Page 1 Description of Functions 11.03 Edition sinumerik & simodrive SINUMERIK Safety Integrated SINUMERIK 840D SIMODRIVE 611 digital...
Page 3 Short description General Information about Integrated Safety Systems SINUMERIK 840D/SIMODRIVE 611 Safety-Related digital Functions Data Description SINUMERIK Safety Integrated Commissioning Description of Functions Alarms Engineering Examples Application Examples Appendix Valid for Index Control Software version SINUMERIK 840D/SIMODRIVE 611 digital Edition 11.03...
Page 4 SIMATIC®, SIMATIC HMI®, SIMATIC NET®, SIROTEC®, SINUMERIK® and SIMODRIVE® are registered trademarks of Siemens AG. Other names in this publication might be trademarks whose use by a third party for his own purposes may violate the rights of the registered holder.
Page 5 /PHD/ SINUMERIK 840D Configuration Manual This Description of Functions provides all of the information about the safety Objective functions integrated in the SINUMERIK 840D and SIMODRIVE 611 digital that may be relevant for start-up and configuration. Standard scope The main areas covered by this Description of Functions are as follows: •...
Page 6 Deletion of zero speed position for SBH/SG axes Encoder limit frequency 300 kHz Acceptance report (not a function) Notes: available from SW 3.6 Documentation with Edition date 04.99 Note © Siemens AG 2003 All Rights Reserved SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 7 Documentation with Edition date 04/99 describes the scope of functions of the following products and SW versions: SINUMERIK 840D/611 digital with software version 4.4.18 The following table lists the main functions for SINUMERIK 840D/611 digital added since 08.97 Edition: Table 0-2 New functions described in 04/99 Edition Serial no.
Page 8 Danger This symbol indicates that death, severe personal injury or substantial property damage will result if proper precautions are not taken. © Siemens AG 2003 All Rights Reserved viii SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 9 Type-examination A type-examination certificate from the German Institute for Occupational certificate sign Safety (BIA) has been granted to the SINUMERIK 840D/DE with Safety Integrated. © Siemens AG 2003 All Rights Reserved SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 10 Foreword 11.03 Fig. 0-1 Type-examination certificate symbol for SINUMERIK 840D/611 digital © Siemens AG 2003 All Rights Reserved SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 11 The appendices to the type-examination certificate are not included in this document. If you require any data from this Appendix, please contact the department named on the Corrections/Suggestions sheet (last page). © Siemens AG 2003 All Rights Reserved SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 13: Table Of Contents
2.11 Powering the control up and down............2-45 2.12 Error analysis.................... 2-46 2.13 Others....................... 2-51 2.13.1 Applications 2-51 2.13.2 Information for OEM users..............2-52 2.13.3 Overtemperature .................. 2-53 © Siemens AG 2003 All Rights Reserved xiii SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - 11.03 Edition...
Page 14 3.10 Safe programable logic (SPL) (840D SW 4.4.18)........3-136 3.10.1 NCK-SPL program................3-139 3.10.2 Starting the NCK-SPL using the PROG_EVENT mechanism (from SW 6.4.15) .................. 3-141 © Siemens AG 2003 All Rights Reserved SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - 11.03 Edition...
Page 15 Description of the machine data ............4-242 4.3 Interface signals..................4-255 4.3.1 Interface signals for SINUMERIK 840D ..........4-255 4.3.2 Description of the interface signals ............4-256 © Siemens AG 2003 All Rights Reserved SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - 11.03 Edition...
Page 16 ..................7-388 7.3.7 Protective door interlocking ..............7-397 7.3.8 De-selecting SBH via the key-operated switch ........7-398 7.3.9 SG changeover ..................7-400 © Siemens AG 2003 All Rights Reserved SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - 11.03 Edition...
Page 17 8.6 Direction detection when retracting from SE ..........8-466 8.7 Replacing a motor or encoder..............8-469 8.8 Example for combining SI with ESR ............8-473 © Siemens AG 2003 All Rights Reserved xvii SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - 11.03 Edition...
Page 18 List of references for SINUMERIK 840D..........A-484 A.2.3 List of References for SIMODRIVE 611..........A-485 I Index ......................... I-487 I.1 Keyword index ..................... I-487 © Siemens AG 2003 All Rights Reserved xviii SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - 11.03 Edition...
Page 19: Short Description
– control Category 3 according to EN 954-1 (SIL2) (IEC 61508) can be implemented. A second sensor is not necessary but can be added as an additional, direct measuring system (e.g. linear scale). © Siemens AG 2003 All Rights Reserved 1-19 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 20 The drives remain fully functional in closed-loop position control. • Safe standstill (SH) Drive pulses are cancelled so that the energy feed is safely and electronically disconnected. © Siemens AG 2003 All Rights Reserved 1-20 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 21 ® glance SINUMERIK Safety Integrated . This innovative safety technology enables: • Higher efficiency • Higher economic efficiency • Higher flexibility © Siemens AG 2003 All Rights Reserved 1-21 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 23: General Information About Integrated Safety Systems
2.11 Powering the control up and down............2-45 2.12 Error analysis ................. 2-46 2.13 Others ................. 2-51 2.13.1 Applications ..................2-51 2.13.2 Information for OEM users..............2-52 © Siemens AG 2003 All Rights Reserved 2-23 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 24 2 General Information about Integrated Safety Systems 11.03 2.1 Drives and CNC controls with integrated safety 2.13.3 Overtemperature .................. 2-53 © Siemens AG 2003 All Rights Reserved 2-24 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 25: Drives And Cnc Controls With Integrated Safety
Drive control Integrated safety technology External safety technology EXT_INT.DSF Fig. 2-1 External safety technology, integrated switching technology (taken from /6/) © Siemens AG 2003 All Rights Reserved 2-25 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 26: Standards And Directives
Category 3 protective devices and equipment Limitation of endstops Category 3 Emergency Stop acc. to EN 60204 Category 3 Category 3 © Siemens AG 2003 All Rights Reserved 2-26 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 27: Requirements From The Ec Directives
(89/655/EEC) Harmonized National legal European standards requirements User Manufacturer MASCHUTZ.DSF Fig. 2-2 Requirements of the EC Directives (extract from /7/) © Siemens AG 2003 All Rights Reserved 2-27 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 28: Relevant Safety Standards
He can incorporate this information directly into his risk analysis that is based on the EC Machinery Directive, Appendix 1. © Siemens AG 2003 All Rights Reserved 2-28 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 30: Test, Certification
Operating Manual (and to which reference is made in some cases for certain periods in the Operating Instructions) without causing injury or ill-health. © Siemens AG 2003 All Rights Reserved 2-30 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 31: Position Paper Of The Working Group (Wg) 226.03 In The German Electrotechnical Commission (Dke)
© Siemens AG 2003 All Rights Reserved 2-31 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 32: Basics Of Sinumerik Safety Integrated
The risk assessment states whether the total or partial loss of the safety function(s) as a result of faults/errors is acceptable. © Siemens AG 2003 All Rights Reserved 2-32 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 33: Basic Features Of Sinumerik Safety Integrated
(Note: "Acceptable condition" means that there are no machine faults that are apparent to the operator) © Siemens AG 2003 All Rights Reserved 2-33 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 34 STOP F response (refer to Chapter 3, "Stop responses") and initiate a further stop response when Safety Integrated is active. © Siemens AG 2003 All Rights Reserved 2-34 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 35: Monitoring Clock Cycle And Crosswise Data Comparison Clock Cycle
User agreement = no The "User agreement" window always displays the following data for each axis/spindle with activated Safety Integrated: • Machine axis name © Siemens AG 2003 All Rights Reserved 2-35 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 36: User Agreement
The SH function is operative if at least one safety-relevant function is activated. The enabling command determines the number of axes/spindles for which SI can be activated. © Siemens AG 2003 All Rights Reserved 2-36 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 37 The maximum number of axes that may operate using the safety functions is determined by the number that has been enabled by the basic and axis option. © Siemens AG 2003 All Rights Reserved 2-37 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 38: Increasing The Availability Using Integrated Safety Technology
− Reduced error potential − Longer production times − Shorter downtimes When applied consistently, integrated safety technology offers considerable potential for increasing the availability. © Siemens AG 2003 All Rights Reserved 2-38 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 39: Overview Of The Safety-Related Functions
• Safe braking ramp (SBR) Monitors the speed characteristic. The actual speed must be reduced after stop request has been issued. © Siemens AG 2003 All Rights Reserved 2-39 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 40: System Prerequisites
Limitations when It is not possible to "Copy/Confirm" the safety machine data via the hand- using the HT6 held unit HT6. © Siemens AG 2003 All Rights Reserved 2-40 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 41: Order Numbers
SIMODRIVE 611 digital Designation Order No.: High-standard – 2 axis 6SN1118-0DM33-0AA0 High-performance – 1 axis 6SN1118-0DJ23-0AA0 High-performance – 2 axis 6SN1118-0DK23-0AA0 © Siemens AG 2003 All Rights Reserved 2-41 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 42 8 inputs / 8 outputs 6ES7323-1BH81-0AA0 (extended temperature range) 16 inputs / 16 outputs 6ES7323-1BL00-0AA0 Please refer to Catalog ST 70 for further SIMATIC components © Siemens AG 2003 All Rights Reserved 2-42 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 43: Customer Support
A study of the safety-relevant external signals and elements Standard configuration Based on the concept development the standard functions • Safe standstill (SH), safe operating stop (SBH) © Siemens AG 2003 All Rights Reserved 2-43 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 44 On-site service Experts analyze problems encountered on-site. The causes are eliminated or a remedy is drawn-up and implemented where necessary. © Siemens AG 2003 All Rights Reserved 2-44 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 45: Powering The Control Up And Down
SE and SN, when the control is powered-up again, a user agreement must again be given after the position has been checked. © Siemens AG 2003 All Rights Reserved 2-45 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 46: Error Analysis
2.12 Error analysis 2.12 Error analysis Monitoring The SINUMERIK 840D control with SIMODRIVE 611 digital is equipped with various monitoring functions that detect system errors and initiate the appropriate reactions (refer to the relevant documentation). These standard functions do not comply with safety Category 3 according to EN 954-1.
Page 48 Chapter 1.3.8 machine zero must be spindle mechanically power-up carried-out during start- influenced or similar refer to: Appendix, References General /1/ © Siemens AG 2003 All Rights Reserved 2-48 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 49: Error Analysis
Example: Synchronous motor: Refer to: Appendix, References General /1/ © Siemens AG 2003 All Rights Reserved 2-49 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 50 SI to respond incorrectly. The axis involved must be re-commissioned if an encoder is replaced. © Siemens AG 2003 All Rights Reserved 2-50 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 51: Others
The encoder used by the position controller is changed over. Note SI continues to work with the configured encoder. © Siemens AG 2003 All Rights Reserved 2-51 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 52: Information For Oem Users
NCK-OEM users Note System memory change System memory changes caused by the OEM application result in Alarm 27003 "Checksum error occurred". © Siemens AG 2003 All Rights Reserved 2-52 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 53: Overtemperature
If required, an evaluation can also be made as part of the SI functionality. © Siemens AG 2003 All Rights Reserved 2-53 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 54 2 General Information about Integrated Safety Systems 11.03 2.13 Others Notes © Siemens AG 2003 All Rights Reserved 2-54 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 55: Safety-Related Functions
Signal processing for the NCK monitoring channel....... 3-132 3.9.2 Signal processing in the drive monitoring channel ........ 3-134 3.9.3 Overview of the machine data for SGE/SGA ........3-135 © Siemens AG 2003 All Rights Reserved 3-55 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 56 3.13.4 Behavior of the drive monitoring channel..........3-200 3.13.5 SGE/SGA processing in the PLC............3-201 3.13.6 Limitations .................... 3-201 3.13.7 Examples....................3-201 © Siemens AG 2003 All Rights Reserved 3-56 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 57: Basic Mechanisms Of Si Functions
This means that it is still not possible to electrically isolate the drive converter DC link (600V) from the motor. © Siemens AG 2003 All Rights Reserved 3-57 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 58: Shutdown Paths
(internal signal "pulses cancelled status"). No additional wiring is required. The comparator in the drive channel is supplied via a PLC interface data block (refer to Chapter 4, "Interface signals"). © Siemens AG 2003 All Rights Reserved 3-58 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 59 NCK CPU via terminals AS1/AS2 of the drive module and the SGE "pulses cancelled status". The SGEs/SGAs are assigned to the NCK HW inputs/outputs via machine data. © Siemens AG 2003 All Rights Reserved 3-59 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 60 (NC onboard-IOs, refer to Chapter 3.10.2). Terminals 663 of all of the drives or a group of drives would be controlled via such an output. © Siemens AG 2003 All Rights Reserved 3-60 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 61: Testing The Shutdown Paths
It is advisable to carry out the test before the protective device is opened or © Siemens AG 2003 All Rights Reserved 3-61 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 62 The timer "pulses cancelled status" is started and the message "test stop in progress" is displayed on the screen. The pulse cancellation signal remains © Siemens AG 2003 All Rights Reserved 3-62 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 64 A for the drive, the pulses are cancelled via the internal shutdown path. The only way to exit this status is with a power on. © Siemens AG 2003 All Rights Reserved 3-64 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 65 NCK with four axes, axes 3 and 4 being provided by a dual-axis module. © Siemens AG 2003 All Rights Reserved 3-65 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 66 Axis 4 Terminals of SIMODRIVE 611 ZWDYN_05.DSF drive modules Fig. 3-6 Testing the shutdown paths (NCK monitoring channel) for several axes © Siemens AG 2003 All Rights Reserved 3-66 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 67: Overview Of The Machine Data For The Shutdown Paths
36976 $MA_SAFE_PULSE_STATUS_INPUT 36979 $MA_SAFE_STOP_REQUEST_EXT_INPUT 36984 $MA_SAFE_EXT_PULSE_ENAB_OUTPUT 36986 $MA_SAFE_PULSE_ENABLE_OUTPUT Note: Data is described in Chapter 4, "Machine data for SINUMERIK 840D" Overview of MD Table 3-2 Overview of machine data for 611 digital for 611 digital Number Name 1357 $MD_SAFE_PULSE_DIS_CHECK_TIME Note: Data is described in Chapter 4, "Machine data for SIMODRIVE 611digital"...
