8 Application examples 11.03
8.8 Example for combining SI with ESR
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8-476 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03
shorter than the required retraction time, then the retraction time, after this time
has expired, is only carried-out at the reduced speed SG1.
7.) Initiating ESR
a) ESR must be enabled in the machining program:
$AA_ESR_ENABLE[X] = 1 ; enables ESR for the X axis
LFPOS ;
POLF[X] = IC(25) ; retraction path, axis X
POLFMASK(X) ; Axis X is declared as retraction axis
b) ESR must be triggered in synchronous actions (e.g. in SAFE.SPF):
An X axis retraction is initiated if at least one axis detects a Stop E:
IDS = 250 WHENEVER ($AC_MARKER[20] == 1) AND ($A_STOPESI<>0) DO
$AC_ESR_TRIGGER=TRUE
The retraction is automatically initiated if safety integrated has detected a
problem associated with the actual value sensing Alarm 27001 with Codes 3 or
44 to 57 has occurred), or a Stop F is present that will result in a subsequent
stop B/A:
ID = 251 WHENEVER ($AC_MARKER[20] == 1) AND ($A_XFAULTSI <> 0)
DO $AC_ESR_TRIGGER=TRUE
Marker 20 is only used to interlock the retraction, e.g. when testing the external
Stop E.
It is possible to respond to fault/error states by using the axis-specific system
variables $VA_STOPSI[ axis name] and $VA_XFAULTSI[ axis name].
8.) Hardware prerequisites
The pulse enable (terminal 663) must be controlled from an onboard output
(MD 36986 $MA_SAFE
_PULS_ENABLE_OUTPUT = 1 or 2 or 3 or 4), as
otherwise the pulse cancellation delay time is not effective when the drive fails.
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