3 Safety-Related Functions 11.03
3.5 Safely-reduced speed (SG)
© Siemens AG 2003 All Rights Reserved
3-98 SINUMERIK 840D/SIMODRIVE 611 digital SINUMERIK Safety Integrated (FBSI) - Edition 11.03
Note
Changing the gear ratio, parking an axis or making changes to the mounted
equipment (e.g. replacing an encoder or motor) means decoupling the load
and encoder. This cannot be detected by the NC and drive. The "axis safely
referenced" state is then lost.
The user is responsible for ensuring that the axis is returned to the "axis
safely referenced" state if the functions "safe software limit switch" or "safe
cams" are used.
3.5.4 Effects when the limit value is exceeded for SG
When the selected speed limit is violated, a stop response configured in the
following machine data is generated:
MD 36961: $MA_SAFE_VELO_STOP_MODE
MD 36963: $MA_SAFE_VELO_STOP_REACTION
[n]
For 611 digital MD 1361: $MD_SAFE_VELO_STOP_MODE
MD 1363: $MD_SAFE_VELO_STOP_REACTION
[n]
Note
• An alarm is displayed (for 840D: 27011, for 611 digital: 300914). After the
cause of the error has been eliminated, the alarm can be acknowledged
with RESET. The monitoring function is then active again.
• Depending on the selected monitoring clock cycle, the dynamic drives
may cause a brief increase in speed on the monitored axis/spindle before
the stop response sequence commences.
• In traversing modes which use a transformation with singularity points
(e.g. 5-axis transformation and TRANSMIT), relatively high axial speeds
occur at these points. These speeds can initiate stop responses even
though the Cartesian motion of the tool center point (TCP) is below the
selected speed limit value.
The monitoring functions provided by SI are basically axis-specific. This
means that it is not possible to monitor the TCP directly.
When the safely-reduced speed function is active, then the timing is as follows
when the limit value is violated:
Configurable stop
response
Timing when the limit
value is violated
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