Page 68 (Safe standstill under position control) (if a further error occurs) (Safe pulse disable) STOPR_02.DSF Fig. 3-7 Stop responses, safe operating stop (SBH), safe standstill (SH) © Siemens AG 2003 All Rights Reserved 3-68 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 69 (exception: Test stop). This mechanism ensures that stop responses are managed with a high degree of safety. © Siemens AG 2003 All Rights Reserved 3-69 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 70 This signal is used to indicate that STOP A/B is active. 0 signal: STOP A/B is not active 1 signal: STOP A/B is active © Siemens AG 2003 All Rights Reserved 3-70 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 71 This signal indicates that STOP C is active. 0 signal: STOP C is not active 1 signal: STOP C is active © Siemens AG 2003 All Rights Reserved 3-71 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 72 The NC-controlled ESR is triggered by writing to the system variable $AC_ESR_TRIGGER=1 (also refer to /FB3/, M3 "Axis coupling and ESR"). © Siemens AG 2003 All Rights Reserved 3-72 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 73 STOP B, an ESR or braking along the machined path can be initiated (e.g. by writing to $AC_ESR_TRIGGER or by initiating an external STOP D). © Siemens AG 2003 All Rights Reserved 3-73 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 74 611 digital $MD_SAFE_STOP_F_DIAGNOSIS Note: The significance of the error codes can be found in Chapter 6, "Alarms for SINUMERIK 840D under Alarm 27001 "Defect in a monitoring channel". • Acknowledgement: The saved alarm can be reset with the NC-RESET key. An unintentional restart is prevented for STOP B/A.
Page 75 STOP B is initiated 2.5 s after t2. The axis is already stationary at this time. This means that pulses can be immediately cancelled. © Siemens AG 2003 All Rights Reserved 3-75 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 76: Overview Of The Machine Data For Stop Responses
36960 $MA_SAFE_STANDSTILL_VELO_TOL 36961 $MA_SAFE_VELO_STOP_MODE 36962 $MA_SAFE_POS_STOP_MODE 36963 $MA_SAFE_VELO_STOP_REACTION Note: Data is described in Chapter 4, "Machine data for SINUMERIK 840D" Overview of MD Table 3-9 Overview of machine data for 611 digital Number Name for 611 digital 1352 $MD_SAFE_STOP_SWITCH_TIME_C 1353...
Page 77: External Stops
This assignment is configured using the following machine data: terminals MD 36977: $MA_SAFE_EXT_STOP_INPUT[n]: (input assignment, external stop request) with n = 0, 1, 2, 3. © Siemens AG 2003 All Rights Reserved 3-77 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 78 SGE "de-select ext. STOP D": via SGA "STOP D active" and SGE "de-select ext. STOP E": via SGA "STOP E active" © Siemens AG 2003 All Rights Reserved 3-78 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 79 Axes that interpolate with the affected axis the parameterized braking ramp. brake along the parameterized braking ramp. All other axes do not brake. © Siemens AG 2003 All Rights Reserved 3-79 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 80: Test Stop For External Stops
Phase 2 only has to be performed if the function "external STOPs" (via MD 36901/1301) is enabled. Only the enabled and activated external stop functions have to be tested. © Siemens AG 2003 All Rights Reserved 3-80 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 81 As soon as the stop request is canceled via SGE "de- select ext. STOP A" any queued stop responses become active. © Siemens AG 2003 All Rights Reserved 3-81 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 82 2 IPO cycles compared to STOP D until the braking operation is initiated. After these times have expired, braking is initiated at the current limit. © Siemens AG 2003 All Rights Reserved 3-82 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 83 "Pulse cancellation" is triggered "Brake with n =0" is triggered "Braking along a path" is triggered External STOPS are not selected "ESR" is initiated © Siemens AG 2003 All Rights Reserved 3-83 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 84: Overview Of The Machine Data For The "External Stops" Function
1 = "STOP C is active" 2 = "STOP D is active" 3 = "STOP E is active" Note: Data is described in Chapter 4, "Machine data for SINUMERIK 840D" Overview of MD Table 3-14 Overview of machine data for 611 digital...
Page 85: Safe Standstill (Sh)
Safe standstill is activated after STOP A. • Safe standstill is automatically activated from each monitoring channel (via single channel) when testing the shutdown paths. © Siemens AG 2003 All Rights Reserved 3-85 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 86: Overview Of The Machine Data For The Sh Function
36957 $MA_SAFE_PULSE_DIS_CHECK_TIME 36960 $MA_SAFE_STANDSTILL_VELO_TOL 36976 $MA_SAFE_PULSE_STATUS_INPUT 36986 $MA_SAFE_PULSE_ENABLE_OUTPUT Note: Data is described in Chapter 4, "Machine data for SINUMERIK 840D" Overview of MD Table 3-16 Overview of machine data for 611 digital Number Name for 611 digital 1356 $MD_SAFE_PULSE_DISABLE_DELAY 1357...
Page 87: Selecting/De-Selecting Safe Operating Stop
840D from SW4.2 The signal state is as required 1) For SINUMERIK 840D, from SW4.2 onwards, the SG limit value SG2 and SG4 can be finely graduated using the SG override (refer to Chapter 3.5.6, "Override for safely- reduced speed".
Page 88 (for 840D: 27010, for 611 digital: 300907) and STOP B/A initiated! © Siemens AG 2003 All Rights Reserved 3-88 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 89 NCK SGA "SBH active" is configured using the following machine data: Configuring NCK SGAs For 840D MD 36981: $MA_SAFE_SS_STATUS_OUTPUT © Siemens AG 2003 All Rights Reserved 3-89 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 90: Effects When The Limit Is Exceeded For Sbh
Error a) Standstill tolerance not to scale STILL_02.DS4 Fig. 3-14 Timing when the limit value is exceeded with active SBH © Siemens AG 2003 All Rights Reserved 3-90 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 91: Overview Of The Machine Data For The Sbh Function
$MA_SAFE_SVSS_DISABLE_INPUT 36971 $MA_SAFE_SS_DISABLE_INPUT 36980 $MA_SAFE_SVSS_STATUS_OUTPUT 36981 $MA_SAFE_SS_STATUS_OUTPUT (ab SW4.2) Note: Data is described in Chapter 4, "Machine data for SINUMERIK 840D" Overview of MD Table 3-20 Overview of machine data for 611 digital for 611 digital Number Name 1301 $MD_SAFE_FUNCTION_ENABLE...
Page 92: Safely-Reduced Speed (Sg)
SI are shown in Fig. 3-7 "Timing when exceeding the limit value for SG". © Siemens AG 2003 All Rights Reserved 3-92 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 93 ERA 180 with 9000 pulses/rev and ERA 180 with 3600 pulses/rev from Heidenhain The amplitude monitoring is active up to 420 kHz. © Siemens AG 2003 All Rights Reserved 3-93 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 94: Selecting/De-Selecting The Safely-Reduced Speed
Speed limit value for SG4 active Note: 1) For SINUMERIK 840D system with SW 4.2 and higher, the SG limit value SG2 and SG4 can be set in finer steps using the SG override (refer to Chapter 3.5.6, "Override for safely-reduced speed").
Page 95 The speeds to be taken into account (speeds at which hands/arms are moved for arranging protective equipment) are stipulated in Safety Standard DIN EN999. © Siemens AG 2003 All Rights Reserved 3-95 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 96: Limiting The Setpoint Speed
A higher setpoint is only entered if both channels have changed over. Changing over from SBH/SG into non-safe operation (acceleration) A higher setpoint is only entered if both channels have changed over. © Siemens AG 2003 All Rights Reserved 3-96 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 97: Safely-Reduced Speed When Using Selector Gearboxes
When changing-over from a low to a high speed limit value, the higher limit becomes effective immediately. © Siemens AG 2003 All Rights Reserved 3-97 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 98: Effects When The Limit Value Is Exceeded For Sg
When the safely-reduced speed function is active, then the timing is as follows value is violated when the limit value is violated: © Siemens AG 2003 All Rights Reserved 3-98 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 99: Sg-Specific Stop Responses
SG4 is active with configured stop response STOP D in the automatic mode. Activating The function is active whenever MD 36961/1361: $MA_/$MD_SAFE_VELO_STOP_MODE = 5. © Siemens AG 2003 All Rights Reserved 3-99 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 100: Override For Safely-Reduced Speed
Note: Refer to Chapter 3.5.1, "Selection/de-selection of safely-reduced speed" Note Changing between SGEs "SG override selection, bits 3, 2, 1, 0" continuously and quickly may initiate STOP F. © Siemens AG 2003 All Rights Reserved 3-100 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 101 Signal status is optional since override values are not effective for SG1 and SG3 Configuring NCK SGEs (override selection bits 3, 2, 1, 0) are configured using the following machine data: NCK SGEs © Siemens AG 2003 All Rights Reserved 3-101 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 102: Example: Override For Safely-Reduced Speed
SGEs "SG override selection bits 3 and 2" are not needed to select an SG override, i.e. they do not need to be configured (they are set to "0" internally). • Assumptions for the The example applies to the 1st axis on a SINUMERIK 840D/ example SIMODRIVE 611 digital. •...
Page 103: Application Examples For Sg
Assumptions for The gear stage is selected from an NC program with an H function via the example 1 PLC user program. © Siemens AG 2003 All Rights Reserved 3-103 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 104 36918 $MA_SAFE_ENC_RESOL 36920 $MA_SAFE_ENC_GEAR_PITCH 36921 $MA_SAFE_ENC_GEAR_DENOM[n] 36922 $MA_SAFE_ENC_GEAR_NUMERA[n] 36925 $MA_SAFE_ENC_POLARITY Note: Data is described in Chapter 4, "Machine data for SINUMERIK 840D" Table 3-32 Overview of encoder data for 611 digital Number Name 1316 $MD_SAFE_ENC_CONFIG 1317 $MI_SAFE_ENC_GRID_POINT_DIST 1318 $MI_SAFE_ENC_RESOL 1320...
Page 105 SGE gear ratio selection Gear Bit 2 Bit 1 Bit 0 stage 4 : 1 2,5 : 1 1,6 : 1 1 : 1 © Siemens AG 2003 All Rights Reserved 3-105 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 106 The machine data for the "input assignment gear ratio selection (bits 0, 1, 2)" for the NCK are described in Chapter 4, "Machine data for SINUMERIK 840D". © Siemens AG 2003 All Rights Reserved 3-106 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 107 $MA_SAFE_ENC_GRID_POINT_DIST 36918 $MA_SAFE_ENC_RESOL 36920 $MA_SAFE_ENC_GEAR_PITCH 36921 $MA_SAFE_ENC_GEAR_DENOM[n] 36922 $MA_SAFE_ENC_GEAR_NUMERA[n] 36925 $MA_SAFE_ENC_POLARITY Note: Data is described in Chapter 4, "Machine data for SINUMERIK 840D" Table3-36 Encoder data overview for 611 digital Number Name 1316 $MD_SAFE_ENC_CONFIG 1317 $MI_SAFE_ENC_GRID_POINT_DIST 1318 $MI_SAFE_ENC_RESOL 1320 $MI_SAFE_ENC_GEAR_PITCH...
Page 108 (if this has not already been done) to re-align the SI actual values. © Siemens AG 2003 All Rights Reserved 3-108 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 109 1321.0 36921[0] 1321.1 36921[1] gearbox 1321.2 36921[2] encoder/load 1321.3 36921[3] Numerator 36922[0] 1322.0 1322.1 36922[1] gearbox 1322.2 36922[2] encoder/load 1322.3 36922[3] © Siemens AG 2003 All Rights Reserved 3-109 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 110: Overview Of The Machine Data For The Function Sg
1351 $MD_SAFE_VELO_SWITCH_DELAY 1361 $MD_SAFE_VELO_STOP_MODE 1363 $MD_SAFE_VELO_STOP_REACTION[n] (840D ab SW4.2) Note: Data is described in Chapter 4, "Machine data for SIMODRIVE 611digital" © Siemens AG 2003 All Rights Reserved 3-110 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 111: Safe Software Limit Switches (Se)
SGE "SE selection" must be provided (configured) in both channels. Warning The "safe software limit switches" are only effective if the user agreement has been given. © Siemens AG 2003 All Rights Reserved 3-111 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 112: Effects When An Se Responds
If the "safe software limit switch" function is active, the system timing is as software limit switch" follows when the limit position is passed: is actuated © Siemens AG 2003 All Rights Reserved 3-112 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 113 Each axis must be measured during commissioning to determine the distance it travels between the limit value being violated and it coming to a standstill. © Siemens AG 2003 All Rights Reserved 3-113 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 114: Overview Of The Machine Data For The Se Function
36934 $MA_SAFE_POS_LIMIT_PLUS[n] 36935 $MA_SAFE_POS_LIMIT_MINUS[n] 36962 $MA_SAFE_POS_STOP_MODE 36973 $MA_SAFE_POS_SELECT_INPUT Note: Data is described in Chapter 4, "Machine data for SINUMERIK 840D" Overview of MD Table 3-44 Overview of machine data for 611 digital Number Name for 611 digital 1301 $MD_SAFE_FUNCTION_ENABLE 1334...
