Siemens SINUMERIK 840D sl Function Manual page 163

● The modulo function is not supported. If the "Safe Cam Track" function is enabled and a
value > 0 entered in the MD36905 $MA_SAFE_MODULO_RANGE / p9505 SI Motion SCA
(SN) modulo value (Control Unit), then Alarm 27033 "Axis %1 parameterization of the MD
$MA_SAFE_REFP_STATUS_OUTPUT[0] invalid" is output with a reference to
$MA_SAFE_MODULO_RANGE.
● The Safe Cams must be configured:
The required cams are enabled using machine data
For 840D sl:
MD36903 $MA_SAFE_CAM_ENABLE, bits 0...29 and parameters
For SINAMICS S120:
p9503 SI Motion SCA (SN) enable (Control Unit), bits 0...29
SGA assignment is defined using machine data
For 840D sl:
MD36988 $MA_SAFE_CAM_PLUS_OUTPUT[n] and
MD36989 $MA_SAFE_CAM_MINUS_OUTPUT[n]
Defining the cam positions
The cam positions are defined in the following machine data/parameters:
For 840D sl:
MD36936 $MA_SAFE_CAM_POS_PLUS[0...29]
MD36937 $MA_SAFE_CAM_POS_MINUS[0...29]
For SINAMICS S120:
p9536[0...29] SI Motion SCA (SN) plus cam position (Control Unit)
p9537[0...29] SI Motion SCA (SN) plus cam position (Control Unit)
Note
The minus position of cam x must be less than the plus position of cam x, otherwise Alarm
27033 "Invalid parameterization" is output. For an incorrect parameterization, also message
F01686 "SI Motion: Cam position parameterization not permissible" of the drive is also output.
Assignment, cam to cam track
The cams defined in $MA_SAFE_CAM_POS_PLUS[0...29] and
$MA_SAFE_CAM_POS_MINUS[0...29] are assigned to a cam track as follows:
for 840D sl:
MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[0...29]
for SINAMICS S120:
p9538[0...29] SI Motion cam track assignment (Control Unit)
Value range:
100...114 = cam range 0...14 at cam track 1
200...214 = cam range 0...14 at cam track 2
300...314 = cam range 0...14 at cam track 3
400...414 = cam range 0...14 at cam track 4
Safety Integrated
Function Manual, 12/2017, 6FC5397-4BP40-6BA1
Safety functions integrated in the system/drive
7.8 Safety software cams and safety cam track (SN)
163