Siemens SINUMERIK 840D sl Function Manual page 142

Safety functions integrated in the system/drive
7.5 Safely reduced speed (SG)
For SINAMICS S120:
p9561 SI Motion SLS (SG) stop response (Control Unit)
p9563[0...3] SI Motion SLS (SG)-specific stop response (Control Unit)
Note
● An alarm is displayed (for 840D sl: 27011, for SINAMICS S120: F01714). After the cause
of the fault has been removed, the alarm can be acknowledged with RESET. The monitoring
function is then again active.
● Depending on the selected monitoring clock cycle, the dynamic drives may cause a brief
increase in speed on the monitored axis/spindle before the stop response sequence starts.
● For traversing modes which use a transformation with singularity points (e.g. 5-axis
transformation and TRANSMIT), relatively high axis-specific speeds occur at these points.
These speeds can initiate stop responses even though the Cartesian motion of the tool
center point (TCP) is below the selected speed limit value.
The monitoring functions provided by SI are basically axis-specific. This means that it is
not possible to directly monitor the TCP.
Timing when the limit value is exceeded
When the safely reduced speed function is active, then the timing is as follows when the limit
value is violated:
Figure 7-14
142
Timing when the limit value is exceeded for SG
Function Manual, 12/2017, 6FC5397-4BP40-6BA1
Safety Integrated