Page 115: Safe Software Cams (Sn)
$MA_SAFE_FUNCTION_ENABLE, bit 8...15 The cam positions are defined using MD $MA_SAFE_CAM_POS_PLUS[n] and $MA_SAFE_CAM_POS_MINUS[n] SGA assignment is defined using MD $MA_SAFE_CAM_PLUS_OUTPUT[n] and $MA_SAFE_CAM_MINUS_OUTPUT[n] © Siemens AG 2003 All Rights Reserved 3-115 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 116 For 840D MD 36940: $MA_SAFE_CAM_TOL (tolerance for safe software cams) For 611 digital MD 1340: $MA_SAFE_CAM_TOL (tolerance for safe software cams) © Siemens AG 2003 All Rights Reserved 3-116 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 117 The size of the cam actual value range should be selected to match the modulo display of the safe actual value. © Siemens AG 2003 All Rights Reserved 3-117 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 118 The parameter settings are checked in each monitoring channel at run-up. In the case of parameterization errors (condition is not fulfilled), a corresponding alarm is output after the control has run-up. © Siemens AG 2003 All Rights Reserved 3-118 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 119: Effects When Sn Reponds
Each axis must be measured during commissioning to determine how long it takes for cam signals to be output to the I/O after the cam position has been passed. © Siemens AG 2003 All Rights Reserved 3-119 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 120: Application Example For "Safe Software Cams
For 840D MD 36901, bit 7: $MA_SAFE_FUNCTION_ENABLE For 611 digital MD 1301, bit 7: $MD_SAFE_FUNCTION_ENABLE Applicable from: SW 4.2 for 840D/611 digital © Siemens AG 2003 All Rights Reserved 3-120 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 121 I/O number for the signal "SBH/SG active": I/O number for the signal "SBH/SG de-selection": I/O number for the signal "SBH de-selection": © Siemens AG 2003 All Rights Reserved 3-121 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 122 01 09 01 03 SG selection, bit 1 36972[1] 01 09 01 06 SG selection, bit 0 36972[0] 01 09 01 07 © Siemens AG 2003 All Rights Reserved 3-122 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 123: Overview Of Machine Data For The Sn Function
36937 $MA_SAFE_CAM_POS_MINUS[n] 36940 $MA_SAFE_CAM_TOL 36988 $MA_SAFE_CAM_PLUS_OUTPUT[n] 36989 $MA_SAFE_CAM_MINUS_OUTPUT[n] Note: Data is described in Chapter 4, "Machine data for SINUMERIK 840D" Overview of MD Table 3-51 Overview of machine data for 611 digital Number Name for 611 digital 1301 $MD_SAFE_FUNCTION_ENABLE 1305 $MD_SAFE_MODULO_RANGE (840D from SW4.2)
Page 124: Safe Braking Ramp (Sbr) (840D From Sw 4.2)
MD 36946/1346 plus the value in MD 36948/1348. For 840D MD 36946: $MA_SAFE_VELO_X (speed limit n For 611 digital MD 1346: $MD_SAFE_VELO_X © Siemens AG 2003 All Rights Reserved 3-124 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 125 During "normal" operation, speed overshoot should not unintentionally trigger the SBR. Speed overshoot should therefore be checked by making the appropriate measurements. © Siemens AG 2003 All Rights Reserved 3-125 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 126: Overview Of The Machine Data For Sbr
$MA_MA_AX_ACCEL 35200 $MA_GEAR_STEP_SPEEDCTRL_ACCEL 35210 $MA_STEP_POSCTRL_ACCEL 35410 $MA_SPIND_OSCILL_ACCEL Note: Data is described in Chapter 4, "Machine data for SINUMERIK 840D" Table 3-53 Overview of machine data for 611 digital Overview of MD Number Name for 611 digital 1348 $MD_SAFE_STOP_ VELO_TOL Note: Data is described in Chapter 4, "Machine data for SIMODRIVE 611digital"...
Page 127: Safety-Related Input/Output Signals (Sge/Sga)
Cam signals can be output Processing in two channels for SGEs and SGAs Function features Processing in the NCK monitoring channel © Siemens AG 2003 All Rights Reserved 3-127 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 128 The signals from the drive monitoring channel are input/output via the PLC I/O devices, processed by the PLC user program and transferred to the drive or the PLC via the NC/PLC interface. © Siemens AG 2003 All Rights Reserved 3-128 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 129 What SGEs/SGAs are The following SGEs and SGAs are provided for each axis/spindle in each of the there? two monitoring channels: © Siemens AG 2003 All Rights Reserved 3-129 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 130 (e.g. input is permanently set to 0 (default) or 1) In the drive monitoring channel: By appropriately programming the interface signals in the PLC user program. © Siemens AG 2003 All Rights Reserved 3-130 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 131 MD (i.e. the NCK-SGE does not have a hardware assignment and is set to 0). © Siemens AG 2003 All Rights Reserved 3-131 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 132: Signal Processing For The Nck Monitoring Channel
The digital inputs/outputs are reserved byte-serially for SGEs/SGAs. If at least 1 input/output is used for SGEs/SGAs, then the remaining inputs/outputs of the byte concerned cannot be used for other functions. © Siemens AG 2003 All Rights Reserved 3-132 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 133 The machine manufacturer is responsible for ensuring that digital NCK outputs are not assigned twice (resulting in conflict) by configuring them correctly. For SINUMERIK 840D, the number of NCK SGEs/SGAs is only limited by the maximum available number of NCK I/O hardware devices that can be inserted.
Page 134: Signal Processing In The Drive Monitoring Channel
The SGEs/SGAs must be supplied by the machine manufacturer in both the drive monitoring channel and the NCK monitoring channel. Digital PLC inputs/ Digital PLC inputs and outputs are implemented on the SINUMERIK 840D using SIMATIC S7-300 I/O devices. outputs for 840D References: /S7H/, SIMATIC S7-300 ©...
Page 135: Overview Of The Machine Data For Sge/Sga
A PLC module that is compatible with the SIMATIC S7 315-2DP is used as the 840D PLC in the SINUMERIK 840D. Signals are processed according to what has been programmed in the PLC user program (refer to Chapter 4, "Interface signals for SINUMERIK 840D").
Page 136: Safe Programable Logic (Spl) (840D Sw 4.4.18)
1 output). Multiple distribution/assignment can also be parameterized via machine data. Signals in this channel cannot be subject to other logic operations. © Siemens AG 2003 All Rights Reserved 3-136 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 137 To improve the procedure when commissioning a machine, an SPL can be SPL start without axial safety enable started without the axial safety function first being enabled. © Siemens AG 2003 All Rights Reserved 3-137 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 138 SPL interface for all safety axes via MD $MA_SAFE_EXT_STOP_INPUT[0]. If this condition is not fulfilled, then Alarm 27033 is output. © Siemens AG 2003 All Rights Reserved 3-138 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 139: Nck-Spl Program
IPO clock cycles (modal) − The synchronous actions assigned the keyword IDS remain active even after an operating mode change or NC-STOP/NC RESET © Siemens AG 2003 All Rights Reserved 3-139 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 140 If NCK-SPL execution is interrupted for any reason or the SI system variables are changed by another program, then this is detected by the cyclic crosswise data comparison with the PLC. © Siemens AG 2003 All Rights Reserved 3-140 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 141: Starting The Nck-Spl Using The Prog_Event Mechanism
SPL (SAFE.SPF) via PROG_EVENT.SPF. The ability to start the NCK SPL via this mechanism as replacement for the PLC controlled call via FB4/FC9 is available from NCU system software 6.4.15 onwards. © Siemens AG 2003 All Rights Reserved 3-141 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 142 ( ) end of program --> bit1 == 1 ( ) operator panel reset --> bit2 == 1 (x) run-up --> bit3 == 1 © Siemens AG 2003 All Rights Reserved 3-142 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 143 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 2003 All Rights Reserved 3-143 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 144 ChanNo 1 to 10 [1] No. of NC channel IntNo 1 – 8 [1] Interrupt no. Active Bool 1 = active © Siemens AG 2003 All Rights Reserved 3-144 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 145 The variables shown here and other variables are described later on in this section. Linking to the I/Os The following machine data is available for linking to the I/Os (external inputs/outputs) (cf. diagram above): © Siemens AG 2003 All Rights Reserved 3-145 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 146 $MN_SAFE_OUT_HW_ASSIGN [ n ] 11500 $MN_PREVENT_SYNACT_LOCK[m,n] Note: Data is described in Chapter 4, "Machine data for SINUMERIK 840D" NCU-local binary The NCU-local binary I/O signals connected at the cable distributor of the NCU inputs/outputs box (X121 interface) have only been available via the system variables (SW 6.3.21 and higher)
Page 147 PLC side (refer to Chapter 3, "PLC-SPL program"). • $A_CMDSI[n]: n=1: 10-fold change timer value for long forced checking procedure pulses and/or single-channel test stop logic. © Siemens AG 2003 All Rights Reserved 3-147 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 148 Separate data must be used for parameter FirstRun for each call with separate instance. >= Timer1 Zeitmessung fallende bis steigende Flanke Timer2 E_AND Timer3 Fig. 3-35 Function chart of the "safety relay" © Siemens AG 2003 All Rights Reserved 3-148 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 149 E3 to the safety relay x (x = 1..4). The return value contains the number of the first incorrect parameter; the value 0 indicates that the parameter assignment is correct. Syntax: SIRELIN(x,status,"Q1","Q2","E1","E2","E3") © Siemens AG 2003 All Rights Reserved 3-149 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 150 (x = 1..4). Initialization must be carried out beforehand. If this is not done correctly, then this is indicated in the return value © Siemens AG 2003 All Rights Reserved 3-150 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 151 TM1. The maximum value for TM1 is 1s, as otherwise the crosswise data comparison between NCK and PLC-SPL would detect an error. © Siemens AG 2003 All Rights Reserved 3-151 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 152 Out3 : BOOL ; //Delayed Output to False by Timer 3 END_VAR VAR_INOUT FirstRun: BOOL ; //True by User after 1. Start of SPL END_VAR © Siemens AG 2003 All Rights Reserved 3-152 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 153 = 1, 2, ... 64 BOOL stands for No. of input $A_INSID [ n ] NCK inputs n = 1, 2 © Siemens AG 2003 All Rights Reserved 3-153 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 154 NCK and PLC-SPL Note: l -> read, s -> write An implicit pre-run stop is generated Only permitted in the commissioning phase © Siemens AG 2003 All Rights Reserved 3-154 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 155 The events "operating mode change" and "reset" have no effect on the processing of the NCK-SPL with identifier IDS. Several run-up instructions can be programmed in one block. © Siemens AG 2003 All Rights Reserved 3-155 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 156 The error number (1– 320) refers to SPL_DATA as an array with 5x64=320 signals. © Siemens AG 2003 All Rights Reserved 3-156 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 157 SPL, signals generated by the SPL and internal states of the SPL: SPL_DATA.INSEP[1...64] SPL_DATA.OUTSEP[1...64] SPL_DATA.INSIP[1...64] SPL_DATA.OUTSIP[1...64] SPL_DATA.MARKERSIP[1...64] Criterion "commissioning phase must have been completed" © Siemens AG 2003 All Rights Reserved 3-157 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 158 VDI-Nahtstelle $A_OUT DB10.DBDxxx $A_IN DB10.DBDxxx FC21 $A_DBB $A_DBW $A_DBD DB18.DBD128 $A_PLCSIOUT $A_PLCSIIN DB18.DBD132 DMP-Peripherie PLC-Peripherie Fig. 3-37 Communication paths NCK-PLC © Siemens AG 2003 All Rights Reserved 3-158 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 159 NCK-SPL program (SAFE.SPF). A corresponding programming command is rejected with the Alarm 17070 "Channel %1 Block %2 Data write-protected". © Siemens AG 2003 All Rights Reserved 3-159 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 160 OUTSEP_ADDR (Address 7th output byte) DBW 32 OUTSEP_ADDR (Address 8th output byte) DBW 34 Stop E SPL_READY DBB 36 DBB 37 © Siemens AG 2003 All Rights Reserved 3-160 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 161 1 - 320 = signal number starting from SPL_DATA.INSEP[1] Crosswise data comparison stack level display DBD 124 (Diagnostics capability: How many SPL signals currently have different levels) © Siemens AG 2003 All Rights Reserved 3-161 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 162 Pointer to axis table 8 (BlockPointer[8]) DBB 158 Safety axis table (AxisTable[1]) 1st axis DBB 188 Safety axis table (AxisTable[31]) 31st axis © Siemens AG 2003 All Rights Reserved 3-162 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 163 Internal PLC output for SPL MARKERSIP[1..64] Bool Marker for SPL CMDSI Bool Timeout value in crosswise data comparison is extended by a factor of 10 © Siemens AG 2003 All Rights Reserved 3-163 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 164 (i.e. both monitoring channels have output a "0"). A simultaneous test in both channels allows the function to be tested in both channels using one checkback signal. © Siemens AG 2003 All Rights Reserved 3-164 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 165 In this case, the two-channel SPL structure would be worthless and the crosswise data comparison would have no effect. © Siemens AG 2003 All Rights Reserved 3-165 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 167 Chapter 7 "Configuring Example". Note An application example for a test stop for SI Level 2 is given in Chapter 7 "Configuring Example". © Siemens AG 2003 All Rights Reserved 3-167 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 168 V S A G E B E R _ 0 2 . D S F Fig. 3-39 1-encoder system for a feed drive © Siemens AG 2003 All Rights Reserved 3-168 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 169 Shift gearbox Spindle Connection of direct position encoder (DMS) Incremental encoder GEBER_01.DSF Fig. 3-41 2-encoder system for a main spindle drive © Siemens AG 2003 All Rights Reserved 3-169 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 170 This state is indicated using the axis-specific interface signal "reference point reached" as follows: © Siemens AG 2003 All Rights Reserved 3-170 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 172 • If the axis is moved with the system powered-down, then the saved standstill position no longer matches the current position. © Siemens AG 2003 All Rights Reserved 3-172 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 173 SE/SN is reliable Axis status from this Axis safely axis status referenced "Axis safely referenced" Fig. 3-43 Axis states during referencing © Siemens AG 2003 All Rights Reserved 3-173 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 174 36920 $MA_SAFE_ENC_GEAR_PITCH 36921 $MA_SAFE_ENC_GEAR_DENOM[n] 36922 $MA_SAFE_ENC_GEAR_NUMERA[n] 36925 $MA_SAFE_ENC_POLARITY Note: Data is described in Chapter 4, "Machine data for SINUMERIK 840D" Overview of MD Table 3-66 Overview of machine data for 611 digital for 611 digital Number Name 1316 $MD_SAFE_ENC_CONFIG 1317...
