354 MD 10094: $MN_SAFE_ALARM_SUPPRESS_LEVEL must be set to 0 in order to avoid suppressing alarm outputs. © Siemens AG, 2006. All rights reserved 9-354 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 355 Safety Integrated SPL system variables 11. Test the Emergency Stop and the safety circuits 12.Test the changeover of SI functions © Siemens AG, 2006. All rights reserved 9-355 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 356 24.Verify the data backup 25.Have the report countersigned APPENDIX Reports/measurement records for FUNCTION TEST PART 1/2 Alarm logs/servo trace measurements © Siemens AG, 2006. All rights reserved 9-356 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 357 (e.g. SG limit) axis changed limit checksums and value counter-signature © Siemens AG, 2006. All rights reserved 9-357 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 358: Conventional Acceptance Test
C01798 test stop run- ning Diagnostics display Diagnostics screen SI status Servo trace SGE/SGA De-coded using servo trace bit graphics © Siemens AG, 2006. All rights reserved 9-358 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 359 Test stop initiated e.g. Servo trace: by reducing the test stop (actual value active en- time or separate key coder, torque) © Siemens AG, 2006. All rights reserved 9-359 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 360 Response time of the system, response at time t Braking time to standstill (zero speed) at time t Fig. 9-7 Exceeding SG © Siemens AG, 2006. All rights reserved 9-360 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 361 *Stopping distance Speed increase SE limit Braking time standstill (zero speed) at time t Fig. 9-8 Exceeding SE © Siemens AG, 2006. All rights reserved 9-361 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 362: Replacing A Motor Or Encoder
When service is required (motor defective or encoder defective), it might be neces- sary to completely replace the motor or just the motor encoder. © Siemens AG, 2006. All rights reserved 9-362 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 363 “SI motion, actual value comparison tolerance (referencing)” The alarm results in a STOP B followed by a STOP A (safe pulse cancellation) for the axis involved. © Siemens AG, 2006. All rights reserved 9-363 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 364 MD 34010=1 (minus) and the reference position was approached in the nega- tive (minus) direction. This means that the “–” key must also be pressed on the machine control panel. © Siemens AG, 2006. All rights reserved 9-364 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 365 3. After the system has booted, the JOG/REF mode is selected and the feed en- able for the axis is issued. Carry-out a reference point approach for the axis involved. © Siemens AG, 2006. All rights reserved 9-365 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 366 A changeover is then made to the 2nd position measuring system (DBAx 1.5 = 0, DBX 1.6 =1). © Siemens AG, 2006. All rights reserved 9-366 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 367 The user can suppress the automated internal actual value check by resetting the “user agreement” – therefore requesting that the axis is re-calibrated with the ap- propriate user agreement. © Siemens AG, 2006. All rights reserved 9-367 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 368 Commissioning 03.06 9.6 Replacing a motor or encoder Notes © Siemens AG, 2006. All rights reserved 9-368 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 369: Diagnostics
HMI for the selected axis: – Status SI (selected per default) – SGE/SGA – SPL © Siemens AG, 2006. All rights reserved 10-369 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 370 The vertical softkeys “SGE/SGA” and “SPL” can be used to select two additional screens, which show the situation for the safety-related inputs/outputs and the safe programmable logic. © Siemens AG, 2006. All rights reserved 10-370 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 371 SI accesses the SI status screen, the SPL softkey accesses the screen for safe programmable logic. Fig. 10-2 shows the status display of the safe input/output signals. © Siemens AG, 2006. All rights reserved 10-371 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 372 0 0 0 0 0 0 0 0 Fig. 10-3 Significance of the status display of the safety-relevant input and output signals © Siemens AG, 2006. All rights reserved 10-372 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 373 Decimal, can be selected. The selected format is applicable for the particular variable, as each variable can be assigned an individual display format. © Siemens AG, 2006. All rights reserved 10-373 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 374: Diagnostics Support By Configuring Your Own Extended Alarm Text
