Siemens SINUMERIK 840D sl Function Manual page 164

Safety functions integrated in the system/drive
7.8 Safety software cams and safety cam track (SN)
The "hundreds" position defines which cam track is assigned to the cams.
The "tens" and "ones" positions contain the numerical value that is signaled to the SPL as SGA
"cam range".
Please note:
● It is not possible to assign a cam a multiple number of times to several tracks. A multiple
assignment only functions if an additional cam is parameterized with the same cam position
and assigned to another cam track.
● Cam positions can be freely assigned to a cam range.
● Cams that have not been assigned do not appear on the cam track.
● It is not permissible that the cams on a cam track overlap.
● The cams on a cam track must have a certain minimum distance between them.
● The cams on a cam track must have a certain minimum length.
Evaluation of the parameterization
For the evaluation, the following checks are made (for the NCK and drive):
● If $MA_SAFE_CAM_ENABLE > 0, then $MA_SAFE_FUNCTION_ENABLE, bit 8-15 must
be = 0.
● If $MA_SAFE_CAM_ENABLE > 0, then it is not permissible that the enable bit for cam
synchronization is set ($MA_SAFE_FUNCTION_ENABLE, bit 7 = 0)
● Modulo cams are not permissible ($MA_SAFE_MODULO_RANGE must be 0 if
$MA_SAFE_CAM_ENABLE > 0).
● Checking the CAM length: $MA_SAFE_CAM_POS_PLUS[0...29] -
$MA_SAFE_CAM_POS_MINUS[0...29] ≥ $MA_SAFE_CAM_TOL +
$MA_SAFE_POS_TOL
● Checking the distance between 2 cams on a cam track $MA_SAFE_CAM_POS_MINUS[y]
- $MA_SAFE_CAM_POS_PLUS[x
● It is not permissible to parameterize two cams on the same track and range:
Example:
$MA_SAFE_CAM_TRACK_ASSIGN[2] = 205;
$MA_SAFE_CAM_TRACK_ASSIGN[5] = 205;
As a consequence, it is not possible to assign more than 15 cams to a cam track.
● If a cam is enabled in $MA_SAFE_CAM_ENABLE, then it must also be assigned.
If a violation is determined when making these checks, then alarm 27033 "Parameterization
invalid" / F01686 "SI Motion: Cam position parameterization not permissible" is output.
The generation of the new cam SGA is shown in the following diagram:
164
≥ $MA_SAFE_CAM_TOL + $MA_SAFE_POS_TOL
Function Manual, 12/2017, 6FC5397-4BP40-6BA1
Safety Integrated