Setpoint Switchover - Siemens SINUMERIK 840D sl Function Manual

Interaction with other functions

12.2 Setpoint switchover

1. Changing-over from non-safe operation in SG/SBH
There is no delay (VELO_SWITCH_DELAY), so that this changeover must always be
performed at zero speed or below the enabled SG limit.
2. Changing-over from SGx to SGy
A) SGx > SGy (braking): A lower setpoint is entered as soon as changeover is detected in
one of the two channels.
B) SGx < SGy (accelerating): A higher setpoint is only entered if both channels have
changed-over.
3. Changing-over from SG to SBH (braking)
A lower setpoint (= 0) is entered as soon as the changeover has been detected in one of
the two channels.
4. Changing-over from SBH to SG (accelerating)
A higher setpoint is only entered if both channels have changed-over.
5. Changing-over from SBH/SG in the non-safe mode (accelerating)
A higher setpoint is only entered if both channels have changed-over.
● Effect of the function in the NCK interpolator:
– Setpoint limiting is active in both the AUTO as well as in the JOG modes.
– When changing-over while moving to higher safely reduced speeds, the position control
– When transformation is active, safety setpoint limits, effective in the interpolator on an
Note
There are no restrictions for motion from synchronous actions.
12.2 Setpoint switchover
The "setpoint changeover" function allows several axes to use a common drive. In order to
define the axes that are to be involved in the setpoint changeover, the same drive setpoint
channel is assigned a multiple number of times. To do this, MD30110
$MA_CTRLOUT_MODULE_NR must be preassigned for each axis with the logical drive
number.
752
loop should be set so that it does not overshoot. This means that a sudden setpoint limit
change does not cause the monitoring to respond on the actual value side.
axis-for-axis basis are reduced by the transformation itself depending on the actual
position.
Function Manual, 12/2017, 6FC5397-4BP40-6BA1
Safety Integrated