Using the supplement %4<ALSI> (Alarm 27090) and %3<ALSI> (Alarm 27254), the possibility of providing an alarm text extension is defined for the alarm. © Siemens AG, 2006. All rights reserved 10-374 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 375 Error in system variables $A_INSI(P)[01...64] (only alarm 27090) 193...256 Error in system variables $A_OUTSI(P)[01...64] (only alarm 27090) 257...320 Error in system variables $A_MARKERSI(P)[01...64] (only alarm 27090) © Siemens AG, 2006. All rights reserved 10-375 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 376 The assigned user text is then displayed when Alarms 27090 or 27254 occur, re- ferred to the associated SPL variable. © Siemens AG, 2006. All rights reserved 10-376 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 377: Servo Trace Bit Graphics For Safety Integrated
– a signal must be selected in trace 1 otherwise when the PI ser- vice is started using the vertical “start” softkey, this is negatively acknowledged from the NCK. © Siemens AG, 2006. All rights reserved 10-377 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 378 Selecting SGE drive The selection of the SI signal SGE drive (from the PLC) is shown in the following: © Siemens AG, 2006. All rights reserved 10-378 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 379 The X axis of the graphics is the time axis and the Y axis is scaled in the physical units of the particular signal. © Siemens AG, 2006. All rights reserved 10-379 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 380: Bit Graphics For Si Signals In The Servo Trace
The settings do not modify the measurement but only how the results of the mea- surement are actually displayed in the graphic. No bit graphics are generated for SI signals that are not bit-coded. © Siemens AG, 2006. All rights reserved 10-380 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 381 The setting options are accessed using the vertical “bit selection...” softkey: The following screen appears after pressing the vertical “Bit selection...” softkey: © Siemens AG, 2006. All rights reserved 10-381 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 383 SBH/SD de-selection NCK is displayed in track 0 of the bit graphic. Bit 19 de- selection ext. Stop C NCK is displayed in track 9 of the bit graphic for trace 1. © Siemens AG, 2006. All rights reserved 10-383 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 384 4 traces and display these in the tracks as bit graphics for comparison purposes. This means that especially inputs and outputs of various SI signals can be combined. © Siemens AG, 2006. All rights reserved 10-384 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 385 Diagnostics 03.06 10.1 Troubleshooting procedure Result of the bit selection © Siemens AG, 2006. All rights reserved 10-385 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 386: Nck Safety Alarms For Sinumerik 840D Sl
$MA_SAFE_BRAKETEST_TORQUE must be set higher than the actual holding torque. Program Clear the alarm with the Clear key or with NC-START. continuation © Siemens AG, 2006. All rights reserved 10-386 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 387 – the machine position has not yet been verified through follow-up referencing. Even if the axis is already referenced there is no acknowledgement that referencing has supplied the correct result. © Siemens AG, 2006. All rights reserved 10-387 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 388 The status of the safety-related monitoring functions are cyclically and mutually compared between the two monitoring channels (NCK and drive). The comparison is carried-out separately for each NCK/drive combination. © Siemens AG, 2006. All rights reserved 10-388 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 389 Example State, NCK: SBH is active and ok State, drive: SG1 is active and ok © Siemens AG, 2006. All rights reserved 10-389 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 390 – 6 The setting in MD 36931 $MA_SAFE_VELO_LIMIT[0] does not correspond with the associated drive parameter assignment. Remedy Copy SI data © Siemens AG, 2006. All rights reserved 10-390 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 391 Copy SI data. – 16 The setting in MD 36936 $MA_SAFE_CAM_POS_PLUS[0] does not correspond with the associated drive parameter assignment. © Siemens AG, 2006. All rights reserved 10-391 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 392 – 24 The setting in MD 36936 $MA_SAFE_CAM_POS_PLUS[2] does not correspond with the associated drive parameter assignment. Remedy Copy SI data. © Siemens AG, 2006. All rights reserved 10-392 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 393 – 33 The setting in MD 36951 $MA_SAFE_VELO_SWITCH_DELAY does not correspond with the associated drive parameter assignment. Remedy Copy SI