Page 175 Actual value synchronization is not performed until an actual value difference between the two channels of 2 µ m or 2 millidegrees is detected per SI monitoring cycle. © Siemens AG 2003 All Rights Reserved 3-175 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 176 Due to the slip produced by the belt drive, the actual value between the two encoders drifts apart so that the actual value tolerance is violated with the relevant stop response. © Siemens AG 2003 All Rights Reserved 3-176 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 177 The MD values refer to two cases (refer to Fig. 3-46 "Configuration of spindle 840D/611 digital with a drive subject to slip and 2 encoders"): © Siemens AG 2003 All Rights Reserved 3-177 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 178 ENC_MODULE_NR [ 0 ] 30220 30230 ENC_INPUT_NR [ 0 ] ENC_FEEDBACK_POL [ 0 ] 32110 36912 SAFE_ENC_INPUT_NR 36925 SAFE_ENC_POLARITY 1316 SAFE_ENC_CONFIG © Siemens AG 2003 All Rights Reserved 3-178 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 179 3.12.1 Description of functions General mode of From SW 6.3.30 onwards, the SINUMERIK 840D has a fail-safe DP master (F master). The F master, in conjunction with the fail-safe DP modules operation (F modules) permits fail-safe communications on PROFIBUS DP (PROFIsafe communication) as specified by the PROFIsafe profile.
Page 180 Power module PM-D PROFIsafe Safety-relevant power module for safety-relevant motor starter for safety- relevant contact multiplier; 6 switching groups Order No.: 3RK1 903-3BA00 © Siemens AG 2003 All Rights Reserved 3-180 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 181 This is only possible before mounting the F module. SINUMERIK • SINUMERIK 840D NCU NCU 561.4 NCU 571.4 NCU 572.4 NCU 573.4 NCU 573.5 © Siemens AG 2003 All Rights Reserved 3-181 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 182 DP-Slave ET 200S User communication PROFIsafe comm. PS_KOMSTRU1.DSF PROFIBUS-DP comm. Fig. 3-47 System structure: SI I/Os using F modules on PROFIBUS DP © Siemens AG 2003 All Rights Reserved 3-182 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 183 After the "S7 Distributed Safety" option package or the S7 F Configuration Package has been installed (refer to the previous chapter), the F modules are © Siemens AG 2003 All Rights Reserved 3-183 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 184 The displayed values of the F parameter F_Source_Address F_Target_Address must be entered in the NCK machine in a subsequent parameterization step to configure the NCK (refer below). © Siemens AG 2003 All Rights Reserved 3-184 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 185 The F source address is the decimal PROFIsafe address of the F master F_Source_Address allocated automatically by the HW Config. Note To parameterize the SINUMERIK 840D (F master) the F source address must be entered in the hexadecimal format in the following NCK machine data: • MD 10385: $MN_PROFISAFE_MASTER_ADDRESS...
Page 186 Configuration channel x,y = 2v2 Channel 7 Configuration channel x,y = 1v1 FDI_ND2.DSF Fig. 3-49 2v2/1v1 mapping of the F-DI channels to SPL input data © Siemens AG 2003 All Rights Reserved 3-186 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 187 ( Note: The value calculated by HW Config and displayed in the field: "Equidistant bus cycle" is the same as the DP cycle time) Cancel Cancel Cancel © Siemens AG 2003 All Rights Reserved 3-187 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 188 Before modifying the DP cycle time, read the information provided in the online documentation (Button: "Help" of the relevant dialog box). 3.12.6 Parameterizing SINUMERIK 840D NCK The parameterization of the SINUMERIK 840D NCK is made up of the following sub-areas: Configuration of the PROFIsafe communications Parameterization of the SPL SGE/SGA interface...
Page 189 Components , Error Error code " and the configured Stop response (Stop D or E) is output at the Safety axes. © Siemens AG 2003 All Rights Reserved 3-189 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 190 The module type (input, output) detected in the NCK machine data does not match the configuration An F module has been parameterized more than once © Siemens AG 2003 All Rights Reserved 3-190 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 191 Note The NCK machine data: • MD 10386: $MN_PROFISAFE_IN_ADDRESS[Index] • MD 10388: $MN_PROFISAFE_IN_ASSIGN[Index] • MD 10387: $MN_PROFISAFE_OUT_ADDRESS[Index] • MD 10389: $MN_PROFISAFE_OUT_ASSIGN[Index] © Siemens AG 2003 All Rights Reserved 3-191 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 192 F useful data of 1022, bit 0 to bit 3 for SPL-SGE[1] to SPL-SGE[4] F useful data of 1021, bit 0 to bit 3 for SPL-SGE[5] to SPL-SGE[8] © Siemens AG 2003 All Rights Reserved 3-192 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 193 Acknowledgement and an acceptance test are required! Additional alarms Furthermore, the following error states are also detected and the appropriate alarms displayed: © Siemens AG 2003 All Rights Reserved 3-193 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 194 6) Alarm: 27255 "PROFIsafe: F module F target address , General Error • 7) Alarm: 27256 "PROFIsafe: Actual cycle time Cycle time [ms] > Parameterized cycle time" © Siemens AG 2003 All Rights Reserved 3-194 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 195 Creating and downloading the configuration The parameterization data required for PROFIsafe communications is made available to the PLC from the NCK when the SINUMERIK 840D runs-up. This is in the form of an image of the relevant NCK machine data.
Page 196 NCK SGE/ SGAs. They can only be connected in the context of the NCK- SPL which must be installed for the purpose. © Siemens AG 2003 All Rights Reserved 3-196 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 197 The I/Os (F useful data) of an F module cannot be connected to axial 611D SGE/ SGAs. They can only be connected in the context of the NCK-SPL which must be installed for the purpose. © Siemens AG 2003 All Rights Reserved 3-197 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 198: (From Sw 6.4.15)
– the safe actual value – is no longer available. © Siemens AG 2003 All Rights Reserved 3-198 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 199 For an Emergency Stop, a STOP A is immediately initiated. This means that the time up until the pulses are cancelled is extremely short. If the input © Siemens AG 2003 All Rights Reserved 3-199 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 200 An SG stage has been selected where it has been previously defined, that in this SG stage, no ESR should be executed when the drive bus fails (e.g. SG stage for personnel protection). © Siemens AG 2003 All Rights Reserved 3-200 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 201 ; pulses are not immediately cancelled in all SG stages, STOP D is initiated ; when the SG is exceeded $MA_SAFE_VELO_STOP_MODE[AX2] = 13 © Siemens AG 2003 All Rights Reserved 3-201 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 202 $MA_SAFE_VELO_STOP_REACTION[1, AX1] = 13 ; SG stage 2 $MA_SAFE_VELO_STOP_REACTION[2, AX1] = 12 ; SG stage 3 $MA_SAFE_VELO_STOP_REACTION[3, AX1] = 12 ; SG stage 4 © Siemens AG 2003 All Rights Reserved 3-202 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 203 If one of the SG stages 2 to 4 is selected in all three axes, then pulse cancellation is delayed for 500 ms. © Siemens AG 2003 All Rights Reserved 3-203 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 204 3 Safety-Related Functions 11.03 3.13 Behavior of Safety Integrated when the drive bus fails (from SW 6.4.15) Notes © Siemens AG 2003 All Rights Reserved 3-204 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 205 Description of the interface signals ............4-256 4.4 System variable ..................4-263 4.4.1 System variable for SINUMERIK 840D..........4-263 4.4.2 Description of the system variables ............4-266 © Siemens AG 2003 All Rights Reserved 4-205 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 206 Acceleration when oscillating /FBD/, S1 36060 STANDSTILL_VELO_TOL Maximum velocity/speed "Axis/spindle /FBD/, A2 stationary" 36620 SERVO_DISABLE_DELAY_TIME Shutdown delay controller enable /FBD/, A2 © Siemens AG 2003 All Rights Reserved 4-206 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 207 Input assignment "Pulses cancelled" status 36977 Input assignment external brake request SAFE_EXT_STOP_INPUT[n] 36978 Input assignment for SG override selection SAFE_OVR_INPUT[n] (SW 4.2 and higher) © Siemens AG 2003 All Rights Reserved 4-207 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 208 These general machine data are included in the axial checksum calculation of the safety- relevant machine data ( $MA_SAFE_ACT_CHECKSUM, $MA_SAFE_DES_CHECKSUM). Corresponds with … © Siemens AG 2003 All Rights Reserved 4-208 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 209 This MD is only used for service purposes. The value of the MD can only be 0 or 1. © Siemens AG 2003 All Rights Reserved 4-209 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 210 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. Corresponds with … References © Siemens AG 2003 All Rights Reserved 4-210 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 211 If this MD is set to 4, then 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". © Siemens AG 2003 All Rights Reserved 4-211 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 212 Data type: DWORD Applies from SW 6.3 Meaning Defines the PROFIsafe address of a PROFIsafe module Special cases, errors Corresponds with … © Siemens AG 2003 All Rights Reserved 4-212 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 213 Changes to the machine data and resulting axial checksums are displayed via Alarm 27032, "Axis %1 Checksum error for safe monitoring. Acknowledgement and acceptance test necessary!". © Siemens AG 2003 All Rights Reserved 4-213 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 214 Setting the value "nn" can be used to define which of the available four digital I/Os are to be used for the SPL SGEs/SGAs: © Siemens AG 2003 All Rights Reserved 4-214 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 215 Bit 3 = 1: Run-up The user program is called using the following search path: /_N_CUS_DIR/_NPROG_EVENT_SPF /_N_CMA_DIR/_NPROG_EVENT_SPF /_N_CST_DIR/_NPROG_EVENT_SPF Corresponds with … References © Siemens AG 2003 All Rights Reserved 4-215 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 216 0000 during run-up Corresponds with … Global option References Refer to Chapter 2, "Enabling safety-related functions" © Siemens AG 2003 All Rights Reserved 4-216 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 217 NC side. Corresponds with … MD 36910: $MA_SAFE_ENC_SEGMENT_NR MD 36912: $MA_SAFE_ENC_INPUT_NR MD 36010: $MN_DRIVE_LOGIC_NR MD 30220: $MA_ENC_MODULE_NR © Siemens AG 2003 All Rights Reserved 4-217 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 218 Applies from SW 3.4 Meaning The grid spacing of the linear scale used is specified here. MD irrelevant for ..A rotary encoder © Siemens AG 2003 All Rights Reserved 4-218 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 219 A direction reversal of the actual value can be selected using this data. = -1: Direction reversed = 0 or = 1: Direction not reversed © Siemens AG 2003 All Rights Reserved 4-219 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 220 This override is not applied to the limit values for safely-reduced speeds 1 and 3. Corresponds with … MD 36978: $MA_SAFE_OVR_INPUT[n] MD 36931: $MA_SAFE_VELO_LIMIT[n] References Refer to Chapter 3, "Override for safely-reduced speed" © Siemens AG 2003 All Rights Reserved 4-220 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 221 If a lower or identical value is entered in MD: $MD_SAFE_POS_LIMIT_PLUS[n] than in MD: $MA_SAFE_POS_LIMIT_MINUS[n], then a parameterizing error is displayed. © Siemens AG 2003 All Rights Reserved 4-221 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 222 "Finger protection" (about 10 mm) is the primary consideration when setting this tolerance value. • Stop response STOP F is activated when the tolerance band is violated. © Siemens AG 2003 All Rights Reserved 4-222 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 223 MD 36949 is only evaluated if MD $MA_SAFE_FUNCTION_ENABLE, bit 3 is set. Corresponds with … MD 1349: $MD_SAFE_SLIP_VELO_TOL References Refer to Chapter 3.11.4, Actual value synchronization © Siemens AG 2003 All Rights Reserved 4-223 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 224 Once the time has expired, the drive is monitored for safe operating stop. If the axis/spindle has still not been stopped, STOP B/A is initiated. © Siemens AG 2003 All Rights Reserved 4-224 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 225 "pulses cancelled status" must not exceed the time limit set in this data. Special cases, errors If the pulses are not cancelled within this time, a STOP A response is activated. © Siemens AG 2003 All Rights Reserved 4-225 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 226 =14, Stop E, in addition when the drive bus fails and the SG is active, the pulses are not immediately cancelled Special cases, errors Corresponds with … MD 36931: $MA_SAFE_VELO_LIMIT[n] MD 36963: $MA_SAFE_VELO_STOP_REACTION[n] © Siemens AG 2003 All Rights Reserved 4-226 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 227 This function is active only when MD 36961 and MD 1361 are set to 5. Corresponds with … MD 36931: $MA_SAFE_VELO_LIMIT[n] MD 36961: $MA_SAFE_VELO_STOP_MODE © Siemens AG 2003 All Rights Reserved 4-227 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 228 The corresponding test function is activated via MD $MA_FIXED_STOP_MODE, bit 1. © Siemens AG 2003 All Rights Reserved 4-228 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 229 $A_OUTSID[xx], $A_INSID[xx], $A_INSED[xx] With each entry, a single bit is assigned to a terminal. The structure corresponds to MD 10362: $MN_HW_ASSIGN_ANA_FASTIN[n]. © Siemens AG 2003 All Rights Reserved 4-229 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 230 If MD bit 31 is set, then the signal is processed inverted (ss = 81) • This input is of no significance if SG and SBH have been de-selected (see $MA_SAFE_SVSS_DISABLE_INPUT). References MD 36970: $MA_SAFE_SVSS_DISABLE_INPUT © Siemens AG 2003 All Rights Reserved 4-230 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 231 Special cases, errors If MD bit 31 is set, then the signal is processed inverted (ss = 81) References MD 36970: $MA_SAFE_SVSS_DISABLE_INPUT © Siemens AG 2003 All Rights Reserved 4-231 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 232 If the MD bits 31 are set, then the signal is processed inverted (ss = 81). Corresponds with … MD 36970: $MA_SAFE_SVSS_DISABLE_INPUT MD 36932: $MA_SAFE_VELO_OVR_FACTOR[n] References Refer to Chapter 3, "override for safely-reduced speed" © Siemens AG 2003 All Rights Reserved 4-232 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 233 01-20 Bit number in system variable word $A_OUTSID[xx], $A_INSID[xx], $A_INSED[xx] Additional parameterization for local outputs on the NCU (from SW 6.3.21): © Siemens AG 2003 All Rights Reserved 4-233 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 234 If MD bit 31 is set (ss = 81), the relevant signal is initially inverted. The (in some cases inverted) output signals are then ANDed and the result output at the terminal. © Siemens AG 2003 All Rights Reserved 4-234 