Siemens SINUMERIK 840D sl Function Manual page 158

Safety Functions Integrated in the System/Drive
6.8 Safe software cams (SN)
Safe software cams for endlessly turning rotary axes
For rotary axes with cams, the modulo range (cam actual value range) can be set
using the following machine data/parameters:
for 840D sl:
MD 36902: $MA_SAFE_IS_ROT_AX
for SINAMICS S120:
p9502: SI motion, linear axis/rotary axis
for 840D sl:
MD 36905: $MA_SAFE_MODULO_RANGE
for SINAMICS S120:
p9505: SI motion, modulo value for SN
The cam actual value range should be selected as wide as the modulo display of
the safe actual value.
For rotary axes, the modulo display of safe actual values is selected and parame-
terized using the following machine data:
for 840D sl:
MD 30300: $MA_IS_ROT_AX
MD 30320: $MA_DISPLAY_IS_MODULO
MD 30330: $MA_MODULO_RANGE
Limiting the cam positions
When parameterizing the cam positions, the following conditions close to the mo-
dulo limits must be maintained.
When cam synchronization is not active:
S – Mod_Pos + Pos_Tol < SN_Pos < Mod_Pos – Pos_Tol
When cam synchronization is active:
S – Mod_Pos + Pos_Tol + Cam_Tol < SN_Pos < Mod_Pos – Pos_Tol – Cam_Tol
Meanings:
Pos_Tol: Actual value tolerance
MD 36942: $MA_SAFE_POS_TOL for 840D sl
p9542: SI motion, actual value comparison tolerance (crosswise) for SINAMICS
S120
Cam_Tol: Cam tolerance
MD 36940: $MA_SAFE_CAM_TOL for 840D sl
p9540: SI motion, SN tolerance) for SINAMICS S120
Mod_Pos: Lower/upper modulo value:
MD 36905: $MA_SAFE_MODULO_RANGE for 840D sl
p9505: SI motion, modulo value for SN) for SINAMICS S120
SN_Pos: Cam position:
MD 36936: $MA_SAFE_CAM_POS_PLUS[n] for 840D sl
p9536: SI motion, SN plus cams position for SINAMICS S120
MD 36937: $MA_SAFE_CAM_POS_MINUS[n] for 840D sl
p9537: SI motion, SN minus cams position) for SINAMICS S120
6-158
SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 03.2006 Edition
© Siemens AG, 2006. All rights reserved
03.06