data. © Siemens AG, 2006. All rights reserved 10-393 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 394 The setting in MD 36960 $MA_SAFE_STANDSTILL_VELO_TOL does not correspond with the associated drive parameter assignment. Remedy Copy SI data. – 43 Stop response, memory test. © Siemens AG, 2006. All rights reserved 10-394 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 395 The associated monitoring function is already active in a monitoring channel – while in the other monitoring channel another monitoring function is still active. © Siemens AG, 2006. All rights reserved 10-395 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 396 – 51 Lower limit value for SG4 = position actual value – MD 36931 $MA_SAFE_VELO_LIMIT[3] referred to a monitoring clock cycle © Siemens AG, 2006. All rights reserved 10-396 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 397 STOP request for a monitoring channel. S The STOP requested via the SGE interface S The STOP passed-through from the other monitoring channel © Siemens AG, 2006. All rights reserved 10-397 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 398 – 66 The setting in MD 36932 $MA_SAFE_VELO_OVR_FACTOR[7] does not correspond with the associated drive parameter assignment. Remedy Copy SI data. © Siemens AG, 2006. All rights reserved 10-398 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 399 Copy SI data. – 76 The setting in MD 36963 $MA_SAFE_VELO_STOP_REACTION[0] does not correspond with the associated drive parameter assignment. © Siemens AG, 2006. All rights reserved 10-399 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 400 S SG2 and SG4 are not active. S Function hasn’t even been enabled using the function enable MD 36901/ parameter p9501. © Siemens AG, 2006. All rights reserved 10-400 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 401 Too many signal changes were detected during the checking timer runtime. © Siemens AG, 2006. All rights reserved 10-401 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 402 In the commissioning phase, it is also possible that there is incorrect parameterization (or wiring) for the feedback signal regarding pulse cancellation (MD 36975). © Siemens AG, 2006. All rights reserved 10-402 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 403 The NCK axis number from the PLC-SRAM does not match the NCK axis number determined when the NCK booted. Remedy Re-establish data consistency using a power on. – 1016 © Siemens AG, 2006. All rights reserved 10-403 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 404 SGE “test stop selection”. Response Alarm display Remedy This message only provides information for the user. © Siemens AG, 2006. All rights reserved 10-404 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 405 (power on). If this fault occurs again, contact the service department. Program Power-down the control system and power-up again. continuation © Siemens AG, 2006. All rights reserved 10-405 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 406 Check the interface of the safety-relevant input signals (SPL parameterization, PLC-DB supply). Program Clear the alarm with the RESET key. Restart the part program. continuation © Siemens AG, 2006. All rights reserved 10-406 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 407 The alarm is no longer displayed when the alarm cause has been continuation removed. No other operator actions are required. © Siemens AG, 2006. All rights reserved 10-407 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 408 MD $MA_SAFE_STANDSTILL_VELO_TOL, at the latest however, after the time in MD $MA_SAFE_PULSE_DISABLE_DELAY expires, the pulses are cancelled (STOP A). © Siemens AG, 2006. All rights reserved 10-408 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 409 NC start inhibit in this channel NC start inhibit in this channel Interface signals are set Alarm display NC stop for alarm © Siemens AG, 2006. All rights reserved 10-409 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 410 $MA_SAFE_STOP_SWITCH_TIME_E has expired. Response NC start inhibit in this channel Interface signals are set Alarm display NC stop for alarm © Siemens AG, 2006. All rights reserved 10-410 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 411 (refer to a description of the alarms). Program Clear the alarm with the RESET key. Restart the part program. continuation © Siemens AG, 2006. All rights reserved 10-411 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 412 – Alarm “Stop B initiated” – Unsuccessful test stop. (refer to the description of the alarms). Program Power-down the control and power-up again continuation © Siemens AG, 2006. All rights reserved 10-412 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 413 The cam synchronization was activated via bit 7 without the cams having been enabled via bit 8 ... bit 15 or via $MA_SAFE_CAM_ENABLE. © Siemens AG, 2006. All rights reserved 10-413 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 414 – the entered values have been interchanged. The upper limit is less than or equal to the lower limit. – $MA_IS_ROT_AX / $MA_SAFE_IS_ROT_AX Different settings were made in both MD. © Siemens AG, 2006. All rights reserved 10-414 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 415 The parameterization of machine data %1 is incorrect. This alarm occurs in conjunction with the following: – An invalid value was set for MD $MN_SAFE_ALARM_SUPPRESS_LEVEL. © Siemens AG, 2006. All rights reserved 10-415 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 416 27001 with fault ID 0, 27023 and 27024. Alarm 27001 with fault ID 0 can be prevented using the alarm reduction ($MA_SAFE_ALARM_SUPPRESS_LEVEL greater than or equal to 1). Remedy Continue commissioning, correct checksums. © Siemens AG, 2006. All rights reserved 10-416 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 417 Communications with the drive for the Safety Integrated motion monitoring functions is additionally monitored. This monitoring function has detected an error. © Siemens AG, 2006. All rights reserved 10-417 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 418 If the file is to be re-defined, the new file to be created must be made known to the system via MBDDE.INI. © Siemens AG, 2006. All rights reserved 10-418 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 419 Communications interrupted for crosswise data comparison NCK-PLC, error detected by %1 Parameter %1 = supplementary information about the detecting monitoring channel © Siemens AG, 2006. All rights reserved 10-419 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 420 /_N_CST_DIR/_N_SAFE_SPF. If this error occurs, an instruction from another part program was detected. Response Alarm display © Siemens AG, 2006. All rights reserved 10-420 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 421 Commissioning the axial Safety Integrated functionality or cancellation of the SPL protection using MD $MN_PREVENT_SYNACT_LOCK[0,1] Program Power-down the control and power-up again continuation © Siemens AG, 2006. All rights reserved 10-421 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 422 The alarm display can be set in MD $MN_SAFE_ALARM_SUPPRESS_LEVEL (MD<3) in such a way that incorrect referencing is displayed separately for each axis. © Siemens AG, 2006. All rights reserved 10-422 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 423 “result list 1 NCK” and “result list 1 drive”. Program Clear the alarm with the RESET key. Restart the part program. continuation © Siemens AG, 2006. All rights reserved 10-423 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 424 “result list 1 NCK” and “result list 1 drive”. Program Clear the alarm with the RESET key. Restart the part program. continuation © Siemens AG, 2006. All rights reserved 10-424 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 425 %2 = number of the cam %3 = monitoring status, safe cam plus %4 = monitoring status, safe cam plus © Siemens AG, 2006. All rights reserved 10-425 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 426 %2 = number of the cam %3 = monitoring status, safe cam minus %4 = monitoring status, safe cam minus © Siemens AG, 2006. All rights reserved 10-426 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 427 – L+ = monitoring active in this monitoring channel, upper limit value violated – L– = monitoring active in this monitoring channel, lower limit value violated © Siemens AG, 2006. All rights reserved 10-427 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 428 “result list 2 NCK” and “result list 2 drive”. Program Clear the alarm with the RESET key. Restart the part program. continuation © Siemens AG, 2006. All rights reserved 10-428 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 429 Alarm 27001 with fault IDs 0, 27023 and 27024. Alarm 27001 with fault ID 0 can be prevented using the alarm reduction ($MA_SAFE_ALARM_SUPPRESS_LEVEL greater than or equal to 1). © Siemens AG, 2006. All rights reserved 10-429 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 431 The alarm is initiated when booting. No program can be started. Only continuation delete the alarm with a power on. © Siemens AG, 2006. All rights reserved 10-431 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 432 The alarm is initiated when booting. No program can be started. Only continuation delete the alarm with a power on. © Siemens AG, 2006. All rights reserved 10-432 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 433 The alarm is initiated when booting. No program can be started. Only continuation delete the alarm with a power on. © Siemens AG, 2006. All rights reserved 10-433 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 