Siemens SINUMERIK 840D sl Commissioning Manual page 60

Commissioning
5.6 Manual steps after installation
4. Activate at least the following Safety functions provided by SINUMERIK Safety Integrated
plus:
– SS1/STO (emergency stop)
– Axial SLS
Note
You will find the maximum delay time for SS1/STOP B (p9556) for axes 1-3 in the data sheets
of each type of robot (Chapter "Braking times and stopping distances"). Select the braking
time for the max. payload and max. speed of each axis (as exemplified in the following
graphic). In combination with p9650=0, this ensures that the robot axis switches to STOP A
if the braking time is shorter (e.g. due to a smaller payload or lower speed). For axes 4-6, you
have to determine the times by means of a measurement (trace).
Figure 5-23
60
Example of braking time from a data sheet
SINUMERIK Run MyRobot /Direct Control
Commissioning Manual, 07/2020, A5E45238414B AD