Esr And Safety Integrated (828D) - Siemens SINUMERIK 840D sl Function Manual

R3: Extended stop and retract
9.3 ESR executed autonomously in the drive
● p9561 (SG stop response)
● p9563 (SG-specific stop response)
● p9580 (wait time after which the pulses are safely cancelled after bus failure)
● p9697 (delay time for the pulse suppression after bus failure)
● p9897 (delay time for the pulse suppression after bus failure)
Note
The drive parameters are automatically aligned with the corresponding NC machine data
using the Safety Integrated commissioning function "Copy SI data".
Trigger drive-integrated ESR reactions
The feedback signal of the safety stop reaction – currently active in the drive – sent to the
control is realized using the following axis-specific system variable:
● $VA_STOPSI[<axis>] (actual stop reaction)
By evaluating the system variable in a part program/synchronized action, a user-specific
response can be realized to the particular stop reaction of the axis, e.g. by triggering the drive-
integrated and/or control-managed ESR reactions using the system variable
$AN_ESR_TRIGGER and/or $AC_ESR_TRIGGER or $AA_ESR_TRIGGER.
References
A detailed description for configuring and the interaction of drive-integrated ESR responses
and Safety Integrated functions is given in:
References
Function Manual SINUMERIK Safety Integrated
9.3.11

ESR and Safety Integrated (828D)

No feedback signal of the safety stop reaction
Within the scope of SINUMERIK 828D, the safety stop reaction currently active in the drive is
not signaled back to the control. Therefore, in conjunction with Safety Integrated, only drive-
autonomous ESR functions can be used.
The ESR reactions triggered from the drive can be determined on the control side using the
axis-specific system variable $AA_ESR_STAT (see Chapter "Feedback of the ESR status
(Page 481)") and additional ESR reactions can be triggered on a user-specific basis via
$AN_ESR_TRIGGER.
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Function Manual, 01/2015, 6FC5397-2BP40-5BA2
Special functions