434 Reduce the number of sub-slots by changing the F net (useful) data distribution of the PROFIsafe module. Program Switch control system OFF and ON again. continuation © Siemens AG, 2006. All rights reserved 10-434 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 435 Check the parameterized PROFIsafe master address in MD $MN_PROFISAFE_MASTER_ADDRESS and S7 PROFIBUS configuration. Program Switch the control OFF – ON. continuation © Siemens AG, 2006. All rights reserved 10-435 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 436 – %3 = OUTPUT: NCK F parameterization expects an OUTPUT module – %3 = IN/OUT: NCK F parameterization expects an INPUT/OUTPUT module © Siemens AG, 2006. All rights reserved 10-436 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 437 NC stop for alarm Remedy Check and correct the S7 F parameterization and NCK-MD. Program Switch control system OFF and ON again. continuation © Siemens AG, 2006. All rights reserved 10-437 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 438 Explanation The DP interface has been implemented differently for the NCK and PLC components. The F communications cannot be initialized © Siemens AG, 2006. All rights reserved 10-438 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 439 %2 = current PLC project number Explanation The DP master indicates a modified S7 PROFIBUS configuration. Error-free operation can no longer be guaranteed. © Siemens AG, 2006. All rights reserved 10-439 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 440 Mode group not ready Channel not ready NC start inhibit in this channel Interface signals are set Alarm display NC stop for alarm © Siemens AG, 2006. All rights reserved 10-440 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 441 – %3 = 65...128: Error in system variables $A_OUTSE[1...64] – %3 = –1: Error in the input or output channel for which there is no SPL assignment. © Siemens AG, 2006. All rights reserved 10-441 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 442 The selected cycle time has an effect on the runtime utilization of the PLC module. This must be taken into account in the setting. Program Remove the error and press RESET continuation © Siemens AG, 2006. All rights reserved 10-442 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 443 Response Alarm display Remedy Fault codes/fault values, refer to the drive documentation. Program Remove the error and press RESET. continuation © Siemens AG, 2006. All rights reserved 10-443 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 444: Safety Messages For Sinamics S120
Table 10-2. The OFF 2 fault response is used as additional stopping measure while the pulses are safely cancelled via the safety-relevant shutdown paths. © Siemens AG, 2006. All rights reserved 10-444 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 445 The drive is braked along the OFF 3 down ramp STOP C (p1135) by immediately entering n_set = 0. (Halt 2) The drive remains in closed-loop speed control mode. © Siemens AG, 2006. All rights reserved 10-445 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 446 No message (message type can be changed to A) Cxxxxx Safety message (dedicated message buffer A message comprises a letter as suffix followed by the number. © Siemens AG, 2006. All rights reserved 10-446 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 447: List Of Faults And Alarms
– If the motion monitoring is enabled (p9501 > 0) then the fault results in a STOP A that cannot be acknowledged (POWER ON fault). Fault value (r0949, decimal): © Siemens AG, 2006. All rights reserved 10-447 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 448 2005: Feedback signal of the safe pulse cancellation on the Control Unit and Motor Modules connected in parallel are different. © Siemens AG, 2006. All rights reserved 10-448 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 449 (p9650, p9850). – Check the wiring of the safety-relevant input signals (contact problems). – Replace the Motor Module involved. © Siemens AG, 2006. All rights reserved 10-449 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 450 – De-select all drive functions that are not absolutely necessary. – Reduce the number of drives. – Check the electrical cabinet design and cable routing for EMC compliance. © Siemens AG, 2006. All rights reserved 10-450 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 451 – Check the electrical cabinet design and cable routing for EMC compliance. – Replace the Motor Module involved. © Siemens AG, 2006. All rights reserved 10-451 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 452 Error when saving the safety parameters for the Motor Module. 