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 235 If MD bit 31 is set (ss = 81), the relevant signal is initially inverted. The (in some cases inverted) output signals are then ANDed and the result output at the terminal. © Siemens AG 2003 All Rights Reserved 4-235 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 236 The (in some cases inverted) output signals are then ANDed and the result output at the terminal. Further references MD 36980: $MA_SAFE_SVSS_STATUS_OUTPUT © Siemens AG 2003 All Rights Reserved 4-236 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 237 If a single output signal is connected to a terminal, the following applies: If MD bit 31 is set, then the signal is processed inverted (ss = 81) Further references MD 36980: $MA_SAFE_SVSS_STATUS_OUTPUT © Siemens AG 2003 All Rights Reserved 4-237 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 238 Applies from SW 3.4 Meaning If the safety configuration is changed, safety-relevant configuration data is stored in this field. Special cases, errors © Siemens AG 2003 All Rights Reserved 4-238 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 239 Bit 1: Selects "Traverse to fixed endstop" for the function test of the braking mechanical system from the PLC © Siemens AG 2003 All Rights Reserved 4-239 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 240 Delay time SG changeover 1352 $MD_SAFE_STOP_SWITCH_TIME_C 36952: $MA_SAFE_STOP_SWITCH_TIME_C Transition time STOP C to SBH Transition time STOP C to safe standstill © Siemens AG 2003 All Rights Reserved 4-240 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 242 Reserved, these bits must be set to 0 Inch Axis type system Bit 0 Rotary axis/spindle Linear axis Bit 1 Imperial system (inches etc.) Metric system: © Siemens AG 2003 All Rights Reserved 4-242 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 243 Maximum value: Data type: Becomes µm 0.010 8 000 float effective: POWER ON Grid spacing of encoder (only applies to linear encoders) © Siemens AG 2003 All Rights Reserved 4-243 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 244 This machine data defines the standstill tolerance window for SBH. The actual value must be within this tolerance value otherwise an alarm is output © Siemens AG 2003 All Rights Reserved 4-244 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 245 POWER ON Lower (negative) limit value for SE. n = 0, 1 stands for safe end position SE1, SE2 © Siemens AG 2003 All Rights Reserved 4-245 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 246 NC and drive may deviate from one another. "Finger protection" (about 10 mm) is the primary consideration when setting this tolerance value. © Siemens AG 2003 All Rights Reserved 4-246 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 247 The tolerance in this MD is then used for the crosswise data comparison instead of the parameterized tolerance in © Siemens AG 2003 All Rights Reserved 4-247 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 248 After the time has elapsed, the axis/spindle is monitored for a safe operating stop. If it has still not reached zero speed, a STOP A or STOP B is initiated. © Siemens AG 2003 All Rights Reserved 4-248 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 249 STOP A response is initiated. If the pulses have been cancelled after the parameterized © Siemens AG 2003 All Rights Reserved 4-249 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 250 Significance of the field index: n = 0, 1, 2, 3 stands for SG1, SG2, SG3, SG4 Value = 0, 1, 2, 3, 4 corresponds to STOP A, B, C, D, E © Siemens AG 2003 All Rights Reserved 4-250 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 251 When a separate version ID for SI is displayed, the certification costs with the German Statutory Industrial Accident Insurance Association (BIA) are reduced as only software releases have to be registered that include changes. © Siemens AG 2003 All Rights Reserved 4-251 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 252 --> Bit 4 is different --> error in result cross-check of safe cam (SN2 +). Data that is relevant for this cam must be checked in the NCK and drive channels. © Siemens AG 2003 All Rights Reserved 4-252 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 253 For error code = 1: Evaluate fine error coding in MDs 1391 and 1392 For error code = 2: Evaluate fine error coding in MD 1393 and 1394 For SINUMERIK 840D, the error code is output together with the alarm display. Note The error code for stop F is shown in detail in Alarm 27001.
Page 254 If the values are not identical, data has either been changed or there is an error and Alarm 300744 "Checksum error safe monitoring" is displayed. © Siemens AG 2003 All Rights Reserved 4-254 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 255 Bit 1 Bit 0 Reserved Reserved Reserved Reserved Axis safely Reserved Reserved Reserved Reserved "Pulses Reserved SBH/ SG referenced cancelled" active status © Siemens AG 2003 All Rights Reserved 4-255 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 256 Speed limit value for SG2 is selected Speed limit value for SG3 is selected Speed limit value for SG4 is selected © Siemens AG 2003 All Rights Reserved 4-256 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 257 "Status Impulse sind gelöscht" die Ausführung des Teststops geprüft. Die Signale werden vom System zurückgesetzt. NST_01.DSF Fig. 4-1 Signal timing for SGE test stop selection © Siemens AG 2003 All Rights Reserved 4-257 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 258 Phase 2 only has to be performed if the function "external STOPs" has been enabled. Only the enabled and activated external standstill functions have to be tested. © Siemens AG 2003 All Rights Reserved 4-258 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 259 ESR is programmed depending on $VA_STOPSI or $A_STOPESI. If no ESR is active, the STOP E behaves like a STOP D. However, if the ESR was © Siemens AG 2003 All Rights Reserved 4-259 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 260 Axis/spindle is located to the left of the cam SN3+, SN3- SN4+, SN4- 1 signal: Axis/spindle is located to the right of the cam © Siemens AG 2003 All Rights Reserved 4-260 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 261 1 signal: Actual speed is lower than the limit speed 0 signal: Actual speed is greater or equal to the limit speed © Siemens AG 2003 All Rights Reserved 4-261 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 262 State "SG active Bit 1, 0" = "0" has two different meanings. An unambiguous interpretation can be obtained by additionally evaluating the SGAs "SBH active" and "SBH/SG active". © Siemens AG 2003 All Rights Reserved 4-262 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 263 No. of marker $A_MARKERSID[n] Markers n = 1, 2 (from SW 4.4.18) Image of the PLC markers n = 1,2, ...64 BOOL $A_MARKERSIP[n] © Siemens AG 2003 All Rights Reserved 4-263 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 264 NCK and PLC detect different signals Note: l -> read, s -> write An implicit preliminary stop is generated Only permitted in the commissioning phase © Siemens AG 2003 All Rights Reserved 4-264 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 265 (from SW 6.3.30) communication between NCK and TRUE] PLC-SPL. Signals can be read by the PLC and written by the NCK. © Siemens AG 2003 All Rights Reserved 4-265 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 266 An axis-specific system variable $VA_XFAULTSI[<Axis name>] is also introduced so that, if necessary, axis-specific responses can be configured for particular applications. © Siemens AG 2003 All Rights Reserved 4-266 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 267 => SGE "SG selection, bit0" is controlled in the SPL via system variable $A_OUTSI[36]. Programming example: ; SGA "Cam 1+" (see above) controls SG selection N1020 IDS = 02 DO $A_OUTSI[36] = $A_INSI[1] © Siemens AG 2003 All Rights Reserved 4-267 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 268 For a precise description of MD parameterization refer to Chapter 4, "Machine data for SINUMERIK 840D". These system variables can be read and written by the user program. © Siemens AG 2003 All Rights Reserved 4-268 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 269 10s are tolerated without Alarm 27090 being output. This system variable can be read and written by the user program. © Siemens AG 2003 All Rights Reserved 4-269 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 270 Images of the PLC-side external SPL output signals (status signals from the $A_OUTSEP[1...64] PLC-SPL) can be read via these system variables. Associated DB18 values: DB18.DBX46.0 ... DBX53.7 © Siemens AG 2003 All Rights Reserved 4-270 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 271 /_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 2003 All Rights Reserved 4-271 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 273 Servo trace bit graphics for Safety Integrated ........5-301 5.5.4 Bit graphics for SI signals in the servo trace ......... 5-304 © Siemens AG 2003 All Rights Reserved 5-273 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 275 To copy and confirm SI data, select the softkey labeled DRIVE CONFIG. to call the appropriate display. The following screenshot is an example of this display: © Siemens AG 2003 All Rights Reserved 5-275 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 276 This test is referred to as the "acceptance test". The following steps must be taken in the specified sequence to commission SI functions: Step 1 Enable option Enable option © Siemens AG 2003 All Rights Reserved 5-276 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 277 Assign measuring circuits and actual values to axes/spindles Actual value and • Select the softkey labeled COPY SI DATA in the "Drive configuration" measuring circuit display assignment © Siemens AG 2003 All Rights Reserved 5-277 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 278 For suggestions on how to test activated SI functions, please refer to Chapter 5, "Acceptance test" and "Acceptance report" © Siemens AG 2003 All Rights Reserved 5-278 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 279 This ensures that any errors, i.e. deviations in data content that may exist between the NCK and drive will be detected by the checksum check and crosswise data comparison. © Siemens AG 2003 All Rights Reserved 5-279 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 280 Other changes to MD $MA_SAFE_FUNCTION_ENABLE always change MD $MA_SAFE_ACT_CHECKSUM, which themselves have to be acknowledged by changes to MD $MA_SAFE_DES_CHECKSUM. © Siemens AG 2003 All Rights Reserved 5-280 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 281 MD $MA_SAFE_DES_CHECKSUM and subsequent power on. This MD is calculated, effective immediately, also for axes that were not released for Safety Integrated. © Siemens AG 2003 All Rights Reserved 5-281 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 282 MD 10094: $MN_SAFE_ALARM_SUPPRESS_LEVEL must be set to 0 in order to avoid suppressing alarm outputs. © Siemens AG 2003 All Rights Reserved 5-282 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 283 (in each case with evaluated measurement diagram and measured values) 15. Test the SI function "safe software limits" – SE (in each case with evaluated measurement diagram and measured values) © Siemens AG 2003 All Rights Reserved 5-283 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 284 SG stage) axis or function limited to adapted additional limit values and counter-signature table parts © Siemens AG 2003 All Rights Reserved 5-284 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 285 The acceptance report is included as a Word file in the toolbox supplied and is made up of the following parts: • System description • Description of safety functions • Test of safety functions. © Siemens AG 2003 All Rights Reserved 5-285 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 286 Changeover between the SG limit values (if set). A limit value is selected that is lower than the actual axis speed. • Changeover between the SG and SBH functions. © Siemens AG 2003 All Rights Reserved 5-286 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 287 Locate the safe limit in front of the fixed endstop of the axis at a distance corresponding to the calculated remaining distance plus a safety margin defined by the machine manufacturer. © Siemens AG 2003 All Rights Reserved 5-287 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 288 The test time is reduced by preparing test procedures within the system, automatic trace and evaluation techniques and reduced time when acknowledging SI alarms that are output. © Siemens AG 2003 All Rights Reserved 5-288 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 289 The test results are saved and loaded. The acceptance report is generated based on the test results that have been determined. © Siemens AG 2003 All Rights Reserved 5-289 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 290 0%. This allows the axis to be traversed in spite of the fact that the SBH monitoring is active or © Siemens AG 2003 All Rights Reserved 5-290 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 291 (group 2) is not active. • The NCK monitoring channel allows the mode to be activated through one channel. © Siemens AG 2003 All Rights Reserved 5-291 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 292 After the appropriate trace time (the relevant signal changes have taken place), then the trace must be manually terminated. © Siemens AG 2003 All Rights Reserved 5-292 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 293 This can be confirmed after the test has been carried-out by selecting the appropriate results. © Siemens AG 2003 All Rights Reserved 5-293 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 294 HMI Advanced (from SW 6.2) for the selected axis via Safety Integrated - Status SI (selected per default) - SGE/SGA - SPL © Siemens AG 2003 All Rights Reserved 5-294 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 295 The vertical softkeys "SGE/SGA" and "SPL" can be used to select two additional screens, which show the situation for the safety-relevant inputs/ outputs and the safe programmable logic. © Siemens AG 2003 All Rights Reserved 5-295 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 296 SI accesses the SI status screen, the SPL softkey accesses the screen for safe programmable logic. Fig. 5-5 shows the status display of the safe input/output signals. © Siemens AG 2003 All Rights Reserved 5-296 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 297 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 Fig. 5-5 Status display of safe input/output signals © Siemens AG 2003 All Rights Reserved 5-297 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 299 NCK and PLC. This means that internally, a different state no longer © Siemens AG 2003 All Rights Reserved 5-299 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 300 000064 0 0 "Anwendertext $A_INSE(P)[64]" 000065 0 0 "Anwendertext $A_OUTSE(P)[01]" 000128 0 0 "Anwendertext $A_OUTSE(P)[64]" 000129 0 0 "Anwendertext $A_INSI(P)[01]" 000192 0 0 "Anwendertext $A_INSI(P)[64]" © Siemens AG 2003 All Rights Reserved 5-300 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 301 "drives/servo" softkey. The basic servo trace display appears after pressing the horizontal servo trace softkey: © Siemens AG 2003 All Rights Reserved 5-301 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 302 Selecting SGE drive The selection of the SI signal SGE drive (from the PLC) is shown in the following. © Siemens AG 2003 All Rights Reserved 5-302 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 303 Display Once the measurement has been completed, the results of the measurement can be graphically displayed using the horizontal "display" softkey. © Siemens AG 2003 All Rights Reserved 5-303 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 304 Bit characteristics can be displayed as a function of time for 10 character channels (tracks). Bit-coded SI signals The bit-coded SI signals are principally sub-divided into two groups: © Siemens AG 2003 All Rights Reserved 5-304 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 305 No bit graphics are generated for SI signals that are not bit-coded. The setting possibilities are accessed using the vertical "bit selection…" Bit selection softkey: © Siemens AG 2003 All Rights Reserved 5-305 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 306 In the example, the signal SGE-NCK has been read-in to graphic 1 for trace 1. Bit selection, trace 1 ... The following screen is displayed when the vertical "bit selection trace 1…" softkey is pressed: © Siemens AG 2003 All Rights Reserved 5-306 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 307 Using the vertical softkey "Mix traces…", the user can select individual bits of SI signals from 4 traces and display these in the tracks as bit graphics for © Siemens AG 2003 All Rights Reserved 5-307 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 308 5 Commissioning 11.03 5.5 Diagnostics comparison purposes. This means that especially inputs and outputs of various SI signals can be combined. © Siemens AG 2003 All Rights Reserved 5-308 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 309 6 Alarms 6.1 Alarms for SINUMERIK 840digital .............. 