11.03 8 Application examples
8.8 Example for combining SI with ESR
© Siemens AG 2003 All Rights Reserved
SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03
8-473
8.8 Example for combining SI with ESR
If the ESR functionality (refer to the Description of Functions, Special
Functions) is to be used on a machine together with Safety Integrated, then
frequently, problems are encountered with the responses when a fault or error
develops. The shutdown responses from Safety Integrated (safe state, pulse
cancellation) prevents the required retraction motion or delayed stopping of the
axes. This example shows a possible parameter assignment for Safety
Integrated functionality that still guarantees optimum machine protection in the
automatic mode.
ESR:
If a fault or error situation is detected in the automatic mode, the X axis should
make a retraction movement – the other axes should continue to move for a
short time and then should be braked along the parameterized braking ramp of
the interpolator. If communications to the drive are faulted, then the X axis
should retract – also in the automatic mode. This function is executed directly
and independently in the drive. ESR should not become active if personnel are
in the hazardous zone of the machine.
This is the reason that ESR should be parameterized as follows at the machine
(the following doesn't provide a complete parameterization of the ESR function,
only that part required to obtain an understanding):
Parameterization of the channel-specific ESR machine data (NC controlled
retraction)
MD 21380 $MC_ESR_DELAY_TIME1=0.1; Continue to move for a short time
MD 21381 $MC_ESR_DELAY_TIME2=3.0; Time for the braking ramp
Parameterizing the axis-specific ESR machine data (NC controlled retraction)
MD 37500 $MA_ESR_REACTION[AX1]=21; Retraction motion of the X axis
MD 37500 $MA_ESR_REACTION[AX2]=22; Stopping the Y axis
Parameterizing the drive-specific machine data (retraction that is executed
independently in the drive)
MD 1638 $MD_RETRACT_TIME[DR1]=200 Retraction time, function executed
in the drive, X axis
MD 1639 $MD_RETRACT_SPEED[DR1]=400000 Retraction
speed, X axis
MD 1637 $MD_GEN_STOP_DELAY[DR2]=200 Stopping time
of the Y axis – executed independently in
the drive (drive-based function)
Safety Integrated
The safely-reduced speed should be monitored for the X and Y axes as soon
as anybody has entered or is in the hazardous zone of the machine. This is
detected if the protective door is opened or closed. Further, the safe limit
switches are activated for the Y axis and SPL is also used. SG2 is active in the
automatic mode (with an extremely high limit speed), with protective door SG1
open.
The following hazardous locations can be obtained in the automatic mode that
can be prevented using the required ESR and Safety Integrated:
General
Required configuration
Hazardous locations
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