9999: Subsequent response of another safety-related fault that occurred when booting that requires an acceptance test. © Siemens AG, 2006. All rights reserved 10-452 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 453 – Upgrade the Motor Module software. – Upgrade the Control Unit software. – Upgrade the software of the higher-level control. © Siemens AG, 2006. All rights reserved 10-453 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 454 This fault results in a STOP A that cannot be acknowledged. Fault value (r0949, hexadecimal): Only for internal Siemens troubleshooting. © Siemens AG, 2006. All rights reserved 10-454 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 455 An attempt was made to enable the SH function although this cannot be supported. An attempt was made to enable the SBC function although this cannot be supported. © Siemens AG, 2006. All rights reserved 10-455 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 456 The parameterization of a Sensor Module used for Safety Integrated is not permissible. Note: This fault results in a STOP A that cannot be acknowledged. Fault value (r0949, decimal): © Siemens AG, 2006. All rights reserved 10-456 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 457 This fault results in a STOP A that cannot be acknowledged. Fault value (r0949, decimal): Only for internal Siemens troubleshooting. © Siemens AG, 2006. All rights reserved 10-457 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 458 Checksum error for SI parameters for actual values Remedy Check the safety-relevant parameters and if required correct. – Carry-out a power on – Carry-out an acceptance test. © Siemens AG, 2006. All rights reserved 10-458 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 459 Note: This fault results in a STOP A that cannot be acknowledged. Fault value (r0949, decimal): © Siemens AG, 2006. All rights reserved 10-459 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 460 (SE/SN). This alarm is also output if only a single-encoder system is being used. © Siemens AG, 2006. All rights reserved 10-460 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 461 This message does not result in a safety stop response. See also: p0010 Remedy None necessary Response: NONE (OFF1, OFF2, OFF3) Acknowledgement for F IMMEDIATELY (POWER ON) © Siemens AG, 2006. All rights reserved 10-461 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 462 – Carry-out diagnostics for message C01714. – Carry-out diagnostics for message C01701. – Replace the module. – Replace the Control Unit © Siemens AG, 2006. All rights reserved 10-462 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 463 – Check whether the stop tolerance matches the accuracy and dynamic performance of the axis. – Carry-out a power on. © Siemens AG, 2006. All rights reserved 10-463 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 464 Remove the cause of the fault on the control and carry-out a power on. – Carry-out diagnostics for message C01714. C01710 SI motion: STOP E activated Response NONE Acknowledgement IMMEDIATELY (POWER ON) © Siemens AG, 2006. All rights reserved 10-464 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 465 See also: p9555, r9725 The message value contained in r9725 is described in message 27001 Remedy of the higher-level control. © Siemens AG, 2006. All rights reserved 10-465 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 466 This therefore designates this position as being a safety-relevant position. © Siemens AG, 2006. All rights reserved 10-466 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 467 Select safe standstill and then deselect again. – Replace the Motor Module involved. Re fault value = 9999: – Carry-out diagnostics for fault F30611. © Siemens AG, 2006. All rights reserved 10-467 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 468 2000: Status of the SH terminals on the Control Unit and Motor Module are different. 2001: Feedback signal for safe pulse cancellation on the Control Unit and Motor Module are different. © Siemens AG, 2006. All rights reserved 10-468 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 469 This message does not result in a safety stop response. None necessary. Remedy Response: OFF2 Acknowledgement for F IMMEDIATELY (POWER ON) Response: NONE Acknowledgement for A NONE © Siemens AG, 2006. All rights reserved 10-469 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 470 – Reduce the number of drives. – Check the electrical cabinet design and cable routing for EMC compliance. © Siemens AG, 2006. All rights reserved 10-470 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 471 This fault results in a STOP A that cannot be acknowledged. Fault value (r0949, decimal): Only for internal Siemens troubleshooting. © Siemens AG, 2006. All rights reserved 10-471 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 472 Acceptance test is required as a safety parameter has been changed. 