6-310 6.2 Alarms from SIMODRIVE 611 digital ............6-343 6.3 Alarm suppression ..................6-355 © Siemens AG 2003 All Rights Reserved 6-309 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 310 Limit position reached, motion stopped Abort using NC RESET (key reset) Exit monitoring window Torque reduction rejected by drive PLC has withdrawn the enable signal. © Siemens AG 2003 All Rights Reserved 6-310 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 311 - the safe cams are still not safe - the safe limit positions are still not active © Siemens AG 2003 All Rights Reserved 6-311 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 312 $MA_SAFE_SLIP_VELO_TOL for active actual value synchronization (slip) – 32 Ref. position tolerance $MA_SAFE_REFP_POS_TOL. – 33 Delay time SG[x] -> SG[y] $MA_SAFE_VELO_SWITCH_DELAY. © Siemens AG 2003 All Rights Reserved 6-312 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 313 (neither SG2 nor SG4 active or function not selected via $MA_SAFE_FUNCTION_ENABLE). – 83 Acceptance test duration differs $MA_SAFE_ACCEPTANCE_TST_TIMEOUT. – 84 Delay time, Stop F -> Stop B © Siemens AG 2003 All Rights Reserved 6-313 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 314 Limit value for SG2. Enter equal MDs. Limit value for SG3. Enter equal MDs. Limit value for SG4. Enter equal MDs. Standstill tolerance. Enter equal MDs. © Siemens AG 2003 All Rights Reserved 6-314 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 315 SG correction factor 11. Enter equal MDs. SG correction factor 12. Enter equal MDs. SG correction factor 13. Enter equal MDs. © Siemens AG 2003 All Rights Reserved 6-315 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 316 An unsuccessful test can be recognized as a result of Alarm 27001 with error code 1005 or Alarm 27024. © Siemens AG 2003 All Rights Reserved 6-316 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 317 Check settings for safe input signals (NCK I/Os, PLC DB parameters). Program continuation Clear the alarm with the RESET key. Restart part program. © Siemens AG 2003 All Rights Reserved 6-317 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 318 (the duration of the acceptance test can be parameterized using MD $MA_SAFE_ACCEPTANCE_TST_TIMEOUT). Program continuation Alarm display disappears with the alarm cause. No further operator action necessary. © Siemens AG 2003 All Rights Reserved 6-318 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 319 SGEs are o.k., check the machine for any damage and rectify. Program continuation Clear the alarm with the RESET key. Restart part program. © Siemens AG 2003 All Rights Reserved 6-319 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 320 (refer to a description of the alarms). Program continuation Clear the alarm with the RESET key. Restart part program. © Siemens AG 2003 All Rights Reserved 6-320 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 321 Remove the causes for "Tolerance for safe standstill exceeded" or for "Safe F initiated" (refer to a description of these alarms). Program continuation Power-down the control and power-up again. © Siemens AG 2003 All Rights Reserved 6-321 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 322 1 for gear stage 1, 2 for gear stage 2, etc. The fourth parameter indicates the maximum speed that can be entered to just maintain the limit frequency in safe operation. © Siemens AG 2003 All Rights Reserved 6-322 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 323 MD $MA_SAFE_FUNCTION_ENABLE without the safety functions SBH/SG having been enabled. - 6. Error when parameterizing the input/output assignments for the SGEs/SGAs. © Siemens AG 2003 All Rights Reserved 6-323 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 324 $MA_SAFE_FUNCTION_ENABLE. The combination of functions is not permitted. - 26. For a linear axis, a value greater than 1,000 mm/min was entered into MD $MA_SAFE_STANDSTILL_VELO_TOL. © Siemens AG 2003 All Rights Reserved 6-324 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 325 Alarm display NC stop for alarm Remedy Check and correct the specified machine data. Program continuation Power-down the control and power-up again. © Siemens AG 2003 All Rights Reserved 6-325 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 326 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 2003 All Rights Reserved 6-326 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 327 Do not start the SPL again. Check the system components (PLC must have the correct version of FB15 and have DB18). Program continuation Power-down the control and power-up again. © Siemens AG 2003 All Rights Reserved 6-327 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 328 Mode group not ready Channel not ready NC start inhibit in this channel NC stop for alarm Alarm display Interface signals are set © Siemens AG 2003 All Rights Reserved 6-328 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 329 - L+ = monitoring active in this monitoring channel, upper limit value violated - L- = monitoring active in this monitoring channel, lower limit value violated © Siemens AG 2003 All Rights Reserved 6-329 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 330 - L+ = monitoring active in this monitoring channel, upper limit value violated - L- = monitoring active in this monitoring channel, lower limit value violated © Siemens AG 2003 All Rights Reserved 6-330 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 331 "Result list 2, NCK" and "Result list 2, drive" can be used. Program continuation Clear the alarm with the RESET key. Restart part program. © Siemens AG 2003 All Rights Reserved 6-331 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 332 "Result list 2, NCK" and "Result list 2, drive" can be used. Program continuation Clear the alarm with the RESET key. Restart part program. © Siemens AG 2003 All Rights Reserved 6-332 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 333 Correct the cycle time using MD $MN_PROFISAFE_IPO_TIME_RATIO or reduce the IPO clock cycle. Program continuation Power-down the control and power-up again. © Siemens AG 2003 All Rights Reserved 6-333 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 334 Interface signals are set Alarm display NC stop for alarm Remedy Correct the MD. Program continuation Power-down the control and power-up again. © Siemens AG 2003 All Rights Reserved 6-334 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 335 Interface signals are set Alarm display NC stop for alarm Remedy Correct the MD. Program continuation Power-down the control and power-up again. © Siemens AG 2003 All Rights Reserved 6-335 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 336 NC stop for alarm Remedy Check the PROFIsafe addresses in the NCK-MD and S7 PROFIBUS configuration Program continuation Power-down the control and power-up again. © Siemens AG 2003 All Rights Reserved 6-336 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 337 NC stop for alarm Remedy Check and correct the S7 F parameterization and NCK MD. Program continuation Power-down the control and power-up again. © Siemens AG 2003 All Rights Reserved 6-337 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 338 An error was detected during the evaluation of the F parameters. %2 = CRC1: CRC error, F parameters. %2 = F_WD_Timeout: The monitoring time parameterized in Step 7 is too short © Siemens AG 2003 All Rights Reserved 6-338 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 339 NC stop for alarm A STOP D/E is initiated (this can be set using MD $MN_SPL_STOP_MODE) on all of the axes with safety functionality. © Siemens AG 2003 All Rights Reserved 6-339 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 340 %3 = supplementary information system variables – field index Explanation The F module signals that an error has occurred in the interface of the specified channel. © Siemens AG 2003 All Rights Reserved 6-340 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 341 This must also be taken into account in the setting. Program continuation Clear the alarm with the RESET key. Restart part program. © Siemens AG 2003 All Rights Reserved 6-341 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 342 - Tel +49-180 / 5050 - 222 (outside Germany) - Fax +49-180 / 5050 - 223 - email techsupport@ad.siemens.de Program continuation Power-down the control and power-up again. © Siemens AG 2003 All Rights Reserved 6-342 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 343 Alarm display Interface signals are set Remedy Replace the 611 digital control module. Program continuation Power-down the control and power-up again. © Siemens AG 2003 All Rights Reserved 6-343 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 344 Mode group not ready Channel not ready NC start inhibit in this channel NC stop for alarm Alarm display Interface signals are set © Siemens AG 2003 All Rights Reserved 6-344 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 345 ENC_NUMERA(n)) * inkr_to_µm_rot_rund with n = 0 ... 7 (gear stage) and inkr_to_µm_rot_rund = (360000 / 8192) * (1 / MD1318 SAFE_ENC_RESOL) © Siemens AG 2003 All Rights Reserved 6-345 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 346 $MD_ALARM_MASK_POWER_ON (alarms that can be suppressed (power on) bit 4. Response Mode group not ready Channel not ready NC start inhibit in this channel NC stop for alarm © Siemens AG 2003 All Rights Reserved 6-346 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 347 Please inform the authorized personnel/service department. The user must identify the cause and take appropriate measures. Program continuation Power-down the control and power-up again. © Siemens AG 2003 All Rights Reserved 6-347 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 348 The safely-reduced speed monitoring has responded (MD 1361: $MD_SAFE_VELO_STOP_MODE (stop response, safely-reduced speed ) or MD 1363: $MD_SAFE_VELO_STOP_REACTION (SG-specific stop response) (840D from SW4.2)). © Siemens AG 2003 All Rights Reserved 6-348 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 349 NC and drive. Response NC start inhibit in this channel NC stop for alarm Alarm display Interface signals are set © Siemens AG 2003 All Rights Reserved 6-349 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 350 Program continuation Clear the alarm with the RESET key. Restart part program. © Siemens AG 2003 All Rights Reserved 6-350 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 351 - The safe limit positions are not yet active Program continuation Alarm display disappears with alarm cause. No further operator action necessary. © Siemens AG 2003 All Rights Reserved 6-351 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 352 = (200000[Hz] * 60) / number of encoder pulses Monitoring condition: MD 1331: $MD_SAFE_VELO_LIMIT[n] <= (1 / ue) * nmax © Siemens AG 2003 All Rights Reserved 6-352 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 353 The cam modulo range parameterized in $MD_SAFE_MODULO_RANGE (for rotary axes, the actual value range for SN ) for a rotary axis has failed to © Siemens AG 2003 All Rights Reserved 6-353 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 354 MD 1301: $MD_SAFE_FUNCTION_ENABLE (enable safety- related functions). Program continuation Power-down the control and power-up again. © Siemens AG 2003 All Rights Reserved 6-354 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 355 27024 300900 27030 300743 27031 301701 27032 300744 27033 27034 27090 27091 27092 27093 27094 27095 27096 27100 27101 27102 27103 © Siemens AG 2003 All Rights Reserved 6-355 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 356 MD parameterization which can be separately changed for both monitoring channels. • 27003: OEM monitoring functions are only implemented in the NCK. © Siemens AG 2003 All Rights Reserved 6-356 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 357 After the acceptance test it can be re-enabled to reduce the number of alarms displayed to the final user. © Siemens AG 2003 All Rights Reserved 6-357 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 359 Parameterizing the Sinumerik 840D NCK..........7-434 7.6.6 Programming the NCK-SPL..............7-435 7.6.7 Programming the PLC-SPL ..............7-438 7.6.8 Modified limitations with PROFIsafe ............. 