Siemens SINUMERIK 840D sl Function Manual page 141

05.08
The following actions take place at the following instants in time:
t1:
STOP F occurs, ESR is started
t2:
500 ms after t1, braking starts along the parameterized ramp
t3:
STOP B is initiated 2.5 s after t1. The axis is already stationary at this time, which
means that the pulses can be immediately cancelled.
Example 2 – delaying the transition from STOP F to STOP B
The same parameterization as in Example 1 is shown in Fig. 6-8. However, when a
STOP F occurs, no monitoring function is active. At instant in time t2, a monitoring
function is activated. ESR is only started if there is a STOP F with active monitor-
ing function.
v
Fig. 6-8
The following actions take place at the following instants in time:
t1:
STOP F occurs, no response
t2:
At any time after t1, a monitoring function is activated. At this instant in time, the
transition to a STOP B is started and bits 1 in $A_XFAULTSI and $VA_XFAULTSI
of this axis are set.
t3:
500 ms after t2, braking starts along the parameterized ramp
t4:
STOP B is initiated 2.5 s after t2. The axis is already stationary at this time, which
means that the pulses can be immediately cancelled.
© Siemens AG 2008 All Rights Reserved
SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition
t1
t2
Velocity characteristic of an SI axis when stopping with STOP F
Safety Functions Integrated in the System/Drive
Continue to traverse (ESR)
Braking along a ramp =
stopping (ESR)
t3
6.3 Safe Stops A–F
t4 t
6-141