9999: Subsequent response of another safety-related fault that occurred when booting that requires an acceptance test. © Siemens AG, 2006. All rights reserved 10-472 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 473 This fault results in a STOP A that cannot be acknowledged. Fault value (r0949, decimal): Only for internal Siemens troubleshooting. Remedy Upgrade the Motor Module software. © Siemens AG, 2006. All rights reserved 10-473 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 474 Re-commission the safety functions. – Upgrade the Control Unit software. – Upgrade the Motor Module software. – Replace the CompactFlash Card. © Siemens AG, 2006. All rights reserved 10-474 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 475 – Use a Motor Module that supports the function safe standstill or safe brake control. – Upgrade the Motor Module software. – Upgrade the Control Unit software. © Siemens AG, 2006. All rights reserved 10-475 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 476: Safety Plc Alarms
PLC general reset, use the basic program with the correct version. Program Remove the fault. Power-down the control and power-up again continuation © Siemens AG, 2006. All rights reserved 10-476 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 477: Reducing The Number Of Alarms
All of the NCK alarms are listed in the following table which can be prevented from being initiated twice due to a PLC request. © Siemens AG, 2006. All rights reserved 10-477 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 478: Assigning Priorities To Alarms
SGE on several axes. The cause of the fault/error can be hidden as a result of the large alarm list. © Siemens AG, 2006. All rights reserved 10-478 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 479 S 27105 difference for the function, safe cam minus S 27106 difference for the function, safely-reduced speed n S 27107 difference for the function, cam modulo monitoring © Siemens AG, 2006. All rights reserved 10-479 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 480 If only Alarm 27024 “Stop A initiated” has occurred, but is no longer displayed, then at least group Alarm 27124 “Stop A for at least 1 axis” is displayed. © Siemens AG, 2006. All rights reserved 10-480 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 481: Interaction With Other Functions
Further, internal changeover operations in SBH have an effect as a result of a stop response (STOP D, C, E). © Siemens AG, 2006. All rights reserved 11-481 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 482: Measuring System Changeover
“Position measuring system 1” (DB 31..., DBX1.5) “Position measuring system 2” (DB 31..., DBX1.6) the following applies: The encoder used by the position controller is changed-over. © Siemens AG, 2006. All rights reserved 11-482 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 483: Gantry Axes
Machine data SAFE_PARK_ALARM_SUPPRESS can be used to suppress Alarms 27000/C01797 until parking has been withdrawn. © Siemens AG, 2006. All rights reserved 11-483 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 484: Oem Applications
SINUMERIK Safety Integrated can also be used for NCK-OEM applications. Note System memory change System memory changes caused by the OEM application result in Alarm 27003 “Checksum error occurred”. © Siemens AG, 2006. All rights reserved 11-484 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 485: Behavior Of Safety Integrated When Profibus Fails
When the drive bus fails, then communications between the drive and NCK re- quired for SI also fail. The pulses are immediately cancelled from both channels. © Siemens AG, 2006. All rights reserved 11-485 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 486 Interaction with Other Functions 03.06 11.6 Behavior of Safety Integrated when Profibus fails Notes © Siemens AG, 2006. All rights reserved 11-486 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 487: Appendix
Logic program for the NC area Data blocks required (e.g. DB 18) These objects are incorporated/linked into the complete system. © Siemens AG, 2006. All rights reserved A-487 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 488 On-site service (local) Experts analyze problems that are encountered on-site. The causes are eliminated or counter-measures are drawn-up and implemented where necessary. © Siemens AG, 2006. All rights reserved A-488 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 489: Fault Analysis Tables