7-441 © Siemens AG 2003 All Rights Reserved 7-359 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 360 EMERGENCY STOP circuit and the connection of the input/regenerative EMERGENCY STOP feedback module have to be implemented in the same way as for Safety Integrated without SPL. © Siemens AG 2003 All Rights Reserved 7-360 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 361 The following functions are implemented with Safety Integrated in the example: • Contactless EMERGENCY STOP © Siemens AG 2003 All Rights Reserved 7-361 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 362 The additional operating elements (switches, buttons etc.) and the contactors required for switching off the power are listed and described in more detail in the relevant sections. © Siemens AG 2003 All Rights Reserved 7-362 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 363 This means that only appropriately trained personnel can move the machine when the protective door is open. © Siemens AG 2003 All Rights Reserved 7-363 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 364 • SPL program • PLC program • Circuit diagram and • Machine data configuration refer. © Siemens AG 2003 All Rights Reserved 7-364 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 365 The basic program blocks FB4 and FC9 are called (FB1/P3) in FC 95 to start the NCK ASUB. The parameter supply for FC9 and FB4 is stored in DB120. © Siemens AG 2003 All Rights Reserved 7-365 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 366 External stops are a prerequisite for using the SPL logic. X axis 36901 SAFE_FUNCTION_ENABLE Z axis 36901 SAFE_FUNCTION_ENABLE Spindle 36901 SAFE_FUNCTION_ENABLE © Siemens AG 2003 All Rights Reserved 7-366 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 367 SGE signals can respond. This is the reason that the SGEs on the PLC side must be pre-assigned a value of "0". © Siemens AG 2003 All Rights Reserved 7-367 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 368 The PLC program is exclusively responsible in activating the individual SPL programs. The following program excerpt shows how the PLC-SPL and the NCK-SPL can be started almost simultaneously. © Siemens AG 2003 All Rights Reserved 7-368 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 369 Once it has successfully started, marker 210.0 is reset in order to enable processing of the PLC blocks FC96 (PLC SPL) and FC97 (safety test) in OB1. © Siemens AG 2003 All Rights Reserved 7-369 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 371 A list of the complete NCK-SPL program and the PLC modules that are required for the PLC-SPL is given in Chapter 7.3.10 or Chapter 7.3.11. © Siemens AG 2003 All Rights Reserved 7-371 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 372 $A_MARKERSI [4] QUIT_MARKER $A_MARKERSI [5] $A_MARKERSI [6] $A_MARKERSI [7] STOP_A_A $A_MARKERSI [8] STOP_A_S $A_TIMERSI[1] TIMER1 $A_TIMERSI[2] TIMER2 $A_TIMERSI[3] QUIT_TIMER3 $A_DBB[4] QUIT_PLC © Siemens AG 2003 All Rights Reserved 7-372 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 373 In order to program timers in the SPL logic, timers are available in the NCK in system variables $A_TIMERSI[n]. There is no connection with machine data. Configuration example: Assignment as shown in the table © Siemens AG 2003 All Rights Reserved 7-373 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 374 DEFINE QUIT_MARKER $A_MAKERSI[4] DEFINE STOP_A_A $A_MAKERSI[7] DEFINE STOP_A_S $A_MAKERSI[8] ; ----- Timers ---- DEFINE TIMER1 $A_TIMERSI[1] DEFINE TIMER2 $A_TIMERSI[2] DEFINE QUIT_TIMER3 $A_TIMERSI[3] © Siemens AG 2003 All Rights Reserved 7-374 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 375 EMERGENCY STOP on delay time T_VERZUG_" Acknowledgement delay time Teststop_Zeit1 Monitoring duration 2h 40min Teststop_Zeit2 Monitoring duration 5h 20min Teststop_Zeit3 Monitoring duration 8h © Siemens AG 2003 All Rights Reserved 7-375 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 376 The SGEs are input signals of the SI function and their values are assigned from the DB18 variables $A_OUTSIP[n]. These can be written in the PLC-SPL. © Siemens AG 2003 All Rights Reserved 7-376 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 377 NCK (one $A_OUTSI can be assigned to more than one SGE), one DB18 variable $A_OUTSIP can be assigned to more than one drive to equally supply SI functions in several axes. © Siemens AG 2003 All Rights Reserved 7-377 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 378 Excerpt from symbol editor PLC symbol table Symbol Address Data type Comment DB18 UDT18 Interface SPL data area © Siemens AG 2003 All Rights Reserved 7-378 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 379 NCK-SPL program excerpt ; -------------------------------------------------------- ; ------------- Supply, terminals AS1/AS2 and 663 -------- ; -------------------------------------------------------- N420 IDS=58 DO STAT_IMP_XZ = KL_AS12_XZ STAT_IMP_C = © Siemens AG 2003 All Rights Reserved 7-379 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 380 When considering mixed mode for NCK I/Os used in conjunction with Safety NCK I/Os Integrated, two cases must be taken into account. © Siemens AG 2003 All Rights Reserved 7-380 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 381 The line contactor can be switched (if required) in the SPL after the drive pulses have been cancelled. It does not have to be implemented using two channels (e.g. only by the PLC). © Siemens AG 2003 All Rights Reserved 7-381 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 382 (refer to Chapter 7.3.6 "Test stop"). The individual circuits of the Emergency Stop button are separately connected to the PLC and NCK inputs. © Siemens AG 2003 All Rights Reserved 7-382 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 383 PLC. This PLC input is also used for the forced checking procedure of the inputs and outputs (refer to Chapter 7.3.6 "Test stop"). © Siemens AG 2003 All Rights Reserved 7-383 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 384 24 V power supply of the two-channel acknowledgement button. Circuit diagram +24V Acknowledge- ment switch I76.3 Fig. 7-9 Emergency Stop acknowledgment © Siemens AG 2003 All Rights Reserved 7-384 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 385 == 0 DO QUIT_REQUEST = 0 N102 IDS=10 DO QUIT_MARKER = 0 N103 IDS=11 EVERY NOT_HALTE == 0 DO QUIT_TIMER = 0 © Siemens AG 2003 All Rights Reserved 7-385 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 386 "SPL".STOP_A_A // STOP A: Axes X, Z 216.3 // Test external STOP A (FC 97) "SPL".STOP_A_ABWA // De-select STOP A (X/Z) © Siemens AG 2003 All Rights Reserved 7-386 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 387 Chapter 7.3.6 "Test stop". On the PLC side the power contactor K1 is controlled using the last two instruction lines. © Siemens AG 2003 All Rights Reserved 7-387 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 388 AS $A_OUTSI[10] ; vgl. MD 36975 ; ---- Internal interfaces: Markers N8700 DEFINE TEST_STOPA AS $A_MARKERSI[11] N8800 DEFINE TEST_STOPC AS $A_MARKERSI[12] N8900 DEFINE TEST_STOPD AS $A_MARKERSI[13] © Siemens AG 2003 All Rights Reserved 7-388 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 389 $MN_HW_ASSIGN_DIG_FASTOUT must be set in accordance with the hardware configuration. Data exchange can only be used for bytes for which there are no real inputs and outputs. © Siemens AG 2003 All Rights Reserved 7-389 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 390 // Load for 2 hours and 40 minutes // Start Timer 30 // After 160 minutes S5T#2H40M // Load for 2 hours and 40 minutes © Siemens AG 2003 All Rights Reserved 7-390 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 391 This is because the external stop with a higher priority de-activates the external stop with a lower priority! © Siemens AG 2003 All Rights Reserved 7-391 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 392 If the Emergency Stop button is actuated during test stop step 2, the sequence control stops at its current position. As soon as the Emergency Stop is acknowledged, the test phase is completed. © Siemens AG 2003 All Rights Reserved 7-392 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 393 111.4 // STOP A/B not active Spindle C 217.1 // Start forced checking procedure at inputs 217.0 // Reset check: STOP A NCK © Siemens AG 2003 All Rights Reserved 7-393 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 394 FC97 program excerpt inputs and outputs // ------ Forced checking procedure of the inputs/outputs ------ 217.1 // Start forced checking procedure for M217.1=1 © Siemens AG 2003 All Rights Reserved 7-394 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 395 // Withdraw acknowledgement NCK 218.2 // Acknowledge EMERGENCY STOP NCK 218.2 // Acknowledge EMERGENCY STOP NCK SPB QUI1 // Do not acknowledge NCK © Siemens AG 2003 All Rights Reserved 7-395 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 396 "1". Program DEFINE QUIT_PLC AS $A_DBB[4] ; ------------------------------------------------------- ; --------------------- EMERGENCY STOP ------------------ ; ------------------------------------------------------- © Siemens AG 2003 All Rights Reserved 7-396 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 397 PLC to automatically interlock the door switch with the door solenoid when the protective door is closed. © Siemens AG 2003 All Rights Reserved 7-397 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 398 In addition, the switch setting in the PLC can be used to select one of the NC operating modes. © Siemens AG 2003 All Rights Reserved 7-398 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 399 The standstill tolerance is saved in the axis-specific machine data and in the Machine data drive machine data (FD/MSD). 36930 / 1330 SAFE_STANDSTILL_TOL © Siemens AG 2003 All Rights Reserved 7-399 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 400 FC96 program excerpt: // ------- SG selection using the key-operated switch -------- "SPL".TUERZUVER // Door closed and interlocked "SPL".SG_BIT_0 // SG bit0 © Siemens AG 2003 All Rights Reserved 7-400 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 401 DEFINE QUIT_TIMER3 AS $A_TIMERSI[3] ; ---- EMERGENCY STOP acknowledgment via PLC ---- DEFINE QUIT_PLC AS $A_DBB[4] ; ------------------------------------------------------- N0040 MSG("SPL Start") © Siemens AG 2003 All Rights Reserved 7-401 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 402 STAT_IMP_C = KL_AS12_C N430 IDS=60 DO KL_663_XZ = IMP_FREI_XZ KL_663_C = IMP_FREI_C ; ----------------------------------------------------- N1040 MSG("SPL active") ; ----------------------------------------------------- N1070 M17 © Siemens AG 2003 All Rights Reserved 7-402 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 403 // Task completed ==> ASUB running 210.7; 210.0; // Reset ASUB start marker from OB100 210.4; // Reset start ASUB END_FUNCTION © Siemens AG 2003 All Rights Reserved 7-403 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 404 // Key-operated switch "SPL".TUERZUVER; // DOOR LOCKED "SPL".SBHABW; // SBH de-selection // ------ SG selection using the protective door---------- "SPL".TUERZUVER; // DOOR LOCKED © Siemens AG 2003 All Rights Reserved 7-404 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 405 "SPL".KL_AS12_C; // Terminal AS1 / AS2 "SPL".STAT_IMP_XY; // Status, pulses cancelled "SPL".KL_663_C // Terminal 663 "SPL".IMP_FREI_C; // Pulse enable C END_FUNCTION © Siemens AG 2003 All Rights Reserved 7-405 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 406 := 0, test_axis_3 := 0, test_axis_4 := 0, test_axis_5 := 0, test_axis_6 := 0, test_axis_7 := 0, test_axis_8 := 0, © Siemens AG 2003 All Rights Reserved 7-406 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 407 // STOP C active Axis Z DB33.DBX 111.5; // STOP C active spindle C 216.7; // Initiate Stop A on the NCK side © Siemens AG 2003 All Rights Reserved 7-407 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 408 // Forced checking procedure input E76.4 = 1 "SPL".QUIT_MARKER; // Acknowledge EMERGENCY STOP PLC 218.2; // Acknowledge EMERGENCY STOP NCK 218.1; // Check: EMERGENCY STOP © Siemens AG 2003 All Rights Reserved 7-408 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 409 "SPL".QUIT_MARKER; // Acknowledge EMERGENCY STOP PLC 218.3; // Reset: Withdraw acknowledgement NCK 211.0; // Start monitoring time of 8 hours END_FUNCTION © Siemens AG 2003 All Rights Reserved 7-409 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 410 TIMER Monitoring duration 2h 40min 38 Teststop_Zeit_2 T 31 TIMER Monitoring duration 5h 20min Teststop_Zeit_3 T 32 TIMER Monitoring duration 8h © Siemens AG 2003 All Rights Reserved 7-410 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 411 Fig. 7-19 Structure of the user program The following function overview is used to configure and commission SPL logic © Siemens AG 2003 All Rights Reserved 7-411 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 412 7 Configuring example 11.03 7.3 Safety Integrated with SPL Function overview SPL logic Uebersicht_00.DSF Fig. 7-20 Overview, SPL logic © Siemens AG 2003 All Rights Reserved 7-412 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 413 +24 V power supply, depending on the cabinet configuration. On the PLC side, the pulses must be enabled on the axis-specific drive interface (DB3x.DBX21.7). © Siemens AG 2003 All Rights Reserved 7-413 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 414 The line contactor integrated in the infeed/regenerative feedback module is used to isolate the drives from the line supply (an external line contactor is not required). © Siemens AG 2003 All Rights Reserved 7-414 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 415 NS1 and terminal NS2. EMERGENCY STOP can only be acknowledged when the line contactor in the infeed/regenerative feedback module and the delay module K2 have dropped out. © Siemens AG 2003 All Rights Reserved 7-415 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 416 SAFE_STOP_REQUEST_INPUT : 0106080AH Circuit diagram Q49.0 Test stop 1 Q49.1 Test stop 2 SCHALTBI.DSF Fig. 7-25 Circuit diagram for test stop © Siemens AG 2003 All Rights Reserved 7-416 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 418 Section 7.4.4 I32.5 I32.6 SCHALT02.DSF Fig. 7-27 Circuit diagram: SBH de-selection using key-operated switch SG changeover using the door safety contactor © Siemens AG 2003 All Rights Reserved 7-418 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 419 32.6 // Door closed and interlocked DB31.DBX22.3 // SG bit 0 DB32.DBX22.3 // SG bit 0 DB33.DBX22.3 // SG bit 0 © Siemens AG 2003 All Rights Reserved 7-419 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 420 DB31.DBX32.3 // Supply STOP C for axis X DB32.DBX32.3 // Supply STOP C for axis Z DB33.DBX32.3 // Supply STOP C for spindle C © Siemens AG 2003 All Rights Reserved 7-420 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 421 An external STOP C must be incorporated in each test algorithm in the following form: © Siemens AG 2003 All Rights Reserved 7-421 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 422 Cancel STOP C NCK side (Q 36.1 = "1") End of test stop M 211.0 = "0" Fig. 7-28 Flowchart when testing external STOP C © Siemens AG 2003 All Rights Reserved 7-422 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 423 Fig. 7-29 Wiring Note The drive cannot be operated until the SPL is started because the external STOP A is not supplied! © Siemens AG 2003 All Rights Reserved 7-423 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 424 PM E F-DI F-DO PM-EF High Feature PROFIsafe PROFIsafe PROFIsafe Cable for: PROFIBUS-DP BSP_Module.dsf Fig. 7-30 Layout of the DP slave © Siemens AG 2003 All Rights Reserved 7-424 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 425 Signal status channel 1 = "1" and channel 5 = "1": Protective door closed Signal status channel 1 = "0" and channel 5 = "0": Protective door not closed © Siemens AG 2003 All Rights Reserved 7-425 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 426 DO 2 M 10 DO 3 P 13 Channel 3 Valve unit 2 DO 3 M 14 BSP_FDO_Verdrahtung.dsf Fig. 7-32 Example: F-DO connections © Siemens AG 2003 All Rights Reserved 7-426 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 427 DO 2 M 12,16 P2 (M) External wiring for additional actuators possible on DO2 BSP_PMEF_ Verdrahtung.dsf Fig. 7-33 Example: PM-E F connections © Siemens AG 2003 All Rights Reserved 7-427 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 428 Inhibit-quiescent position Agreement button Pressed Valve unit 2 Inhibit-quiescent position Valve unit 3 Inhibit-quiescent position Case 5 Supply voltage DO Disconnected © Siemens AG 2003 All Rights Reserved 7-428 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 429 More detailed information is given in the context-sensitive online help and in the manual ET200S Distributed I/O System, Fail-Safe Modules . © Siemens AG 2003 All Rights Reserved 7-429 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 430 The parameter F_Monitoring time defines the maximum time within which a new valid F telegram must have been received from the F master. Generally, the default value can be used. © Siemens AG 2003 All Rights Reserved 7-430 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 431 – this means that the time should be selected to take this into account. © Siemens AG 2003 All Rights Reserved 7-431 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 434 MD 36977 $MA_SAFE_EXT_STOP_INPUT[2] = 04 01 01 05 These safety-relevant internal input signals are used to implement the functions described above © Siemens AG 2003 All Rights Reserved 7-434 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 435 AS $A_OUTSI[02] DBX62.1 N435 DEFINE OI_STOPA_DESEL AS $A_OUTSI[03] DBX62.2 N440 DEFINE OI_STOPC_DESEL AS $A_OUTSI[04] DBX62.3 N445 DEFINE OI_STOPD_DESEL AS $A_OUTSI[05] DBX62.4 ;============================================================ © Siemens AG 2003 All Rights Reserved 7-435 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 436 == 1 DO MI_NO_E_STOP = 1 ; Set status marker IDS=03 WHENEVER IE_E_STOP == 0 DO MI_DO_NOT_STOP = 0 ; Reset status marker © Siemens AG 2003 All Rights Reserved 7-436 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 437 ; Valve unit 3 IDS=11 DO OE_VALVE3 = OE_VALVE1 ; Supply potential DO IDS=12 DO OE_P1P2 = OE_VALVE2 N1000 MSG ("SPL OK") N1005 M30 © Siemens AG 2003 All Rights Reserved 7-437 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 438 : DBX108.0 ... DBX111.7 // $A_INSIP[01]...