Siemens SINUMERIK 840D sl Function Manual page 537

Entering and checking the monitoring clock cycle.
● "General machine data" screen:
Enter the factor for the monitoring clock cycle in the data
$MN_SAFETY_SYSCLOCK_TIME_RATIO (see Chapter "Monitoring cycle (Page 81)" and
Chapter " Crosswise data comparison (CDC) (Page 81)").
● The actual monitoring time is directly displayed in data
$MN_INFO_SAFETY_CYCLE_TIME.
Note
Before the next NCK RESET is initiated, you must copy the actual monitoring clock cycle to
parameter p9500 "SI Motion monitoring clock cycle" of the drive using softkey "Copy SI data"
in the "Drive configuration" screen.
Note regarding the axis assignment
Note
The drives must be assigned to the axis due to the degrees of freedom that exist for the
PROFIdrive telegram configuring - also in the SI machine data.
This is the reason that the recommendations when configuring the drive configuration also
apply when configuring Safety Integrated:
● Using the standard configuration and the recommended logical basis addresses in STEP7.
● No re-parameterization of the selected list of drive objects in drive parameter p0978.
Under these prerequisites, the following cases can occur:
a) If the drive assignment was left at the standard value via machine data MD30110
$MA_CTRLOUT_MODULE_NR, MD30220 $MA_ENC_MODULE_NR[0/1] and MD13050
$MN_DRIVE_LOGIC_ADDRESS, then also the drive assignment in MD36906
$MA_SAFE_CTRLOUT_MODULE_NR and MD10393
$MN_SAFE_DRIVE_LOGIC_ADDRESS must not be changed.
b) If the drive assignment was changed using the machine data MD30110:
$MA_CTRLOUT_MODULE_NR and MD3022: $MA_ENC_MODULE_NR[0/1], then MD36906:
$MA_SAFE_CTRLOUT_MODULE_NR should be parameterized to the same value as for
MD30110: $MA_CTRLOUT_MODULE_NR
c) If the drive assignment was made by interchanging the logical drive addresses in MD13050:
$MN_DRIVE_LOGIC_ADDRESS, then the same marshalling should also be made in
MD10393: $MN_SAFE_DRIVE_LOGIC_ADDRESS.
Example: Drives 1 and 2 were exchanged by interchanging MD13050, index 0 and 1.
MD13050[0] was parameterized to 4140 and MD 13050[1] was parameterized to 4100. Then,
indices 0 and 1 of MD10393 must also be interchanged, i.e. 10393[0] must be set to 6724 and
MD10393[1] must be set to 6700.
The user is provided with support when assigning axes under the HMI path "Commissioning/
Drive system/Drive units/PROFIBUS connection".
Safety Integrated
Function Manual, 12/2017, 6FC5397-4BP40-6BA1
10.3 Procedure when commissioning the drive for the first time
Commissioning
537