EN 60204) Chap. 1.3.8 It can also be used etc. to restrict working zones in conjunction with personnel protection. © Siemens AG, 2006. All rights reserved A-489 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 490 Cat. 0/1 function does not replace the main machine breaker © Siemens AG, 2006. All rights reserved A-490 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 491 Cat. 1 1) Refer to: Attachment, References, General /1/ © Siemens AG, 2006. All rights reserved A-491 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 492 Cat. 1 1) Refer to: Attachment, References, General /1/ © Siemens AG, 2006. All rights reserved A-492 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 493 Special requirements placed on isolating protective equipment 1.4.3 Special requirements placed on non-isolating protective equipment Refer to: Attachment, References, General /1/ © Siemens AG, 2006. All rights reserved A-493 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 494: References
Reinert, D./Schäfer, M./Umbreit, M.: Antriebe und CNC-Steuerungen mit inte- grierter Sicherheit (Antriebe und CNC-Steuerungen), in: ETZ-Heft 11/98. Johannknecht, A./Warlich, H.-J.: Maschinenschutz in Europa - BG (Maschinen- schutz). © Siemens AG, 2006. All rights reserved A-494 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 495 Internet at: http://www.siemens.com/motioncontrol Follow menu items ––> “Support” ––> “Technical Documentation” ––> “Overview of Documents” or “DOConWEB”. © Siemens AG, 2006. All rights reserved A-495 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 496: Abbreviations
“DRIVE Component Link with IQ” (official name for DSA-Link or SA-Link: Serial bus to connect A&D drive components) Data Word Electromagnetic Force © Siemens AG, 2006. All rights reserved A-496 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 497 Fast retraction from contour Lower Limit Least Significant Bit MAKSIP Machine Coordinate System Actual Position Machine Data or Marker Doubleword Machine Data Dialog © Siemens AG, 2006. All rights reserved A-497 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 498 PROFIsafe clock cycle Peer-to-peer data transfer Revolutions Per Minute SA link Sensor-Actuator-Link Safe Brake Control Safe operating stop Safe Brake Management © Siemens AG, 2006. All rights reserved A-498 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 499 Power supply Software Lifetime Diagnostic test interval Tool Center Point Testing Data Active Ü Gear Ratio Upper Limit Machine tool © Siemens AG, 2006. All rights reserved A-499 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 500: Terminology
N faults are present. For N+1 faults, the equipment can no longer exe- cute the required function. Redundancy Availability of more than the necessary equipment to execute the required tasks. © Siemens AG, 2006. All rights reserved A-500 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 501 This has priority over all operating modes. Stop Category Term used in EN 60204-1 to designate three different stopping functions. © Siemens AG, 2006. All rights reserved A-501 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 503 Correction factor, safely reduced speed, 8-315 Interface signals, to the drive, 8-314 Crosswise data comparison, 4-45, 5-80, 7-197 Interrupts, for 840D, 10-386 Cut–off frequency, 6-137 © Siemens AG, 2006. All rights reserved I-503 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 504 Override for, 6-144, 8-315 PROFIsafe clock cycle overruns, 7-183 Preconditions, 6-136 PROG_EVENT mechanism, 7-203 Selection, 6-138 PROG_EVENT.SPF, 7-203 Safety, A-501 Protective mechanisms, 7-201 © Siemens AG, 2006. All rights reserved I-504 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 505 SPL data on the PLC side, 7-219 SPL start without axial safety enable, 7-203 SPL system errors, 7-198 Zero speed tolerance, 6-106 SPL–SGA, PROFIsafe, 7-190 © Siemens AG, 2006. All rights reserved I-505 SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition...
Page 507 Suggestions SIEMENS AG Corrections A&D MC MS For document: Postfach 3180 SINUMERIK 840D sl/ 91050 ERLANGEN, GERMANY SINAMICS S120 SINUMERIK Safety Integrated (Tel. +49 (0) 180 / 5050 – 222 [Hotline] (FBSI sl) Fax +49 (0) 9131 / 98 – 63315 [Documentation] email: motioncontrol.docu@.siemens.com)
Page 508 Overview of SINUMERIK 840D sl/840Di sl Documentation (03/2006) General Documentation SINAMICS SINUMERIK SINUMERIK S120 840D sl 840Di sl Brochure Catalog NC 61 *) Catalog D21.2 Servo Control *) User Documentation SINUMERIK SINUMERIK SINUMERIK SINUMERIK SINUMERIK 840D sl 840D sl 840D sl...

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Sinamics s120

Siemens SINUMERIK 840D sl Function Manual

Sinumerik 840D Sl/ Sinamics S120

Table of Contents

Contents

1 Regulations and Standards

2 Brief Description

3 System Features

4 Safety Functions Integrated in the Drive

5 Basics on the Safety Functions Integrated in the System/Drive

6 Safety Functions Integrated in the System/Drive

7 Connecting Sensors/Actuators

In the System/Drive 5

Integrated in the Drive 4

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Chapters

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Summary of Contents for Siemens SINUMERIK 840D sl