$A_INSIP[64] : DB18.DBX54.0 ... DB18.DBX61.7 // No $A_INSIP variables are used for the application // example © Siemens AG 2003 All Rights Reserved 7-438 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 439 // $A_MARKERSIP[1]...$A_MARKERSIP[64] : // DB18.DBX70.0 ... DB18.DBX77.7 // $A_OUTSIP[1]..$A_OUTSIP[64] // DB18.DBX62.0 ... DB18.DBX69.7 // [IDS=09] Valve unit 1 "SPL".MIP_NO_E_STOP; "SPL".IEP_PROT.DOOR_CLOSED; "SPL".MIP_AGREEMENT; © Siemens AG 2003 All Rights Reserved 7-439 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 440 // interface in DB18 (logically ANDed with the associated // $A_OUTSE variable) directly to the I/Os. i.e. the output to the I/O is carried-out within // the system END_FUNCTION © Siemens AG 2003 All Rights Reserved 7-440 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 441 In each PROFIsafe cycle, the PROFIsafe layer generates a PROFIsafe telegram with the logically AND'ed SPL output data as F net (useful) data. © Siemens AG 2003 All Rights Reserved 7-441 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 442 7 Configuring example 11.03 7.6 SI I/Os using fail-safe modules connected to PROFIBUS DP Notes © Siemens AG 2003 All Rights Reserved 7-442 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 443 8.6 Direction detection when retracting from SE ..........8-466 8.7 Replacing a motor or encoder..............8-469 8.8 Example for combining SI with ESR ............8-473 © Siemens AG 2003 All Rights Reserved 8-443 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 444 (for SI with SPL, a significantly more sophisticated brake control function can be implemented, that is described further below). © Siemens AG 2003 All Rights Reserved 8-444 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 445 Status signal "speed controller active”, axis DB.DBX 61.6 • Application-specific SPL signals such as "EMERGENCY STOP not active”, "control system not powered-up”, etc. © Siemens AG 2003 All Rights Reserved 8-445 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 446 // Position controller active – from here onwards, no longer any effect on SPL crosswise data comparison = A2.0 // PLC output, relay module (M voltage) © Siemens AG 2003 All Rights Reserved 8-446 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 447 Unlike the test routine described in Chapter 7.3.6, the test involves separately controlling the two outputs A1 and A2 and monitoring the resulting level change at test input E1. © Siemens AG 2003 All Rights Reserved 8-447 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 448 The check can be integrated into the normal test routine (Chapter 7.3.4) or can be performed separately. The flowchart below shows the test procedure. © Siemens AG 2003 All Rights Reserved 8-448 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 449 Fig. 8-4 Flowchart for the test routine With this safe brake control, only the operating brake represents a potential Description hazard. © Siemens AG 2003 All Rights Reserved 8-449 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 450 MD $MA_SAFE_BRAKETEST_TORQUE. Internally, this is used to calculate the drive torque needed in addition to the weight of the axis as braking load. © Siemens AG 2003 All Rights Reserved 8-450 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 451 1192. If only the force due to the weight is effective, then this value can be directly transferred into MD 1192. © Siemens AG 2003 All Rights Reserved 8-451 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 452 Axis : INT ; //Testing axis no. TimerNo : TIMER ; //Timer from User TV_BTactiv : S5TIME ; //TimeValue – brake test active © Siemens AG 2003 All Rights Reserved 8-452 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 453 Brake opens during the holding period Error when de-selecting the brake test Internal error "PLC-controlled axis" signal not enabled in the user program © Siemens AG 2003 All Rights Reserved 8-453 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 454 := S5T#1S,//Monitoring time value: Brake closed TV_FeedCommand := S5T#1S,//Monitoring time value: Traversing command output TV_FXSreached := S5T#1S,//Monitoring time value: Fixed endstop reached © Siemens AG 2003 All Rights Reserved 8-454 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 456 Additional info %2” can be enabled via bit 5 in machine data $MN_ENABLE_ALARM_MASK. This alarm supplies detailed information if the brake test is interrupted. © Siemens AG 2003 All Rights Reserved 8-456 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 457 "low" to "high" at the saved position. The required cam signal is generated by negating signal SN1+ and rounding it with signal SN1-. © Siemens AG 2003 All Rights Reserved 8-457 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 458 The following positions are saved in the machine data: without SPL 36936 SAFE_CAM_POS_PLUS[0] : 0.5 Degrees 36937 SAFE_CAM_POS_MINUS[0] : 359.5 Degrees 36905 SAFE_MODULO_RANGE : 360 Degrees © Siemens AG 2003 All Rights Reserved 8-458 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 459 0 degrees” would always be a low signal. This problem can be solved by negating signal SN1+ in the machine data parameterization and OR'ing it with signal SN1-. © Siemens AG 2003 All Rights Reserved 8-459 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 460 Without SPL, the SN1+ cam is negated and parameterized to an output. The SN1- cam is also parameterized to a separate output. 36988 SAFE_CAM_PLUS_OUTPUT[0] 81040101 36988 SAFE_CAM_MINUS_OUTPUT[0] 01040102 © Siemens AG 2003 All Rights Reserved 8-460 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 461 36940 SAFE_CAM_TOL : 0.1mm Example 1 (rotary axes) SN1+ ≥ lower modulo value + SAFE_POS_TOL SN1+ ≥ 359.999° + 0.1° SN1+ ≥ 0.099° © Siemens AG 2003 All Rights Reserved 8-461 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 462 Further, the following diagram shows how a pulse signal is generated from two synchronized cam signals (schematic distances). © Siemens AG 2003 All Rights Reserved 8-462 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 463 Magnitude of the hysteresis (for a synchronized cam signal) • Magnitude of the traversing direction-dependent offset of the pulse generated from two cam signals © Siemens AG 2003 All Rights Reserved 8-463 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 464 - Motor/controller softkey - Select motor softkey (e.g. 1PH...) - Select motor measuring system - Save the boot file 11. Power-up the NCK © Siemens AG 2003 All Rights Reserved 8-464 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 465 PLC side, as otherwise errors will occur for the crosswise data comparison. (Also refer to Chapter 7.3.4 "Connecting the drives") © Siemens AG 2003 All Rights Reserved 8-465 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 466 –” is output and the axis is immediately braked (this is not necessary based on the configured stop response). Further traversing motion is only permitted in the appropriate retraction direction. © Siemens AG 2003 All Rights Reserved 8-466 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 467 These two signals can be used to supply information to the hardware limit switch +/- interface signals. © Siemens AG 2003 All Rights Reserved 8-467 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 468 // Hardware limit switch + NOSN: NOP 0 This logic can be used to implement the required interlocking function when retracting. © Siemens AG 2003 All Rights Reserved 8-468 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 469 The comparison between the saved standstill position and the actual position indicates a larger deviation than that specified in MD 36944: $MA_SAFE_REFP_POS_TOL (actual value comparison tolerance (referencing)) or MD 1344: $MD_SAFE_REFP_POS_TOL © Siemens AG 2003 All Rights Reserved 8-469 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 470 The calibration process must be initiated with traversing key + or - according to MD 34010: REFP_CAM_DIR_IS_MINUS and the approach direction to the reference position. (Backlash has been eliminated.) © Siemens AG 2003 All Rights Reserved 8-470 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 471 After the system has run-up, the JOG/REF mode is selected and the feed enable for the axis is issued. Carry-out a reference point approach for the axis involved. © Siemens AG 2003 All Rights Reserved 8-471 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 472 When re-calibrating the system, we recommend to permanently select the 1st positioning measuring system and to only traverse the axis using the motor measuring system. © Siemens AG 2003 All Rights Reserved 8-472 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 473 The following hazardous locations can be obtained in the automatic mode that can be prevented using the required ESR and Safety Integrated: © Siemens AG 2003 All Rights Reserved 8-473 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 474 3.5 s because ESR was parameterized to 3.1 s MD 36954 $MA_SAFE_STOP_SWITCH_TIME_E[AX2] = 3.5; 3.5 s because ESR was parameterized to 3.1 s © Siemens AG 2003 All Rights Reserved 8-474 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 475 Alarm 27090, crosswise data comparison and Stop E is initiated. Depending on the selected SG stage, retraction motion is executed. If this time is significantly © Siemens AG 2003 All Rights Reserved 8-475 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 476 (MD 36986 $MA_SAFE _ PULS_ENABLE_OUTPUT = 1 or 2 or 3 or 4), as otherwise the pulse cancellation delay time is not effective when the drive fails. © Siemens AG 2003 All Rights Reserved 8-476 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 477 Berufsgenossenschaftliches Institut für Arbeitssicherheit (German Institute for Occupational Safety) Configuration telegram Central Processing Unit Cyclic Redundancy Check D/A converter Data block © Siemens AG 2003 All Rights Reserved A-477 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 478 Part of an order code for absolute/incremental encoders made by Heidenhain ElectroStatic Discharge Extended Stop and Retract F... Failsafe... F-DI Failsafe input module F-DO Failsafe output module © Siemens AG 2003 All Rights Reserved A-478 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 479 Indirect Measuring System Interpolator Interface signal Crosswise data comparison Leadscrew Error Compensation Least Significant Bit LIFTFAST Fast retraction from contour Lower limit © Siemens AG 2003 All Rights Reserved A-479 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 480 Operator Acknowledge Organization block Operator interface Operator panel Order No. Machine-readable product designation Programmable Logic Controller PM-E F Power Module Electronic Failsafe © Siemens AG 2003 All Rights Reserved A-480 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 481 A, B, C, D, E, F In the event of a fault, the system reacts depending on the configured STOP response Software © Siemens AG 2003 All Rights Reserved A-481 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 482 A Appendix 11.03 Tool Center Point Testing Data Active Gear Ratio Ü Upper limit © Siemens AG 2003 All Rights Reserved A-482 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 483 Johannknecht, A./Warlich, H.-J.: Maschinenschutz in Europa - BG (Maschinenschutz). /SHB/ Safety Integration: Das Programm für die Industrien der Welt, Applikations-Handbuch, Ausgabe 03.99 Bestell-Nr. E20001-P285-A733 © Siemens AG 2003 All Rights Reserved A-483 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 484 Order No: 6FC5 298-6AB00-0BP2 /S7H/ SIMATIC S7-300 Manual: Assembly, CPU data (HW Description) Reference Manual: Module Data Order No.: 6ES7 398-8FA10-8AA0 © Siemens AG 2003 All Rights Reserved A-484 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 485 Order No: 6SN1197-0AA00-0BP5 /PJFE/ SIMODRIVE Planning Guide Synchronous Build-in Motors 1FE1 AC Motors for Main Spindle Drives Order No.: 6SN1 197-0AC00-0BP1 © Siemens AG 2003 All Rights Reserved A-485 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03...
Page 487 Encoder type combinations ......3-168 Commissioning 840D Encoder types..........3-168 First commissioning .........5-277 2-encoder system ........3-169 Series commissioning......5-280 Engineering..........7-362 © Siemens AG 2003 All Rights Reserved I-487 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Ausgabe 11.03...
Page 488 Not suppressing alarms......6-356 Initialization Safety relay ..........3-149 Integrated safety functions ......1-20 Interface signals ..........4-256 from drive ..........4-261 to drive .............4-257 © Siemens AG 2003 All Rights Reserved I-488 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Ausgabe 11.03...
Page 489 Safe operating stop ........3-89 Service displays for 840D......5-295 De-selection ..........3-92 Servo trace ........5-283, 5-302 Function features ........3-89 Set axis monitor .......... 5-278 © Siemens AG 2003 All Rights Reserved I-489 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Ausgabe 11.03...
Page 490 Description ..........3-73 STOP B Description ..........3-73 Verification ............ 2-29 STOP C Vertical axis ..........2-51 Description ..........3-74 STOP D Description ..........3-75 © Siemens AG 2003 All Rights Reserved I-490 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Ausgabe 11.03...
Page 491 Suggestions Siemens AG Corrections For Publication/Manual: A&D MC BMS P.O. Box 3180 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated D-91050 Erlangen Manufacturer Documentation (Tel.: +49 (0)180 5050 - 222 [Hotline] Fax: +49 (0) 9131 / 98 – 2176 E-mail: motioncontrol.docu@erlf.siemens.de)
Page 494 Siemens AG Automation and Drives Motion Control Systems © Siemens AG 2003 Postfach 3180, D – 91050 Erlangen Subject to change without prior notice Bundesrepublik Deutschland Order No.: 6FC5297-6AB80-0BP2 Printed in the Federal Republic of Germany www.ad.siemens.de...

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